CN108785944B - A kind of fire plant and fire-fighting robot - Google Patents
A kind of fire plant and fire-fighting robot Download PDFInfo
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- CN108785944B CN108785944B CN201810697740.3A CN201810697740A CN108785944B CN 108785944 B CN108785944 B CN 108785944B CN 201810697740 A CN201810697740 A CN 201810697740A CN 108785944 B CN108785944 B CN 108785944B
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/04—Control of fire-fighting equipment with electrically-controlled release
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Abstract
The present invention is suitable for technical field of fire control, provide a kind of fire plant and fire-fighting robot, including ontology and it is built in the wireless communication module of ontology, power module, context detection module, central processing module, fire extinguishing control module, drive module and movement mechanism, ontology and is provided with extinguishing device；Wireless communication module receives the fire alarm information that smoke sensor device is sent；Central processing module generates motion control instruction according to fire alarm information and is sent to drive module；Drive module controls movement mechanism movement according to motion control instruction, and fire plant is made to be moved to fire scene；The environmental data of context detection module detection fire scene is simultaneously sent to central processing module；Central processing module generates fire extinguishing instruction according to environmental data and is sent to fire extinguishing control module；Control module of putting out a fire instructs control extinguishing device to execute respective operations according to fire extinguishing.The present invention can be realized intelligent fire fighting, avoid mass casualties.
Description
Technical field
The invention belongs to fire fighting monitoring technical field more particularly to a kind of fire plants and fire-fighting robot.
Background technique
With the fast development of social economy, the particularity of building and enterprise's production leads to Hazardous Chemical Substances and radioactivity
The Hidden hazrads such as content leaks and burning, explosion, oil product combustion gas, toxic gas leakage explosion, tunnel, subway collapsing are continuously increased,
The probability that accident occurs also correspondinglys increase.
However, when disaster accident occurs, if fireman is in face of high temperature, dark, toxic and dense smoke etc. without corresponding equipment
Endangering environment can not then stamp out a fire in time, therefore cause a tremendous loss of lives.
Summary of the invention
In view of this, the embodiment of the invention provides a kind of fire plant and fire-fighting robot, to solve in the prior art
When disaster accident occurs, if fireman endangers environment nothing in face of high temperature, dark, toxic and dense smoke etc. without corresponding equipment
Method stamps out a fire in time, therefore the problem of cause a tremendous loss of lives.
The first aspect of the embodiment of the present invention provides a kind of fire plant, including ontology and is built in the ontology
Wireless communication module, power module, context detection module, central processing module, fire extinguishing control module, drive module and fitness machine
Structure, the ontology are provided with extinguishing device；
The wireless communication module, the power module, the context detection module, the fire extinguishing control module and described
Drive module is communicated to connect with the central processing module respectively, and the drive module and the movement mechanism communicate to connect, institute
It states wireless communication module and wireless smoke sensor device communicates to connect；
The wireless communication module is used to receive the fire alarm information that the wireless smoke sensor device is sent；
The central processing module is used to generate motion control instruction according to the fire alarm information and be sent to described
Drive module；
The drive module is used to control the movement mechanism according to the motion control instruction and move, and fills the fire-fighting
It sets and is moved to fire scene；
The context detection module is used to detect the environmental data of fire scene and is sent to the central processing mould
Block；
The central processing module is also used to generate the first fire extinguishing according to the environmental data and instructs and be sent to described go out
Fiery control module；
The fire extinguishing control module is used to control the extinguishing device according to the first fire extinguishing instruction and is put out a fire or stopped
Only put out a fire.
Optionally, the context detection module includes environmental sensor and infrared camera；
The environmental sensor and the infrared camera and the central processing module communicate to connect；
The environmental sensor and the infrared camera are used to the environmental data of detection fire scene and transmission
To the central processing module；
Wherein, the environmental data includes temperature value, flame size grade, kindling Item Information and dangerous goods information.
Optionally, the extinguishing device includes solenoid valve and pressure fire extinguisher；
The pressure fire extinguisher and the solenoid valve and the central processing module communicate to connect；
The central processing module is also used to adjust the parameter of the solenoid valve, setting fire extinguishing ginseng according to the environmental data
Number simultaneously selects corresponding pressure fire extinguisher according to the kindling Item Information；
Wherein, the fire extinguishing parameter includes the attack time and injection pressure size of the pressure fire extinguisher.
Optionally, the wireless communication module is also used to for the environmental data being sent to fire-fighting platform of internet of things, receives
The second fire extinguishing that the fire-fighting platform of internet of things is sent, which instructs and the second fire extinguishing instruction is sent to the fire extinguishing, controls mould
Block；
The fire extinguishing control module is also used to control the extinguishing device execution according to the second fire extinguishing instruction corresponding
Operation.
Optionally, the fire plant further includes the navigation positioning module with central processing module communication connection；
The fire alarm information includes the ID of wireless smoke sensor device；
The navigation positioning module is used to obtain the corresponding position coordinates of ID of the wireless smoke sensor device, according to described
Position coordinates generate path navigation information and are sent to the central processing module；
The central processing module controls the drive module according to the path navigation information and drives the movement mechanism
Movement, so that the fire plant is moved to fire scene.
Optionally, the fire plant further includes the memory module connecting with the central processing module；
The memory module is used to store the wireless smog sensor ID and the wireless smog sensor ID is corresponding
Relationship between position coordinates.
Optionally, the fire plant further includes the intelligent barrier avoiding module with central processing module communication connection；
The intelligent barrier avoiding module, which is used to control the fire plant according to the environmental data, avoids the current environment
Barrier.
Optionally, the fire plant further includes manually booting module with what the central processing module communicated to connect；
It is described to manually boot module and manually boot order and to the central processing mould for receive user input
Block transmission manually boots order；
The central processing module is also used to manually boot order according to and generates enabled instruction and be sent to described go out
Fiery control module；
The fire extinguishing control module, which is also used to control the extinguishing device according to the enabled instruction, executes corresponding operation.
Optionally, the movement mechanism includes gear drive, two driving wheels and one or more steering universal wheels.
The second aspect of the embodiment of the present invention provides a kind of fire-fighting robot, and the fire-fighting robot includes such as above-mentioned the
Fire plant described in one side.
The embodiment of the present invention, which passes through, generates movement instruction according to the fire alarm information received, so that device reaches fire
Scene, and fire extinguishing instruction control extinguishing device is generated according to the environmental data detected and is put out a fire, it can be realized intelligence
Fire extinguishing, avoids mass casualties.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the structural schematic diagram for the fire plant that the embodiment of the present invention one provides；
Fig. 2 is the structural schematic diagram of fire plant provided by Embodiment 2 of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical solution in the embodiment of the present invention are explicitly described, it is clear that described embodiment is the present invention one
The embodiment divided, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not doing
Every other embodiment obtained under the premise of creative work out, should fall within the scope of the present invention.
Description and claims of this specification and term " includes " and their any deformations in above-mentioned attached drawing, meaning
Figure, which is to cover, non-exclusive includes.Such as process, method or system comprising a series of steps or units, product or equipment do not have
It is defined in listed step or unit, but optionally further comprising the step of not listing or unit, or optionally also wrap
Include the other step or units intrinsic for these process, methods, product or equipment.In addition, term " first ", " second " and
" third " etc. is for distinguishing different objects, not for description particular order.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
Embodiment one
As shown in Figure 1, the present embodiment provides a kind of fire plants 1 comprising ontology 10 and the nothing for being built in ontology 10
Line communication module 101, context detection module 103, central processing module 104, fire extinguishing control module 105, drives power module 102
Dynamic model block 106 and movement mechanism 107, ontology 10 are provided with extinguishing device 108；
Wireless communication module 101, power module 102, context detection module 103, fire extinguishing control module 105 and drive module
106 communicate to connect with central processing module 104 respectively；Drive module 106 and movement mechanism 107 communicate to connect；Wireless telecommunications mould
Block 101 and wireless smoke sensor device communicate to connect；
Wireless communication module 101 is used to receive the fire alarm information that wireless smoke sensor device is sent；
Central processing module 104 is used to generate motion control instruction according to fire alarm information and is sent to drive module
106；
Drive module 106 is used to control movement mechanism 107 according to motion control instruction and move, and is moved to fire plant 1
Fire scene；
Context detection module 103 is used to detect the environmental data of fire scene and is sent to central processing module 104；
Central processing module 104 is also used to generate the first fire extinguishing according to environmental data and instructs and be sent to fire extinguishing control module
105；
Fire extinguishing control module 105 is used to be put out a fire according to the first fire extinguishing instruction control extinguishing device 108 or stop putting out a fire.
In a particular application, fire plant 1 includes ontology 10 and the multiple modules for being built in ontology 10, wherein channel radio
Interrogate module 101, power module 102, context detection module 103, fire extinguishing control module 105 and drive module 106 respectively with center
Processing module 104 communicates to connect, and drive module 106 and movement mechanism 107 communicate to connect, wireless communication module 101 and wireless smoke
The communication connection of mist sensor；It is communicated to connect between multiple modules in ontology 10, high-speed traffic can be carried out；Ontology 10 is additionally provided with
Extinguishing device 108.It should be noted that extinguishing device 108 can be set as being built in ontology 10 according to the actual situation, it is placed in this
(in the present embodiment, merely exemplary displaying extinguishing device 108 is built in ontology for the surface of body 10 or the outside of ontology 10
Situation).During wireless communication module 101 is used to receive the fire alarm information that wireless smoke sensor device is sent and is sent to
It entreats processing module 104 to carry out subsequent processing, after central processing module 104 receives fire alarm information, generates motion control and refer to
Order is sent to control drive module 106, and drive module 106 controls movement mechanism 107 according to motion control instruction and moves to fire
Scene, central processing module 104 generate first according to the environmental data that context detection module 103 detects fire scene
Fire extinguishing instruction, and it is sent to fire extinguishing control module 105, fire extinguishing control module 105 is put out a fire according to first, and instruction execution is corresponding to go out
Fire or the operation for stopping fire extinguishing.Drive module 106 includes but is not limited to driving motor.Power module 102 is used to be fire plant 1
Power supply is provided, specifically can be set as power module 102 includes that automatic charging puts a device.According to the actual situation, fire plant 1
It can also include but is not limited to escaping rope, fire smothering blanket, head protector mask, emergency hand hammer, the equipment such as fixed handle.
In the present embodiment, context detection module 103 includes environmental sensor and infrared camera；
Environmental sensor and infrared camera and central processing module 104 communicate to connect；
Environmental sensor and infrared camera are used to the environmental data of detection fire scene and are sent to centre
Manage module 104；
Wherein, environmental data includes temperature value, flame size grade, kindling Item Information and dangerous goods information.
In a particular application, context detection module 103 includes at least environmental sensor and infrared camera；Environmental sensor
The environmental data and infrared camera of the fire scene of acquisition obtain the video of fire scene, and carry out to video
Analysis obtains environment temperature, humidity, brightness, kindling Item Information or the dangerous goods information of fire scene.Wherein,
Environmental sensor includes but is not limited to: temperature sensor, humidity sensor or optical sensor.
In the present embodiment, extinguishing device 108 includes solenoid valve and pressure fire extinguisher；
Pressure fire extinguisher and solenoid valve and central processing module 104 communicate to connect；
Central processing module 104 is also used to the parameter according to environmental data adjusting solenoid valve, setting fire extinguishing parameter and basis
The Item Information that catches fire selects corresponding pressure fire extinguisher；
Wherein, fire extinguishing parameter includes the attack time and injection pressure size of pressure fire extinguisher.
In a particular application, central processing module 104 be also used to according to context detection module 103 send environmental data into
Row analysis, adjustment extinguishing device 108 in solenoid valve parameter, adjust pressure fire extinguisher attack time and its spray pressure it is big
It is small；Also, central processing module 104 can select corresponding pressure fire extinguisher to put out a fire according to kindling Item Information, wherein
Pressure fire extinguisher and solenoid valve and central processing module 104 communicate to connect, (in the present embodiment, the outlet of pressure fire extinguisher and electricity
Magnet valve communication connection).Pressure fire extinguisher include gas fire extinguisher, dry powder extinguisher or other be used for fire-fighting fire extinguishing device.
For example, if being gone out according to environmental data analysis, current indoor kindling Item Information is precision instrument or current scene of fire is equipped with expensive
The place of heavy equipment, then select gas fire extinguisher to put out a fire；If currently kindling Item Information is that books or current fire are existing
It is the place equipped with important archives material, Ying Xuanyong dry powder extinguisher or gas fire extinguisher can also be selected；If current fire
Scene is the place equipped with electrical equipment, then gas fire extinguisher or dry powder extinguisher should be selected (it should be noted that pressure is put out a fire
Device should have preferable insulation performance, guarantee the normal operation of fire plant 1)；If current scene of fire is equipped with high-temperature service
Place, then should select dry powder extinguisher or gas fire extinguisher.
In the present embodiment, wireless communication module 101 is also used to for environmental data being sent to fire-fighting platform of internet of things, receives
The second fire extinguishing that fire-fighting platform of internet of things is sent instructs and the second fire extinguishing instruction is sent to fire extinguishing control module 105；
Fire extinguishing control module 105 is also used to execute corresponding operation according to the second fire extinguishing instruction control extinguishing device 108.
In a particular application, wireless communication module 101 is also used to be communicated with fire-fighting platform of internet of things, specific channel radio
News module 101 is used to the data that context detection module 103 is sent being sent to the fire-fighting object communicated to connect with current fire plant 1
Networked platforms enable to fire-fighting center to understand scene of fire situation in time, set corresponding fire extinguishing scheme.Wireless communication module
The second fire extinguishing instruction that the 101 fire-fighting platform of internet of things for being also used to receive are sent is sent to fire extinguishing control module 105, fire extinguishing
Control module 105 is also used to carry out corresponding fire extinguishing according to the second fire extinguishing instruction control extinguishing device 108 or stops fire extinguishing
Operation.
The present embodiment, which passes through, generates movement instruction according to the fire alarm information received, so that fire plant quickly reaches
Fire scene, and fire extinguishing instruction control extinguishing device 108 is generated according to the environmental data detected and is put out a fire, Neng Goushi
Existing intelligent fire fighting, avoids mass casualties.
Embodiment two
As shown in Fig. 2, a kind of fire plant 1 provided in this embodiment, further includes and 104 communication link of central processing module
The navigation positioning module 109 that connects, intelligent barrier avoiding module 110, memory module 112 and manually boot module 111；
Fire alarm information includes the ID of wireless smoke sensor device；
Navigation positioning module 109 is used to obtain the corresponding position coordinates of ID of wireless smoke sensor device, according to position coordinates
It generates path navigation information and is sent to central processing module 104；
Central processing module 104 controls drive module 106 according to path navigation information and movement mechanism 107 is driven to move, with
Fire plant 1 is set to be moved to fire scene.
In a particular application, fire plant 1 further includes the navigation positioning module communicated to connect with central processing module 104
109, intelligent barrier avoiding module 110, memory module 112 and module 111 is manually booted, wireless communication module 101 includes by received
The fire alarm information of wireless smog sensor ID is sent to central processing module 104 and navigation positioning module 109, navigator fix
Module 109 can obtain the corresponding position ID of wireless smoke sensor device according to the ID of wireless smoke sensor device from memory module 112
Coordinate is set, generates path navigation information according to position coordinates, and path navigation information is sent to central processing module 104；In
Processing module 104 is entreated to drive movement mechanism 107 to move so that fire plant 1 moves according to path navigation information control drive module 106
It moves to fire scene, fire scene is detected and saved；Intelligent barrier avoiding module 110 and central processing module
104 connections are used for so that fire plant 1 passes through in traveling, avoids obstructing objects on the interior space or road.
In the present embodiment, fire plant 1 further includes the memory module 112 communicated to connect with central processing module 104；
Memory module 112 is for storing the wireless smog sensor ID and the corresponding position of the wireless smog sensor ID
Set the relationship between coordinate.
Intelligent barrier avoiding module 110 is used to control the barrier that fire plant 1 avoids current environment according to environmental data.
In a particular application, the corresponding pass between preparatory smoke sensor device ID and wireless smog sensor ID is pre-established
System, and save to memory module 112, intelligent barrier avoiding module 110 is used for the environmental data sent according to context detection module 103,
The danger of environment is analyzed video, is judged, control fire plant 1 avoids the obstacle of current environment storage in traveling
Object guarantees the normal operation and running of fire plant 1.
In the present embodiment, it manually boots module 111 and manually boots order and to centre for receive user's input
The reason transmission of module 104 manually boots order；
Central processing module 104 is also used to basis and manually boots order generation enabled instruction and be sent to fire extinguishing control module
105；
Fire extinguishing control module 105, which is also used to control extinguishing device 108 according to enabled instruction, executes corresponding operation.
In a particular application, module 111 is manually booted for receiving manually booting order and being sent to for user's input
Entreat processing module 104, central processing module 104 generates corresponding enabled instruction and is sent to fire extinguishing control according to manually booting order
Molding block 105, fire extinguishing control module 105 are used to control the starting solenoid valve of extinguishing device 108 according to enabled instruction and put out a fire, or
Person stops fire extinguishing.
In the present embodiment, movement mechanism 107 includes gear drive, two driving wheels and one or more steerings ten thousand
To wheel.
In a particular application, movement mechanism 107 includes turning to universal wheel, gear drive and two driving wheel compositions；
Can set according to the actual situation turn to universal wheel as one or two, enable to fire plant 1 indoors or other compared with
It advances for flat place sliding.
The present embodiment generates corresponding road by the corresponding position coordinates of ID according to the wireless smoke sensor device of acquisition
Diameter passes through the location navigation function of navigation positioning module, the barrier avoiding function of intelligent barrier avoiding module and drive module and movement mechanism
Combination, enable fire plant safely and fast to reach fire scene, improve the efficiency of the fire fighting disaster relief, and pass through
It adds other rescue aids and setting manually boots module, can be improved the probability of trapped person's escape.
In one embodiment, a kind of fire-fighting robot is provided, fire-fighting robot includes such as above-described embodiment one and implements
Fire plant described in example two.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all
It is included within protection scope of the present invention.
Claims (8)
1. a kind of fire plant, which is characterized in that including ontology and be built in the wireless communication module of the ontology, power supply mould
Block, context detection module, central processing module, fire extinguishing control module, drive module and movement mechanism, the ontology, which is provided with, to go out
Fiery device；
The wireless communication module, the power module, the context detection module, the fire extinguishing control module and the driving
Module is communicated to connect with the central processing module respectively, and the drive module and the movement mechanism communicate to connect, the nothing
Line communication module and wireless smoke sensor device communicate to connect；
The fire plant further includes the memory module connecting with the central processing module；
The fire plant further includes the navigation positioning module with central processing module communication connection；
The wireless communication module is used to receive the fire alarm information that the wireless smoke sensor device is sent；Wherein, the fire
Calamity warning message includes the ID of wireless smoke sensor device；
The memory module is for storing the wireless smog sensor ID and the corresponding position of the wireless smog sensor ID
Relationship between coordinate；
The navigation positioning module, for obtaining the ID of the wireless smoke sensor device, according to the wireless smoke sensor device
ID obtains the corresponding position coordinates of ID of the wireless smoke sensor device from the memory module, raw according to the position coordinates
The central processing module is sent at path navigation information, and by the path navigation information；
The central processing module is used to generate motion control instruction according to the fire alarm information and is sent to the driving
Module；
The drive module is used to control the movement mechanism according to the motion control instruction and move, and moves the fire plant
It moves to fire scene；
The context detection module is used to detect the environmental data of fire scene and is sent to the central processing module；
Wherein, the environmental data includes temperature value, flame size grade, kindling Item Information and dangerous goods information；
The central processing module is also used to generate the first fire extinguishing according to the environmental data and instructs and be sent to the fire extinguishing control
Molding block；
The fire extinguishing control module is used to control the extinguishing device according to the first fire extinguishing instruction and is put out a fire or stop going out
Fire；
The extinguishing device includes solenoid valve and pressure fire extinguisher；
The pressure fire extinguisher and the solenoid valve and the central processing module communicate to connect；
The central processing module is also used to adjust the parameter of the solenoid valve, setting fire extinguishing parameter according to the environmental data simultaneously
Corresponding pressure fire extinguisher is selected according to the kindling Item Information；
Wherein, the fire extinguishing parameter includes the attack time and injection pressure size of the pressure fire extinguisher；The pressure fire extinguishing
Device includes gas fire extinguisher and dry powder extinguisher.
2. fire plant as described in claim 1, which is characterized in that the context detection module includes environmental sensor and red
Outer camera；
The environmental sensor and the infrared camera and the central processing module communicate to connect；
The environmental sensor and the infrared camera are used to the environmental data of detection fire scene and are sent to institute
State central processing module.
3. fire plant as described in claim 1, which is characterized in that the wireless communication module is also used to the environment number
It is instructed according to the second fire extinguishing for being sent to fire-fighting platform of internet of things, the reception fire-fighting platform of internet of things is sent and described second goes out
Fire instruction is sent to the fire extinguishing control module；
The fire extinguishing control module, which is also used to control the extinguishing device according to the second fire extinguishing instruction, executes corresponding operation.
4. fire plant as described in claim 1, which is characterized in that the central processing module is specifically used for according to the road
Diameter navigation information generates motion control instruction and is sent to the drive module, controls the drive according to the motion control instruction
Movement mechanism movement described in dynamic module drive, so that the fire plant is moved to fire scene.
5. fire plant as described in claim 1, which is characterized in that the fire plant further includes and the central processing mould
The intelligent barrier avoiding module of block communication connection；
The intelligent barrier avoiding module is used to control the barrier that the fire plant avoids current environment according to the environmental data.
6. fire plant as described in claim 1, which is characterized in that the fire plant further includes and the central processing mould
Block communication connection manually boots module；
The module that manually boots is used to receive manually booting order and sending hand to the central processing module for user's input
Dynamic start command；
The central processing module is also used to manually boot order according to and generates enabled instruction and be sent to the fire extinguishing control
Molding block；
The fire extinguishing control module, which is also used to control the extinguishing device according to the enabled instruction, executes corresponding operation.
7. fire plant as described in claim 1, which is characterized in that the movement mechanism includes gear drive, two
Driving wheel and one or more steering universal wheels.
8. a kind of fire-fighting robot, which is characterized in that the fire-fighting robot includes as described in any one of claim 1 to 7
Fire plant.
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| CN201810697740.3A CN108785944B (en) | 2018-06-29 | 2018-06-29 | A kind of fire plant and fire-fighting robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109603051A (en) * | 2018-12-07 | 2019-04-12 | 中国矿业大学(北京) | A kind of fire plant and its system of public fire protection |
| CN109646853A (en) * | 2018-12-17 | 2019-04-19 | 华北科技学院 | A kind of autonomous fire fighting robot device and monitoring system |
| CN109745643A (en) * | 2018-12-17 | 2019-05-14 | 义乌市吉龙科技有限公司 | A kind of visual identifying system for Intelligent fire-fighting robot |
| CN109876345A (en) * | 2019-03-05 | 2019-06-14 | 华北科技学院 | A kind of intelligent fire fighting method and firefighting robot |
| CN110141817A (en) * | 2019-06-24 | 2019-08-20 | 陕西中建建乐智能机器人有限公司 | A kind of patrol fire-fighting robot |
| CN110286680A (en) * | 2019-06-27 | 2019-09-27 | 广东技术师范大学天河学院 | A kind of emergent search robot and its searching method |
| CN110975196A (en) * | 2019-12-23 | 2020-04-10 | 宁夏电通物联网科技股份有限公司 | Fire-fighting robot |
| CN111298336B (en) * | 2020-01-08 | 2022-03-15 | 智慧式控股有限公司 | Automatic fire extinguisher and contain automatic fire extinguishing system of this fire extinguisher |
| CN112150946A (en) * | 2020-08-11 | 2020-12-29 | 上海有间建筑科技有限公司 | Wisdom fire control emergency device and system thereof |
| CN112989930A (en) * | 2021-02-04 | 2021-06-18 | 西安美格智联软件科技有限公司 | Method, system, medium and terminal for automatically monitoring fire fighting channel blockage |
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| CN101884830A (en) * | 2010-05-28 | 2010-11-17 | 中国科学技术大学 | Firefighting robot system |
| CN103845834A (en) * | 2012-12-04 | 2014-06-11 | 青岛三利中德美水设备有限公司 | Fire rescue robot |
| JP2017213011A (en) * | 2016-05-30 | 2017-12-07 | ホーチキ株式会社 | Disaster prevention cooperation system |
| CN107767617A (en) * | 2017-10-25 | 2018-03-06 | 中州大学 | A kind of intelligent household security system based on cloud service platform |
| CN207462524U (en) * | 2017-11-13 | 2018-06-08 | 中信重工开诚（共青城）机器人有限公司 | A kind of fire control smoke exhausting firefighting robot control system |
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