CN104922840A - Tri-waveband infrared flame detection device for fire monitor - Google Patents
Tri-waveband infrared flame detection device for fire monitor Download PDFInfo
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- CN104922840A CN104922840A CN201510306324.2A CN201510306324A CN104922840A CN 104922840 A CN104922840 A CN 104922840A CN 201510306324 A CN201510306324 A CN 201510306324A CN 104922840 A CN104922840 A CN 104922840A
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
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Abstract
The invention discloses a tri-waveband infrared flame detection device for a fire monitor and the fire monitor using the detection device. The tri-waveband infrared flame detection device comprises a detection device outer shell, a detection device inner shell arranged in the detection device outer shell and a detection device lead-out cable. A first infrared sensor, a second infrared sensor, a third infrared sensor and a signal conditioning circuit are packaged in the detection device inner shell, wherein the first infrared sensor, the second infrared sensor and the third infrared sensor have different wavebands. The infrared sensors with different wavebands are all connected with the signal conditioning circuit, and are arrayed in a triangle mode. One end of the detection device lead-out cable is connected with the conditioning circuit, and the other end of the detection device lead-out cable is externally connected with a monitor body central controller of the fire monitor. The tri-waveband infrared flame detection device for the fire monitor has the advantages of being long in detection distance, high in antijamming capability and high in reliability. The detection distance can reach 60 m. When the tri-waveband infrared flame detection device is applied to large space fire safety protection, the mounting number of detectors and fire monitors can be reduced, and the economic cost is saved.
Description
Technical field
The present invention relates to fire-fighting equipment technical field, particularly a kind of remote, contactless, multiband, can three wave band infra red flame sniffers of omnidirectional detection perceptual positioning fire monitor.
Background technology
The public place that megastore, conference hall, cinema, gymnasium etc. are crowded in recent years, the traffic places such as airport, railway station, bus station, harbour, the industrial site such as bulk storage plant, workshop emerges in multitude, and the area of these large space buildings is also expanding increasingly simultaneously.In the place of these large space buildings, often personnel are many, goods and materials are many, property is large, and fire risk is high.In GB GB50116-2013 " Code for design of automatic fire alarm systems " and GB GB50338-2003 " fixing fire monitor fire extinguishing system design specification ", clear stipulaties is large space in the interior space place highly more than 8m, large space should not adopt traditional temperature-sensitive, sense cigarette, gas detector and sprinkling extinguishing device, and the extinguishing device in large space should select the fire extinguishing system that this water yield of fire monitor is large.
The front end flame probe portion custom in the market with automatic coordinate detection function fire monitor adopts two-band infrared detector.Its localization part generally adopts Ultraviolet sensor, sensor Gap theory is utilized to carry out flame location, two-band infrared detector is that employing two infrared sensors detect flare up fire (centre wavelength is generally 4.2 μm) and interfering signal (centre wavelength is generally 3.8 μm), thus realizes the resolution to flare up fire and interfering signal.Dual-band flame detectors overcomes the interference of non-fire signal to a certain extent, improves sensitivity, but still there is following shortcoming:
(1) owing to there is CO in environment
2gas, it has very strong absorption to the resonance peak radiation signal that flame sends at 4.2 mu m wavebands, thus flare up fire energy is caused to fall sharply with the increase of propagation distance, when detection range is increased to a certain degree, the perception of detector possibility is less than flare up fire, therefore there is the short shortcoming of detection range, the detection range of general two-band infrared detector is at about 15m.
The formant radiation signal of (2) 4.2 μm is the main target signal to flame detecting, but due to the loss of signal energy caused when this signal is propagated in the environment, make the ratio detecting the detector energy of interfering signal and the detector signal energy of main target signal close to 1:1, even if make have flare up fire can not make correct judgement in environment, fire monitor is made to make misoperation.
(3) although dual-band flame detectors adopts two breath technology, overcome the interference of hyperthermia radiation source to detector to a certain extent, but it is still helpless (as lightning for the interference of some the special environment radiation, the interference that arc welding etc. are caused), the misoperation of fire monitor will be caused when running into these special interference, causing very large loss.
(4) due to the shortcoming that dual-band infrared detection range is near, install several flame detectors and multi-door fire monitor to carry out all standing in space at a large space requirement, it also can cause the problems such as financial cost is high.
Application number is that the Chinese patent " bi wave band infra red flame detector and detection method thereof " of CN200510046913.8 discloses a kind of detector.As shown in Figure 1,01 is protective lens to its structure, and 02 is little radome, and 03 is system works plate, and 04 is large radome, and 05 is shell.This detector comprehensively have employed flame and background two information sensing technology, two waveband optimisation technique and method for recognizing fire disaster, detection performance is better than the flame detector of other types, the drawback that its sensitivity and low rate of false alarm are difficult to take into account can be overcome preferably.But still there is following problem in this bi wave band infra red flame detector:
(1) to some special background radiation signal (as lightning, the interference that arc welding etc. are caused) or performance is helpless.
(2) detection range is short.
Therefore, this kind of fire detector is not suitable for being applied in large space fire detection long distance positioning fire monitor system.
Application number is that the Chinese patent " a kind of method of automatic fire extinguishing fire-fighting cannon and detection location " of CN201010243423.8 discloses a kind of fire monitor that fire position is also put out a fire of automatically determining when fire occurs.It comprises fire-alarm, fire locating sensor, fire monitor body, horizontal drive mechanism, pitch drive mechanism, control circuit board, range pipe, nozzle and shell.The detection localization method of this fire monitor is as shown in Figure 2: employing be thermopile sensor; utilize the heat radiation of fire locating sensor sensing; obtain the temperature distribution state of protection zone; and record level angle fire locating sensor residing for corresponding with data collection point and pitching rotational angle theta; and then learn the temperature field data of whole protection zone, judge fire position by performing an analysis to the temperature field data of whole protection zone.
There is following problem in above-mentioned automatic fire extinguishing fire-fighting cannon and detection localization method:
(1) horizontal tilt localization part adopts single thermopile sensor, and orientation distance is short, and generally, more than the distance of 6m, thermopile sensor is just inapplicable.
(2), when having very large artificial heat object in environment, when its surface temperature is greater than environment temperature, the misoperation of alignment sensor can be caused.
Therefore, need to design a kind of remote, contactless, multiband, can the flame detection device of omnidirectional detection perceptual positioning fire monitor.This flame detection device can be applied in large site surrounding, and lower, the economic cost performance of cost is high.
Summary of the invention
For above-mentioned the deficiencies in the prior art, the invention provides a kind of detection range far away, antijamming capability is strong, the fire monitor three wave band infra red flame sniffers that reliability is high.This fire monitor detection range of three wave band infra red flame sniffers can reach more than 60m, is applied in large space security against fire and takes precautions against, can reduce the installation quantity of detector and fire monitor, save financial cost.
For solving the technical problem existed in above-mentioned prior art, the concrete technical scheme of employing is:
A kind of fire monitor three wave band infra red flame sniffers comprise detection device casing, are arranged on the sniffer inner casing in detection device casing and sniffer extraction cable; The first infrared sensor of different-waveband, the second infrared sensor, the 3rd infrared sensor and signal conditioning circuit is packaged with in described sniffer inner casing, the infrared sensor of described three different-wavebands is all connected with signal conditioning circuit, and the infrared sensor of described three different-wavebands is triangularly arranged; Described sniffer is drawn cable one end and is connected with modulate circuit, the big gun body master controller of the external fire monitor of the other end.
Described detection device casing is positive five limit bodies.
Described sniffer inner casing is square.
Described sniffer by hanger erection on sniffer mounting base.
The centre wavelength of described first infrared sensor is 4.2 μm.
The centre wavelength of described second infrared sensor is 3.8 μm.
The centre wavelength of described 3rd infrared sensor is 5.2 μm.
Another object of the present invention is to provide a kind of based on three wave band infra red flame detection fire monitors, and it comprises three wave band infra red flame sniffers and fire monitor body, described three wave band infra red flame sniffers comprise positive five limit body detection device casings, are arranged on the square sniffer inner casing in detection device casing, and cable drawn by sniffer mounting base and sniffer, described fire monitor body comprises and horizontally rotates joint, first bend, second bend, horizontal location instrument, vertical rotary joint, big gun body master controller, perpendicular positioning instrument, telescope motor, gun muzzle, horizontally rotate joint by horizontal step motor, horizontally rotate the worm screw in joint, the worm gear horizontally rotating joint and the bearing horizontally rotating joint composition, horizontal step motor drives the whole articulation level that horizontally rotates to move, the worm screw horizontally rotating joint is connected on the axle of horizontal step motor, the worm screw horizontally rotating joint is connected with the first bend by steel ball, and the first bend is socketed in and horizontally rotates on joint, first bend is connected with the second bend, horizontal location instrument is arranged on the second bend by screw, vertical rotary joint is made up of the bearing in the worm screw in vertical step motor, vertical rotary joint, the worm gear in vertical rotary joint and vertical rotary joint, vertical step motor drives whole vertical rotary joint vertical motion, the worm screw in vertical rotary joint is connected on the axle of vertical step motor, and the worm screw in vertical rotary joint is connected with the second bend by steel ball, big gun body master controller is screwed on vertical rotary joint, and perpendicular positioning instrument and telescope motor are arranged on gun barrel one end by tight loop, and gun muzzle is positioned at the gun barrel other end.
Described horizontal location instrument is the horizontal location instrument of the cuboid shell with band slit.
Described perpendicular positioning instrument is the perpendicular positioning instrument of the cuboid shell with band slit.
By adopting such scheme, compared with prior art, its technique effect is in the present invention:
1, detection range is far away.The front end fire detecting arrangement of the fire monitor of two waveband flame detection device is adopted to adopt the infrared sensor of two different-wavebands to gather flare up fire, along with the increase of distance, the infrared signal intensity of two sensors there will be decay in various degree, when general distance is greater than 15m, detector perceives the radiation intensity of flare up fire and non-fire interfering signal than close to 1:1, thus can not detect fire signal.And adopt the front end fire detecting arrangement of three wave band flame detection device fire monitors to adopt the infrared sensor of three different-wavebands to gather flare up fire, the infrared signal intensity of three sensors also can decay along with the increase of detection range, but the radiation intensity mathematical relationship between three still exists, do not change, adopt mathematical correlation criterion theorem still can detect fire signal.
2, reliability is high.Adopt the front end fire detecting arrangement of the fire monitor of two waveband flame detection device only to gather fire signal and Human disturbance signal, therefore to common Human disturbance signal, there is good immunization.But but show helpless to background radiation interfering signal.The fire monitor of three wave band flame detection devices not only gathers fire signal and Human disturbance signal, also gathers background radiation interfering signal, all has very strong immunocompetence to Human disturbance signal and background radiation interfering signal.Simultaneously, horizontal location instrument and perpendicular positioning instrument also adopt three wave band infrared sensors as its Detection location parts, even if front end three wave band infrared flame detector is when perception fire, judge by accident, during to horizontal location, divide identical three wave band infrared sensors because horizontal location instrument also adopts with front-end detection part, first it can carry out secondary judgement to fire, if find not fire signal, by Signal transmissions to big gun body master controller, location can be terminated.If also judged by accident when horizontal location, during to perpendicular positioning, perpendicular positioning instrument also adopts and divides the identical three wave band infrared sensors with horizontal location instrument with front-end detection part, it can carry out third time judgement to fire, if find not fire signal, by Signal transmissions to big gun body master controller, location can be terminated, can not perform water spray process below, reliability is high.
3, cost-saving.Adopt in prior art the front end fire detecting arrangement of the fire monitor of two waveband flame detection device due to detection range short, effective monitoring area is caused to reduce, therefore may need in a large space that multiple detector is installed and just can make region all standing, adopt the front end sniffer of the fire monitor of three wave band flame detection devices, because detection range is far away, effective monitoring area can be made to increase, save the quantity of detector, secondly, localization part also adopts three band sensor, its orientation distance is far away, reduces the quantity of fire monitor.
4. antijamming capability is strong, and the shell of horizontal location instrument and perpendicular positioning instrument all adopts Gap theory, general about the 2mm of slit width, and three wave band infrared sensors are aligned effectively can avoid interference factor.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of traditional double band detector;
Fig. 2 is the schematic diagram that the scanning of comprehensive temperature field done by fire locating sensor;
Fig. 3 is Fire flow chart;
Fig. 4 is the left view of fire monitor body of the present invention;
Fig. 5 is the front view that the band local of fire monitor body of the present invention is looked;
Fig. 6 is the sectional drawing of A-A in Fig. 4;
Fig. 7 is the sectional drawing of D-D in Fig. 4;
Fig. 8 is the scheme of installation of a kind of fire monitor with three wave band infra red flame sniffers;
Fig. 9 is the sectional drawing of E-E in Fig. 8;
Figure 10 is the front view of B-B in Fig. 5;
Figure 11 is the sectional drawing of B-B in Fig. 5;
Figure 12 is the front view of C-C in Fig. 4;
Figure 13 is the sectional drawing of C-C in Fig. 4.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly understand, below in conjunction with instantiation, the present invention is described in more detail.Should be appreciated that, these describe just exemplary, and do not really want to limit the scope of the invention.In addition, in the following description, the description to known features and technology is eliminated, to avoid unnecessarily obscuring concept of the present invention.
As shown in Figure 8, one of the present invention is based on three wave band infra red flame detection fire monitor devices, form primarily of front end detection sensing device I and fire monitor body II, wherein detection sensing device in front end can hang the overhead in area to be monitored, also the mode tilting to install can be adopted to be arranged on wall side, concrete mounting means will depending on site specific, fire monitor body should be arranged in the monitoring range of front end sniffer, hanging can be adopted, wall hanging mode, concrete mounting means will depending on site specific.
The probe body of front end detection sensing device I of the present invention is a positive five limit body 1, and be arranged on pedestal 4 by suspension rod 2, detector is drawn cable 3 and is connected with the big gun body master controller 18 in fire monitor body II.In front end detection sensing device, the infrared sensor of three different-wavebands and signal conditioning circuit are encapsulated in a square 36, three sensor triangularity arrangements of front end detection sensing device, 36-1 is the sensor one of front end detection sensing device, 36-2 is the sensor two, 36-3 of front end detection sensing device is the sensor three that front end detects sensing device.Square 36 device is in positive five limit bodies 26.
As shown in Fig. 4 to Figure 13, fire monitor body II of the present invention comprises and horizontally rotates joint 34, first bend 5, second bend 12, horizontal location instrument 6, vertical rotary joint 35, big gun body master controller 7, perpendicular positioning instrument 9, telescope motor 10, gun muzzle 11, horizontally rotate joint 34 by horizontal step motor 22, worm screw 3, worm gear 4, bearing 24 forms, horizontal step motor 22 is arranged on and horizontally rotates on joint 34, worm screw 3 is connected on the axle of horizontal step motor 22, worm screw 3 is connected with the first bend 5 by steel ball 2, put both worm screw 3 engages with worm gear 4 in sub-turning set 18, worm screw 3 can rotate with turning set 18 is fixing, the worm gear 4 that worm screw 3 engages is fixed by screw 19 with pedestal flange 1, there is sealing ring 20 connection place of worm gear 4 and pedestal flange 1, first bend 5 is socketed in and horizontally rotates on joint 34, also be mutually socketed with the second bend 12.Horizontal location instrument 6 is arranged on the second bend 12 by screw 13, vertical rotary joint 35 is made up of vertical step motor 23, worm screw 8, worm gear 14, bearing 25, vertical step motor 23 is arranged on vertical rotary joint 35, worm screw 8 is connected on the axle of vertical step motor 23, worm screw 8 is connected with the second bend 12 by steel ball 16, and worm screw 8 engages with worm gear 14.Between turbine 14 and rotary sleeve 17, install ball 16 and sealing ring 15, rotary sleeve 17 is connected with bend pipe above.Big gun body master controller 7 is fixed on vertical rotary joint 35 by screw 21, and perpendicular positioning instrument 9 and telescope motor 10 are arranged on gun barrel 11 by tight loop.The scheme of installation of fire monitor body as shown in Figure 8, feed pipe 32 is fixed on pedestal 30 by support 33, flange 1 is by fastening to feed pipe 32 and fire monitor body, fire extinguisher enters by the hollow shaft horizontally rotating joint 34 worm gear 4 through magnetic valve 31, flange 1, entered the hollow shaft of the first bend 5, second bend 12, vertical rotary joint 35 worm gear 14, finally flowed out from gun barrel 11.When gun barrel 11 need horizontally rotate, horizontal step motor 22 action, drives whole fire monitor to rotate around worm gear 4 by worm screw 3, and then drives gun barrel 11 and horizontal location instrument 6 to rotate thereupon.When gun barrel 11 needs pitch rotation, pitching stepper motor 23 action, after pitch drive mechanism slows down, drives gun barrel 11 and perpendicular positioning instrument 9 to rotate by worm screw 8.As Figure 12, there is a slit 6-1 front end of horizontal location instrument 6.Shown in Figure 13, in horizontal location instrument, the infrared sensor of three different-wavebands and signal conditioning circuit are encapsulated in a cuboid 38, three sensors become vertically arrangement, 38-1 is the sensor one of horizontal location instrument, the sensor three of 38-2 to be the sensor two, 38-3 of horizontal location instrument be horizontal location instrument.As shown in Figure 10, there is a slit 9-1 front end of perpendicular positioning instrument 9.Shown in Figure 11, in perpendicular positioning instrument, the infrared sensor of three different-wavebands and signal conditioning circuit are encapsulated in a cuboid 37, three sensors become vertically arrangement, 37-1 is the sensor one of perpendicular positioning instrument, the sensor three of 37-2 to be the sensor two, 37-3 of perpendicular positioning instrument be perpendicular positioning instrument.
The device course of work that a kind of fire monitor of the present invention detects with three wave band infra red flames:
When front end detection sensing device I perceives fire generation, fire signal is drawn cable 3 by detector and passes to big gun body master controller 7, big gun body master controller 7 drive horizontal motor 22 and drive the horizontal location instrument 6 on bend 12 to make horizontal direction look for fiery action, after finding fire signal, by signal transmission to big gun body master controller 7, big gun body master controller 7 drives motor vertical 23 and drives the perpendicular positioning instrument 9 on flexible gun barrel 11 to do pitch orientation looks for fiery action, after finding fire signal, big gun body master controller 7 Controlling solenoid valve 31 carries out water spray action, complete fire extinguishing.
As shown in Figure 3: three infrared sensors gather the signal of different-waveband, to be sampled by single-chip microcomputer (single-chip microcomputer is positioned at big gun body master controller) and after carrying out A/D conversion, perform mathematical calculations, result after computing and the interior threshold value set of single-chip microcomputer compare, if operation result is greater than the threshold value of setting, then think and have fire to occur, if lower than threshold value, think and do not have fire signal to occur.The determination of threshold value is value gained after being averaged according to site environment test of many times result.
Should be understood that, above-mentioned detailed description of the invention of the present invention only for exemplary illustration or explain principle of the present invention, and is not construed as limiting the invention.Therefore, any amendment made when not departing from thought of the present invention and scope, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.In addition, claims of the present invention be intended to contain fall into claims scope and border or this scope and border equivalents in whole change and amendment.
Claims (10)
1. fire monitor three wave band infra red flame sniffers, is characterized in that: it comprises detection device casing, are arranged on the sniffer inner casing in detection device casing and sniffer extraction cable; The first infrared sensor of different-waveband, the second infrared sensor, the 3rd infrared sensor and signal conditioning circuit is packaged with in described sniffer inner casing, the infrared sensor of described three different-wavebands is all electrically connected with signal conditioning circuit, and the infrared sensor of described three different-wavebands is triangularly arranged; Described sniffer is drawn cable one end and is connected with modulate circuit, the big gun body master controller of the external fire monitor of the other end.
2. a kind of fire monitor according to claim 1 three wave band infra red flame sniffers, is characterized in that: described detection device casing is positive five limit bodies.
3. a kind of fire monitor according to claim 1 three wave band infra red flame sniffers, is characterized in that: described sniffer inner casing is square.
4. a kind of fire monitor according to claim 1 three wave band infra red flame sniffers, is characterized in that: described sniffer by hanger erection on sniffer mounting base.
5. a kind of fire monitor according to claim 1 three wave band infra red flame sniffers, is characterized in that: the centre wavelength of described first infrared sensor is 4.2 μm.
6. a kind of fire monitor according to claim 1 three wave band infra red flame sniffers, is characterized in that: the centre wavelength of described second infrared sensor is 3.8 μm.
7. a kind of fire monitor according to claim 1 three wave band infra red flame sniffers, is characterized in that: the centre wavelength of described 3rd infrared sensor is 5.2 μm.
8., based on three wave band infra red flame detection fire monitors, it is characterized in that: it comprises three wave band infra red flame sniffers and fire monitor body, described three wave band infra red flame sniffers comprise positive five limit body detection device casings, are arranged on the square sniffer inner casing in detection device casing, and cable drawn by sniffer mounting base and sniffer, described fire monitor body comprises and horizontally rotates joint, first bend, second bend, horizontal location instrument, vertical rotary joint, big gun body master controller, perpendicular positioning instrument, telescope motor, gun muzzle, horizontally rotate joint by horizontal step motor, horizontally rotate the worm screw in joint, the worm gear horizontally rotating joint and the bearing horizontally rotating joint composition, horizontal step motor drives the whole articulation level that horizontally rotates to move, the worm screw horizontally rotating joint is connected on the axle of horizontal step motor, the worm screw horizontally rotating joint is connected with the first bend by steel ball, and the first bend is socketed in and horizontally rotates on joint, first bend is connected with the second bend, horizontal location instrument is arranged on the second bend by screw, vertical rotary joint is made up of the bearing in the worm screw in vertical step motor, vertical rotary joint, the worm gear in vertical rotary joint and vertical rotary joint, vertical step motor drives whole vertical rotary joint vertical motion, the worm screw in vertical rotary joint is connected on the axle of vertical step motor, and the worm screw in vertical rotary joint is connected with the second bend by steel ball, big gun body master controller is screwed on vertical rotary joint, and perpendicular positioning instrument and telescope motor are arranged on gun barrel one end by tight loop, and gun muzzle is positioned at the gun barrel other end.
9. a kind of based on three wave band infra red flame detection fire monitors according to claim 8, it is characterized in that: described horizontal location instrument is the horizontal location instrument of the cuboid shell with band slit.
10. a kind of based on three wave band infra red flame detection fire monitors according to claim 8, it is characterized in that: described perpendicular positioning instrument is the perpendicular positioning instrument of the cuboid shell with band slit.
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| CN201510306324.2A CN104922840A (en) | 2015-06-05 | 2015-06-05 | Tri-waveband infrared flame detection device for fire monitor |
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| CN201510306324.2A CN104922840A (en) | 2015-06-05 | 2015-06-05 | Tri-waveband infrared flame detection device for fire monitor |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105354974A (en) * | 2015-11-30 | 2016-02-24 | 无锡拓能自动化科技有限公司 | Flame detection method based on three-wavelength infrared flame detector |
| CN105513261A (en) * | 2015-11-30 | 2016-04-20 | 无锡拓能自动化科技有限公司 | Three-wavelength infrared flame detector |
| CN106707039A (en) * | 2017-02-28 | 2017-05-24 | 王永福 | Spark detector with lightning immunity |
| CN106908152A (en) * | 2017-04-26 | 2017-06-30 | 福建天广消防有限公司 | Integral type infra red flame detection device |
| CN108010254A (en) * | 2017-11-28 | 2018-05-08 | 无锡职业技术学院 | One kind is based on four wave band infrared flame detectors and its flame identification algorithm |
| CN108297437A (en) * | 2018-02-05 | 2018-07-20 | 广东水利电力职业技术学院（广东省水利电力技工学校） | A kind of control system of 3D printer |
| CN111806631A (en) * | 2020-05-18 | 2020-10-23 | 镇江艾克应急技术有限公司 | Miniaturized multifunctional emergency rescue ship with long-range water cannon |
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| CN102426753A (en) * | 2011-11-21 | 2012-04-25 | 上海大学 | Infrared multiparameter fire and gas detector |
| CN202490357U (en) * | 2012-03-31 | 2012-10-17 | 郑州净瓶高科有限公司 | Automatic jet flow fire extinguishing device by tracking positioning |
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| RU2128536C1 (en) * | 1997-01-22 | 1999-04-10 | Горбань Юрий Иванович | Robotized extinguishing installation |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105354974A (en) * | 2015-11-30 | 2016-02-24 | 无锡拓能自动化科技有限公司 | Flame detection method based on three-wavelength infrared flame detector |
| CN105513261A (en) * | 2015-11-30 | 2016-04-20 | 无锡拓能自动化科技有限公司 | Three-wavelength infrared flame detector |
| CN106707039A (en) * | 2017-02-28 | 2017-05-24 | 王永福 | Spark detector with lightning immunity |
| CN106908152A (en) * | 2017-04-26 | 2017-06-30 | 福建天广消防有限公司 | Integral type infra red flame detection device |
| CN108010254A (en) * | 2017-11-28 | 2018-05-08 | 无锡职业技术学院 | One kind is based on four wave band infrared flame detectors and its flame identification algorithm |
| CN108297437A (en) * | 2018-02-05 | 2018-07-20 | 广东水利电力职业技术学院（广东省水利电力技工学校） | A kind of control system of 3D printer |
| CN111806631A (en) * | 2020-05-18 | 2020-10-23 | 镇江艾克应急技术有限公司 | Miniaturized multifunctional emergency rescue ship with long-range water cannon |
| CN111806631B (en) * | 2020-05-18 | 2022-08-16 | 镇江艾克应急技术有限公司 | Miniaturized multifunctional emergency rescue ship with long-range water cannon |
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Application publication date: 20150923 |