CN109779671A - Tunnel fire-fighting robot and fire plant - Google Patents
Tunnel fire-fighting robot and fire plant Download PDFInfo
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- CN109779671A CN109779671A CN201910033326.7A CN201910033326A CN109779671A CN 109779671 A CN109779671 A CN 109779671A CN 201910033326 A CN201910033326 A CN 201910033326A CN 109779671 A CN109779671 A CN 109779671A
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Abstract
The invention discloses a kind of tunnel fire-fighting robot and fire plants, the tunnel fire-fighting robot, including wheel undercarriage, the control cabinet and booster pump being set on the chassis, the control cabinet and booster pump are screened shield therein, and the water cannon on shield is set, the water inlet of the water cannon is connected to the water outlet of the booster pump.Tunnel fire-fighting robot chassis of the invention can be such that robot is be easily moved, with brake function and guarantee that each component of robot is solid and reliable, fire-fighting robot increases pressurizing pack, and system can voluntarily pressurize, ensure that fire water there are enough fire-fighting pressures, so that water cannon has bigger range.Especially be difficult in fire behavior it is close in the case that fire is greater, it is particularly useful; fire-fighting robot tool in tunnel is small in size, high-efficient, and fire-fighting effect is good, substitutes original artificial fire-fighting operation mode; shield waterproof and heat-insulating protects complete machine, particularly control unit not by water and high temperature erosion.
Description
Technical field
The invention belongs to technical field of tunnel fire protection, and in particular to a kind of tunnel fire-fighting robot and fire plant.
Background technique
Fire refers to the out of control burning on time or space, and in various disasters, fire is most frequently, most generally
Ground threatens one of public security and the major casualty of social development；All there is fire hazard in many occasions and industry.For fire
Fire-fighting fire extinguishing mode mostly uses the artificial fire extinguisher that carries to enter the artificial fire-fighting operation of fire-fighting scene progress, such existing fire-fighting side
The dangerous property of formula is big, causes great threat to fire fighter's personal safety, has many firemans every year because of scene
Fire-fighting operation and sacrificing is died at one's post numerous；Simultaneously artificial live fire-fighting operation fire-fighting efficiency can with the elongation of activity duration and
It gradually reduces, fire-fighting fire extinguishing whole efficiency is low, speed is slow and flexibility is poor.
When fire occurring inside construction tunnel, since construction site, region, tunnel space are limited, conventional fire-fighting vehicle
Can not enter, this results in such fire incident not good solution, or can only using manual operation fire distinguisher into
Row fire extinguishing, however not only working efficiency is low, speed is slow and flexibility is poor for this fire extinguishing, and biggish fire incident is difficult to control
System, and security risk is very big, has seriously affected safety in production and the security of the lives and property of construction personnel.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of tunnel fire-fighting robot, structurally reasonable, fortune
It is dynamic flexibly, adapt to tunnel environment fire-fighting operation, equipment failure rate is low, easy to maintain, operating cost is low, long service life, significantly
It is horizontal to improve tunnel fire-fighting, and improves the safety of constructing tunnel operation, it can quick, spirit when fire incident occurs in tunnel internal
The robot of fire-fighting operation that is living, efficiently putting out a fire.
The present invention is achieved by the following technical solutions:
A kind of tunnel fire-fighting robot, including wheel undercarriage, the control cabinet and booster pump being set on the chassis will
The control cabinet and booster pump is screened shield therein, and the water cannon being arranged on shield, the water inlet of the water cannon
It is connected to the water outlet of the booster pump.
In the above-mentioned technical solutions, it is laid out before and after the control cabinet and booster pump, the water cannon is set to described
It further include the battery for power supply above control cabinet.
In the above-mentioned technical solutions, the spray being connected to cooling pump or the booster pump is provided on the shield
Head.
It in the above-mentioned technical solutions, further include the filter mechanism being successively connected to the booster pump water inlet and water intaking
Pipe, the intake pipe are connect with fire-fighting storage tank or water intaking halter.
It in the above-mentioned technical solutions, further include the high temperature resistant camera head communicated with control cabinet internal controller, in control cabinet
The remote controler of controller wireless telecommunications connection, is provided with display screen on the remote controler.
A kind of fire plant, including locomotive, the fire-fighting transport vehicle pulled by the locomotive, on the fire-fighting transport vehicle
It is provided with the tunnel fire-fighting robot.
In the above-mentioned technical solutions, the tunnel fire-fighting robot is fixed on the fire-fighting transport vehicle front end, described
Fire-fighting transport vehicle rear end be provided with large capacity fire-fighting storage tank, heat shield is provided on the locomotive, in the heat shield
Outside is provided with multiple locomotive spray heads being connected to the cooling pump or booster pump.
In the above-mentioned technical solutions, the fire-fighting transport vehicle is located at the locomotive front, at the locomotive rear portion
It is additionally provided with lifesaving transport vehicle, is provided with survival capsule on the lifesaving transport vehicle.
In the above-mentioned technical solutions, the locomotive includes PLC, the data acquisition module with the PLC communication connection,
The solenoid valve driving module controlled by the PLC, the manipulation screen with the PLC communication connection, and controlled by the PLC
The throttle motor of system, the throttle motor are driven increasing or reduce throttle, wherein the data acquisition module includes
Distance measuring sensor, three-dimensional camera and operating parameter sensor；The solenoid valve of the solenoid valve driving module is corresponding concatenate into
Warn circuit and brake control loop, further include remote controler, and nothing corresponding with the remote controler and with PLC communication connection
Line transmission module.
It in the above-mentioned technical solutions, further include Background control terminal, and along tunnel arranged for interval to constitute wireless wifi
The wireless aps of network.
The advantages and benefits of the present invention are:
Tunnel fire-fighting robot chassis of the invention can be such that robot is be easily moved, and with brake function and guarantee robot
Each component is solid and reliable, and fire-fighting robot increases pressurizing pack, and system can voluntarily pressurize, it is ensured that fire water has enough fire-fightings
Pressure, so that water cannon has bigger range.Close in the case that fire is greater, particularly useful, tunnel is especially difficult in fire behavior
Fire-fighting robot tool is small in size, high-efficient, and fire-fighting effect is good, substitutes original artificial fire-fighting operation mode, and shield waterproof and heat-insulating is protected
Complete machine, particularly control unit are protected not by water and high temperature erosion.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of tunnel fire-fighting robot of the present invention.
Fig. 2 is the partial cutaway schematic of tunnel fire-fighting robot of the present invention.
It for those of ordinary skill in the art, without creative efforts, can be according to above attached
Figure obtains other relevant drawings.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, combined with specific embodiments below furtherly
Bright technical solution of the present invention.
Embodiment one
A kind of tunnel fire-fighting robot, including wheel undercarriage 1, the control cabinet 2 and booster pump being set on the chassis
3, the control cabinet and booster pump are screened shield 4 therein, and the water cannon 5 being arranged on shield, the water cannon
Water inlet is connected to the water outlet of the booster pump.
Tunnel fire-fighting robot chassis of the invention can be such that robot is be easily moved, and with brake function and guarantee robot
Each component is solid and reliable, and fire-fighting robot increases pressurizing pack, and system can voluntarily pressurize, it is ensured that fire water has enough fire-fightings
Pressure, water cannon is arranged in top, so that water cannon has bigger range.Especially be difficult in fire behavior it is close in the case that fire is greater,
Particularly useful, fire-fighting robot tool in tunnel is small in size, high-efficient, and fire-fighting effect is good, substitutes original artificial fire-fighting operation mode, shield
Cover waterproof and heat-insulating protects complete machine, particularly control unit not by water and high temperature erosion.
Using the duplicate protection strategy of shield and control cabinet, the safety of its internal controller is improved, moreover, described
Maintenance door 41 is provided on shield and corresponding control cabinet.And fire-fighting robot is flexibly stored, and itself has certain fire-fighting
Ability, the fire-fighting that can be used for warehouse etc. are spare.
Specifically, it is laid out before and after the control cabinet and booster pump, the water cannon is set to above the control cabinet.
It further include the battery for power supply in control cabinet.It is powered using battery, improves its flexibility and emergency, naturally it is also possible to use
External power supply power supply, water cannon device be emit water flow component, built-in three driving motors, have swing, upper and lower pitching,
Elastic three degree of freedom.The angles and positions of water cannon device are operated according to fire behavior by remote control manipulator, it is very convenient.By bubble
Setting reduces interference in chassis front convenient for control layout.
It wherein, further include the filter mechanism and intake pipe being successively connected to the booster pump water inlet 31, it is described
Intake pipe is connect with fire-fighting storage tank or water intaking halter.
Using different water supply patterns, it can be achieved that independent put out a fire or put out a fire with mating, water spray, foam etc. can be performed
Various forms of rescue modes adapt to different fire-disaster emergency demands.
Embodiment two
Preferably, the spray head being connected to cooling pump or the booster pump is provided on the shield.Using self-spray
The problem of drenching the mode of cooling, reducing tunnel fire-fighting robot itself, can make it as close as possible to fire source, or passes through fire source and carry out
Multiple spot, which is sued and laboured, speedily carries out rescue work, spray head can be used rotary ejection type etc. design, equally can the shield outer surface design gutter channel with
Increase cooling water retention time, improves temperature control effect.
Embodiment three
Further include the high temperature resistant camera head 6 with the communication of control cabinet internal controller, connects with control cabinet internal controller wireless telecommunications
The remote controler connect is provided with display screen on the remote controler.
Wireless remote control system based on controller carries out extinguishment fire suppression using the mode of remote control operation and does one's assignment, distant behaviour
Make system include video transmission and display, can within the scope of 1KM the operation of real-time perfoming fire-fighting robot and extinguishing operation, greatly
The safety of fire fighter is improved greatly；Meanwhile being the transmission convenient for signal, it is also correspondingly arranged antenna, such as high temperature resistant antenna, operation
Personnel can use at a distance, ensure that personnel safety.
It further include lighting mechanism 42 and the dragging ring for being set to the chassis front and rear.It can using floor light
The observing effect at scene is improved, and the dragging ring of front and back is easy to remove, moreover, improving maintenance effects, tail portion, which is additionally provided with, to be filled
Electrical interface 43 and control master switch 44, while being additionally provided with one-key start or key stopping control switch 45, wherein the bottom
Disk includes that the straight wheel of front and the deflecting roller at rear portion are moved substantially and positioned to realize.
Example IV
The present invention further simultaneously discloses a kind of fire plant, including locomotive, the fire-fighting transport vehicle pulled by the locomotive,
The tunnel fire-fighting robot is provided on the fire-fighting transport vehicle.Wherein, the tunnel fire-fighting robot is fixed on
The fire-fighting transport vehicle front end, the fire-fighting transport vehicle rear end are provided with large capacity fire-fighting storage tank and fire fighting device, such as
Fire-entry suit, fire fighting hammer, fire-fighting rack etc. rescue safeguard, so that it is had perfect fire fighting truck function, are arranged on the locomotive
There is heat shield, multiple locomotive spray heads being connected to the cooling pump or booster pump are provided on the outside of the heat shield.
The tunnel fire-fighting robot is flexibly installed on fire-fighting transport vehicle, quickly reaches disaster when accident occurs
Scene is simultaneously worked independently using battery or provides electric energy by locomotive, and the timeliness of tunnel fire hazard fire-fighting is improved；Structurally reasonable,
Movement flexibly, adapt to tunnel environment fire-fighting operation, equipment failure rate is low, easy to maintain, operating cost is low, long service life, big
Big to improve tunnel fire-fighting horizontal, and improves the safety of constructing tunnel operation, when there is fire incident in tunnel internal can quickly,
Flexibly, the robot for the fire-fighting operation efficiently put out a fire.The use for especially combining remote control, can carry out remote operation low coverage
Multiple spot fire fighting is carried out from even across fire source, improves fire fighting efficiency.
Further, the fire-fighting transport vehicle is located at the locomotive front, is additionally provided at the locomotive rear portion
Lifesaving transport vehicle is provided with survival capsule on the lifesaving transport vehicle.
Survival capsule is realized in place in the synchronous of fire fighting by the way of locomotive dragging, and survival capsule can be used for emergency personnel first
Transport, the disaster relief and rescue personnel of profession can be transported to scene in first time, and it provides the act of rescue and function of speedily carrying out rescue work
Can, safety assurance can be provided to the crowd of besieging or injured rescue and relief work personage, be supplied with independent drinking-water, power supply and oxygen
It answers, when the accident such as collapsing occurs, related personnel, which hides, wherein can effectively extend rescue time.
Preferably, unmanned to realize, especially unmanned under dangerous situation, the locomotive includes PLC, with
The data acquisition module of the PLC communication connection, the solenoid valve driving module controlled by the PLC are logical with the PLC
The manipulation screen of connection is interrogated, and the throttle motor controlled by the PLC, the throttle motor are driven increasing or reduction
Throttle further includes remote controler, and wireless transport module corresponding with the remote controler and with PLC communication connection, wherein institute
The data acquisition module stated includes distance measuring sensor, three-dimensional camera and operating parameter sensor；The solenoid-driven mould
The solenoid valve of block is corresponding to be concatenated into circuit and the brake control loop of warning.
Wherein, operating parameter sensor acquisition engine parameter is as shown in monitoring table 1
Table 1
| Serial number | Monitoring parameter | Upper limit value | Lower limit value | Treating method |
| 1 | Gas tank pressure | 800kPa | 400kPa | Audiovideo |
| 2 | Engine water temperature | 100℃ | -20℃ | Image |
| 3 | Engine oil pressure | 0.4MPa | 0.1MPa | Image |
| 4 | Torque converter pressure | 2MPa | 0.5MPa | Image |
| 5 | Torque-converters temperature | 120℃ | 0℃ | Image |
| 6 | Gearbox pressure | 2MPa | 0.5MPa | Image |
| 7 | Temperature of gear-shifting box | 120℃ | 0℃ | Image |
| 8 | Charging and discharging currents | +50A | -50A | Image |
| 9 | Cell voltage | 29V | 20V | Image |
| 10 | Fuel remaining | 100% | 10% | Image |
| 11 | Engine speed | 5000 revs/min | 3000 revs/min | Image |
The brake of rail locomotive be break brake system, i.e., after brake pressure is restored to certain pressure railcar brake
Vehicle shoe plate can just lift, and brake can just unclamp, and railcar control system is controlled respectively by the slow brake of control and two solenoid valves of emergency brake
Brake pressure processed, to control actually active brake.Discrete control when brake delays to stop under normal circumstances and first work, arrives
Parking position is controlled with bringing to a halt when fast parking.
The railcar throttle of rail locomotive control system is to substitute throttle by one motor-driven push rod of control to draw
Line traffic control throttle, or realized by pneumatic proportional valve, actuator.There is the throttle adduction throttle key that subtracts two in railcar, comes
Control the plus-minus of throttle.
Rail locomotive can all carry out self diagnosis when each starting.Automatically detect whether each sensor works just
Often.And by failure, the information of sensor is shown on manipulation screen, and have both black box function, can track record vehicle in real time
Parameters simultaneously save 10 days, so that service personnel judges and analyze the fault point of railcar.
Unmanned Systems of the invention, when carrying out rescue and relief work, the effectively personal safety of drop reduction driver, especially
It is can to control the transport for carrying out the fire fighting of rescue formula and survival capsule by Unmanned Systems under exceedingly odious the condition of a disaster, need
When can take into account driving safety and efficiency for the purpose of, have the function of instantaneously to cope with obstacle parking, remote highway condition inspection etc..Make to arrange
Vehicle avoids danger in the case where the poor work condition environment of light environment is complicated in time, and under urgent adverse circumstances, it can be temporary
Each safety assurance mechanism is closed, setting on demand is carried out and moves ahead.
It further, further include locomotive telecontrol device, and corresponding and with PLC communication connection with the locomotive telecontrol device
Wireless transport module.Any rail locomotive can long distance wireless operation, farthest operating distance be 2km.Manipulator can be with
It is following in railcar, realize that railcar is moved forward and backward at a slow speed function by manual operator.To precisely align goods area domain up and down.Track
Vehicle driver operates railcar forward-reverse by remote-control handle outside railcar driver's cabin when upper and lower cargo.On handle
Have: advancing, retreat, hangs a gear, hang neutral gear, throttle, brake six buttons and one piece of display screen.Display screen shows direction of advance
Video, for whether having barrier in front of operator's interpretation.The long-range of safety zone may be implemented in the use of locomotive telecontrol device
Manipulation.
Wherein, further include Background control terminal, and constitute the wireless aps of wireless wifi network along tunnel arranged for interval.
Data are exactly wirelessly transmitted to another terminal from a terminal by wireless transmission.It is by tunnel in this scheme
Track car data in road under operating status is wirelessly transmitted to Background control terminal, on main control computer.It is bridged by wireless aps
Entire tunnel is covered, in the wireless wifi network of configuration on the way that railcar is passed through.Solves situation complex jamming source ratio in tunnel
It is more, signal decaying quickly the problem of.Moreover, be based on wireless wifi network, can also be achieved tunnel fire-fighting robot it is long-range after
Platform control.
Intelligent scheduling can be realized on the basis of Background control terminal, i.e., reasonable allotment track is needed according to scene
Vehicle makes full use of railcar and track to reach the maximization of production efficiency.Railcar dispatcher is given by input scheduling demand
Main control computer.Main control computer calculates preferred plan, is then wirelessly transmitted to the PLC of railcar, completes traffic control.
Train automatic monitoring system realizes supervision train real-time vehicle condition, including the transmission of sensor, signal, train ambient enviroment
The case where, railcar is dispatched with PC control motor-operated switch by the electronic mechanism that pulls railway switches according to demand, in tunnel transfer
Lane-change trouble realizes guidance train route.
Further, it is also equipped with the signal launch-box stopped with oneself, when railcar will receive the signal of launch-box, is such as existed
It will receive the signal of launch-box when distance signal launch-box 100m, railcar takes Brake stop to operate, and reaches preset distance, such as
Railcar slowly stops when in 30 meters.After railcar receives signal or stops, operator, which has been turned off manually, with oneself to stop
Signal, railcar restore original operating status.Using signal launch-box, it can be further improved the convenience of manipulation, effectively mention
The safety of height construction or rescue and relief work, improves the protecting effect of key area.Difference can be used in the signal emission module
Wireless signal module, the signaling module of signal launch-box as mentioned is wifi module, utilizes the region overlay of wifi module
Property, Distance Judgment is carried out, realizes electronic safety protection.
Using advanced PLC control technology, it is automatic to go out a set of novel railcar in conjunction with industrial data collection technical research
Control system.The reliability for not only increasing railcar reduces the requirement to railcar driver driving technology.New system can also
The automatic prompt driver when railcar breaks down or is dangerous, allows dispatcher that can monitor railcar on computers
Operating status.
When being connected to fire behavior, front haulage hook or rear towing hook can be used that robot is dragged on tunnel locomotive, and will be wheeled
Chassis is fixed.Fire pump external tapping connects the feed water inlet of fire-fighting storage tank, is transported to scene of fire by tunnel locomotive.
Into after scene of fire, it is first turned on remote control switch, i.e. starting remote control device.After determining that wireless transmission is errorless, make
Remotely start fire-fighting robot with the start button on remote-control handle.Telecontrol antenna sends telecommand and reception robot is anti-
Feedback.Antenna 21 receives telecommand and distribution of machine people's signal.
After robot starting, video camera device 6 transmits image to display screen.Operator can be immediately seen scene of fire feelings
Condition.According to field condition, remote-control handle can be used to operate robot for operator.Telecommand is sent to control unit, then by
Control unit carries out action control.Operator according to circumstances opens water cannon device 1, and adjusts its left and right, upper and lower, anteroposterior position
It sets.Robot automatically opens booster pump device to guarantee water cannon range.Operator can also according to circumstances turn on audible and visible alarm lamp,
Front lamp, rear lighting lamp.
Being remotely controlled emergency switch can remotely work to robot emergent stopping.After fire is eliminated, it can be used remote-control handle to machine
Device people's remote power-off closes remote control switch.
In no fire behavior, robot should be safeguarded and be checked, main maintenance inspection content is that confirmation system is normal, increases
Pressure device can work normally, lighting system can work normally, image capturing system can work normally, robot electric quantity is kept
It 80% or more, charges at any time if not enough power supply, guarantees that fire occurrence time device people can normal use.Open control unit inspection
Control unit can be checked by repairing door 8.It periodically charges to robot battery, charging interface 43, robot is used when charging
Ontology is additionally provided with battery main switch 44 and scram button 45.
The spatially relative terms such as "upper", "lower", "left", "right" have been used in embodiment for ease of explanation, have been used for
Relationship of the elements or features relative to another elements or features shown in explanatory diagram.It should be understood that in addition to figure
Shown in except orientation, spatial terminology is intended to include the different direction of device in use or operation.For example, if in figure
Device be squeezed, the element for being stated as being located at other elements or feature "lower" will be located into other elements or feature "upper".
Therefore, exemplary term "lower" may include both upper and lower orientation.Device, which can be positioned in other ways, (to be rotated by 90 ° or position
In other orientation), it can be interpreted accordingly used herein of the opposite explanation in space.
Moreover, the relational terms of such as " first " and " second " or the like are used merely to one with another with identical
The component of title distinguishes, without necessarily requiring or implying between these components there are any this actual relationship or
Sequentially.
Illustrative description has been done to the present invention above, it should explanation, the case where not departing from core of the invention
Under, any simple deformation, modification or other skilled in the art can not spend the equivalent replacement of creative work equal
Fall into protection scope of the present invention.
Claims (10)
1. a kind of tunnel fire-fighting robot, it is characterised in that: including wheel undercarriage, the control cabinet that is set on the chassis and
Booster pump screens the control cabinet and booster pump shield therein, and the water cannon being arranged on shield, the water cannon
Water inlet be connected to the water outlet of the booster pump.
2. a kind of tunnel fire-fighting robot according to claim 1, it is characterised in that: before the control cabinet and booster pump
After be laid out, it further includes the battery for power supply that the water cannon, which is set to above the control cabinet,.
3. a kind of tunnel fire-fighting robot according to claim 2, it is characterised in that: be provided with and drop on the shield
Temperature pump or the spray head of the booster pump connection.
4. a kind of tunnel fire-fighting robot according to claim 1, it is characterised in that: further include successively with the pressurization
The filter mechanism and intake pipe of pump water inlet mouth connection, the intake pipe are connect with fire-fighting storage tank or water intaking halter.
5. a kind of tunnel fire-fighting robot according to claim 1, it is characterised in that: further include and control cabinet internal controller
The high temperature resistant camera head of communication, the remote controler connecting with control cabinet internal controller wireless telecommunications are provided on the remote controler
Display screen.
6. a kind of fire plant, which is characterized in that including locomotive, the fire-fighting transport vehicle pulled by the locomotive, described disappears
Tunnel fire-fighting robot as described in any one in claim 1-5 is provided on anti-transport vehicle.
7. fire plant as claimed in claim 6, which is characterized in that the tunnel fire-fighting robot is fixed on described disappear
Anti- transport vehicle front end, the fire-fighting transport vehicle rear end are provided with large capacity fire-fighting storage tank, are provided on the locomotive heat-insulated
Cover is provided with multiple locomotive spray heads being connected to the cooling pump or booster pump on the outside of the heat shield.
8. fire plant as claimed in claim 6, which is characterized in that before the fire-fighting transport vehicle is located at the locomotive
Portion is additionally provided with lifesaving transport vehicle at the locomotive rear portion, is provided with survival capsule on the lifesaving transport vehicle.
9. fire plant as claimed in claim 6, which is characterized in that the locomotive includes PLC, is communicated with the PLC
The data acquisition module of connection, the solenoid valve driving module controlled by the PLC, the manipulation with the PLC communication connection
Screen, and the throttle motor controlled by the PLC, the throttle motor are driven increasing or reduce throttle, wherein institute
The data acquisition module stated includes distance measuring sensor, three-dimensional camera and operating parameter sensor；The solenoid-driven mould
The solenoid valve of block is corresponding to be concatenated into circuit and the brake control loop of warning, and further includes remote controler, and with the remote controler pair
It answers and the wireless transport module with PLC communication connection.
10. fire plant as claimed in claim 6, which is characterized in that further include Background control terminal, and along tunnel interval
It arranges to constitute the wireless aps of wireless wifi network.
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| CN201910033326.7A CN109779671A (en) | 2019-01-14 | 2019-01-14 | Tunnel fire-fighting robot and fire plant |
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| CN201910033326.7A CN109779671A (en) | 2019-01-14 | 2019-01-14 | Tunnel fire-fighting robot and fire plant |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN112007307A (en) * | 2020-06-12 | 2020-12-01 | 山东国泰科技有限公司 | Special remote control crawler-type decontamination fire-extinguishing rescue robot system for chemical industry park |
| CN112587846A (en) * | 2020-12-16 | 2021-04-02 | 中国科学院光电技术研究所 | Man-machine interaction fire-fighting robot system based on self-generation network |
| CN114832565A (en) * | 2021-02-01 | 2022-08-02 | 西南交通大学 | Intelligent treatment device and method for dust and harmful gas in underground engineering construction |
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