CN109646853A - A kind of autonomous fire fighting robot device and monitoring system - Google Patents
A kind of autonomous fire fighting robot device and monitoring system Download PDFInfo
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- CN109646853A CN109646853A CN201811538769.3A CN201811538769A CN109646853A CN 109646853 A CN109646853 A CN 109646853A CN 201811538769 A CN201811538769 A CN 201811538769A CN 109646853 A CN109646853 A CN 109646853A
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The embodiment of the present invention provides a kind of autonomous fire fighting robot device, including robot industrial control all-in-one machine and the wireless receiving module controlled by industrial control all-in-one machine, for receiving the fire point warning message and monitoring node coordinate information of extraneous transmission；Space orientation module is made of UWB wireless location system, including wireless locating base station and wireless location node, the space coordinate absolute fix for robot；Driving uinit module, for providing driving for robot chassis power wheel, control robot power wheel is rotated along all directions；Fire extinguisher control module opens fire extinguisher entrained by robot for controlling the electric putter being placed in outside robot body, and alignment fire source is put out a fire.The fire fighting robot device can determine that robot reaches the optimal path of monitoring node near zone according to the fire extinguishing point coordinate information received, realize that the robot autonomous fire extinguishing point that runs to is put out a fire.
Description
Technical field
The present invention relates to fire-fighting equipments, more particularly to a kind of autonomous fire fighting robot device and monitoring system.
Background technique
In recent years, economic loss, the casualties directly resulted in by fire increasingly increases, and how rapidly and accurately to carry out
Fire source positioning, automatic fire control fire extinguishing become the important topic of people's general concern and further investigation.Existing fire-fighting mode includes
Pass through the firefighting robot of infrared remote control, inspection humanoid robot or the artificial firefighting robot for participating in fire extinguishing.But the above-mentioned type
Firefighting robot there are the problem of are as follows:
1) fire point investigative range it is extremely limited, detection robot be all by ontology infra red flame sensor, camera,
What temperature, cigarette detection sensor and corresponding construction cooperation etc. were detected, detection range concentrates within visual range, along with biography
Sensor sensitivity, sighting distance coverage area, camera fire point judge the uncertainties such as algorithm, it is difficult to detect the cigarette of fire initial stage
Mist and dying fire, pony is difficult to put out after fire is greater, so such robot is poorly suited for storage, data center etc.
Block occasion.
2) inspection humanoid robot timeliness is poor, is limited by the indoor environments such as robot body design and storage, data center,
Inspection type fire rescue robot cannot fast move, and in weight bearing, general speed is below 1 metre per second (m/s), for slightly larger
Type storage, data center's whole inspection distance are up to hundreds of meters, then have the power consumption of walking detection for a long time high, and primary charging needs
A few hours are wanted, the inspection of multirobot alternating is generally required if to reach all the period of time covering, alternately charges.
3) existing firefighting robot (indoor and outdoor) is nearly all controlled using infrared or wireless remote control, it is intelligent and from
Main property is poor.
The information disclosed in the background technology section is intended only to increase the understanding to general background of the invention, without answering
When being considered as recognizing or imply that the information constitutes the prior art already known to those of ordinary skill in the art in any form.
Summary of the invention
In view of this, the technical problem to be solved by the present invention is to, how to provide one kind can autonomous realizing route planning and
The fire fighting robot device of autonomous function.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of autonomous fire fighting robot device, including robot
Industrial control all-in-one machine and by industrial control all-in-one machine control:
Wireless receiving module, for receiving the fire point warning message and monitoring node coordinate information of extraneous transmission；
Space orientation module, the space coordinate for the robot position, the UWB positioning node being had according to robot
Determining coordinate information determines the current position coordinates of robot, by current position coordinates and monitoring node coordinate, in advance
The optimal path of robot current location to fire point near zone is cooked up in the environmental map of drafting；
Driving uinit module controls robot power wheel along all directions for providing driving for robot chassis power wheel
Rotation；
Fire extinguisher control module opens fire extinguishing entrained by robot for controlling the electric putter being placed in outside robot body
Device, alignment fire source are put out a fire.
A kind of monitoring system with indoor autonomous fire fighting robot device, the monitoring system include:
Networking type fire point monitoring device, after detecting doubtful fire point information, by fire point information and fire point codes co-ordinates letter
Breath is sent to robot device by ZigBee processor；
Fire fighting robot device, after receiving the fire point information that fire point monitoring device is sent, according to designed optimal road
Diameter reaches fire point near zone automatically, searches for fire point position by itself vision camera, control fire extinguisher electric putter opening is gone out
Firearm is directed at fire source bottom by fire extinguisher servounit arm and puts out a fire.
The autonomous fire fighting robot device of the application and monitoring system structure are novel, easy to use, positioning actuators discovery
After fire source, controller controls the suitable path of fire-fighting robot Automatic-searching, when fire-fighting robot and fire source distance reach effective
Extinguisher device can be started automatically when quenching distance to put out a fire.
According to below with reference to the accompanying drawings becoming to detailed description of illustrative embodiments, other feature of the invention and aspect
It is clear.
Detailed description of the invention
One or more embodiments are illustrated by the picture in corresponding attached drawing, these exemplary theorys
The bright restriction not constituted to embodiment, the element in attached drawing with same reference numbers label are expressed as similar element, remove
Non- to have special statement, composition does not limit the figure in attached drawing.
Fig. 1 shows a kind of structural schematic diagram of indoor autonomous fire fighting robot device of one embodiment of the invention offer；
Fig. 2 shows another embodiment of the present invention provides a kind of indoor autonomous fire fighting robot device structural schematic diagram；
Fig. 3 shows arragement construction and path planning figure in the warehouse room of one embodiment of the invention offer；
Fig. 4 shows the fire-fighting robot work flow diagram of one embodiment of the invention offer；
Fig. 5 shows the structural representation of the monitoring system with autonomous fire fighting robot device of one embodiment of the invention offer
Figure.
Specific embodiment
With reference to the accompanying drawing, specific embodiments of the present invention will be described in detail, it is to be understood that guarantor of the invention
Shield range is not limited by the specific implementation.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.Unless
Separately have it is other explicitly indicate that, otherwise in entire disclosure and claims, term " includes " or its transformation such as "comprising" or
" including " etc. will be understood to comprise stated element or component, and not exclude other elements or other compositions
Part.
Dedicated word " exemplary " means " being used as example, embodiment or illustrative " herein.Here as " exemplary "
Illustrated any embodiment should not necessarily be construed as preferred or advantageous over other embodiments.
In addition, in order to better illustrate the present invention, numerous details is given in specific embodiment below.
It will be appreciated by those skilled in the art that without certain details, the present invention equally be can be implemented.In some instances, for
Method well known to those skilled in the art, means, element are not described in detail, in order to highlight purport of the invention.
Embodiment 1
Fig. 1 shows a kind of structural schematic diagram of autonomous fire fighting robot device provided in an embodiment of the present invention, such as Fig. 1 institute
Show, which includes robot industrial control all-in-one machine ontology and the wireless receiving module 11 by industrial control all-in-one machine control, space orientation
Module 12, driving uinit module 13 and fire extinguisher control module 14.
Wherein, wireless receiving module 11, for receiving the fire point warning message and monitoring node coordinate information of extraneous transmission；
Space orientation module 12, the space coordinate for the robot position, and are determined according to the UWB positioning node that robot has
Coordinate information determines the current position coordinates of robot, by current position coordinates and monitoring node coordinate, what is drawn in advance
The optimal path of robot current location to fire point near zone is cooked up in environmental map；Driving uinit module 13, for for
Robot chassis power wheel provides driving, and control robot power wheel is rotated along all directions；Fire extinguisher control module 14, for controlling
It makes the electric putter being placed in outside robot body and opens fire extinguisher entrained by robot, alignment fire source is put out a fire.
The application fire-fighting robot includes two electric putters and two servounit arms, while there are two versatilities to do for installation
Powder fire extinguisher, fire extinguisher electric putter are responsible for opening and closing fire extinguisher, and fire extinguisher servounit arm is responsible for controlling the spray of fire extinguisher
Pipe is swung up and down, and swinging is by robot chassis course changing control, thus with the use of fire extinguisher can be made to be directed at fire source
Implement fire extinguishing in root.When fire source scale is smaller, fire extinguishing is can be implemented in single fire extinguisher, if it find that fire scale larger then two
A fire extinguisher is implemented to put out a fire simultaneously.
When the fire point warning message for receiving extraneous transmission, space orientation module determines ignition point according to UWB positioning method
Coordinate node location information, calculate the optimal path that robot reaches ignition point near zone, drive module passes through chassis
Power wheel driving robot runs to fire extinguishing region, and the electric putter that fire extinguishing control module control is placed in outside robot body opens machine
Fire extinguisher entrained by device people, alignment fire source are put out a fire.
A kind of autonomous fire fighting robot device provided in an embodiment of the present invention can be sat according to the fire extinguishing point received as a result,
Information is marked, determines that robot reaches the optimal path of monitoring node near zone, realization is robot autonomous to run to fire extinguishing click-through
Row fire extinguishing.
Embodiment 2
Fig. 2 shows a kind of structural schematic diagram of indoor autonomous fire fighting robot device provided in an embodiment of the present invention, such as Fig. 2
Shown, which includes robot industrial control all-in-one machine ontology and the wireless receiving module by industrial control all-in-one machine control
201, space orientation module 202, driving uinit module 203, fire extinguisher control module 204, vision camera 205, auxiliary positioning
And obstacle avoidance module 206, battery management module 207, emergency stop and key module 208 of making a return voyage, sound and light alarm module 209, linear encoder
210, online alarm module 211.
Wireless receiving module 201, for receiving the fire point warning message and monitoring node coordinate information of extraneous transmission；Space
Locating module 202, the space coordinate for the robot position, the seat determined according to the UWB positioning node that robot has
Mark information determines the current position coordinates of robot, by current position coordinates and monitoring node coordinate, in the ring drawn in advance
The optimal path of robot current location to fire point near zone is cooked up in the figure of condition；Driving uinit module 203, for being machine
Device people chassis power wheel provides driving, and control robot power wheel is rotated along all directions；Fire extinguisher control module 204, for controlling
It makes the electric putter being placed in outside robot body and opens fire extinguisher entrained by robot, alignment fire source is put out a fire.Vision camera shooting
First 205, for finding fire point information, and accurately identify ignition point position.Auxiliary positioning and obstacle avoidance module 206, in machine
Ambient condition information is obtained in people's walking process and the barrier in environment is evaded；Battery management module 207, for pair
Robot charges；Emergency stop and key module 208 of making a return voyage, for controlling machine to instruction of making a return voyage is issued after robot confirmation fire extinguishing
Device people's auto-returned designated position stops conduct according to instruction at any time.Sound and light alarm module 209 is received for robot body
Sound and light alarm signal is issued after to fire-warning signal；Linear encoder 210, velocity amplitude, mileage value for recorder people,
And it can check whether the velocity amplitude, mileage value meet the requirement of preset value.Online alarm module 211, for working as fire alarm
When, fire alarm information is outwardly issued by the network transmissions mode such as wireless.
Illustrate fire-fighting robot fire extinguishing procedure below in conjunction with warehouse environment example.Fig. 3 be warehouse room in arragement construction and
Path planning figure, Fig. 4 are fire-fighting robot work flow diagram.Each shelf is both provided with monitoring and nodes of locations, figure in Fig. 3
Label 1-55 is monitoring node in 3, and label 01-06 is UWB locating base station, and the base station UWB is installed on indoor top region, UWB base
Installation number of standing is determined according to interior space size, needs to install four or more base stations under normal circumstances, installs more positioning accurates
Degree and accuracy are higher；Two UWB positioning nodes are placed in robot body, each one of front and back, are used to positioning machine in real time
The absolute coordinate point of people indoors.Robot body is placed in the rational position between warehouse shelf.
Fire-fighting robot industrial control all-in-one machine can be touch screen industrial control all-in-one machine, for that will draw storage, storehouse, in data
The grid coordinate map of the indoor environments such as the heart imports robot body touch screen industrial control all-in-one machine.In warehouse according to the spatial layout and
Top is equipped with UWB locating base station to size indoors.Can each shelf be a monitoring node, each monitoring node have from
Oneself unique address code, in the warehouse map and database that the deposit of monitoring node absolute coordinate is drawn, when monitoring node report
When alert, itself coding and warning message are sent to robot wireless receiving node, robot can determine kindling by coding
Point position.So that it is determined that robot reaches the optimal path of monitoring node near zone.
Warehouse does not have under case of fire, and fire-fighting robot is usually to power on armed state, and robot is first under armed state
Go out the optimal path of current location to each monitoring node by space orientation module design.
When warehouse catches fire, the wireless receiving module of fire fighting robot device is firstly received the fiery point of extraneous transmission
Warning message and monitoring node coordinate information.Fire-fighting robot ontology can have the robot of walking function, robot for one
Chassis is provided with power wheel, and the driving uinit module built in robot body can provide driving for power wheel, controls power wheel
It is rotated along all directions.The space orientation module of robot built-in draws the coordinate node location information in monitoring region inner ring border, and
Determine that robot reaches the optimal path of monitoring node near zone according to the monitoring node coordinate information received.
Near zone is put when robot quickly reaches fire according to prior designed optimal path automatically, then passes through itself
Vision camera search accurate fire point position, the fire extinguisher electric putter of control robot configuration open fire extinguisher, pass through fire extinguisher
Servounit arm alignment fire source bottom carries out fire extinguishing disposition.
The application fire-fighting robot includes two electric putters and two servounit arms, while there are two versatilities to do for installation
Powder fire extinguisher, fire extinguisher electric putter are responsible for opening and closing fire extinguisher, and fire extinguisher servounit arm is responsible for controlling fire extinguisher jet pipe
It swings up and down, swinging is by robot chassis course changing control, thus with the use of fire extinguisher can be made to be directed at fire source root
Implement fire extinguishing in portion.When fire source scale is smaller, fire extinguishing is can be implemented in single fire extinguisher, if it find that fire scale larger then two
Fire extinguisher is implemented to put out a fire simultaneously.
It is standby on the spot after fire-fighting robot fire extinguishing disposition to be in monitoring armed state in real time, fire-fighting robot ontology
Outside is equipped with emergency stop and the key that makes a return voyage, when place be responsible for equal related personnel show up confirm that fire behavior is eliminated after by pressing robot emergency stop
And the key that makes a return voyage, the emergency stop of robot built-in and key module of making a return voyage issue instruction control robot auto-returned and carry out filling certainly in situ
Electricity, the battery module of robot built-in can have the battery module of charge function for lithium battery etc., realize the automatic of robot
Charging.
If any the alarm of other junction sensors, then robot planning goes out current location to the second fire during robot awaits orders
The path of point quickly goes to implementation to put out a fire.Fire-fighting robot further includes having auxiliary positioning and obstacle avoidance module, can pass through ultrasonic wave
Mode incudes the barrier in environment, if encountering barrier during from starting point to target point, passes through this first
Can body vision camera disturbance in judgement object road continue through, cannot by when by auxiliary positioning and obstacle avoidance module to environment
In barrier evaded, then the optimal path of current location to target area is quickly cooked up by space orientation module,
This operation is repeated before reaching target area, until robot reaches target area.
A kind of indoor autonomous fire fighting robot device provided in an embodiment of the present invention can be realized automatic fire source positioning as a result,
With automatic quick extinguishing.
Embodiment 3
Fig. 5 shows the structural representation of the monitoring system provided in an embodiment of the present invention with autonomous fire fighting robot device
Figure, as shown in figure 5, the monitoring system includes networking type fire point monitoring device 50 and fire fighting robot device 51.Networking type fire point
Monitoring device 50 be used for when detect it is doubtful fire point information after, by fire point information and fire put codes co-ordinates information by ZigBee at
Reason device is sent to robot device.Fire fighting robot device 51, after receiving the fire point information that fire point monitoring device is sent, according to
Prior designed optimal path quickly reaches fire point near zone automatically, then passes through the accurate fire of itself vision camera search
Point position, control fire extinguisher electric putter open fire extinguisher, are directed at fire source bottom by fire extinguisher servounit arm and carry out at fire extinguishing
It sets.
Networking type fire point monitoring device 50 includes ZigBee processor, toggle switch, networking indicator light, fire identification mould
Block, power amplifier.ZigBee processor can be CC2530ZigBee processor herein.The fire being connect with ZigBee processor
Identification module includes fire visual pattern identification module, fire infrared and ultraviolet identification module, smog+temperature+infra red flame detection
Module.Toggle switch is used to the number of design fire monitoring node, and monitoring device is by warning message and number when a fire
Information is sent to robot, and robot may know immediately that position of the fire point in map.Networking indicator light is used to during installation
Check whether the monitoring device and robot communicate normally.Connect with ZigBee processor there are also AP power amplifier+antenna with
And AC220 conversion circuit, AP power amplifier+antenna are used to increase wireless signal, guarantee to stablize in bulk storage plant telecommunication,
AC220 conversion circuit is used to being converted to alternating current into voltage required for monitoring node works.When there is fire behavior generation, can pass through
The image recognition mode of visual pattern identification module or the infrared and ultraviolet identification method of infrared and ultraviolet identification module, Huo Zheyan
Smog+temperature+infra red flame detection identification method in mist+temperature+infra red flame detecting module identifies fire information.
The monitoring system provided in an embodiment of the present invention with autonomous fire fighting robot device can be realized timely hair as a result,
Existing fire source, automatic fire source positioning and automatic quick extinguishing.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It is realized by the mode of software plus general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, above-mentioned technology
Scheme substantially in other words can be embodied in the form of software products the part that the relevant technologies contribute, the computer
Software product may be stored in a computer readable storage medium, such as ROM/RAM, magnetic disk, CD, including some instructions to
So that computer equipment (can be personal computer, server or the network equipment etc.) execute each embodiment or
Method described in certain parts of embodiment.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of autonomous fire fighting robot device, which is characterized in that the fire fighting robot device includes robot industrial control all-in-one machine
And by industrial control all-in-one machine control:
Wireless receiving module, for receiving the fire point warning message and monitoring node coordinate information of extraneous transmission；
Space orientation module, the space coordinate for the robot position, and are determined according to the UWB positioning node that robot has
Coordinate information determine that the current position coordinates of robot are drawn by current position coordinates and monitoring node coordinate in advance
Environmental map in cook up robot current location to fire point near zone optimal path；
Driving uinit module, for providing driving for robot chassis power wheel, control robot power wheel is rotated along all directions；
Fire extinguisher control module opens fire extinguisher entrained by robot for controlling the electric putter being placed in outside robot body,
Alignment fire source is put out a fire.
2. a kind of autonomous fire fighting robot device according to claim 1, which is characterized in that the robot device further includes
By industrial control all-in-one machine control:
Vision camera accurately identifies ignition point position for finding fire point information and environmental information；
Auxiliary positioning and obstacle avoidance module, for obtaining ambient condition information during robot ambulation and to the obstacle in environment
Object is evaded.
3. a kind of autonomous fire fighting robot device according to claim 1 or 2, which is characterized in that the robot device is also
Including what is controlled by industrial control all-in-one machine:
Battery management module, for charging to robot；
Emergency stop and key module of making a return voyage, for instruction of making a return voyage is issued after robot confirmation fire extinguishing, control robot auto-returned to refer to
Positioning sets or stops conduct at any time according to instruction.
4. a kind of autonomous fire fighting robot device according to claim 1 or 2, which is characterized in that the robot device is also
Including what is controlled by industrial control all-in-one machine:
Sound and light alarm module issues sound and light alarm signal after receiving fire-warning signal for robot body；
Linear encoder, velocity amplitude, mileage value for recorder people, and can check whether the velocity amplitude, mileage value accord with
Close the requirement of preset value.
5. a kind of autonomous fire fighting robot device according to claim 1 or 2, which is characterized in that the space orientation mould
Block is the UWB wireless location system with wireless locating base station and wireless location node, and the wireless locating base station is set to machine
Outside device people's industrial control all-in-one machine, the wireless location node is arranged in robot industrial control all-in-one machine fuselage.
6. a kind of monitoring system with autonomous fire fighting robot device according to claim 5, which is characterized in that described
Robot is provided with servounit arm, swings up and down fire extinguishing by the jet pipe that servounit arm controls fire extinguisher.
7. a kind of monitoring system with autonomous fire fighting robot device, which is characterized in that the monitoring system includes:
Networking type fire point monitoring device leads to fire point information and fire point codes co-ordinates information after detecting doubtful fire point information
It crosses ZigBee processor and is sent to robot device；
Fire fighting robot device, after receiving the fire point information that fiery point monitoring device is sent, certainly according to designed optimal path
It is dynamic to reach fire point near zone, fire point position is searched for by itself vision camera, control fire extinguisher electric putter opens fire extinguisher,
Fire source bottom is directed at by fire extinguisher servounit arm to put out a fire.
8. a kind of autonomous fire fighting robot device according to claim 7, which is characterized in that the networking type fire point monitoring
Device includes: fire visual pattern identification module, fire infrared and ultraviolet identification module, smog+temperature+infra red flame detecting module
One of or it is a variety of.
9. a kind of autonomous fire fighting robot device according to claim 7 or 8, which is characterized in that the fire point coordinate is compiled
Code information is determined by UWB positioning method.
10. a kind of autonomous fire fighting robot device according to claim 9, which is characterized in that the fire-fighting robot dress
It sets including robot industrial control all-in-one machine and by industrial control all-in-one machine control:
Wireless receiving module, for receiving the fire point warning message and monitoring node coordinate information of extraneous transmission；
Space orientation module, the space coordinate for the robot position, and are determined according to the UWB positioning node that robot has
Coordinate information determine that the current position coordinates of robot are drawn by current position coordinates and monitoring node coordinate in advance
Environmental map in cook up robot current location to fire point near zone optimal path；
Driving uinit module, for providing driving for robot chassis power wheel, control robot power wheel is rotated along all directions；
Fire extinguisher control module opens fire extinguisher entrained by robot for controlling the electric putter being placed in outside robot body,
Alignment fire source is put out a fire.
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| CN110201333A (en) * | 2019-06-05 | 2019-09-06 | 山东国兴智能科技股份有限公司 | A kind of full-automatic coordinated investigation of fire-fighting robot and extinguishing operation method |
| CN110837822A (en) * | 2019-12-09 | 2020-02-25 | 国网智能科技股份有限公司 | Fire-fighting robot injection curve adjusting method and device based on multi-view vision |
| CN110841228A (en) * | 2019-11-21 | 2020-02-28 | 五邑大学 | Indoor fire-fighting robot based on smoke alarm |
| CN110940316A (en) * | 2019-12-09 | 2020-03-31 | 国网山东省电力公司 | Navigation method and system for fire-fighting robot of transformer substation in complex environment |
| CN110989599A (en) * | 2019-12-09 | 2020-04-10 | 国网智能科技股份有限公司 | Autonomous operation control method and system for fire-fighting robot of transformer substation |
| CN111013061A (en) * | 2019-12-06 | 2020-04-17 | 太原工业学院 | Intelligent fire fighting truck, system and method for warehouse |
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| CN114522367A (en) * | 2022-01-21 | 2022-05-24 | 天津博迈科海洋工程有限公司 | Rapid and accurate fire extinguishing method for automatic foam fire extinguishing vehicle of ocean platform |
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| CN111013061A (en) * | 2019-12-06 | 2020-04-17 | 太原工业学院 | Intelligent fire fighting truck, system and method for warehouse |
| CN110940316A (en) * | 2019-12-09 | 2020-03-31 | 国网山东省电力公司 | Navigation method and system for fire-fighting robot of transformer substation in complex environment |
| CN110989599A (en) * | 2019-12-09 | 2020-04-10 | 国网智能科技股份有限公司 | Autonomous operation control method and system for fire-fighting robot of transformer substation |
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| CN110940316B (en) * | 2019-12-09 | 2022-03-18 | 国网智能科技股份有限公司 | Navigation method and system for fire-fighting robot of transformer substation in complex environment |
| CN110989599B (en) * | 2019-12-09 | 2022-06-24 | 国网智能科技股份有限公司 | Autonomous operation control method and system for fire-fighting robot of transformer substation |
| CN110837822B (en) * | 2019-12-09 | 2022-09-09 | 国网智能科技股份有限公司 | Fire-fighting robot injection curve adjusting method and device based on multi-view vision |
| CN111184973A (en) * | 2020-03-02 | 2020-05-22 | 中信重工开诚智能装备有限公司 | Wheeled fire control is thrown bullet and is put out a fire robot control system |
| CN111603705A (en) * | 2020-04-17 | 2020-09-01 | 贵州大学 | Dual-purpose unmanned aerial vehicle of tradition village land and navigation carries extinguishing device |
| CN111408089A (en) * | 2020-04-22 | 2020-07-14 | 北京新松融通机器人科技有限公司 | Fire-fighting robot and fire-fighting robot fire extinguishing system |
| CN115666738A (en) * | 2020-06-30 | 2023-01-31 | 西门子股份公司 | Fire extinguishing system, server, fire-fighting robot and fire extinguishing method |
| CN111973925A (en) * | 2020-08-21 | 2020-11-24 | 北京云迹科技有限公司 | Method, device and system for fire extinguishing by robot cooperation |
| CN111973925B (en) * | 2020-08-21 | 2021-11-16 | 北京云迹科技有限公司 | Method, device and system for fire extinguishing by robot cooperation |
| CN112535822A (en) * | 2020-11-20 | 2021-03-23 | 广德君安达消防科技有限公司 | Intelligent linkage method for fire early warning vehicles |
| CN112915422A (en) * | 2021-03-04 | 2021-06-08 | 西北工业大学 | Solid fire extinguishing bomb fire-fighting system |
| CN112915422B (en) * | 2021-03-04 | 2022-05-31 | 西北工业大学 | Solid fire extinguishing bomb fire-fighting system |
| CN112915420A (en) * | 2021-04-09 | 2021-06-08 | 吉林大学 | Fire scene positioning and fire extinguishing method of warehouse intelligent fire extinguishing robot |
| CN113204818A (en) * | 2021-04-27 | 2021-08-03 | 特斯联科技集团有限公司 | Unit-based fire room station layout method and device |
| CN113204818B (en) * | 2021-04-27 | 2022-01-28 | 特斯联科技集团有限公司 | Unit-based fire room station layout method and device |
| CN113733124A (en) * | 2021-09-24 | 2021-12-03 | 智能移动机器人(中山)研究院 | Security robot capable of stopping emergently in case of accident |
| CN113952656A (en) * | 2021-10-21 | 2022-01-21 | 山东乐普韦尔自动化技术有限公司 | Intelligent fire-fighting robot system for converter station valve hall |
| CN114522367A (en) * | 2022-01-21 | 2022-05-24 | 天津博迈科海洋工程有限公司 | Rapid and accurate fire extinguishing method for automatic foam fire extinguishing vehicle of ocean platform |
| CN114425133A (en) * | 2022-02-09 | 2022-05-03 | 吕德生 | Indoor flame autonomous inspection and fire extinguishing method |
| CN114425133B (en) * | 2022-02-09 | 2023-10-17 | 吕德生 | Indoor flame autonomous inspection and fire extinguishing method |
| CN114849127A (en) * | 2022-07-08 | 2022-08-05 | 四川坤弘远祥科技有限公司 | Method, apparatus and medium for controlling non-pressure storage type explosion suppression system |
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Application publication date: 20190419 |