CN106512270A - Crawler type multipurpose fire-fighting robot - Google Patents
Crawler type multipurpose fire-fighting robot Download PDFInfo
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- CN106512270A CN106512270A CN201611251230.0A CN201611251230A CN106512270A CN 106512270 A CN106512270 A CN 106512270A CN 201611251230 A CN201611251230 A CN 201611251230A CN 106512270 A CN106512270 A CN 106512270A
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- fire
- robot
- fighting
- crawler type
- module
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Classifications
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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
- A62C31/00—Delivery of fire-extinguishing material
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
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- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Manipulator (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The invention relates to a crawler type multipurpose fire-fighting robot. The crawler type multipurpose fire-fighting robot comprises a robot shell and a robot main body arranged in the robot shell. The robot main body is of a crawler type fire fighting truck structure. The crawler type multipurpose fire-fighting robot is characterized in that the robot main body comprises a chassis, a walking driving mechanism, a remote-control fire-fighting water bag, an exhaust fan, a control circuit main unit and a power supply; the remote-control fire-fighting water bag, the exhaust fan, the circuit control main unit and the power supply are all arranged on the chassis, and the chassis is arranged on the walking driving mechanism; and the power supply is used for supplying power to the fire-fighting robot. The fire-fighting robot can replace fire fighters to enter a dangerous disaster accident field for data acquisition, processing and feedback, and the problems of insufficient personnel safety protection of the fire fighters and insufficient data information acquisition on the dangerous disaster accident field are effectively solved.
Description
Technical field
The present invention relates to a kind of fire-fighting facility, and in particular to a kind of multiplex fire-fighting robot of crawler type.
Background technology
With the particularity of the fast development of social economy, building and enterprise's production, cause hazardous chemical and radioactivity
Content leaks and burning, the accident exploded, cave in frequently increase.Once generation disaster accident, fireman is in the face of high temperature, black
During the hazardous environments such as secretly, poisonous and dense smoke, if no corresponding equipment rushes in scene rashly, task can not be not only completed, can also
Increase casualties on foot.
This respect, public security fire-fighting army is after many lessons written in blood.In the face of such large scale disasters, it is a can be in the past
Enter, retreat, reversing end for end, climbing, obstacle detouring, ejecting extinguishing, smoke evacuation and scene scout remote control firefighting fire extinguishing robot take advantage of a situation and
It is raw.
In recent years, fire incident takes place frequently, and fire fighter's injures and deaths message is continuous.Show according to ASSOCIATE STATISTICS, 2007 to 2015
Year, there is 2,110,000 fire incidents, 776 people of a line injures and deaths fireman altogether in the whole nation.It is continuous in automatic control technology and intellectual technology
Ripe to replace fireman by sophisticated equipments such as fire-fighting robot, scounting aeroplanes instantly, completing fire-fighting and rescue task becomes
May.On August 14th, 2015, the safety in production committee of State Council issue emergency notice, emphasize to widely popularize using advanced peace
Full technical equipment, future will realize progressively replacement of the Multifunctional firefighting robot to single fire fighting truck.Nowadays fire-fighting on the market
Robot is various and complicated, and various robot functions are not quite similar, but the function of most robots is relatively simple, it is impossible to meets and sends out
The increasingly faster social demand of exhibition.
The content of the invention
For deficiency of the prior art, it is an object of the invention to provide a kind of multiplex fire-fighting robot of crawler type, this
Bright fire-fighting robot replaces fire-fighting and rescue personnel to carry out data sampling and processing, feedback into the hazards scene of the accident, effectively
The problems such as ground solves personal safety, the data information acquisition deficiency that fireman is faced in above-mentioned place.
The purpose of the present invention is realized using following technical proposals：
The present invention provides a kind of crawler type multiplex fire-fighting robot, including robot shells and is arranged on robot shells
In robot body, the robot body adopt crawler type fire-fighting bassinet structure, which thes improvement is that, the robot master
Body includes chassis, drives walking mechanism, remote control fire-fighting bubble, exhaust blower, circuit control main frame and power supply；The remote control disappears
Anti- bubble, exhaust blower, circuit control main frame and power supply are arranged on chassis, and the chassis is arranged on described driving and walks
In mechanism；The power supply provides car load power supply for the fire-fighting robot.
Further, the driving walking mechanism includes drive mechanism and walking mechanism, and the drive mechanism includes starting
Machine/motor, gearbox, power transmission shaft or belt；The engine driving gearbox and power transmission shaft or belt movement；The walking
Mechanism includes rocking arm, damper, steering mechanism and crawler belt；The rocking arm of the drive mechanism driving walking mechanism, steering mechanism, shoe
Band and brake, pivot stud action.
Further, the remote fire-fighting bubble of controlling is by for providing the water supply module at water source；When there is the condition of a fire, execution is gone out
The performing module and the control module composition are controlled by water supply module and performing module of fire and actuation of an alarm；
The extinguishment fire suppression water cannon is capable of achieving 90～3800 liters/min of adjustment of flow.Inlet and outlet is set for quick connection
Meter, is easily installed maintenance.The effective range of wireless operated device is 152m, can be worked continuously 8 hours using lithium battery equipment.Work as electricity
When cell voltage is low, power supply (POWER) indicator lamp can start flicker, 3 hours of can also now working continuously.Remote control water cannon can set
Determine automatic operation mode, realize from pendulum.
Further, the circuit control main frame includes DSP and ARM dual core processors, at least one high-definition camera, front
End head and lens controller；DSP the and ARM dual core processors by RS485 buses respectively with front end platform and camera lens control
Device processed is communicated；The high-definition camera is connected with lens controller；Dsp chip in DSP the and ARM dual core processors
ARM chips carry out data exchange using HPI parallel interfaces.
Further, the dsp chip is used for image real time transfer, including the compression and the identification of fire of video；It is described
(SuSE) Linux OS is run on ARM chips, for the service application of fire-fighting robot.
Further, the circuit control main frame also include video encoder, Video Decoder, audio coder,
SDRAM, FLASH are cached and power subsystem；The video encoder, Video Decoder, audio coder, SDRAM, FLASH delay
Deposit and be connected with dsp chip with power subsystem；The Video Decoder is connected with high-definition camera.
The audio coder is also associated with microphone and loudspeaker；The video encoder is also associated with television set.
Further, the circuit control main frame also include cloud mirror decoder, Zigbee module, wireless network adapter and
Mobile network's module；The cloud mirror decoder, Zigbee module, wireless network adapter and mobile network's module with ARM cores
Piece connects；The cloud mirror decoder is connected with high-definition camera.
Further, the power supply is lithium battery module, can work 4 after the single lithium battery module is fully charged
Individual hour, the design of double cell case.
Further, the high-definition camera is used for real-time transmission of video data to lens controller, its angular field of view
70 °, its power 12W, unlimited image-forming range；Smoke exhaust fan can between 10 ° to 20 ° accurate adjustment smoke exhaust fan gradient,
85200 cubes ms/h of exhaust smoke level.
Compared with immediate prior art, the beneficial effect that the present invention reaches is：
1st, remote control, replaces fireman to enter peril scene, effectively prevents unexpected injury：
Disaster-stricken scene may occur subsequent explosion, and this can bring very big mortal injury to fireman.Robot can generation
Go deep into the dangerous disaster field of inflammable and explosive, poisonous and harmful, dense smoke etc. for fireman, ensure a line firefighterses to greatest extent
Personal safety, prevents the harm of electric shock accidents, subsequent explosion harm and poison gas.Fire-fighting robot replaces fire-fighting and rescue personnel to enter danger
Dangerous disaster accident scene carries out data sampling and processing, feedback, efficiently solves the person peace that fireman is faced in above-mentioned place
Entirely, the problems such as data information acquisition is not enough.
2nd, modularized design, with fire extinguishing and smoke evacuation, three functions of transport：The fire-fighting robot that the present invention is provided is equipped with smoke evacuation
Blower fan and structure transport case, fire-fighting bubble, user only need light several steps, you can in smoke exhaust fan and water cannon mechanism transport case three
Switch between big function, can arrangement such as：Thermal imaging system camera, gas detector, hygrosensor, anticollision device, collision-prevention device,
Vehicle body cooling system audio-visual system, Overthrow preventing device, multipurpose working plate, capstan winch.The use of reserve battery therefore robot
More flexible, feature is higher, is adapted to different types of fire-fighting task.
3rd, unrivaled obstacle climbing ability：Using abundant chassis so that robot can pass through various disorders thing.Obstacle detouring
Highly 40 centimetres, and 45 degree of barrier can be crossed be especially suitable for severe, the precipitous scene of the accident.
4th, field data collection：Front end is provided with high-definition camera, and real-time transmission of video data to controller, helps operate
Personnel collect, analysis front scene.
5th, high temperature resistant, corrosion-resistant：
The present invention is researched and developed by the way of external parts and the combination of domestic parts.Domestic parts mainly solve resistance to height
Gentle corrosion resistant characteristic, it is ensured that robot normal work under severe conditions, the domestic parts of its core adopt independent research
Mode.
6th, intelligent data operating platform simple to operate：More detailed data, including robot can be provided the user
Travel speed, GPS signal strength, video, detection of gas and temperature sensing etc..Its core is manipulated and hop independent research.
7th, the powerful moment of torsion more than 3000Nm can easily pull 400 kilograms of object
8th, power section has two startup/emergency stop buttons by 24V lithium battery power supplies above battery case.
9th, fire-fighting robot is entirely remotely control.The controller of robot adopts extremely durable and accurate material system
Into.Controller can remotely receive camera real-time video, and the high-precision control rocking bar on controller controls the movement of robot.Far
Range controller main body Integration Design, built-in anti-interference wireless transmitting and receiver module.The lithium battery that carried charge shows
10.8V5.6Ah；The battery of controller can be what is pulled down；Fully charged battery can be provided up to 20 hours for robot
Work.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is one of structural representation of fire-fighting robot that the present invention is provided；
Fig. 2 is the two of the structural representation of the fire-fighting robot that the present invention is provided；
Fig. 3 is that data exchange is shown between dsp chip and ARM chips in DSP the and ARM dual core processors that the present invention is provided
It is intended to；
Fig. 4 is the schematic diagram that the dsp chip that the present invention is provided and ARM chips carry out data exchange using HPI parallel interfaces；
Fig. 5 is the flow chart of the fire-fighting robot work that the present invention is provided.
In figure：1- far controls fire-fighting bubble；11- water supply modules；12- performing modules；13- control modules；2- smoke exhaust fans；3-
Circuit control main frame；31- high-definition cameras；32- front end platforms；33- lens controllers；4- batteries；5- gearboxes；6- walks
Mechanism；7- chassis；8- power transmission shafts；9- engines.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, technical scheme will be carried out below
Detailed description.Obviously, described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.Base
Embodiment in the present invention, those of ordinary skill in the art are resulting on the premise of creative work is not made to be owned
Other embodiment, belongs to the scope protected by the present invention.
First optimal technical scheme
The present invention provides a kind of crawler type multiplex fire-fighting robot, its structure chart as illustrated in fig. 1 and 2, including robot outside
Shell and the robot body being arranged in robot shells, the robot body adopt crawler type fire-fighting bassinet structure, described
Robot body includes chassis 7, drives walking mechanism 6, remote control fire-fighting bubble 1, exhaust blower 2, circuit control main frame 3 and power supply electricity
Source；The remote control fire-fighting bubble 1, exhaust blower 2, circuit control main frame 3 and power supply are arranged on chassis 7, the chassis 7
It is arranged in the driving walking mechanism 6；The power supply provides car load power supply for the fire-fighting robot, by battery 4
Constitute.
Specifically, the driving walking mechanism 6 includes drive mechanism and walking mechanism 6, and the drive mechanism includes starting
Machine/motor 9, gearbox 5, power transmission shaft 8 or belt；The engine 9 drives gearbox 5 and power transmission shaft 8 or belt movement；Institute
Stating walking mechanism 6 includes rocking arm, damper, steering mechanism and crawler belt；The drive mechanism drives the rocking arm of walking mechanism 6, subtracts
Shake device, steering mechanism, crawler belt and brake, pivot stud action.
Specifically, the circuit control main frame 3 include DSP and ARM dual core processors, at least one high-definition camera 31,
Front end platform 32 and lens controller 33；DSP the and ARM dual core processors by RS485 buses respectively with front end platform and
Lens controller is communicated；The high-definition camera is connected with lens controller；In DSP the and ARM dual core processors
Dsp chip ARM chips carry out data exchange using HPI parallel interfaces.
Specifically, the dsp chip is used for image real time transfer, including the compression and the identification of fire of video；The ARM
(SuSE) Linux OS is run on chip, for the service application of fire-fighting robot.
Specifically, the circuit control main frame 3 also include video encoder, Video Decoder, audio coder, SDRAM,
FLASH is cached and power subsystem；The video encoder, Video Decoder, audio coder, SDRAM, FLASH caching and electricity
Source unit is connected with dsp chip；The Video Decoder is connected with high-definition camera.
The audio coder is also associated with microphone and loudspeaker；The video encoder is also associated with television set.
Specifically, the circuit control main frame 3 also include cloud mirror decoder, Zigbee module, wireless network adapter and
Mobile network's module；The cloud mirror decoder, Zigbee module, wireless network adapter and mobile network's module with ARM cores
Piece connects；The cloud mirror decoder is connected with high-definition camera.As shown in Figures 3 and 4.
Second optimal technical scheme
Remote control fire-fighting bubble 1 is arranged on chassis and higher than all of device.The fire-fighting robot that the present invention is provided
One of structural representation is as shown in figure 1, when the remote control fire-fighting bubble 1 is by water supply module 11, the generation condition of a fire, performing fire extinguishing and reporting
Warn the performing module 12 of action and the control module 13 that water supply module 11 and performing module 12 are controlled is constituted；Remote control disappears
Anti- water cannon is the fire-extinguishing apparatus for stamping out a fire at a distance with water as medium.Wherein water supply module 11 is main by water source, fire water
Pump, elevated tank or air pressure stable-pressure device, siamese fire department connection and pipeline composition, its object is to can to device provide quickly,
Sufficient water source.
Shown performing module 12 is performed by the middle of extinguishing device 121, supply unit 122, fire automatic alarm device 123 etc.
Device is constituted, i.e., when there is the condition of a fire, perform the associated component of fire extinguishing and actuation of an alarm.
Control module 13 is by coordinated signals cabinet and Region control case, system power control, computer fire (video) prison
Control system is constituted.Its object is to be controlled water supply module and performing module, flexibly can realize manual, automatically and existing
Field, the various operations at fire-fighting center.Efficiently accomplish from finding fire until a series of actions such as stamp out a fire.And can make automatically with
Track positioning jet fire extinguishing system passes through input module and input/output module is directly connected with automatic fire alarm center, it is ensured that fire
The globality of calamity warning system.
The two of the structural representation of the fire-fighting robot that the present invention is provided are as shown in Fig. 2 being shaped as smoke exhaust fan 2 is general
The shape of fan is the same, but it can between 10 ° to 20 ° accurate adjustment smoke exhaust fan gradient, 85200 cubes of exhaust smoke level
M/h.
3rd optimal technical scheme
(1) robot body：One piece of battery working time 4 hours, the design of double cell case, two pieces of batteries, 8 hours；Obstacle detouring
Highly 40 centimetres；45 degree of angle of inclination；
400 kilograms of dragging ability.
(2) high-definition camera：70 ° of angular field of view；Power 12W；Unlimited image-forming range.
(3) fire water monitor：90 to 3800 liter/min of -16 bar；Classification of waterproof IP65；62～84 meters of@of range, 7 bar@3800
Liter/min.
The workflow of fire-fighting robot as shown in figure 5, including：
Following functions are completed mainly：Remote monitoring video；The image recognition and communication of fire disaster flame are completed by master-slave cpu
Function；Communicated with front end platform and lens controller by RS485 buses, control the anglec of rotation of head and camera lens or patrol
Speed of a ship or plane degree.Systems soft ware includes robot local server software and client software.Long-distance video can be set up using dsp system
Server, can remote monitoring machine people video, can set up Web server with ARM system, complete to robot in distal end
Various inquiries and control function.DSP and ARM can be used respectively as independent system.Using HPI parallel interfaces, DSP and main frame
ARM communications carry out data exchange.
Accurate, high-level material and production link
Fuselage adopts space aluminum alloy materials, through anti-corrosion treatment, can be existing into severe chemical leakage accident
；Outstanding design and manufacturing process so that each robot meets strict quality standard, maintenance cost is low, service life
It is longer, and application maintenance maintenance rate is low.
Digitization operating platform simple to operate
There are two kinds of control models to be available for customer selecting：The first is rocking bar control model：Lighter, operating handle is strong,
Material is firm and weather proof, is furnished with 12 cun of clear LCD display.The action of robot is controlled by rocking bar；It is for second
Computer control model：Can provide the user more detailed data, including robot ride speed, GPS signal strength, video,
Detection of gas and temperature sensing etc..
The production domesticization of the technologies such as carriage chassis, monitoring
The load chassis of the present invention, the technology such as monitoring adopt independent research, can ensure that reliability that fire-fighting robot uses and
Practicality.
As the status that fire-fighting robot is shown in fire protection sector is more and more important, occur in that on the market increasing
Fire-fighting robot, the function of each robot are not quite similar, and compared with other fire-fighting robots on the market, it is many that the present invention is provided
The crawler type fire-fighting robot of the Remote of function has the advantage that：
(1) modules of robot can adapt to various adverse circumstances through anti-corrosion treatment；
(2) riding stability is high, with climbing and obstacle climbing ability, easily into various severe site environments；
(3) maintenance rate is low, and maintenance cost is low；
(4) high-voltage resistance capability, explosion-proof capabilities and heat-resisting ability are strong；
(5) endurance is strong, and the working time is 4 to 8 hours, and supports to be continued a journey from reserve battery, is adapted to hold
The task that works long hours of row large-sized fire；
(6) lithium battery power supply is utilized, any fuel oil is not consumed, is not required to change machine oil, be there is no a pollution of waste gas and gasoline, ten
Divide environmental protection.
The remote controlled crawler type fire-fighting robot that the present invention is provided is practical, supports the switching of difference in functionality,
To be widely applied for a long time in fire protection sector.The fire-fighting robot of the present invention mainly has following impact：
(1) impact to fire fighter
The remote controlled crawler type fire-fighting robot of present invention research and development can replace fire fighter to enter into danger
Disaster-stricken scene, fire fighter understand field condition by high-definition camera, and carry out remotely control, make robot in disaster-stricken scene
In carry out operations, the personal safety of a line fire fighter can be ensured to greatest extent.
(2) impact to disaster affected people
The fire-fighting robot researched and developed by the present invention is equipped with smoke exhaust fan and fire water monitor, can be according to different calamity field feelings
Condition is independently changed, therefore effectively disaster-stricken scene can be carried out discharging fume, be put out a fire, and is controlled calamity field situation at short notice, is ensured
The life security of disaster affected people.
(3) impact to environment
The fire-fighting robot researched and developed by the present invention utilizes lithium battery power supply, does not consume any fuel oil, is not required to change machine oil, does not have
There is the pollution of waste gas and gasoline, it is very environmentally friendly.
The above, the only specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention.Therefore, protection scope of the present invention should be defined by the scope of the claims.
Claims (10)
1. a kind of multiplex fire-fighting robot of crawler type, including robot shells and the robot master being arranged in robot shells
Body, the robot body adopt crawler type fire-fighting bassinet structure, it is characterised in that the robot body includes chassis, drives
Walking mechanism, remote control fire-fighting bubble, exhaust blower, circuit control main frame and power supply；It is described it is remote control fire-fighting bubble, exhaust blower,
Circuit control main frame and power supply are arranged on chassis, and the chassis is arranged in the driving walking mechanism；The institute
State power supply car load power supply is provided for the fire-fighting robot.
2. the multiplex fire-fighting robot of crawler type as claimed in claim 1, it is characterised in that the driving walking mechanism includes driving
Motivation structure and walking mechanism, the drive mechanism include engine/motor, gearbox, power transmission shaft or belt；The engine
Drive gearbox and power transmission shaft or belt movement；The walking mechanism includes rocking arm, damper, steering mechanism, crawler belt；The drive
Motivation structure drives rocking arm, steering mechanism, crawler belt and brake, the pivot stud action of walking mechanism.
3. the multiplex fire-fighting robot of crawler type as claimed in claim 1, it is characterised in that the remote control fire-fighting bubble is by being used for
The water supply module at water source is provided；When there is the condition of a fire, the performing module of fire extinguishing and actuation of an alarm is performed and to water supply module and holding
The control module composition that row module is controlled；
The remote control fire-fighting bubble can reach 90 to 3800 liter/min of -16 bar, classification of waterproof IP65.
4. the multiplex fire-fighting robot of crawler type as claimed in claim 1, it is characterised in that the circuit control main frame includes
DSP and ARM dual core processors, at least one high-definition camera, front end platform and lens controller；At DSP the and ARM double-cores
Reason device is communicated with front end platform and lens controller respectively by RS485 buses；The high-definition camera and lens control
Device connects；Dsp chip ARM chips in DSP the and ARM dual core processors carry out data exchange using HPI parallel interfaces.
5. the multiplex fire-fighting robot of crawler type as claimed in claim 4, it is characterised in that the dsp chip is used for picture number
According to process, including the compression and the identification of fire of video；(SuSE) Linux OS is run on the ARM chips, for fire-fighting machine
The service application of people.
6. the multiplex fire-fighting robot of crawler type as claimed in claim 5, it is characterised in that the circuit control main frame also includes
Video encoder, Video Decoder, audio coder, SDRAM, FLASH caching and power subsystem；The video encoder, regard
Frequency decoder, audio coder, SDRAM, FLASH caching and power subsystem are connected with dsp chip；The Video Decoder with
High-definition camera connects.
The audio coder is also associated with microphone and loudspeaker；The video encoder is also associated with television set.
7. the multiplex fire-fighting robot of crawler type as claimed in claim 6, it is characterised in that the circuit control main frame also includes
Cloud mirror decoder, Zigbee module, wireless network adapter and mobile network's module；The cloud mirror decoder, Zigbee module,
Wireless network adapter and mobile network's module are connected with ARM chips；The cloud mirror decoder is connected with high-definition camera.
8. the multiplex fire-fighting robot of crawler type as claimed in claim 7, it is characterised in that the power supply is lithium battery mould
Block, can work after the lithium battery module is fully charged 4 hours.
9. the multiplex fire-fighting robot of crawler type as claimed in claim 8, it is characterised in that the high-definition camera is used for real-time
Transmitting video data to lens controller, 70 ° of its angular field of view, its power 12W, unlimited image-forming range.
10. the multiplex fire-fighting robot of crawler type as claimed in claim 9, it is characterised in that smoke exhaust fan can be arrived at 10 °
Accurate adjustment smoke exhaust fan gradient between 20 °, 85200 cubes ms/h of exhaust smoke level.
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| CN201611251230.0A CN106512270A (en) | 2016-12-29 | 2016-12-29 | Crawler type multipurpose fire-fighting robot |
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| CN201611251230.0A CN106512270A (en) | 2016-12-29 | 2016-12-29 | Crawler type multipurpose fire-fighting robot |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107065693A (en) * | 2017-05-27 | 2017-08-18 | 安徽沪宁智能科技有限公司 | A kind of remote control intelligent fire robot system based on ZigBee |
| CN107233680A (en) * | 2017-05-19 | 2017-10-10 | 芜湖普唯特智能装备有限公司 | A kind of fire-fighting robot |
| CN107243125A (en) * | 2017-05-22 | 2017-10-13 | 宁波华狮智能科技有限公司 | The firefighting fire extinguishing robot and control method of high accuracy remote control |
| CN107875550A (en) * | 2017-11-07 | 2018-04-06 | 山东阿图机器人科技有限公司 | A kind of firefighting fire extinguishing robot towards complicated ground environment |
| CN108818549A (en) * | 2018-06-20 | 2018-11-16 | 乌鲁木齐明华智能电子科技有限公司 | One kind being based on internet cloud intelligent security guard robot |
| CN109550176A (en) * | 2019-01-15 | 2019-04-02 | 佛山力合创新中心有限公司 | A kind of fire-fighting robot remotely controlled based on intelligent terminal |
| CN110124231A (en) * | 2019-06-18 | 2019-08-16 | 金陵科技学院 | A kind of indoor fire patrol robot of crawler type and application method |
| CN110955249A (en) * | 2019-12-23 | 2020-04-03 | 浙江华消科技有限公司 | Method and device for robot to pass through obstacle, storage medium and electronic device |
| CN111120355A (en) * | 2019-11-12 | 2020-05-08 | 浙江华消科技有限公司 | Control method of fire-fighting smoke-discharging robot, robot and computer equipment |
| CN112537378A (en) * | 2020-12-18 | 2021-03-23 | 艾克森特(南京)安全科技有限公司 | Water mist robot |
| CN113117277A (en) * | 2021-04-08 | 2021-07-16 | 武汉理工大学 | High-performance safety solid lithium battery for fire-fighting robot |
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| CN107243125A (en) * | 2017-05-22 | 2017-10-13 | 宁波华狮智能科技有限公司 | The firefighting fire extinguishing robot and control method of high accuracy remote control |
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| CN107875550A (en) * | 2017-11-07 | 2018-04-06 | 山东阿图机器人科技有限公司 | A kind of firefighting fire extinguishing robot towards complicated ground environment |
| CN108818549A (en) * | 2018-06-20 | 2018-11-16 | 乌鲁木齐明华智能电子科技有限公司 | One kind being based on internet cloud intelligent security guard robot |
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| CN110124231A (en) * | 2019-06-18 | 2019-08-16 | 金陵科技学院 | A kind of indoor fire patrol robot of crawler type and application method |
| CN111120355A (en) * | 2019-11-12 | 2020-05-08 | 浙江华消科技有限公司 | Control method of fire-fighting smoke-discharging robot, robot and computer equipment |
| CN111120355B (en) * | 2019-11-12 | 2022-01-11 | 浙江华消科技有限公司 | Control method of fire-fighting smoke-discharging robot, robot and computer equipment |
| CN110955249A (en) * | 2019-12-23 | 2020-04-03 | 浙江华消科技有限公司 | Method and device for robot to pass through obstacle, storage medium and electronic device |
| CN110955249B (en) * | 2019-12-23 | 2023-11-07 | 浙江华消科技有限公司 | Method and device for robot to pass through obstacle, storage medium and electronic device |
| CN112537378A (en) * | 2020-12-18 | 2021-03-23 | 艾克森特(南京)安全科技有限公司 | Water mist robot |
| CN113117277A (en) * | 2021-04-08 | 2021-07-16 | 武汉理工大学 | High-performance safety solid lithium battery for fire-fighting robot |
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Application publication date: 20170322 |