CN110841228A - Indoor fire-fighting robot based on smoke alarm - Google Patents
Indoor fire-fighting robot based on smoke alarm Download PDFInfo
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- CN110841228A CN110841228A CN201911148451.9A CN201911148451A CN110841228A CN 110841228 A CN110841228 A CN 110841228A CN 201911148451 A CN201911148451 A CN 201911148451A CN 110841228 A CN110841228 A CN 110841228A
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- 239000000779 smoke Substances 0.000 title claims abstract description 59
- 238000001514 detection method Methods 0.000 claims abstract description 25
- 230000009467 reduction Effects 0.000 claims description 14
- 238000005259 measurement Methods 0.000 claims description 8
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- 229910052744 lithium Inorganic materials 0.000 claims description 5
- 239000007921 spray Substances 0.000 claims description 5
- 230000008901 benefit Effects 0.000 abstract description 6
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 238000011897 real-time detection Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
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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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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/02—Nozzles specially adapted for fire-extinguishing
- A62C31/03—Nozzles specially adapted for fire-extinguishing adjustable, e.g. from spray to jet or vice versa
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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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- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
- Fire Alarms (AREA)
Abstract
The invention discloses an indoor fire-fighting robot based on a smoke alarm, which consists of a control module, a detection module, a driving module and a fire-fighting module which are arranged on a machine body. Compared with the traditional fire-fighting robot, the smoke alarm is used for replacing a flame sensor, and the problem that the traditional fire-fighting robot cannot work indoors with large space and more sundries is solved. The robot does not need to detect the initial fire source through a sensor configured by the robot, and can realize real-time monitoring without a blank period of battery charging. The fire-fighting robot has the advantages of being accurate in positioning in a complex environment, sensitive in detection, free of self-limitation of the detection range and capable of monitoring in real time, and the traditional fire-fighting robot cannot achieve the detection. In addition, the indoor space is divided into all areas through the smoke alarm, so that the fire-fighting robot has a tracking function, the tracking function can be realized even if a fire source appears in any place, an optimal route can be planned, and the fire can be controlled in time.
Description
Technical Field
The invention relates to the technical field of fire fighting equipment, in particular to an indoor fire fighting robot based on a smoke alarm.
Background
Fire-fighting machines on the market generally can adopt indoor fire-fighting robot to put out a fire, but indoor fire-fighting robot keeps the drive to be in the state of patrolling for a long time, and power consumptive more, and need detect the fire source through the flame sensor that robot self was equipped with, but present flame sensor's detection range is fairly limited, and can't pierce through the goods and detect. In a factory building or a large-scale market with a large area and a large number of goods, the possibility that a fire can be immediately detected through the flame sensor is very low when the fire happens, but the fire is often detected only when the fire is serious, so that the gold rescue time for controlling the fire is missed, and serious loss is caused.
Disclosure of Invention
The invention aims to solve at least one technical problem in the prior art, and provides an indoor fire-fighting robot based on a smoke alarm, which is based on the detection of the indoor smoke alarm, when the smoke alarm detects smoke, a signal is transmitted into the robot, the robot quickly reaches a fire occurrence area through automatic tracking, and a self-contained temperature sensor is adopted to more accurately position a fire source so as to ensure that a fire is extinguished at the initial stage of the fire.
According to the embodiment of the invention, the indoor fire-fighting robot based on the smoke alarm comprises:
the control module comprises an Arduino single chip microcomputer, a temperature sensor, an infrared obstacle avoidance sensor, an ultrasonic distance measurement sensor, a signal receiver and a real-time camera, wherein the temperature sensor, the infrared obstacle avoidance sensor, the ultrasonic distance measurement sensor, the signal receiver and the real-time camera are respectively and electrically connected with the Arduino single chip microcomputer;
the detection module comprises a plurality of smoke alarms which are uniformly arranged indoors in a gridding manner, and the smoke alarms are in wireless connection with the signal receiver;
the driving module comprises a motor, an encoder for controlling the rotating speed of the motor, a reduction gearbox driven by the motor and a crawler driven by the reduction gearbox;
the fire fighting module comprises a fire extinguisher and a rotatable spray nozzle connected with the fire extinguisher;
the fire fighting robot comprises a machine body, wherein the control module, the detection module, the driving module and the fire fighting module are arranged on the machine body, and the detection module, the driving module and the fire fighting module are controlled by the control module.
The indoor fire-fighting robot based on the smoke alarm provided by the embodiment of the invention at least has the following technical effects: the indoor fire-fighting robot based on the smoke alarm consists of a control module, a detection module, a driving module and a fire-fighting module which are arranged on a machine body. Compared with the traditional fire-fighting robot, the fire-fighting robot has the greatest advantages that a plurality of smoke alarms which are uniformly arranged indoors in a gridding mode are combined to monitor the fire condition in real time, whether a fire disaster happens can be accurately and timely detected in a factory building with large space and multiple cargos or a large-scale market, the place where the fire disaster happens can be rapidly reached, and the fire disaster can be timely extinguished. The indoor smoke alarm installed in a gridding mode divides the indoor space into various areas, once a fire disaster happens, the smoke alarm can detect smoke, signals are immediately sent to the robot in a standby state, the robot immediately and rapidly reaches the fire disaster area through automatic tracking and automatic obstacle avoidance, the position of a fire source is accurately positioned through a self-contained temperature sensor, and the fire disaster can be guaranteed to be extinguished at the initial stage of the fire disaster. This robot is equivalent to the fireman who stands by in real time, and it need not to keep the drive for a long time and is in the state of patrolling, and is power consumptive few, can utilize the smoke alarm ware that the meshing was laid to carry out real-time detection to the indoor circumstances moreover to just begin to put out under avoiding the conflagration to develop the uncontrollable circumstances, thereby reduce the loss.
According to some embodiments of the invention, the number of the temperature sensors is four, and four of the temperature sensors are respectively arranged on the periphery of the machine body.
According to some embodiments of the invention, the number of the motors is two, and the two motors are respectively arranged on two sides of the machine body.
According to some embodiments of the invention, the signal receiver employs a WiFi signal receiver.
According to some embodiments of the invention, the track is a slanted track.
According to some embodiments of the invention, the body is provided with two lifting rings, and the two lifting rings are respectively arranged on two sides of the body.
According to some embodiments of the present invention, the body is provided with a charging plug and a lithium battery electrically connected to the charging plug.
According to some embodiments of the invention, the fire extinguisher is fixed on the support frame through the fixing band.
According to some embodiments of the invention, the reduction gearbox employs an NMRV worm gear reducer.
According to some embodiments of the invention, the motor is a 110 series servo motor.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is an overall block diagram of an embodiment of the present invention;
FIG. 2 is a functional block diagram of a control module of an embodiment of the present invention;
FIG. 3 is a schematic view of the overall structure (front view) of an embodiment of the present invention;
FIG. 4 is a schematic view of the overall structure (rear view) of an embodiment of the present invention;
FIG. 5 is a schematic view of the overall structure (bottom view) of an embodiment of the present invention;
figure 6 is a schematic view of the indoor area of a smoke alarm according to an embodiment of the present invention;
FIG. 7 is a flow chart of the operation of a robot detecting and extinguishing a fire with a smoke alarm in accordance with an embodiment of the present invention;
fig. 8 is a flowchart of the robot tracking and obstacle avoidance operation according to the embodiment of the present invention.
Reference numerals: 100-a control module; 200-a detection module; 300-a drive module; 400-a fire-fighting module; 500-body; 110-Arduino singlechip; 120-a temperature sensor; 130-infrared obstacle avoidance sensor; 140-ultrasonic ranging sensors; 150-a signal receiver; 160-real-time camera; 210-a smoke alarm; 310-a motor; 320-an encoder; 330-reduction box; 340-a track; 410-a fire extinguisher; 420-a rotatable spray head; 430-a support frame; 440-fixation bands; 510-a hoisting ring; 520-charging plug.
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
The embodiments of the present invention will be further explained with reference to the drawings.
As shown in fig. 1 to 6, an indoor fire fighting robot based on a smoke alarm according to an embodiment of the present invention includes:
the control module 100 comprises an Arduino single-chip microcomputer 110, a temperature sensor 120, an infrared obstacle avoidance sensor 130, an ultrasonic distance measurement sensor 140, a signal receiver 150 and a real-time camera 160, wherein the temperature sensor 120, the infrared obstacle avoidance sensor 130, the ultrasonic distance measurement sensor 140, the signal receiver 150 and the real-time camera 160 are respectively and electrically connected with the Arduino single-chip microcomputer 110;
the detection module 200 comprises a plurality of smoke alarms 210 which are uniformly arranged indoors in a gridding manner, and the smoke alarms 210 are wirelessly connected with the signal receiver 150;
the driving module 300 comprises a motor 310, an encoder 320 for controlling the rotating speed of the motor 310, a reduction gearbox 330 driven by the motor 310 and a crawler belt 340 driven by the reduction gearbox 330;
a fire fighting module 400 comprising a fire extinguisher 410, a rotatable spray head 420 connected to the fire extinguisher 410;
the machine body 500, the control module 100, the detection module 200, the driving module 300 and the fire fighting module 400 are arranged on the machine body 500, and the detection module 200, the driving module 300 and the fire fighting module 400 are controlled by the control module 100.
In the present embodiment, the indoor fire fighting robot based on the smoke alarm 210 is composed of a control module 100, a detection module 200, a driving module 300 and a fire fighting module 400 which are provided on a machine body 500. Compared with the traditional fire-fighting robot, the fire-fighting robot has the greatest advantages that the fire-fighting robot is combined with a plurality of smoke alarms 210 uniformly arranged indoors in a gridding mode to monitor the fire in real time, can accurately and timely detect whether a fire happens in a factory building or a large-scale market with large space and a large number of goods, can rapidly reach the place where the fire happens, and can put out the fire in time. The indoor is divided into various areas by the smoke alarm 210 installed in the indoor grid, when a fire occurs, the smoke alarm 210 detects smoke and immediately sends a signal to the robot in a standby state, the robot immediately reaches the fire occurrence area by automatic tracking and automatic obstacle avoidance, and the position of a fire source is more accurately positioned by the temperature sensor 120 provided by the robot, so that the fire can be surely extinguished at the initial stage of the fire. This robot is equivalent to the fireman who stands by in real time, and it need not to keep the drive for a long time and is in the state of patrolling, and is power consumptive few, can utilize smoke alarm 210 that the meshing was laid to carry out real-time detection to the indoor circumstances moreover to just begin to put out under the uncontrollable condition of fire development, thereby reduce the loss.
In some embodiments of the present invention, there are four temperature sensors 120, and four temperature sensors 120 are respectively disposed around the body 500. The robot employs four temperature sensors 120 around the circumference to specifically identify the precise location of the fire source through the temperature gradient at the fire scene, and then extinguishes the fire source using a fire extinguisher 410.
In some embodiments of the present invention, there are two motors 310, and the two motors 310 are respectively disposed at both sides of the body 500. Correspondingly, the two sides of the machine body 500 are respectively provided with the encoder 320, the reduction gearbox 330 and the caterpillar band 340 which are matched with each motor 310, the two motors 310 operate independently, the rotating speed of the motor 310 can be changed under the action of the encoder 320, the motor 310 drives the caterpillar band 340 to rotate by driving the reduction gearbox 330, and thus the caterpillar band 340 on the two sides of the machine body 500 forms differential rotation by adjusting the two motors 310 to be at different rotating speeds, so that the robot can turn.
In some embodiments of the present invention, the signal receiver 150 is a WiFi signal receiver 150. The smoke alarm 210 transmits an alarm signal to the robot through WiFi, the coverage range of the WiFi signal is wide, the radius of the WiFi signal reaches 100 meters, the robot is not limited by wiring conditions, the reliability is high, and the robot is very suitable for being used indoors.
In some embodiments of the present invention, the track 340 is an inclined track 340, and the inclined track 340 is suitable for various terrains, so that the robot can easily cross obstacles without an additional swing arm, thereby achieving obstacle avoidance.
In some embodiments of the present invention, the machine body 500 is provided with two hanging rings 510, and the two hanging rings 510 are respectively disposed on two sides of the machine body 500, so as to facilitate hoisting and transporting the robot.
In some embodiments of the present invention, the body 500 is provided with a charging plug 520 and a lithium battery electrically connected to the charging plug 520, so that the lithium battery can be charged through the charging plug 520.
In some embodiments of the present invention, a supporting frame 430 is disposed on the body 500, a fixing band 440 is disposed on the supporting frame 430, and the fire extinguisher 410 is fixed on the supporting frame 430 by the fixing band 440. Traditional fire-fighting robot is all as the mode of putting out a fire through driving the water pipe, because it is heavier to drive the water pipe to the influence that causes the goods is also bigger, and this robot carries fire extinguisher 410 to put out a fire, and fire extinguisher 410's type can be changed, can change the model according to the demand of different goods like this, is suitable for more occasions.
In some embodiments of the present invention, the reduction box 330 employs an NMRV worm gear reducer. The NMRV worm gear reducer is a power transmission mechanism that reduces the number of revolutions of the motor 310 to a desired number of revolutions by a gear speed converter, and obtains a large torque. And the NMRV worm gear speed reducer has the functions of reducing speed and increasing torque so as to improve the driving capability of the robot.
In some embodiments of the present invention, the motor 310 is a 110 series servo motor 310. The 110-series servo motor 310 has high precision, realizes the closed-loop control of position, speed and moment, and overcomes the problem that the stepping motor 310 is out of step; the high-speed performance is good, and the normal rated rotating speed can reach 2000-3000 revolutions; the overload resistance is strong, the operation is stable, and the device is suitable for occasions with high-speed response requirements, the dynamic corresponding time of acceleration and deceleration of the motor 310 is short, generally within tens of milliseconds, and the heating and noise are obviously reduced relative to the stepping motor 310.
An indoor fire fighting robot based on a smoke alarm 210 according to an embodiment of the present invention will be described in detail in one specific embodiment with reference to fig. 1 to 6. It is to be understood that the following description is only exemplary, and not a specific limitation of the invention.
The control module 100 comprises an Arduino single-chip microcomputer 110, a temperature sensor 120, an infrared obstacle avoidance sensor 130, an ultrasonic distance measurement sensor 140, a signal receiver 150 and a real-time camera 160, wherein the temperature sensor 120, the infrared obstacle avoidance sensor 130, the ultrasonic distance measurement sensor 140, the signal receiver 150 and the real-time camera 160 are respectively and electrically connected with the Arduino single-chip microcomputer 110;
the detection module 200 comprises a plurality of smoke alarms 210 which are uniformly arranged indoors in a gridding manner, and the smoke alarms 210 are wirelessly connected with the signal receiver 150;
the driving module 300 comprises a motor 310, an encoder 320 for controlling the rotating speed of the motor 310, a reduction gearbox 330 driven by the motor 310 and a crawler belt 340 driven by the reduction gearbox 330;
a fire fighting module 400 comprising a fire extinguisher 410, a rotatable spray head 420 connected to the fire extinguisher 410;
the machine body 500, the control module 100, the detection module 200, the driving module 300 and the fire fighting module 400 are arranged on the machine body 500, and the detection module 200, the driving module 300 and the fire fighting module 400 are controlled by the control module 100.
There are four temperature sensors 120, and the four temperature sensors 120 are respectively disposed around the body 500. There are two motors 310, and the two motors 310 are respectively disposed at both sides of the body 500. The signal receiver 150 employs a WiFi signal receiver 150. The crawler 340 employs an inclined crawler 340. The body 500 is provided with two rings 510, and the two rings 510 are respectively disposed at both sides of the body 500. The body 500 is provided with a charging plug 520 and a lithium battery electrically connected to the charging plug 520. A supporting frame 430 is arranged on the machine body 500, a fixing band 440 is arranged on the supporting frame 430, and the fire extinguisher 410 is fixed on the supporting frame 430 through the fixing band 440. The reduction box 330 adopts an NMRV worm gear reducer. The motor 310 employs a 110-series servo motor 310.
According to the indoor fire-fighting robot based on the smoke alarm 210, at least some effects can be achieved by the arrangement: the robot accurately positions the fire occurrence area through interaction with the smoke alarm 210 arranged in an indoor gridding mode, the smoke alarm 210 with the detection range of more than 30 meters sends alarm signals to the robot through WiFi, and therefore the technical defects that the flame sensor is short in detection distance and cannot penetrate through goods to detect fire conditions can be well overcome by means of the indoor smoke alarm 210. Because the smoke alarm 210 is used for detection, the robot can be in a standby state for a long time, and can be started only when a smoke sensor fire alarm signal is received, so that the battery endurance time can be effectively prolonged. And, will divide into each region indoor through a plurality of smoke alarm 210 of indoor grid installation, in case when the conflagration breaks out, smoke alarm 210 that corresponds will detect smog, it sends the signal to the robot that is in standby state immediately, the robot realizes automatic tracking and keeps away the barrier automatically through supersound range sensor 140 and infrared obstacle avoidance sensor 130 immediately, thereby reach the conflagration emergence region fast, and avoid leading to the condition that the robot appears lost because of the goods is more, the robot passes through self-configuration's temperature sensor 120 and comes more accurately to fix a position the fire source position, ensure that just can in time put out the conflagration at the initial stage of the condition of a fire, thereby reduce the loss. In addition, the fire-fighting robot can carry different fire extinguishers 410 according to different occasions, so that the models of the fire extinguishers 410 can be changed according to the requirements of different goods, and the fire-fighting robot is suitable for more occasions.
It should be noted that a plurality of robots can be deployed simultaneously in a room according to actual needs to deal with the situation that smoke occurs at a plurality of places in the room to improve the fire extinguishing efficiency, and the specific flow of detection, tracking, obstacle avoidance and fire extinguishing is shown in fig. 7-8.
The indoor fire-fighting robot based on the smoke alarm 210 according to the embodiment of the invention has the advantages of accurate positioning, real-time monitoring and capability of replacing the fire extinguisher 410 according to the field requirement. Compared with the traditional fire-fighting robot, the traditional fire-fighting robot cannot find the fire situation and accurately position the fire source in time. And this indoor fire-fighting robot has the ability of controlling the fire in initial condition, and it is equivalent to the fireman of a real-time ready, and it need not to keep the drive for a long time and is in the state of patrolling and examining, and is power consumptive few, can utilize smoke alarm 210 that the meshing was laid to carry out real-time detection to the indoor condition moreover to just begin to put out under the uncontrollable condition in order to avoid the conflagration to develop, thereby reduce the loss.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. An indoor fire-fighting robot based on a smoke alarm, characterized by comprising:
the control module comprises an Arduino single chip microcomputer, a temperature sensor, an infrared obstacle avoidance sensor, an ultrasonic distance measurement sensor, a signal receiver and a real-time camera, wherein the temperature sensor, the infrared obstacle avoidance sensor, the ultrasonic distance measurement sensor, the signal receiver and the real-time camera are respectively and electrically connected with the Arduino single chip microcomputer;
the detection module comprises a plurality of smoke alarms which are uniformly arranged indoors in a gridding manner, and the smoke alarms are in wireless connection with the signal receiver;
the driving module comprises a motor, an encoder for controlling the rotating speed of the motor, a reduction gearbox driven by the motor and a crawler driven by the reduction gearbox;
the fire fighting module comprises a fire extinguisher and a rotatable spray nozzle connected with the fire extinguisher;
the fire fighting robot comprises a machine body, wherein the control module, the detection module, the driving module and the fire fighting module are arranged on the machine body, and the detection module, the driving module and the fire fighting module are controlled by the control module.
2. An indoor fire fighting robot based on smoke alarms according to claim 1, characterized in that: the number of the temperature sensors is four, and the four temperature sensors are respectively arranged on the periphery of the machine body.
3. An indoor fire fighting robot based on smoke alarms according to claim 1 or 2, characterized in that: the motor has two, two the motor sets up respectively the both sides of organism.
4. An indoor fire fighting robot based on smoke alarms according to claim 1, characterized in that: the signal receiver adopts a WiFi signal receiver.
5. An indoor fire fighting robot based on smoke alarms according to claim 1 or 4, characterized in that: the crawler belt adopts an inclined crawler belt.
6. An indoor fire fighting robot based on smoke alarms according to claim 1, characterized in that: the machine body is provided with two hanging rings which are respectively arranged on two sides of the machine body.
7. An indoor fire fighting robot based on smoke alarms according to claim 1, characterized in that: the organism be equipped with charging plug and with charging plug electric connection's lithium cell.
8. An indoor fire fighting robot based on smoke alarms according to claim 1 or 7, characterized in that: the fire extinguisher is characterized in that a support frame is arranged on the machine body, a fixing band is arranged on the support frame, and the fire extinguisher is fixed on the support frame through the fixing band.
9. An indoor fire fighting robot based on smoke alarms according to claim 1, characterized in that: the reduction box adopts an NMRV worm gear speed reducer.
10. A smoke alarm based indoor fire fighting robot as defined in claim 1 or 9, wherein: the motor adopts a 110 series servo motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911148451.9A CN110841228A (en) | 2019-11-21 | 2019-11-21 | Indoor fire-fighting robot based on smoke alarm |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911148451.9A CN110841228A (en) | 2019-11-21 | 2019-11-21 | Indoor fire-fighting robot based on smoke alarm |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111701171A (en) * | 2020-05-09 | 2020-09-25 | 上海聪巢信息科技有限公司 | Intelligent trolley and control system thereof |
| CN113658400A (en) * | 2021-08-13 | 2021-11-16 | 国网新疆电力有限公司电力科学研究院 | Fire early warning device for high-voltage power field monitoring |
| CN114832260A (en) * | 2022-05-31 | 2022-08-02 | 中国科学技术大学 | Multi-mode intelligent fire-extinguishing robot and use method thereof |
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| US20060061478A1 (en) * | 2004-09-23 | 2006-03-23 | Lg Electronics Inc. | Fire alarm spreading system and method |
| 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 |
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2019
- 2019-11-21 CN CN201911148451.9A patent/CN110841228A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060061478A1 (en) * | 2004-09-23 | 2006-03-23 | Lg Electronics Inc. | Fire alarm spreading system and method |
| 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 |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111701171A (en) * | 2020-05-09 | 2020-09-25 | 上海聪巢信息科技有限公司 | Intelligent trolley and control system thereof |
| CN113658400A (en) * | 2021-08-13 | 2021-11-16 | 国网新疆电力有限公司电力科学研究院 | Fire early warning device for high-voltage power field monitoring |
| CN114832260A (en) * | 2022-05-31 | 2022-08-02 | 中国科学技术大学 | Multi-mode intelligent fire-extinguishing robot and use method thereof |
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