CN101804248B - Control module of mobile remote control of auto-oscillation fire monitor - Google Patents
Control module of mobile remote control of auto-oscillation fire monitor Download PDFInfo
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- CN101804248B CN101804248B CN2010101137588A CN201010113758A CN101804248B CN 101804248 B CN101804248 B CN 101804248B CN 2010101137588 A CN2010101137588 A CN 2010101137588A CN 201010113758 A CN201010113758 A CN 201010113758A CN 101804248 B CN101804248 B CN 101804248B
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Abstract
The invention relates to a control module of a mobile remote control auto-oscillation fire monitor, which consists of an MCU control unit, a control communication unit, a high speed pulse value collecting unit, a switching value input/output unit, a motor driving control unit and a motor unit. The MCU control unit receives a plurality of types of external control commands and selects a motion branch by combining the collected data information to drive the motor to move as expected. The control communication unit provides manual and remote control commands to the MCU control unit. The high speed pulse value collecting unit realizes the function of collecting the step-by-step pulses of the motor. The switching value input/output unit provides limit switching information to the MCU control unit, calculates the initialized zero position of the fire monitor and restricts the maximum oscillation amplitude of the fire monitor. The motor driving control unit controls the motion direction of the motor, the driving current for the motion of the motor and the jet flow state conversion of the fire monitor. The invention combines an intelligent micro-control system with a mechanical system and provides an effective means for improving the personal safety of the fire fighters and for reducing the operation intensity when putting out a fire.
Description
Technical field
The invention belongs to the fire-fighting fire-extinguishing equipment technical field, be specifically related to a kind of control module of mobile remote control auto-oscillation fire monitor.
Background technology
Ground monitor has obtained extensive use at home, but mostly is manual operation greatly, has certain potential safety hazard when waiting place that personnel can't be close to use inflammable and explosive.And the mobile remote control fire monitor can alleviate the manipulation strength of fireman on the scene of a fire, simultaneously the problem that can't put out a fire near the scene of a fire of the personnel of solving.Therefore the ground monitor of remote-controlled operation popularization and application rapidly at home and abroad.
Summary of the invention
The object of the present invention is to provide a kind of control module of mobile remote control auto-oscillation fire monitor.
The present invention adds the control circuit system on the mobile fire monitor of tradition basis, make mobile fire monitor have manual control function and distant control function.When implementing fire extinguishing, the fireman can evacuate to place of safety and carry out remote-controlled operation, and control auto-oscillation fire monitor spray angle, spray regime, flow shape reach from putting function.
The present invention organically combines intelligent micro control system and mechanical system, carry out comprehensive, comprehensive Design, current collection control, manual in one, long-distance remote control, two kinds of modes of operation of on-site manual have been realized, carry out program control fire extinguishing action, and have and open emptying valve automatically and discharge surplus water function, prevent to freeze and cause the damage of fire monitor because of the cold weather residual water.
The control module of mobile remote control auto-oscillation fire monitor that the present invention proposes is made up of MCU control module 1, control communication unit 2, high-speed pulse amount collecting unit 3, switching value input-output unit 4, motor-driven control module 5 and electric motor units 6, wherein:
High-speed pulse amount collecting unit 3 is made up of rotary encoder X31, rotary encoder Y32, photoelectric isolating circuit 33, AD sample circuit 34 and second level shifting circuit 35; MSP430 chip 11 is connected high-speed pulse amount collecting unit 3 by P1.0, P1.1, P1.3 and the P4.7 pin of I/O interface; Rotary encoder X31, rotary encoder Y32 are connected with AD sample circuit 34 by photoelectric isolating circuit 33 respectively; Second level shifting circuit 35 directly is connected with AD sample circuit 34, for it provides 5V operating voltage.
Switching value input-output unit 4 is made up of switching value input circuit 41 and switching value output circuit 42, and switching value input circuit 41 is made up of upper limit position switch 411, lower position switch 412, left limit switch 413, right limit switch 414 and input photoelectric isolating circuit 415; Switching value output circuit 42 is made up of output photoelectric isolating circuit 421 and drive circuit 422; MSP430 chip 11 is connected with switching value input circuit 41 by the P5 mouth of I/O interface, and MSP430 chip 11 is connected with switching value output circuit 4 with P3.2 by P3.0, the P3.1 of I/O interface; Upper limit position switch 411, lower position switch 412, left limit switch 413 and right limit switch 414 are connected with control logic circuit 54 by photoelectric isolating circuit 415 respectively.
Motor-driven control module 5 is made up of H bridge power driving circuit X51, H bridge power driving circuit Y52, driving photoelectric isolating circuit 53 and control logic circuit 54, and MSP430 chip 11 is connected with motor-driven control module 5 with P4.1/TA1 by I/O interface P1.2/TB1; Control logic circuit 54 is connected with H bridge power driving circuit X51, H bridge power driving circuit Y52 respectively by driving photoelectric isolating circuit 53, and these two H bridge power driving circuits are connected with electric motor units 6 respectively.
Among the present invention, MSP430 chip 11 is according to the control program of writing in advance, and by its a plurality of 8 I/O input/output interfaces that provide, switch amount input-output unit 4 and motor-driven control module 5 are controlled, and final drive motor units 6 produces desired motion.
Among the present invention, control communication unit 2 provides control instruction for MSP430 chip 11, can be by the manual control box of the 211 external RS232 classes of the RS232 interface in the manual control module 21, the fireman can carry out the manual command input by the manual control box of RS232 class, but limited by the RS232 interface capability, command range is shorter.Also can be by the manual control box of the 212 external RS485/422 classes of the RS485/422 circuit in the manual control module 21, the fireman can carry out the manual command input by the manual control box of RS485/4222 class, and command range can reach more than 1000 meters.
Among the present invention, MSP430 chip 11 is connected with reservation expansion interface 16 by its P2 mouth, reserve design for the P2 mouth that makes things convenient for system upgrade or add new functional utilization MSP430 chip 11, P2.0～P2.7 is as the reservation expansion interface 16 of control module of mobile remote control auto-oscillation fire monitor.
Among the present invention, MSP430 chip 11 is connected with manual control module 21 by its I/O interface P3.3～P3.7, after control system was finished self check operation, MSP430 chip 11 enabled its I/O interface P3.3～P3.7 and communicates by letter the order of wait receiving system with system manual control module 21.
Among the present invention, MSP430 chip 11 is connected with wireless remote control unit 22 by its I/O interface P6.0～P6.7, after control system was finished the self check operation, MSP430 chip 11 enabled its I/O interface P6.0～P6.7 and communicates by letter with system wireless RCU 22, waited for the receiving system order.
Among the present invention, in the high-speed pulse amount collecting unit, MSP430 chip 11 is connected with high-speed pulse amount collecting unit 3 with P4.7 by its I/O interface P1.0, P1.1 and P1.3, gather the number of pulses of rotary encoder X31, rotary encoder Y32, calculate the fire monitor rotational angle by the MCU control module, accurately control the fire monitor motion.
Among the present invention, MSP430 chip 11 is connected with switching value input circuit 41 by its I/O interface P5.0～P5.7, for the MCU control module provides limit switch information, calculates the fire monitor initialization zero-bit position and the maximum amplitude of oscillation of restriction fire monitor.
Among the present invention, MSP430 chip 11 is connected with switching value output circuit 42 by its I/O interface P3.0～P3.2, is system's output external switch amount control level.
Among the present invention, MSP430 chip 11 is connected with motor-driven control module 5 with P4.1 by its I/O interface P1.2, motor-driven control module 5 is controlled, made in the electric motor units 6 motor X61 and motor Y62 produce desired motion and motor Z63 carries out the conversion of direct current spray state.
The present invention provides manual control function and distant control function for ground monitor, make ground monitor can be applied in inflammable, explosive, easily cave in and hazardous area such as poisonous, provide strong guarantee for disposing urgency, difficulty, danger, weight fire fighting and rescue task in the fire-fighting work.When implementing fire extinguishing, the fireman can evacuate to place of safety and carry out the long-distance remote control operation, by adjusting angle of pitch control fire monitor spray angle; By adjusting horizontal rotation angle control fire monitor spray regime; By direct current spray conversion and control fire monitor spray pattern; Can select from put function with different from the pivot angle degree, make fire monitor in the certain level angle of revolution with the multiple amplitude of oscillation from pendulum; Discharge surplus water by opening the fire monitor emptying valve automatically, prevent because of the icing damage that causes fire monitor of residual water.
Description of drawings
Fig. 1 is a system schematic of the present invention
Fig. 2 is a structural representation of the present invention.
Number in the figure: 1 is the MCU control module, and 2 are the control communication unit, and 3 is high-speed pulse amount collecting unit, and 4 is the switching value input-output unit, 5 is the motor-driven control module, and 6 is electric motor units, and 11 is the MSP430 chip, 12 is system reset circuit, and 13 is power module, and 14 is crystal oscillator Y
1, 15 is crystal oscillator Y
2, 16 for reserving expansion interface, and 21 is manual control module, 22 is wireless remote control unit, and 211 is the RS232 interface circuit, and 212 is the RS485/422 circuit, 213 is first level shifting circuit, and 31 is rotary encoder X, and 32 is rotary encoder Y, 33 is the sampled light electric isolating circuit, and 34 is the AD sample circuit, and 35 is second level shifting circuit, 41 is the switching value input circuit, 42 is the switching value output circuit, and 411 is upper limit position switch, and 412 is lower position switch, 413 is the left limit switch, 414 is the right limit switch, and 415 are the input photoelectric isolating circuit, and 421 are the output photoelectric isolating circuit, 422 is drive circuit, 51 is H bridge power driving circuit X, and 52 is H bridge power driving circuit Y, and 53 is the photosynthetic buffer circuit of power, 54 is control logic circuit, 61 is motor X, and 62 is motor Y, and 63 is motor Z.
The specific embodiment
The invention will be further described below in conjunction with drawings and Examples:
Embodiment 1:
System features of the present invention is that MSP430 chip 11 adopts the MSP430F149 chips, is 16 MCU chips of American TI Company reduced instruction set computer, has on super low-power consumption, strength reason ability, high performance analog technology and the abundant sheet characteristics such as peripheral module.Power module 13 mainly is made of the ASM1117-3.3 circuit chip, and after system powered on, power module 13 was made voltage for MSP430 chip 11 provides 3.3 couchers.Crystal oscillator Y
114 for MSP430 chip 11 provides 8MHZ high-speed clock signal, crystal oscillator Y
215 provide 32768HZ low-speed clock signal for MSP430 chip 11.Crystal oscillator Y
114, crystal oscillator Y
215 clock signals as 11 two external oscillators generations of MSP430 chip all can be through being used as system's master clock behind the frequency division.In order to prevent that abnormality from appearring in MSP430 chip 11 chips at work, can carry out reset operation by 12 pairs of MSP430 chip 11 chips of system reset circuit.Reserving expansion interface 16 is to utilize the P2 mouth of MSP430 chip 11 to reserve design for making things convenient for the control system upgrading or adding new function.
After powering on, control system is carried out self check, MSP430 chip 11 control fire monitors horizontally rotate left, read the state of left limit switch 413 simultaneously, when fire monitor reaches left side maximum position, left limit switch 413 closures, the 11 control fire monitor stop motions of MSP430 chip, and beginning begins to read the state of right limit switch 414 simultaneously to the rotation of the right maximum position, when fire monitor arrived the right maximum position, right limit switch 414 closed fire monitors stopped operating.The course of work unanimity of the initialization procedure same level direction of vertical direction fire monitor.Consider that most of auto-oscillation fire monitor does not have mechanical zero, the back initial position that powers on is not predicted, and for this reason, adopts magnetic limit switch to solve initial zero-bit problem.Limit switch is by judging the magnetic flux size; after magnetic flux surpassed certain threshold value when fire monitor rotation distance limit switch receiving terminal was interior; limit switch output 5V voltage switch amount; for protection MSP430 chip 11 is subjected to the external high voltage infringement, added the sampled light electric isolating circuit 33 that mainly constitutes by TPL521-4.For improving fire monitor zero-bit precision, adopt the method for two limit switches that initial zero-bit is set, at four limit points limit switch is installed respectively, as adding upper limit position switch 411 and lower position switch 412 on the vertical direction.After powering on, fire monitor begins self check, respectively microinching on four direction up and down.After 5 volts of voltage signals of two rotary encoder outputs become 3.3 volts of voltage signals through second level shifting circuit 35, rotary encoder X31 on 34 pairs of horizontal directions of AD sample circuit and the rotary encoder Y32 on the vertical direction gather counting, calculate the stroke size on the fire monitor four direction, ask fire monitor movement travel and left and right sides stroke addition in the horizontal direction, average again, just can solve error.Error on the horizontal direction is the opposite polarity idle stroke that comprises, can cancel out each other during addition.In like manner vertical direction also can be carried out the difference noise reduction.
After control system was finished the self check operation, MSP430 chip 11 enabled its I/O interface P3.3～P3.7 and P6.0～P6.7, and manual control module 21 of the system that opens and wireless remote control unit 22 are waited for the receiving system order.Manually control module 21 can adopt multiple interfaces to get involved, as passing through RS232 interface circuit 211 or RS485/422 circuit 212.RS232 interface circuit 211 mainly is made of ADM3202, and RS485/422 circuit 212 mainly is made of 6N137 and MAX490, and first level shifting circuit 213 mainly is made of QS3245.The convenient different fire-fighting Demand Design of multiple interfaces intervening mode, RS232 interface circuit 211 command ranges are less, only are several meters.RS485/422 circuit 212 command ranges are bigger, can reach thousands of rice.Wherein first level shifting circuit 213 is converted into the voltage standard of 3.3V the voltage standard of 5V as the interface bus driver.Wireless remote control unit 22 has 8 bit address identification codes and 4 bit data instruction codes, makes remote controller and fire monitor corresponding one by one, prevents that in large-scale disaster scene collision problem appears in many fire monitor telecommands.
In case the fireman by remote control or manually control send different action commands, MSP430 chip 11 promptly enters corresponding programme-control branch.
After if control system receives fire monitor injection order by manual control module 21 or wireless remote control unit 22, MSP430 chip 11 produces the switching value voltage signal by gauge tap amount output circuit 42, simultaneously in order to suppress system noise effectively, eliminate the interference of switching value output circuit 42 earth-return circuits, added the output photoelectric isolating circuit 421 that mainly constitutes by TPL521-4.The switching value voltage signal is opened injection valve after driving by the drive circuit 422 that mainly is made of 1N4148 and Q9013.After auto-oscillation fire monitor sprayed, the fireman can select fire monitor injection water form, promptly selected direct current and two kinds of mode of operations of spraying.
After if control system receives the order of fire monitor motion class by manual control module 21 or wireless remote control unit 22, MSP430 chip 11 provides the switching value logical signal by switching value output circuit 42 to motor-driven control module 5, is used to control motor X61 and motor Y62 rotation direction, startup and braking and control motor Z63 carries out the conversion of fire monitor spray pattern.MSP430 chip 11 is controlled motor-driven control module 5 by the P1.2 and the P4.1 of its I/O interface, makes in the electric motor units 6 motor X61 and motor Y62 produce desired motion and motor Z63 carries out the conversion of fire monitor direct current spray state.
Spray order and select third gear amplitude of oscillation one if the fireman sends from pendulum, MSP430 chip 11 enters from putting branched program according to this instruction, enables its PWM controller, utilizes numeral output that analog circuit is controlled.The control signal that control logic circuit 54 produces is sent into H bridge power driving circuit X51 through the driving photoelectric isolating circuit 53 that adopts the TPL521-4 design and is amplified rear drive motor X61 stepping rotation, and motor X61 makes auto-oscillation fire monitor produce horizontal movement.Motor X61 motion makes rotary encoder X31 send pulse signal, in the MSP430 chip 11 from the malaria program according to producing the pulse signal sum, in conjunction with the auto-oscillation fire monitor worm and gear ratio of measuring in advance, can calculate fire monitor horizontal movement angle, finally make auto-oscillation fire monitor realize respectively that in the effective angle of 100 ° of horizontal rotations the past renaturation of 40 °, 60 ° and the 80 ° amplitudes of oscillation is from pendulum.
Carry out pointing fire-extinguishing if the fireman operates auto-oscillation fire monitor, just need on two directions of motion, adjust, can carry out fine setting work by motor X61 and motor Y62 one by one auto-oscillation fire monitor.Artificially adjust in the fire monitor spray angle process the fireman; if surpass predefined extreme position; when being 5 volts of switching values of limit switch generation; control system will be sent warning message by wireless remote control unit 22 and forbid that in time fire monitor continues motion in the direction, plays the function of protection auto-oscillation fire monitor mechanical part.
If the fireman sends auto-oscillation fire monitor speed control command, MSP430 chip 11 produces pwm pulse width modulated modulating wave, and H bridge power driving circuit 51 and H bridge power driving circuit 52 are carried out the power adjustment.When the PWM modulating wave dutycycle that produces when MSP430 chip 11 was big, the velocity ratio that fire monitor rotates was very fast, and dutycycle is 100% o'clock, and fire monitor rotates with the speed of maximum.The PWM dutycycle that produces when MSP430 chip 11 hour, the velocity of rotation of fire monitor is slow, dutycycle is 0% o'clock, fire monitor stops operating.MSP430 chip 11 internal processes provide three kinds of dutycycle voltage waveforms, promptly can select three kinds of auto-oscillation fire monitor movement velocitys.
After if the fireman sends the EO order, MSP430 chip 11 is opened the auto-oscillation fire monitor emptying valve by switching value output circuit 42 and is discharged residual water in the mechanical part, close the auto-oscillation fire monitor emptying valve after time through program setting, prevent to cause the damage of freezing auto-oscillation fire monitor because of residual water.
If the fireman sends fire monitor jet state conversion command, MSP430 chip 11 control motor-driven control modules 5 produce motor Z63 drive current, thereby realize fire monitor direct current spray state translation function.
In control fire monitor rotating process, because the inertia ratio of fire monitor is bigger, if when rotating fire monitor to assigned address with a constant speed, begin braking, because bigger inertia will certainly produce " overshoot ", therefore cause the deviation of pointing fire-extinguishing, in MSP430 chip 11 programs, added the motion control subprogram of accelerations-at the uniform velocity-deceleration.At boost phase, fire monitor quickens with an acceleration, when accelerating to the maximal rate of fire monitor rotation, fire monitor begins to carry out uniform rotation, when the certain angle of the position of distance formulation, motor will slow down with a negative acceleration, and when fire monitor turned to the formulation position, the velocity of rotation of fire monitor just was kept to 0.
Because auto-oscillation fire monitor is applied in the comparatively abominable fire-fighting fire extinguishing rescue environment mostly, for preventing that control system is subjected to electromagnetic interference, system has all adopted the light-coupled isolation device for each interface circuit part, analog circuit and digital circuit part have all been carried out the ground isolation, the circuit control system casing adopts full metal jacket and has carried out the processing of good ground connection, has strengthened the antijamming capability of system.
Claims (1)
1. control module of mobile remote control auto-oscillation fire monitor, form by MCU control module (1), control communication unit (2), high-speed pulse amount collecting unit (3), switching value input-output unit (4), motor-driven control module (5) and electric motor units (6), it is characterized in that:
MCU control module (1) is by MSP430 chip (11), system reset circuit (12), power module (13), crystal oscillator Y
1(14), crystal oscillator Y
2(15) and reserve expansion interface (16) and form; MSP430 chip (11) passes through its I/O interface
Pin connected system reset circuit (12) is connected power module (13) by AVCC, AVSS with the DVCC pin, be connected crystal oscillator Y by XT2IN with the XT2OUT pin
1(14), be connected crystal oscillator Y by XIN with the XOUT/TCLK pin
2(15), the P2 mouth by the I/O interface connects reservation expansion interface (16);
Control communication unit (2) is made up of manual control module (21) and wireless remote control unit (22), and wherein manually control module (21) is made up of RS232 interface circuit (211), RS485/422 circuit (212) and first level shifting circuit (213); MSP430 chip (11) connects manual control module (21) by I/O interface P3.3～P3.7 pin, MSP430 chip (11) connects wireless remote control unit (22) by the P6 mouth of I/O interface, and first level shifting circuit (213) is connected with RS485/422 circuit (212) with RS232 interface circuit (211) respectively;
High-speed pulse amount collecting unit (3) is made up of rotary encoder X (31), rotary encoder Y (32), photoelectric isolating circuit (33), AD sample circuit (34) and second level shifting circuit (35); MSP430 chip (11) is connected high-speed pulse amount collecting unit (3) by P1.0, P1.1, P1.3 and the P4.7 pin of I/O interface; Rotary encoder X (31), rotary encoder Y (32) are connected with AD sample circuit (34) by photoelectric isolating circuit (33) respectively; Second level shifting circuit (35) is connected with AD sample circuit (34);
Switching value input-output unit (4) is made up of switching value input circuit (41) and switching value output circuit (42), and switching value input circuit (41) is made up of upper limit position switch (411), lower position switch (412), left limit switch (413), right limit switch (414) and input photoelectric isolating circuit (415); Switching value output circuit (42) is made up of output photoelectric isolating circuit (421) and drive circuit (422); MSP430 chip (11) is connected with switching value input circuit (41) by the P5 mouth of I/O interface, and MSP430 chip (11) is connected with switching value output circuit (4) with P3.2 by P3.0, the P3.1 of I/O interface; Upper limit position switch (411), lower position switch (412), left limit switch (413) and right limit switch (414) are connected with control logic circuit (54) by photoelectric isolating circuit (415) respectively;
Motor-driven control module (5) is made up of H bridge power driving circuit X (51), H bridge power driving circuit Y (52), driving photoelectric isolating circuit (53) and control logic circuit (54), and MSP430 chip (11) is connected with motor-driven control module (5) with P4.1/TA1 by I/O interface P1.2/TB1; Control logic circuit (54) is connected with H bridge power driving circuit X (51), H bridge power driving circuit Y (52) respectively by driving photoelectric isolating circuit (53);
Electric motor units (6) is made up of motor X (61), motor Y (62) and motor Z (63), is independence each other; H bridge power driving circuit X (51) is connected with motor X (61), and H bridge power driving circuit Y (52) is connected with motor Z (63) with motor Y (62) respectively.
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| CN2010101137588A CN101804248B (en) | 2010-02-25 | 2010-02-25 | Control module of mobile remote control of auto-oscillation fire monitor |
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| CN2010101137588A CN101804248B (en) | 2010-02-25 | 2010-02-25 | Control module of mobile remote control of auto-oscillation fire monitor |
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| CN101804248B true CN101804248B (en) | 2011-11-09 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102284161B (en) * | 2011-07-06 | 2013-02-13 | 南京信诚艾尔克工业灭火设备制造有限公司 | Firefighting extinguishment module and control system |
| CN103699012B (en) * | 2013-12-20 | 2016-04-27 | 河北汉光重工有限责任公司 | Fire water monitor firing solution model |
| CN104852220A (en) * | 2014-02-15 | 2015-08-19 | 岳景睿 | Timing socket |
| CN104941093A (en) * | 2014-03-26 | 2015-09-30 | 西华大学 | Self-swinging automatic extinguishing fire monitor for pre-arranged area |
| CN104702183A (en) * | 2015-02-16 | 2015-06-10 | 北京航天发射技术研究所 | Multifunctional universal stepping motor driver |
| CN106039620B (en) * | 2016-06-14 | 2018-12-07 | 合肥市嘉升电子科技有限公司 | It can be by the fire water monitor control method of any setting path self-extinguishing |
| CN105963891A (en) * | 2016-06-16 | 2016-09-28 | 蚌埠依爱消防电子有限责任公司 | Start-stop switching circuit controlled by two wires, terminal load, detection circuit and detection method |
| CN107168185A (en) * | 2017-07-03 | 2017-09-15 | 河南联纵消防科技有限公司 | Energy-conserving intelligent fire water monitor and its implementation |
| CN110101995A (en) * | 2019-05-21 | 2019-08-09 | 上海博灿机器人科技有限公司 | Intelligent lighting extinguishment fire suppression robot |
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| CN201316492Y (en) * | 2008-12-15 | 2009-09-30 | 南阳防爆电气研究所有限公司 | Explosion-proof homing fire monitor |
| CN201681274U (en) * | 2010-02-25 | 2010-12-22 | 公安部上海消防研究所 | Mobile remotely-controlled free-swing fire monitor module |
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| CN201316492Y (en) * | 2008-12-15 | 2009-09-30 | 南阳防爆电气研究所有限公司 | Explosion-proof homing fire monitor |
| CN201681274U (en) * | 2010-02-25 | 2010-12-22 | 公安部上海消防研究所 | Mobile remotely-controlled free-swing fire monitor module |
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Address after: 200032 No. two, 601 South Road, Shanghai, Zhongshan Patentee after: SHANGHAI FIRE Research Institute OF MEM Address before: 200032 No. two, 601 South Road, Shanghai, Zhongshan Patentee before: Shanghai Fire Research Institute of the Ministry of public security |