CN107537120A - A kind of fire extinguishing bullet launching device, fire-fighting aircraft and extinguishing method - Google Patents
A kind of fire extinguishing bullet launching device, fire-fighting aircraft and extinguishing method Download PDFInfo
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- CN107537120A CN107537120A CN201710753425.3A CN201710753425A CN107537120A CN 107537120 A CN107537120 A CN 107537120A CN 201710753425 A CN201710753425 A CN 201710753425A CN 107537120 A CN107537120 A CN 107537120A
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- forming agent
- extinguisher bomb
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Abstract
The invention provides a kind of fire extinguishing bullet launching device and the fire-fighting aircraft of the device is set, is related to technical field, fire extinguisher bomb, the low technical problem of fire attack efficiency can not continuously be launched by solving unmanned plane and fire-extinguishing present in prior art.The device includes transmitting tube, for accommodating and launching fire extinguisher bomb；Some gas-forming agent pipes connected with transmitting tube are evenly arranged with along the transmitting tube, gas-forming agent is provided with the gas-forming agent pipe；Igniter is connected with the gas-forming agent；The transmitting tube afterbody is provided with mission controller, and the igniter is electrically connected with the mission controller by wire.The present invention can utilize the short time in repeatedly projection fire extinguisher bomb realize that burning things which may cause a fire disaster is effectively put out, remove from repeatedly come and go fetch and deliver fire extinguisher bomb caused by the condition of a fire repeatedly.
Description
Technical field
The present invention relates to fire-fighting equipment field, more particularly, to a kind of fire extinguishing bullet launching device, fire-fighting aircraft and its goes out
Ignition method.
Background technology
With the fast development of social economy, living standards of the people improve constantly, and high-rise building building will progressively substitute more
Floor room turns into the main building of city-building.The development of high-rise building construction reduces floor space, has saved space, simultaneously
Also new requirement is highlighted for security against fire lifesaving system.Although to security against fire in the design, building course in high-rise building
Strict requirements are proposed, but deficiency is still suffered from the ability for tackling urgent accident.
Because housing-group density is larger in city, when a fire, large-scale fire-fighting equipment can not fast approaching ignition point,
Putting out a fire to save life and property for fire is effectively carried out, especially for high-story group of buildings, once fire occurs, has one to be significantly characterized in that chimney is imitated
Should：The hot-air caused by the fire that low layer occurs, because density is relatively low, through being able in lift trough or escape route toward upstream
It is dynamic, hot gas is constantly gathered at the top of passage, result is top layer of the convection current in mansion for making the intensity of a fire pass through this air
Manufacture another scene of a fire.Not only make to put out a fire to save life and property to be more difficult from, more entail dangers to goes to the life security of the personnel of balcony escape.
It is the key for solving Urban Fires harm to lock ignition point in time, effectively put out naked light before fire spreading.
The example put out a fire in the prior art using unmanned plane carrying fire extinguisher bomb into scene of a fire area, but nothing of the prior art
It is man-machine typically to carry a fire extinguisher bomb, to, it is necessary to return to control centre, continuous dress goes out after single ignition point throwing fire extinguisher bomb
Fiery bullet, it is then back to ignition point and repositions, throws.The efficiency of fire extinguishing is so reduced, and frequently comes and goes, position to nobody
Machine also produces huge energy expenditure in itself.
Applicants have discovered that at least there is following technical problem in prior art：Unmanned plane and fire-extinguishing of the prior art can not be real
Now continuously launch fire extinguisher bomb, to the less efficient of fire attack work.
The content of the invention
It is an object of the invention to provide a kind of fire extinguishing bullet launching device, fire-fighting aircraft and its application method, to solve
Unmanned plane and fire-extinguishing present in prior art can not continuously launch fire extinguisher bomb, the low technical problem of fire attack efficiency.The present invention
Many technique effects elaboration as detailed below that optimal technical scheme in many technical schemes provided can be generated.
To achieve the above object, the invention provides following technical scheme：
A kind of fire extinguishing bullet launching device, including transmitting tube, for accommodating and launching fire extinguisher bomb；Uniformly set along the transmitting tube
Some gas-forming agent pipes connected with transmitting tube are equipped with, gas-forming agent is provided with the gas-forming agent pipe；With it is described
Gas-forming agent is connected with igniter；The transmitting tube afterbody is provided with mission controller, and the igniter is controlled with the transmitting
Device processed is electrically connected by wire.
Preferably, the transmitting tube top is provided with protective cap, and the protective cap is provided with locking device, the locking dress
Put and be connected with the mission controller.
Preferably, the locking device includes a steering wheel and the pressing plate being connected with the steering wheel, the protective cap and institute
State and be provided with spring between transmitting tube, the pressing plate is overlapping with the protective cap to be covered in the transmitting tube front end, the steering wheel
It is connected with the mission controller.
Preferably, sodium azide is contained in the gas-forming agent.
Preferably, along the fire extinguisher bomb direction of the launch, gas caused by the gas-forming agent in the gas-forming agent pipe
Amount increases successively.
The present invention also provides a kind of fire-fighting aircraft, sets above-mentioned fire extinguishing bullet launching device, in addition to flight controller,
The mission controller is connected with flight controller signal.
Preferably, camera device is additionally provided with, the camera device is connected with the flight controller.
Preferably, temperature or Smoke Sensor are additionally provided with, the temperature or Smoke Sensor are controlled with the flight
Device connection processed.
The present invention provides a kind of fire-fighting aircraft extinguishing method, using above-mentioned aircraft, comprises the following steps：It is determined that flutter
Go out target bearing；Mission controller receives firing order；Launch fire extinguisher bomb.
Preferably, determine to put out target bearing according to the temperature or Smoke Sensor data in the above method
The fire extinguishing bullet launching device of the present invention, can realize running fire fire extinguisher bomb, can under the narrow environment of condition of a fire environment
Using in the short time repeatedly projection fire extinguisher bomb realize that burning things which may cause a fire disaster is effectively put out, remove from repeatedly come and go fetch and deliver fire extinguisher bomb caused by the condition of a fire it is anti-
It is multiple.The aircraft of fire extinguishing bullet launching device of the present invention is set, can persistently be put out a fire for same burning things which may cause a fire disaster after burning things which may cause a fire disaster is positioned
Operation, reduce orientation control and the adjustment time of aircraft, precise and high efficiency of putting out a fire.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be 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 fire extinguishing bullet launching device structural representation of the present invention；
Fig. 2 is fire extinguishing bullet launching device gas-forming agent pipe and igniter structure schematic diagram of the present invention；
Fig. 3 is a kind of structural representation of fire extinguisher bomb of the present invention；
Fig. 4 fire extinguishing bullet launching device protective cap structural representations of the present invention；
1, transmitting tube in figure；11st, protective cap；12nd, locking device；121st, steering wheel；122nd, pressing plate；123rd, spring；2nd, gas
Propellant pipe；21st, screen pack；3rd, fire extinguisher bomb；30th, shell case；31st, dry powder chamber；310th, powder extinguishing agent；311st, gunpowder；312nd, lead
Fiery rope；313rd, sealing ring；32nd, igniting chamber；321st, the fire in a stove before fuel is added；322nd, firing pin；33rd, high pressure air cavity；331st, passage；34th, distance piece；
35th, partition is insured；36th, empennage；4th, igniter；5th, mission controller；6th, wire.
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 part of the embodiment of the present invention, rather than whole embodiments.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, belong to the scope that the present invention is protected.
The invention provides a kind of fire extinguishing bullet launching device as shown in figure 1, including transmitting tube 1, for accommodating and transmitting is gone out
Fiery bullet；Some gas-forming agent pipes 2 connected with transmitting tube, the gas-forming agent pipe are evenly arranged with along the transmitting tube 1
Inside it is provided with gas-forming agent；Igniter 4 is connected with the gas-forming agent；The transmitting tube afterbody is provided with emission control
Device 5, the igniter 4 are electrically connected with the mission controller 5 by wire 6.Specifically, 3-5 pieces can be accommodated in transmitting tube 1
Fire extinguisher bomb 3, the end to end uniform close arrangement in transmitting tube 1.Can between each piece of afterbody of fire extinguisher bomb 3 and transmitting tube 2
A plenum space is formed, when gases at high pressure are filled with the plenum space, promotion fire extinguisher bomb 3 moves along transmitting tube 2, completes fire extinguisher bomb
3 transmittings.The corresponding gas-forming agent pipe 2 of each piece of fire extinguisher bomb 3, because fire extinguisher bomb specification is consistent, so gas-forming agent pipe 2
It is uniformly arranged on the tube wall of transmitting tube 2.Gases at high pressure are produced using the gas-forming agent being arranged in gas-forming agent pipe 2,
Igniter 4 is respectively arranged in gas-forming agent, and is connected to mission controller, controls each piece to go out by mission controller 5
Fiery bullet is lighted a fire transmitting respectively, can continuously launch fire extinguisher bomb according to the actual condition of a fire.Gas-forming agent pipe 2 is uniformly set in the present invention
Put, control respectively, can be it is determined that the quantity of transmitting fire extinguisher bomb be selected after ignition point according to the condition of a fire, without filling fire extinguishing repeatedly
Bullet, fire-fighting efficiency are higher.
Fig. 2 is fire extinguishing bullet launching device gas-forming agent pipe and igniter structure schematic diagram of the present invention.Institute's body propellant pipe 2
Main function be to provide gas-forming agent reaction chamber, similar to gas generator.In the present invention gas-forming agent pipe 2 perpendicular to
Transmitting tube 1 is set, and its top sets Packed upper lid, for gas-forming agent to be fixed in body, and prevents gas
Run away during generation from the top of gas-forming agent pipe 2.Connected between gas-forming agent pipe 2 and transmitting tube 1, and be provided with screen pack
21, to filter the residue after gas-forming agent burning, prevent residue from falling into transmitting tube 1, influence the normal transmission of fire extinguisher bomb.
Gas-forming agent is arranged in gas-forming agent pipe 2.Gas-forming agent basic composition is sodium azide, oxidant
And binder.Oxidant mainly has the metal oxides such as iron oxide, cupric oxide and potassium nitrate, sodium nitrate, strontium nitrate, perchloric acid
The salts such as potassium, potassium permanganate.Binder mainly has silica, bentonite, kaolin and organic polymer etc..
Igniter 4 is covered in the center of gas-forming agent pipe 2 by Aluminium Foil Package.Wire 6 is connected with mission controller 5, works as control
When device 5 finds firing command, wire circuit connection forms path and fast heating in igniter 4, and Instantaneous detonation gas occurs
Agent, gas-forming agent is set to be entered transmitting tube 1 by filter screen by thermal decomposition, the direction of arrow is that gases at high pressure enter transmitting tube direction.
Fig. 3 applies to a kind of structure of the fire extinguishing of emitter of the present invention, is specially：Fire extinguisher bomb 3, including shell case 30,
Shell case 30 is easy to reduce resistance during flight in the airflow design of preceding circle metacone.Dry powder chamber 31, igniting are provided with shell case 30
Chamber 32 and high pressure air cavity 33.The dry powder chamber 31 is arranged at the head of shell case 30, built-in powder extinguishing agent 310, gunpowder 311, leads fire
Rope 312.Wherein, for powder extinguishing agent 310 loaded in shell case 30 in the form of compressing or compress, gunpowder 311 is placed in powder extinguishing agent
Among 310, after gunpowder 311 is ignited blast, caused impulsive force can make the instantaneous expansion of powder extinguishing agent 310, make shell case
30 are blown, and powder extinguishing agent 310, which is spread out, to be fallen within burning things which may cause a fire disaster, reaches the effect of fire extinguishing.Wherein, gunpowder 311 leads fire with described
Rope 312 connects, and fuse cord 312 makes gunpowder 35 produce blast after being ignited.The length of adjustment fuse cord 33 can control fire extinguisher bomb
Take off to the time of blast, so as to control the flying distance of fire extinguisher bomb 3.The high pressure air cavity 33 is arranged at the afterbody of shell case 30, institute
State the shell case 30 at high pressure air cavity 33 and be provided with multiple passages 331, high pressure air cavity 33 is in communication with the outside.Gases at high pressure are from outer
After boundary enters high pressure air cavity 33, mechanism in igniting chamber 32 is excited to light fuse cord 33, and then ignite gunpowder.Igniting chamber 32 is arranged at
Between dry powder chamber 31 and the high pressure air cavity 33.Igniting chamber 32 is spaced with dry powder chamber 31 by distance piece 34, the fuse cord 312
A part through the distance piece 34 positioned at it is described igniting chamber 32 in, the end of fuse cord 312 is provided with the fire in a stove before fuel is added 321；Igniting chamber
Be provided between 32 and high pressure air cavity 33 insurance partition 35, it is described insurance partition 32 on set firing pin 322, when firing pin 322 by
During preceding promotion, it can impinge upon on the fire in a stove before fuel is added 321 just, ignite fuse cord 312.Insurance partition 321 can stop at ambient pressure to be hit
Pin 322 contacts with the fire in a stove before fuel is added 321, and when gas pressure is more than predetermined pressure in the high pressure air cavity 33, insurance partition 321 can quilt
Gases at high pressure promote forward, drive the firing pin 322 to be contacted with the fire in a stove before fuel is added 321, light the fuse cord 312.The present invention's
Fire extinguisher bomb, ignited fuse cord 312 by the gases at high pressure triggering entered in shell case 30, fuse cord 312 is just in transmitting for fire extinguisher bomb 3
Into the state of igniting, can make to ignite in the air during 3 airflight of fire extinguisher bomb, powder extinguishing agent 31 is pressed downward fire extinguishing source from the air,
As long as the length of appropriately designed fuse cord 312, it is possible to the position for controlling fire extinguisher bomb 3 to explode, gone out than existing landing trigger-type
Fiery bullet is safer, and fire extinguishing is more thorough.Sealing ring 313 can be set by wherein putting out a fire between 3 bullets and transmitting tube 2, increase fire extinguishing
Plenum space closure between bullet 3 and transmitting tube 2, the power of fire extinguisher bomb 3 is stronger after inflation.
As a preferred embodiment, as shown in figure 4, the top of the transmitting tube 1 is provided with protective cap 11, it is described
Protective cap is provided with locking device 12, for safeguard protection under emitter off working state, prevents fire extinguisher bomb from transmitting tube 1
Outflow.Locking device 12 is connected with the mission controller 5, and sending order by controller 5 can unlock locking device 12,
Emitter enters working condition.Specifically, the locking device 12 includes a steering wheel 121 and the pressure being connected with the steering wheel
Plate 122, when locking device 12 is in locking state, pressing plate 122 is overlapping with protective cap 11 to be covered in the end face of transmitting tube 1, prevents
Protective cap 11 departs from transmitting tube 1.Mission controller 5 is connected with steering wheel 121, for controlling the rotation of steering wheel 121, makes pressing plate 122
Depart from protective cap 11；Spring 123 is provided between protective cap 11 and transmitting tube 2, when the rotated away of pressing plate 122, puts on protection
External force on cap 11 is released from, and protective cap 11 ejects transmitting tube 1 under the effect of spring 123, and fire extinguisher bomb prepares transmitting.Locking dress
The effect for putting 12 is the protective effect for strengthening protective cap 11, and solution can be automatically performed using steering wheel 121 and the control of pressing plate 122
Lock, and battery has fired locking device 12 can make transmitting tube auto lock again, recycle.
As a preferred mode, along the direction of the launch of fire extinguisher bomb 7, the gas hair in the gas-forming agent pipe 2
Gas flow caused by raw agent 3 increases successively.Due to fire extinguisher bomb, departing from transmitting tube, it be in acceleration mode before 1, away from launching
The fire extinguisher bomb of mouth will obtain bigger emission rate in emission port, and range is farther.Control usage amount or the control of gas-forming agent 3
The gas generating amount of gas-forming agent 3 processed, the range of several fire extinguisher bombs 7 can be designed as unanimously, control fire extinguishing of being more convenient for
Launch point is played, accurately puts out burning things which may cause a fire disaster.
The present invention also provides a kind of fire-fighting aircraft, above-described fire extinguishing bullet launching device is set, for efficiently putting out
Burning things which may cause a fire disaster, when being that fire occurs for the complicated scene of a fire such as urban skyscraper, forest or high risk chemicals, there is provided on unmanned aerial vehicle platform
Launch the rescue mode of fire extinguisher bomb, using the flexible characteristic of UAV Maneuver, realize quick, efficiently sluggish propagation of flame mesh
's.Specifically, the aircraft should also include frame, flight hoisting mechanism, fire extinguishing bullet launching device fixed mechanism and flight control
Device processed, the mission controller are connected with flight controller signal.In an embodiment of the present invention, the frame includes 4
Individual horn, set at equal intervals around body, the stability of unmanned plane during flying can be ensured.Underpart is provided with fixed mount and pin
Frame, include the fuselage controller of control circuit module, GPS receiver module and battery etc. in being internally provided with for fixed mount.
Described flight hoisting mechanism is arranged at the end of four horns 12, and the flight hoisting mechanism includes electronic speed regulation
Device, motor and propeller, the end of horn set motor cabinet, and motor is installed on motor cabinet, and the output end of electron speed regulator connects
Motor is connect, motor control propeller is rotated with different rotating speeds, to realize the operations such as aircraft turning.
Described fire extinguishing bullet launching device fixed mechanism includes what is extended by fixed mount, or is fixed on fixed mount top
Mounting bracket, for because Dingan County fill fire extinguishing bullet launching device.Heading of the fire extinguishing bullet launching device along aircraft is set, and makes to go out
Fire plays the mission controller of emitter and the flight controller wired connection of aircraft.Because fire extinguisher bomb mission controller only needs
Will be simply powered connection, be controlled without signal, and with flight controller wired connection, transmitting is controlled by flight controller
The break-make of controller electric current, signal interference can be prevented, ensure stabilization and peace during the execution transmitting fire extinguisher bomb of aircraft
Entirely.
As a preferred embodiment, fire-fighting aircraft is additionally provided with camera device, the camera device is arranged at
Front part of a body, it is connected with flight controller, the image of seizure is transmitted to aircraft headquarter by controller, identifies positioning
Fire extinguishing point and aircraft hovering position.It is determined that after fire extinguishing point, headquarter can be according to the hair of fire extinguishing point situation control aircraft
Firing angle degree, control mission controller project fire extinguisher bomb.
As a preferred embodiment, being additionally provided with temperature or Smoke Sensor, the temperature or smog pass
Sensor is connected with the flight controller.Described temperature or Smoke Sensor can be arranged at before aircraft two on horn,
The information gathered by temperature sensor, ground control portion control unmanned vehicle on the one hand can be helped to be in burning things which may cause a fire disaster upper end
Safe altitude, prevent from entering fire zone, temperature is too high to damage original paper inside whole unmanned vehicle；On the other hand, may be used
With using the temperature change of temperature sensor collection, the bad environment of sight tentatively judge aircraft apart from the position of burning things which may cause a fire disaster and
Direction, select fire extinguisher bomb launch point.
More than specific working method of the fire-fighting aircraft when putting out city floor construction body fire be：First by ground
Headquarter's control aircraft is taken off by ground, flies to fire floor with height.Returned in real time by carry-on camera device
It is transmitted to headquarter, headquarter's control aircraft direction, to determine that fire extinguishing emitter has aimed at burning things which may cause a fire disaster.Then, headquarter send
Firing order, flight controller receive firing order after, by specify be transmitted to mission controller, mission controller controller is first
Steering wheel action command is given, its band dynamic pressure plate is moved, releases limitation of the pressing plate to protective cap.Protective cap under the action of the spring to
Lower upset, complete to open the action of cap.Mission controller discharges high-voltage pulse to first igniter by wire and excites igniter,
After igniter lights gas-forming agent, gas-forming agent conflagration discharges substantial amounts of inert nitrogen gas.First piece of fire extinguishing
Air pressure moment increases in plenum space between bullet and transmitting tube, promotes first piece of fire extinguisher bomb to fly out transmitting tube, fire extinguisher bomb is pre-
Fixed distance is ignited, and is sprayed substantial amounts of ultra-fine dry powder, is put out burning things which may cause a fire disaster.Now just complete a transmitting circulation.
If desired for continuing to put out a fire, then firing order is sent again and launches second piece of fire extinguisher bomb, until launching whole fire extinguisher bombs.
After fire extinguisher bomb battery has fired, aircraft returns to departure location and changes next fire extinguishing bullet launching device, repeat said process until
Complete whole fire extinguishing task.
In above-mentioned steps, the identification for burning things which may cause a fire disaster orientation can also be true according to the temperature or Smoke Sensor data
It is fixed.
The foregoing is only a specific embodiment of the 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 based on the protection scope of the described claims.
Claims (10)
1. a kind of fire extinguishing bullet launching device, it is characterised in that including transmitting tube (1), for accommodating and launching fire extinguisher bomb (3)；Edge
The transmitting tube (1) is evenly arranged with some gas-forming agent pipes (2) connected with transmitting tube (1), the gas-forming agent pipe
(2) gas-forming agent is provided with；Igniter (4) is connected with the gas-forming agent；Transmitting tube (1) afterbody is provided with
Mission controller (5), the igniter (4) are electrically connected with the mission controller (5) by wire (6).
2. fire extinguishing bullet launching device according to claim 1, it is characterised in that transmitting tube (1) top is provided with guarantor
Helmet (11), the protective cap (11) are provided with locking device (12), the locking device (12) and the mission controller (5)
Connection.
3. fire extinguishing bullet launching device according to claim 2, it is characterised in that the locking device (12) includes a rudder
Machine (121) and the pressing plate (122) being connected with the steering wheel (121), are set between the protective cap (11) and the transmitting tube (1)
There is spring (123), the pressing plate (122) is overlapping with the protective cap (11) to be covered in the transmitting tube (1) front end, the steering wheel
(121) it is connected with the mission controller (5).
4. fire extinguishing bullet launching device according to claim 3, it is characterised in that contain Azide in the gas-forming agent
Sodium.
5. fire extinguishing bullet launching device according to claim 3, it is characterised in that along fire extinguisher bomb (3) direction of the launch, the gas
Gas flow caused by the gas-forming agent in body propellant pipe (2) increases successively.
A kind of 6. fire-fighting aircraft, it is characterised in that the fire extinguishing bullet launching device described in claim 1-5 any one is set,
Also include flight controller, for controlling the aircraft flight, the mission controller is connected with flight controller signal.
7. fire-fighting aircraft according to claim 6, it is characterised in that be additionally provided with camera device, the camera device
It is connected with the flight controller.
8. fire-fighting aircraft according to claim 7, it is characterised in that be additionally provided with temperature or Smoke Sensor, institute
Temperature or Smoke Sensor is stated to be connected with the flight controller.
A kind of 9. fire-fighting aircraft extinguishing method, it is characterised in that using the aircraft described in claim 8, including following step
Suddenly：Determine fire location；Mission controller receives firing order；Launch fire extinguisher bomb.
10. fire-fighting aircraft extinguishing method according to claim 9, it is characterised in that according to the temperature or smog
Sensing data determines fire location.
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| CN201710753425.3A CN107537120A (en) | 2017-08-28 | 2017-08-28 | A kind of fire extinguishing bullet launching device, fire-fighting aircraft and extinguishing method |
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| CN201710753425.3A CN107537120A (en) | 2017-08-28 | 2017-08-28 | A kind of fire extinguishing bullet launching device, fire-fighting aircraft and extinguishing method |
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| CN110465036A (en) * | 2019-08-19 | 2019-11-19 | 西安恒宇众科空间技术有限公司 | Controllable guidance fire extinguisher bomb, fire extinguishing system and extinguishing method |
| CN112386832A (en) * | 2020-12-01 | 2021-02-23 | 安徽信息工程学院 | Fire rescue unmanned aerial vehicle |
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Cited By (4)
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| CN108995769A (en) * | 2018-07-30 | 2018-12-14 | 上海大学 | A kind of casting device for unmanned boat recovery stage |
| CN110465036A (en) * | 2019-08-19 | 2019-11-19 | 西安恒宇众科空间技术有限公司 | Controllable guidance fire extinguisher bomb, fire extinguishing system and extinguishing method |
| CN110465036B (en) * | 2019-08-19 | 2024-02-06 | 西安恒宇众科空间技术有限公司 | Controllable fire-extinguishing bomb, fire-extinguishing system and fire-extinguishing method |
| CN112386832A (en) * | 2020-12-01 | 2021-02-23 | 安徽信息工程学院 | Fire rescue unmanned aerial vehicle |
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