CN104587629A - Movable automatic fire extinguishing robot and fire extinguishing method thereof - Google Patents
Movable automatic fire extinguishing robot and fire extinguishing method thereof Download PDFInfo
- Publication number
- CN104587629A CN104587629A CN201510024869.4A CN201510024869A CN104587629A CN 104587629 A CN104587629 A CN 104587629A CN 201510024869 A CN201510024869 A CN 201510024869A CN 104587629 A CN104587629 A CN 104587629A
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- fire
- motor
- microprocessor
- revolver
- extinguishing
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
Abstract
The invention provides a movable automatic fire extinguishing robot. The movable automatic fire extinguishing robot is characterized in that a vertical rod is fixed on a supporting platform, and a pressure clamp for pressing a fire extinguisher handle is arranged at the top end of the vertical rod; a traction rope with tail end fixed with the safety pin and the limiting pin of a fire extinguisher is wound on the output shaft of a fire extinguisher control motor; a turntable motor for driving a turntable to rotate is arranged on the supporting platform, and an infrared temperature sensor is fixed on the turntable. The fire extinguishing method of the movable automatic fire extinguishing robot comprises the following steps: (a) detecting the ambient temperature; (b). judging the fire danger; (c). obtaining the fire direction; (d). calculating the rotation angle of a left wheel motor; (e) rotating to the fire direction; and (f). extinguishing the fire. The automatic fire extinguishing robot and the fire extinguishing method thereof have the functions of automatically detecting the specific fire direction, automatically moving to the fire site and automatically extinguishing the fire, the structure is simple and reasonable, the preparation cost is low, the beneficial effects are remarkable and the automatic fire extinguishing robot and the fire extinguishing method thereof are easy to popularize and apply.
Description
Technical field
The present invention relates to a kind of portable self-extinguishing machine people and extinguishing method thereof, in particular, particularly relate to a kind of identifiable design whether have fire occur, occur orientation and move to burning things which may cause a fire disaster place fire extinguishing portable self-extinguishing machine people and extinguishing method.
Background technology
As the saying goes that floods and fires have no mercy, fire can cause huge Loss of Life and property, when fire occurs, if can put out burning things which may cause a fire disaster in time, can effectively contain spreading of the intensity of a fire, and effectively reduce the loss.But during fire generation, especially for the fire in building, whole scene of fire is in smoky state, anoxic, high temperature cause normal person to enter, even if carry oxygen cylinder, wear the fireman of fireproof clothes and emit life danger to enter.When intensity of a fire ferociousness, the root not easily person of sending someone enters scene of fire and carries out extinguishing operation.
The now existing robot that can put out a fire, its process of putting out a fire is that under the control manipulating personnel in the distance, enter scene of fire and put out a fire, this just requires that robot has stronger fire prevention, resistance to elevated temperatures, makes the cost of firefighting robot higher.But if a kind of robot can be had, just can find dangerous situation when fire just occurs, and move to scene of fire and put out a fire, fire extinguishing difficulty will be reduced, fire is strangled among rudiment, effectively will certainly reduce the life and property loss of people.
Summary of the invention
The present invention, in order to overcome the shortcoming of above-mentioned technical problem, provides a kind of portable self-extinguishing machine people.
Portable self-extinguishing machine people of the present invention, comprise brace table, circuit part and be arranged at revolver below brace table, rightly take turns and trailing wheel, described revolver, right wheel drive respectively by revolver motor and right turbin generator, and the central authorities of brace table offer the holddown groove depositing fire extinguisher; It is characterized in that: the brace table of described holddown groove both sides is fixed with vertical rod, the top of vertical rod is provided with the pressure clamp be made up of upper plier handle and lower plier handle, be provided with the spacer pin forcing it to be in open configuration between upper plier handle and lower plier handle, upper plier handle, lower plier handle lay respectively at the both sides of fire-extinguisher handle; The both sides of brace table upper surface are respectively arranged with rolling disc and fire extinguisher controls motor, the output shaft of fire extinguisher control motor are wound with safety plug and the spacer pin homogeneous phase fixed tractive of end and fire extinguisher; Brace table is provided with the rotary tray motor ordering about turn disc, rolling disc is fixed with infrared temperature sensor, the below of rolling disc is provided with the angular transducer for measuring its rotational angle; Brace table is fixed with the nozzle holder that the jet blower of fire extinguisher is supported.
Portable self-extinguishing machine people of the present invention, described circuit part comprises microprocessor, clock circuit, power module, and clock circuit provides pulse signal to microprocessor, and power module provides electric energy to microprocessor and each motor; Infrared temperature sensor and angular transducer are all connected with the input of microprocessor, and the output of microprocessor all controls motor with revolver motor, right turbin generator, fire extinguisher and is connected with the control end of rotary tray motor.
Portable self-extinguishing machine people of the present invention, described revolver and right take turns to take turns by the first half take turns composition with the second half, the first half are taken turns to take turns with the second half and are fixed as one by connecting rod, and connecting rod is fixed on the end of supporting leg by two cylinder roller bearings being arranged at its periphery; The first half take turns the cavity offered for holding revolver motor or right turbin generator, and output shaft and the connecting rod of revolver motor or right turbin generator fix; Be provided with in cavity and ball bearing that is spacing and that support is carried out to revolver motor or right turbin generator.
Portable self-extinguishing machine people of the present invention, the below of described brace table is provided with two illuminating lamps, and power module is powered to illuminating lamp through relay, and microprocessor is by the opening and closing of Control illuminating lamp.
The extinguishing method of portable self-extinguishing machine people of the present invention, a). surrounding environment temperature detection, Microprocessor S3C44B0X rotary tray motor rotates with certain speed all the time, to drive turn disc, and is gathered the temperature information of surrounding by the infrared temperature sensor on rolling disc; B). fire dangerous situation judges, the ambient temperature information that microprocessor gathers according to infrared temperature sensor sensor, judges whether the temperature value on current direction reaches in the temperature range of fire appearance; As in temperature in the scope that fire occurs, perform step c); If temperature in the scope that fire occurs, does not then continue monitoring, perform step a); C). obtain the orientation that fire occurs, microprocessor obtains the rotational angle of current infrared temperature sensor by angular transducer, calculates fire and the angle of position relative to the direction of motion of firefighting robot occurs
; D). calculate revolver motor rotational angle, microprocessor is according to step c) the middle angle obtained
, calculate that revolver motor rotates forward, right turbin generator is when turning, revolver motor needs to rotate much angles just can make the direction of motion of firefighting robot towards fire, designs the rotational angle calculated to be
; E). turn to fire direction, microprocessor orders about revolver motor and rotates
angle, makes its direction of motion towards fire, then order about revolver motor simultaneously, right turbin generator make its move to fire occur position; F). implement fire extinguishing, when after fire robot motion to fire scene, now the jet blower of fire extinguisher is towards burning things which may cause a fire disaster, microprocessor controls electric machine rotation by ordering about fire extinguisher, pull rope is utilized to be extracted by the spacer pin on the safety plug of fire extinguisher and pressure clamp successively, the handle of fire extinguisher compresses by the upper plier handle of pressure clamp and lower plier handle, and extinguishing material sprays from jet blower puts out a fire.
The invention has the beneficial effects as follows: self-extinguishing machine people of the present invention and extinguishing method thereof, by arranging revolver in the below of brace table, rightly to take turns, trailing wheel and revolver motor and right turbin generator, achieve automatic walking and the turning function of firefighting robot, make it be moveable to fire and occur on-the-spot; By arranging the rolling disc driven by rotary tray motor on brace table, and infrared temperature sensor and angular transducer being set on rolling disc, not only achieving the detection to distant place fire, and accurately can also judge the orientation that fire occurs; By arranging injection support on brace table, the nozzle of fire extinguisher can be made all the time towards dead ahead.By arranging the pressure clamp being positioned at fire-extinguisher handle both sides above brace table, and control motor by the fire extinguisher that pull rope and the safety plug on fire extinguisher are connected with the spacer pin on pressure clamp, achieve automatically opening and carrying out the effect of putting out a fire of fire extinguisher.
Self-extinguishing machine people of the present invention and extinguishing method thereof, have concrete orientation that automatic detection of fires occurs, automatically move to fire origination point and carry out the function of self-extinguishing, simple and reasonable, cost of manufacture is low, and beneficial effect is remarkable, is convenient to application.
Accompanying drawing explanation
Fig. 1 is the structural representation of portable self-extinguishing machine people of the present invention;
Fig. 2 rightly in the present invention takes turns the structural representation matched with right turbin generator;
Fig. 3 is the schematic diagram of circuit part in the present invention.
In figure: 1 brace table, 2 supporting legs, 3 revolvers, 4 rightly take turns, 5 revolver motors, 6 right turbin generators, 7 holddown grooves, 8 fire extinguishers, 9 safety plugs, 10 handles, 11 jet blowers, 12 spray support, 13 vertical rods, 14 pressure clamps, 15 tension springs, 16 spacer pins, 17 upper plier handles, 18 lower plier handles, 19 fire extinguishers control motor, 20 pull ropes, 21 rotating shafts, 22 rolling discs, 23 rotary tray motors, 24 infrared temperature sensors, 25 illuminating lamps, 26 motor fixing frames, 27 the first half take turns, 28 the second half take turns, 29 ball bearings, 30 cylinder roller bearings, 31 connecting rods, 32 cavitys, 33 microprocessors, 34 angular transducers, 35 clock circuits, 36 relays, 37 power modules, 38 trailing wheels.
Detailed description of the invention
Below in conjunction with accompanying drawing and embodiment, the invention will be further described.
As shown in Figure 1, give the structural representation of portable self-extinguishing machine people of the present invention, it comprises brace table 1, supporting leg 2, revolver 3, rightly takes turns 4, revolver motor 5, right turbin generator 6, holddown groove 7, nozzle holder 12, vertical rod 13, pressure clamp 14, fire extinguisher control motor 19, pull rope 20, rolling disc 22, rotary tray motor 23, infrared temperature sensor 24, illuminating lamp 25, motor fixing frame 26, trailing wheel 38 and circuit part; Fixing and the supporting role of shown brace table 1, revolver 3 and rightly take turns 4 and be fixed on both sides below brace table 1 by supporting leg 2, trailing wheel 38 is positioned at the rear of brace table 1, and it adopts universal wheel, to ensure the stationarity of whole robot motion.Revolver motor 5 and right turbin generator 6 are respectively to revolver 3 with rightly take turns 4 and drive, to realize walking and the turning function of firefighting robot.Revolver motor 5 is fixedly connected with brace table 1 by motor fixing frame 26 with right turbin generator 6.
Holddown groove 7 is opened in the central position of brace table 1, for placing fire extinguisher 8; The brace table 1 of fire extinguisher 8 both sides is all fixed with vertical rod 13, and pressure clamp 14 is arranged at the top of two vertical rods 13.Pressure clamp 14 is made up of upper plier handle 17 and lower plier handle 18, upper plier handle 17 is connected by tension spring 15 with lower plier handle 18, and be provided with spacer pin 16 between upper plier handle 17 and lower plier handle 18, due to the supporting role of spacer pin 16, the pulling force effect overcoming tension spring 15 makes opened with certain angle between upper plier handle 17 and lower plier handle 18.Upper plier handle 17 and the lower plier handle 18 of opening angle lay respectively at the both sides of handle 10, and after spacer pin 16 is removed, under the effect of tension spring 15, upper plier handle 17 and lower plier handle 18 can pressing handles 10 but fire extinguisher 8 is in open mode.
Shown rolling disc 22 and fire extinguisher control the both sides that motor 19 is arranged at brace table 1 upper surface respectively, the one ends wound of pull rope 20 is fixed on fire extinguisher and controls on the output shaft of motor 19, after the other end walks around the rotating shaft 21 of being fixed in vertical rod 13, be divided into two stocks not and safety plug 9 and spacer pin 16 fix.Control at fire extinguisher, in the process of motor 19 rotation, by the winding effect to pull rope 20, first the safety plug 9 of fire extinguisher 8 to be extracted, then spacer pin 16 is extracted, handle 10 is depressed by pressure clamp 14, make fire extinguisher to spray extinguishing material.
Shown rolling disc 22 is driven by the rotary tray motor 23 be arranged on brace table 1, and rolling disc 22 can be rotated according to certain speed.Rolling disc 22 is fixed with infrared temperature sensor 24, by the rotation of rolling disc 22, can in real time to the detection of object temperature in surrounding environment, to reach the object whether detection has fire to occur.The below of rolling disc 22 is also provided with angular transducer 34, to demarcate the angle that rolling disc 22 rotates relative to fixed-direction.Shown injection support 12 is fixed on brace table 1, and the jet blower 11 of fire extinguisher is fixed on the top of spraying support 12, with the object that the nozzle realizing fire extinguisher is fixing all the time, is conducive to extinguishing operation forward.The below of shown brace table 1 is also provided with two illuminating lamps 25, to realize illuminating effect.
As shown in Figure 2, give and rightly in the present invention take turns the structural representation matched with right turbin generator, revolver 3 and rightly take turns 4 and take turns 27 and the second half by the first half and take turns 28 compositions, the first half take turns 27 and the second half is taken turns 28 and is connected to one by connecting rod 31, and connecting rod 31 is arranged at the end of supporting leg 2 by two cylinder roller bearings be set up in parallel 30.The first half take turns on 27 and offer cavity 32, and revolver motor 5 or right turbin generator 6 are arranged in cavity 32, are provided with the ball bearing 29 supported right turbin generator 6 in cavity 32.Shown right turbin generator 6 is fixed by motor fixing frame 26 and brace table 1, like this, under the driving effect of right turbin generator 6, can order about and rightly take turns 4 and rotate.
As shown in Figure 3, give the schematic diagram of circuit part in the present invention, it comprises microprocessor 33, clock circuit 35, relay 36, power module 37, and microprocessor 33 has the effect that signals collecting, data operation and control export.The input of infrared temperature sensor 24 and the even microprocessor 33 of angular transducer 34 is connected, to carry out the detection of ambient temperature and dial rotation angle, with the orientation determining whether that fire occurs and fire occurs.Clock circuit 35 provides pulse signal for giving the work of microprocessor 33, and power module 37 provides electric energy to the work of microprocessor 33 and each motor.Power module 37 provides electric energy to illuminating lamp 25 by relay 36, and microprocessor 33 is controlled by the power on/off state of relay 36 pairs of illuminating lamps 25.The output of microprocessor 33 controls motor 19 with revolver motor 5, right turbin generator 6, fire extinguisher and is connected with the control end of rotary tray motor 23, to control the running status of each motor.
The extinguishing method of portable self-extinguishing machine people of the present invention, is realized by following steps:
A). surrounding environment temperature detection, Microprocessor S3C44B0X rotary tray motor rotates with certain speed all the time, to drive turn disc, and is gathered the temperature information of surrounding by the infrared temperature sensor on rolling disc;
B). fire dangerous situation judges, the ambient temperature information that microprocessor gathers according to infrared temperature sensor sensor, judges whether the temperature value on current direction reaches in the temperature range of fire appearance; As in temperature in the scope that fire occurs, perform step c); If temperature in the scope that fire occurs, does not then continue monitoring, perform step a);
C). obtain the orientation that fire occurs, microprocessor obtains the rotational angle of current infrared temperature sensor by angular transducer, calculates fire and the angle of position relative to the direction of motion of firefighting robot occurs
;
D). calculate revolver motor rotational angle, microprocessor is according to step c) the middle angle obtained
, calculate that revolver motor rotates forward, right turbin generator is when turning, revolver motor needs to rotate much angles just can make the direction of motion of firefighting robot towards fire, designs the rotational angle calculated to be
;
E). turn to fire direction, microprocessor orders about revolver motor and rotates
angle, makes its direction of motion towards fire, then order about revolver motor simultaneously, right turbin generator make its move to fire occur position;
F). implement fire extinguishing, when after fire robot motion to fire scene, now the jet blower of fire extinguisher is towards burning things which may cause a fire disaster, microprocessor controls electric machine rotation by ordering about fire extinguisher, pull rope is utilized to be extracted by the spacer pin on the safety plug of fire extinguisher and pressure clamp successively, the handle of fire extinguisher compresses by the upper plier handle of pressure clamp and lower plier handle, and extinguishing material sprays from jet blower puts out a fire.
Claims (5)
1. a portable self-extinguishing machine people, comprise brace table (1), circuit part and be arranged at revolver (3) below brace table, rightly take turns (4) and trailing wheel (38), described revolver, right wheel drive respectively by revolver motor (5) and right turbin generator (6), and the central authorities of brace table offer the holddown groove (7) depositing fire extinguisher (8); It is characterized in that: the brace table of described holddown groove both sides is fixed with vertical rod (13), the top of vertical rod is provided with the pressure clamp (14) be made up of upper plier handle (17) and lower plier handle (18), be provided with the spacer pin (16) forcing it to be in open configuration between upper plier handle and lower plier handle, upper plier handle, lower plier handle lay respectively at the both sides of fire-extinguisher handle (10); The both sides of brace table upper surface are respectively arranged with rolling disc (22) and fire extinguisher controls motor (19), the output shaft of fire extinguisher control motor are wound with safety plug (9) and the spacer pin homogeneous phase fixed tractive (20) of end and fire extinguisher; Brace table is provided with the rotary tray motor (23) ordering about turn disc, rolling disc is fixed with infrared temperature sensor (24), the below of rolling disc is provided with the angular transducer (34) for measuring its rotational angle; Brace table is fixed with the nozzle holder (12) that the jet blower (11) to fire extinguisher supports.
2. portable self-extinguishing machine people according to claim 1, it is characterized in that: described circuit part comprises microprocessor (33), clock circuit (35), power module (37), clock circuit provides pulse signal to microprocessor, and power module provides electric energy to microprocessor and each motor; Infrared temperature sensor (24) is all connected with the input of microprocessor with angular transducer (34), and the output of microprocessor all controls motor (19) with revolver motor (5), right turbin generator (6), fire extinguisher and is connected with the control end of rotary tray motor (23).
3. portable self-extinguishing machine people according to claim 1 and 2, it is characterized in that: described revolver (3) and right take turns (4) are taken turns (27) and the second half by the first half and taken turns (28) composition, the first half are taken turns to take turns with the second half and are fixed as one by connecting rod (31), and connecting rod is fixed on the end of supporting leg (2) by two cylinder roller bearings being arranged at its periphery; The first half take turns the cavity (32) (27) offered for holding revolver motor (5) or right turbin generator (6), and the output shaft of revolver motor or right turbin generator and connecting rod (31) fix; Be provided with in cavity (32) and ball bearing (29) that is spacing and that support is carried out to revolver motor or right turbin generator.
4. portable self-extinguishing machine people according to claim 2, it is characterized in that: the below of described brace table (1) is provided with two illuminating lamps (25), power module (37) is powered to illuminating lamp through relay (36), and microprocessor is by the opening and closing of Control illuminating lamp.
5., based on a portable self-extinguishing machine people's according to claim 1 extinguishing method, it is characterized in that, realized by following steps:
A). surrounding environment temperature detection, Microprocessor S3C44B0X rotary tray motor rotates with certain speed all the time, to drive turn disc, and is gathered the temperature information of surrounding by the infrared temperature sensor on rolling disc;
B). fire dangerous situation judges, the ambient temperature information that microprocessor gathers according to infrared temperature sensor sensor, judges whether the temperature value on current direction reaches in the temperature range of fire appearance; As in temperature in the scope that fire occurs, perform step c); If temperature in the scope that fire occurs, does not then continue monitoring, perform step a);
C). obtain the orientation that fire occurs, microprocessor obtains the rotational angle of current infrared temperature sensor by angular transducer, calculates fire and the angle of position relative to the direction of motion of firefighting robot occurs
;
D). calculate revolver motor rotational angle, microprocessor is according to step c) the middle angle obtained
, calculate that revolver motor rotates forward, right turbin generator is when turning, revolver motor needs to rotate much angles just can make the direction of motion of firefighting robot towards fire, designs the rotational angle calculated to be
;
E). turn to fire direction, microprocessor orders about revolver motor and rotates
angle, makes its direction of motion towards fire, then order about revolver motor simultaneously, right turbin generator make its move to fire occur position;
F). implement fire extinguishing, when after fire robot motion to fire scene, now the jet blower of fire extinguisher is towards burning things which may cause a fire disaster, microprocessor controls electric machine rotation by ordering about fire extinguisher, pull rope is utilized to be extracted by the spacer pin on the safety plug of fire extinguisher and pressure clamp successively, the handle of fire extinguisher compresses by the upper plier handle of pressure clamp and lower plier handle, and extinguishing material sprays from jet blower puts out a fire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510024869.4A CN104587629B (en) | 2015-01-19 | 2015-01-19 | Portable self-extinguishing machine people and its extinguishing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510024869.4A CN104587629B (en) | 2015-01-19 | 2015-01-19 | Portable self-extinguishing machine people and its extinguishing method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104587629A true CN104587629A (en) | 2015-05-06 |
| CN104587629B CN104587629B (en) | 2017-06-06 |
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|---|---|---|---|
| CN201510024869.4A Expired - Fee Related CN104587629B (en) | 2015-01-19 | 2015-01-19 | Portable self-extinguishing machine people and its extinguishing method |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105096507A (en) * | 2015-07-13 | 2015-11-25 | 李占平 | Video-sensing patrol alarm device and patrol alarm method for fire-fighting robot |
| CN105727479A (en) * | 2016-04-18 | 2016-07-06 | 河北大白机器人科技有限公司 | Self-patrolling detectable electric starting type automatic fire extinguishing robot |
| CN106178369A (en) * | 2016-06-28 | 2016-12-07 | 安徽扫宝智能科技有限公司 | A kind of multifunctional fire-fighting intelligence equipment multi-joint manipulator |
| CN106178360A (en) * | 2016-06-28 | 2016-12-07 | 安徽扫宝智能科技有限公司 | A kind of power supply station fire operation specialized robot four-degree-of-freedom mechanical hand |
| CN106178326A (en) * | 2016-06-28 | 2016-12-07 | 安徽扫宝智能科技有限公司 | A kind of electric power transmission line fire-fighting unmanned plane |
| CN106512261A (en) * | 2016-12-26 | 2017-03-22 | 无锡中鼎物流设备有限公司 | Automatic opening mechanism for fire extinguisher |
| CN109045524A (en) * | 2018-10-16 | 2018-12-21 | 深圳市前越机器人自动化有限公司 | A kind of Intelligent fire-fighting robot and intelligent fire extinguishing system |
| CN109316699A (en) * | 2018-10-09 | 2019-02-12 | 吉林工程技术师范学院 | It is a kind of can automatic identification fire automatic fire extinguisher |
| CN109876345A (en) * | 2019-03-05 | 2019-06-14 | 华北科技学院 | A kind of intelligent fire fighting method and firefighting robot |
| CN110812745A (en) * | 2019-11-18 | 2020-02-21 | 燕山大学 | Mobile intelligent fire-fighting robot and fire-fighting control method |
| CN112546520A (en) * | 2020-12-24 | 2021-03-26 | 大连理工江苏研究院有限公司 | Fire extinguishing device for intelligent fire-fighting robot |
| CN112933483A (en) * | 2021-03-31 | 2021-06-11 | 长安大学 | Crawler-type fire extinguishing device for carrying fire extinguisher |
| CN113648570A (en) * | 2021-07-07 | 2021-11-16 | 广州理工学院 | Fire-fighting robot based on convolution visual identification |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105096507A (en) * | 2015-07-13 | 2015-11-25 | 李占平 | Video-sensing patrol alarm device and patrol alarm method for fire-fighting robot |
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| CN106178369B (en) * | 2016-06-28 | 2018-12-21 | 定远县众创科技服务有限公司 | A kind of intelligent equip of multifunctional fire-fighting uses multi-joint manipulator |
| CN106178360B (en) * | 2016-06-28 | 2019-04-16 | 新昌县坞捷农业科技有限公司 | A kind of power supply station's fire operation specialized robot four-degree-of-freedom manipulator |
| CN106512261A (en) * | 2016-12-26 | 2017-03-22 | 无锡中鼎物流设备有限公司 | Automatic opening mechanism for fire extinguisher |
| CN109316699B (en) * | 2018-10-09 | 2020-11-03 | 吉林工程技术师范学院 | Automatic fire extinguisher capable of automatically identifying fire |
| CN109316699A (en) * | 2018-10-09 | 2019-02-12 | 吉林工程技术师范学院 | It is a kind of can automatic identification fire automatic fire extinguisher |
| CN109045524A (en) * | 2018-10-16 | 2018-12-21 | 深圳市前越机器人自动化有限公司 | A kind of Intelligent fire-fighting robot and intelligent fire extinguishing system |
| CN109876345A (en) * | 2019-03-05 | 2019-06-14 | 华北科技学院 | A kind of intelligent fire fighting method and firefighting robot |
| CN110812745A (en) * | 2019-11-18 | 2020-02-21 | 燕山大学 | Mobile intelligent fire-fighting robot and fire-fighting control method |
| CN112546520A (en) * | 2020-12-24 | 2021-03-26 | 大连理工江苏研究院有限公司 | Fire extinguishing device for intelligent fire-fighting robot |
| CN112933483A (en) * | 2021-03-31 | 2021-06-11 | 长安大学 | Crawler-type fire extinguishing device for carrying fire extinguisher |
| CN113648570A (en) * | 2021-07-07 | 2021-11-16 | 广州理工学院 | Fire-fighting robot based on convolution visual identification |
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| CN104587629B (en) | 2017-06-06 |
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