CN112386840A - Fire-fighting robot system, method and storage medium - Google Patents
Fire-fighting robot system, method and storage medium Download PDFInfo
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- CN112386840A CN112386840A CN202011310200.9A CN202011310200A CN112386840A CN 112386840 A CN112386840 A CN 112386840A CN 202011310200 A CN202011310200 A CN 202011310200A CN 112386840 A CN112386840 A CN 112386840A
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- fire extinguishing
- fire
- sensing probe
- smoke
- extinguishing bomb
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C19/00—Hand fire-extinguishers in which the extinguishing substance is expelled by an explosion; Exploding containers thrown into the fire
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41F—APPARATUS FOR LAUNCHING PROJECTILES OR MISSILES FROM BARRELS, e.g. CANNONS; LAUNCHERS FOR ROCKETS OR TORPEDOES; HARPOON GUNS
- F41F1/00—Launching apparatus for projecting projectiles or missiles from barrels, e.g. cannons; Harpoon guns
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
- G08B17/10—Actuation by presence of smoke or gases, e.g. automatic alarm devices for analysing flowing fluid materials by the use of optical means
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- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The invention discloses a fire-fighting robot system, a fire-fighting robot method and a storage medium, wherein the fire-fighting robot system comprises an AGV body, and a first transmitting device, a second transmitting device, a flow guide device, a fire extinguishing bomb and a sensing probe which are arranged on the AGV body, wherein the fire extinguishing bomb, the second transmitting device, the flow guide device, the fire extinguishing bomb and the sensing probe are all in communication connection with a control terminal of the AGV body, the first transmitting device is used for storing and transmitting the fire extinguishing bomb, the second transmitting device is used for storing and transmitting the sensing probe, the sensing probe detects smoke concentration and generates smoke signals, the flow guide device is used for controlling the direction of air flow, the control terminal analyzes fire-fighting tasks and the smoke signals of an external central control system and generates control instructions to control the first transmitting device, the second transmitting device, the flow guide device, the fire extinguishing bomb and the sensing probe to work.
Description
Technical Field
The invention relates to the field of automation control, in particular to a fire-fighting robot system, a fire-fighting robot method and a storage medium.
Background
In the task process of fire extinguishing on the fire scene, the fire extinguishing bomb is increasingly widely applied as a fire extinguishing means with low fire extinguishing concentration, high fire extinguishing efficiency and high fire extinguishing speed.
The fire extinguishing bomb launcher that current AGV carried mainly utilizes spring ejection formula transmission, after the fire extinguishing bomb with AGV as the carrier was carried to the assigned place by AGV, under the command of ground comprehensive control platform, AGV will put out a fire the transmitter activation of bomb, the transmitter action will put out a fire the bomb transmission, its shortcoming is the smog concentration that can not the automatic identification area of catching fire, it can not controlled to lead to the area of catching fire to throw the fire extinguishing bomb of sufficient quantity like this and the intensity of a fire, the area of putting out a fire is because throw the fire extinguishing bomb too much and cause the wasting of resources, and the smog that the fire extinguishing bomb produced can influence on-the-spot visibility, influence the fireman and face the judgement of the area of catching fire and intensity of a fire.
As described above, further improvement is required in the conventional fire extinguishing design using an unmanned fire extinguishing bomb.
Disclosure of Invention
A first object of the present invention is to provide a fire fighting robot system which can guide smoke on site, thereby improving visibility on site to facilitate fire fighters in judging fire.
In order to realize the purpose, the invention adopts the following technical scheme:
the utility model provides a fire-fighting robot system, includes the AGV automobile body and sets up first emitter, second emitter, guiding device, fire extinguishing bomb and the sensing probe on the automobile body, fire extinguishing bomb, second emitter, guiding device, fire extinguishing bomb and sensing probe all with the control terminal communication connection of AGV automobile body, first emitter is used for the storage and launches the fire extinguishing bomb, second emitter is used for storage and transmission sensing probe, sensing probe detects smog and generates smoke signal, guiding device is used for controlling the air current direction, received fire control task, smoke signal of control terminal analysis generate control command with control first emitter, second emitter, guiding device, fire extinguishing bomb and sensing probe work.
Compared with the prior art, the fire-fighting robot system can transmit the sensing probe to the fire extinguishing area, judge the smoke concentration of the position of the sensing probe according to the smoke signal, control the fan array to guide the smoke of the fire extinguishing area, and start the air draft mode to suck the smoke to the fire extinguishing area if the concentration is too low; if the concentration is too high, an air supply mode is started, and the fog is sent to the fire area, so that the smoke concentration of the fire area and the smoke concentration of the fire extinguishing area are kept in dynamic balance, and the visibility is prevented from being influenced due to too high local smoke concentration. It should be noted that the fire extinguishing area of the present invention refers to the area between the fire extinguishing clean area and the fire area and the area where the fire is extinguished.
Preferably, the first launching device and the second launching device respectively comprise a storage mechanism, a transmission mechanism and a launching mechanism, the fire extinguishing bomb and the sensing probe are stored in the storage mechanism, the transmission mechanism is used for storing and pushing the fire extinguishing bomb and the sensing probe to the launching mechanism, and the launching mechanism is used for sending the fire extinguishing bomb or the sensing probe to a specified position.
Preferably, the first launching device and the second launching device are arranged on the upper side of the AGV body through mounting frames, the two mounting frames are symmetrical to form a U-shaped accommodating groove, and the flow guide device is arranged in the accommodating groove and is rotatably connected with the two mounting frames. The scheme simplifies the installation structure of the flow guide device and enables the AGV to have compact and symmetrical overall structure.
Preferably, the AGV automobile body is equipped with two track differential drive modules.
Preferably, the flow guiding device comprises a shell, and an air inducing assembly and an air exhausting assembly which are arranged in the shell, circuits of the air inducing assembly and the air exhausting assembly are mutually independent, and the shell is in a cylindrical shape with a front side and a rear side penetrating through the shell.
Preferably, the guiding device still includes to turn to motor and ring carrier, be equipped with the mounting hole that the level runs through on the mounting bracket, the ring carrier cover is established on the shell, the left and right sides of ring carrier is equipped with the connecting axle, the connecting axle passes through the mounting hole with the output shaft that turns to the motor and is connected.
Preferably, the smoke signal of the sensing probe comprises current position coordinates and a smoke concentration value.
Preferably, be equipped with automatically controlled subassembly, wireless communicator and solenoid valve on the fire extinguishing bomb, the gas outlet department of fire extinguishing bomb is located to the solenoid valve, wireless communicator, solenoid valve all with automatically controlled subassembly electric connection, wireless communicator is used for receiving the control command that control terminal sent, automatically controlled subassembly basis control solenoid valve is opened or is closed the gas outlet.
Another object of the present invention is to provide a method for using the above-mentioned consumption robot system, comprising the following steps:
a. the control terminal receives the task, starts working and controls the AGV body to travel to the fire extinguishing clearance area; b. the control terminal generates a walking instruction and a first transmitting instruction, the AGV body continuously adjusts the position and the angle in the horizontal direction according to the walking instruction, and the first transmitting device continuously transmits fire extinguishing bombs to a fire area according to the first transmitting instruction; b1. after being launched, a plurality of fire extinguishing bombs generate and send position signals, the control terminal receives and analyzes the position signals, generates opening instructions to send to the corresponding fire extinguishing bombs, and the fire extinguishing bombs receiving the opening instructions open the air outlets; c. the control terminal generates a second transmitting instruction, the second transmitting device transmits the sensing probes to different directions of the fire extinguishing area according to the second transmitting instruction, and the sensing probes continuously detect the smoke concentration and the smoke position of the fire extinguishing area, generate smoke signals and feed back the smoke signals; d. the control terminal analyzes the smoke signal to adjust a walking instruction, a diversion instruction and a closing instruction are generated, the AGV adjusts the position and the direction according to the walking instruction, the diversion device starts exhaust or air entraining work according to the diversion instruction, and the fire extinguishing bomb receiving the closing instruction stops exhaust; e. the diversion device continuously exhausts or entrains air until smoke data fed back by the smoke signal are consistent with preset data or smoke data fed back by each sensing probe are consistent; f. the control terminal sends a 'completion signal' to an external central control system and returns to a standby state.
Compared with the prior art, the method has all the advantages of the scheme because the fire-fighting robot system of the scheme is applied, the visibility of a fire-fighting site can be improved, the fire-fighting efficiency is improved, and the cost of fire-fighting equipment is saved.
A third object of the present invention is to provide a storage medium having stored thereon a computer program which, when executed by a processor, implements the method of the above-described scheme.
Drawings
FIG. 1 is a schematic view of the structure of the present invention 1;
FIG. 2 is a schematic illustration of the present invention configuration 2;
fig. 3 is a system block diagram of the present invention.
Description of reference numerals:
the AGV comprises an AGV body 1, a first launching device 2, a second launching device 3, a flow guide device 4, a shell 41, an installation frame 5, an accommodating groove 6, a steering motor 7, an annular support 42, a connecting shaft 43, a coupler 44 and a driving module 8.
Detailed Description
The technical scheme of the invention is further explained according to the attached drawings:
in the description of the present invention, it is to be understood that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "horizontal", "inner", "outer", and the like are based on the directions or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and thus, cannot be construed as limiting the present invention.
The first embodiment is as follows:
as shown in fig. 1-2, the present embodiment discloses a fire-fighting robot system, which comprises an AGV body 1, and a first launching device 2, a second launching device 3, a diversion device 4, a fire extinguishing bomb (not shown) and a sensing probe (not shown) arranged on the AGV body, the fire extinguishing bomb, the second launching device 3, the flow guide device 4, the fire extinguishing bomb and the sensing probe are all in communication connection with a control terminal of the AGV body 1, the first launching device 2 is used for storing and launching fire extinguishing bombs, the second launching device 3 is used for storing and launching sensing probes, the sensing probe detects smoke and generates a smoke signal, the flow guide device 4 is used for controlling the direction of air flow, and the control terminal analyzes the received fire-fighting task and smoke signals and generates a control instruction to control the first emitting device 2, the second emitting device 3, the flow guide device 4, the fire extinguishing bomb and the sensing probe to work.
The control terminal comprises an emission control module for controlling the operation of the first emission device 2 and the second emission device 3, a flow guide control module for controlling the operation of the flow guide device, and a database, wherein the database can be used for storing and updating the allowance of the fire extinguishing bomb and the sensing probe and storing a preset smoke concentration reference value.
The fire extinguishing bomb and the sensing probe are both provided with the position detection module and the wireless communication module, so that the position of the fire extinguishing bomb and the sensing probe can be detected through the position detection module, and the fire extinguishing bomb and the sensing probe can feed back to the control terminal through the wireless communication module. The control terminal can judge whether the fire extinguishing bomb falls into the fire area according to the position feedback of the fire extinguishing bomb so as to control the fire extinguishing bomb to open or close the air outlet.
The system comprises an AGV body, and is characterized by further comprising a human-computer interaction module, wherein the human-computer interaction module is used for inputting a smoke concentration reference value and a fire fighting task, a control terminal of the AGV body can receive the fire fighting task input through the human-computer interaction module and the fire fighting task issued by an external central control system, the AGV body runs to a destination according to the task, and fire fighting work is executed according to task requirements.
The AGV comprises an AGV body and is characterized by further comprising a navigation control module and a walking control module, wherein the navigation control module provides navigation signals for the control terminal, and the walking control module controls the AGV body to walk according to the navigation signals.
The first emitting device 2 and the second emitting device 3 both comprise a storage mechanism, a conveying mechanism (not shown in the figure) and an emitting mechanism, the fire extinguishing bomb and the sensing probe are stored in the storage mechanism, the conveying mechanism stores the fire extinguishing bomb and the sensing probe and pushes the fire extinguishing bomb and the sensing probe to the emitting mechanism, and the emitting mechanism emits the fire extinguishing bomb or the sensing probe outwards.
The first launching device 2 and the second launching device 3 are arranged on the upper side of the AGV body 1 through the mounting frame 5, the two mounting frames 5 are symmetrical to form a U-shaped accommodating groove 6, and the flow guide device 4 is arranged in the accommodating groove 6 and is rotationally connected with the two mounting frames 5.
Above-mentioned AGV automobile body 1 is equipped with two track differential drive module 8.
The equal altitude mixture control mechanism of above-mentioned first emitter 2, second emitter 3 (not shown in the figure), altitude mixture control mechanism includes altitude mixture control motor and driving medium, altitude mixture control motor transversely locates on the mounting bracket 5, the lateral part of first emitter 2, second emitter 3 is equipped with the pivot, just the pivot with altitude mixture control motor passes through the coupling joint.
The flow guiding device 4 includes a housing 41, and an air inducing assembly (not shown) and an air exhausting assembly (not shown) disposed therein, wherein the circuits of the air inducing assembly and the air exhausting assembly are independent from each other, and the housing 41 is in a cylindrical shape with front and rear sides penetrating through each other.
Above-mentioned guiding device 4 is still including turning to motor 7 and ring carrier 42, be equipped with the mounting hole that the level runs through on the mounting bracket 5, ring carrier 42 cover is established on shell 41, the left and right sides of ring carrier 42 is equipped with connecting axle 43, connecting axle 43 passes through the mounting hole with the output shaft that turns to motor 7 and is connected.
The steering motor 7 is connected to the connecting shaft 43 through a coupling 44.
The smoke signal of the sensing probe comprises current position coordinates and a smoke concentration value.
Be equipped with automatically controlled subassembly, wireless communicator and solenoid valve on the above-mentioned fire extinguishing bomb, the gas outlet department of fire extinguishing bomb is located to the solenoid valve, wireless communicator, solenoid valve all with automatically controlled subassembly electric connection, wireless communicator is used for receiving the control command that control terminal sent, automatically controlled subassembly basis control solenoid valve is opened or is closed the gas outlet.
Compared with the prior art, the fire-fighting robot system can transmit the sensing probe to the fire extinguishing area, judge the smoke concentration of the position where the sensing probe is located according to the smoke signal, control the fan array, and start the air draft mode to suck the smoke to the fire extinguishing area if the concentration is too low; if the concentration is too high, an air supply mode is started, and the fog is sent to the fire area, so that the smoke concentration of the fire area and the smoke concentration of the fire extinguishing area are kept in dynamic balance, and the visibility is prevented from being influenced due to too high local smoke concentration. It should be noted that the fire extinguishing area of the present invention refers to the area between the fire extinguishing clean area and the fire area and the area where the fire is extinguished.
Example two:
the embodiment discloses a method for applying the embodiment, which comprises the following steps:
a. the control terminal receives the task, starts working and controls the AGV body to travel to the fire extinguishing clearance area;
in the scheme, the control terminal can receive the fire-fighting tasks which are input through the man-machine interaction module or sent through the external central control system, and the fire-fighting tasks can travel to reach the destination according to the tasks.
b. The control terminal generates a walking instruction and a first transmitting instruction, the AGV body continuously adjusts the position and the angle in the horizontal direction according to the walking instruction, and the first transmitting device continuously transmits fire extinguishing bombs to a fire area;
in this scheme, control terminal controls the AGV automobile body walking through the walking instruction to the position and the angle of adjustment AGV automobile body make first emitter send the shell of putting out a fire to equidirectional, and the shell of putting out a fire is launched the different positions in the district of catching a fire.
b1. After being launched, a plurality of fire extinguishing bombs generate and send position signals, the control terminal receives and analyzes the position signals, generates opening instructions to send to the corresponding fire extinguishing bombs, and the fire extinguishing bombs receiving the opening instructions open the air outlets;
in this scheme, after the fire extinguishing bomb fell to the ground, detect its current position and feed back to control terminal, make control terminal obtain the positional information of fire extinguishing bomb, and generate and open the instruction and send to the fire extinguishing bomb that falls into the area of catching a fire.
c. The control terminal generates a second transmitting instruction, the second transmitting device transmits the sensing probes to different directions of the fire extinguishing area according to the second transmitting instruction, and the sensing probes continuously detect the smoke concentration and the smoke position of the fire extinguishing area, generate smoke signals and feed back the smoke signals;
in the scheme, the control terminal controls the second transmitting device to transmit the sensing probe, and after the sensing probe falls into the ground, the sensing probe detects the position and the smoke concentration of the position, generates a smoke signal and feeds the smoke signal back to the control terminal.
d. The control terminal analyzes the smoke signal to adjust the walking instruction, a diversion instruction and a closing instruction are generated, the AGV adjusts the position and the direction according to the walking instruction, the diversion device starts exhaust or air entraining work according to the diversion instruction, and the fire extinguishing bomb receiving the closing instruction stops exhaust;
in the scheme, the control terminal judges the smoke concentration of each area through the smoke signal, controls the AGV body to walk according to an analysis result, adjusts the position and the direction of the flow guide device, controls the flow guide device to start flow guide work, enables the smoke concentration on the site to keep dynamic balance, avoids the situation that the visibility on the site is influenced by overhigh smoke concentration, and guides gas sprayed by the fire extinguishing bomb to an ignition area.
e. The diversion device continuously exhausts or entrains air until smoke data fed back by the smoke signal are consistent with preset data or smoke data fed back by each sensing probe are consistent;
in the scheme, the diversion device continuously works until the smoke concentration on site keeps dynamic balance.
f. The control terminal sends a 'completion signal' to an external central control system and returns to a standby state.
Compared with the prior art, the method has all the advantages of the scheme because the fire-fighting robot system of the scheme is applied, the visibility of a fire-fighting site can be improved, the fire-fighting efficiency is improved, and the cost of fire-fighting equipment is saved.
Example three:
the present embodiment discloses a storage medium having stored thereon a computer program which, when executed by a processor, implements the method of the above-described scheme.
Variations and modifications to the above-described embodiments may occur to those skilled in the art, which fall within the scope and spirit of the above description. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (10)
1. The utility model provides a fire-fighting robot system, its characterized in that, includes the AGV automobile body and sets up first emitter, second emitter, guiding device, fire extinguishing bomb and the sensing probe on the automobile body, fire extinguishing bomb, second emitter, guiding device, fire extinguishing bomb and sensing probe all with the control terminal communication connection of AGV automobile body, first emitter is used for the storage and launches the fire extinguishing bomb, second emitter is used for storage and transmission sensing probe, sensing probe detects smog and generates smoke signal, guiding device is used for the control air current direction, control terminal analysis received fire control task, smoke signal generate control command with control first emitter, second emitter, guiding device, fire extinguishing bomb and sensing probe work.
2. A fire fighting robot system as recited in claim 1, wherein: first, second emitter all include storage mechanism, transport mechanism and launching mechanism, fire extinguishing bomb, sensing probe are saved in storage mechanism, transport mechanism will fire extinguishing bomb, sensing probe storage propelling movement launching mechanism are last, launching mechanism will fire extinguishing bomb or sensing probe outwards launch.
3. A fire fighting robot system as recited in claim 2, wherein: the upper side of AGV automobile body is all located through the mounting bracket to first emitter, second emitter, and the symmetrical storage tank in order to form the U-shaped in the position of two mounting brackets, guiding device locates in the storage tank to rotationally be connected with two mounting brackets.
4. A fire fighting robot system as recited in claim 2, wherein: the AGV automobile body is equipped with two track differential drive modules.
5. A fire fighting robot system as recited in claim 4, wherein: the flow guide device comprises a shell, an air inducing assembly and an air exhausting assembly, wherein the air inducing assembly and the air exhausting assembly are arranged in the shell, circuits of the air inducing assembly and the air exhausting assembly are mutually independent, and the shell is in a cylindrical shape with a front side and a rear side penetrating through the shell.
6. A fire fighting robot system as recited in claim 5, wherein: the flow guide device further comprises a steering motor and an annular support, a mounting hole penetrating through the mounting frame horizontally is formed in the mounting frame, the annular support is sleeved on the shell, connecting shafts are arranged on the left side and the right side of the annular support, and the connecting shafts are connected with an output shaft of the steering motor through the mounting hole.
7. A fire fighting robot system as recited in claim 1, wherein: the smoke signal of the sensing probe comprises current position coordinates and a smoke concentration value.
8. A fire fighting robot system as recited in claim 2, wherein: be equipped with automatically controlled subassembly, wireless communicator and solenoid valve on the fire extinguishing bomb, the gas outlet department of fire extinguishing bomb is located to the solenoid valve, wireless communicator, solenoid valve all with automatically controlled subassembly electric connection, wireless communicator is used for receiving the control command that control terminal sent, automatically controlled subassembly basis control command solenoid valve is opened or is closed the gas outlet.
9. A method of a fire fighting robot system as recited in any one of claims 1 to 8, characterized in that: the method comprises the following steps:
a. the control terminal receives the task, starts working and controls the AGV body to travel to the fire extinguishing clearance area;
b. the control terminal generates a walking instruction, a first transmitting instruction and an opening instruction, the AGV body continuously adjusts the position and the angle in the horizontal direction according to the walking instruction, and the first transmitting device continuously transmits fire extinguishing bombs to a fire area according to the first transmitting instruction;
b1. after being launched, a plurality of fire extinguishing bombs generate and send position signals, the control terminal receives and analyzes the position signals, generates opening instructions to send to the corresponding fire extinguishing bombs, and the fire extinguishing bombs receiving the opening instructions open the air outlets;
c. the control terminal generates a second transmitting instruction, the second transmitting device transmits the sensing probes to different directions of the fire extinguishing area according to the second transmitting instruction, and the sensing probes continuously detect the smoke concentration and the smoke position of the fire extinguishing area, generate smoke signals and feed back the smoke signals;
d. the control terminal analyzes the smoke signal to adjust the walking instruction, a diversion instruction and a closing instruction are generated, the AGV adjusts the position and the direction according to the walking instruction, the diversion device starts exhaust or air entraining work according to the diversion instruction, and the fire extinguishing bomb receiving the closing instruction stops exhaust;
e. the diversion device continuously exhausts or entrains air until smoke data fed back by the smoke signal are consistent with preset data or smoke data fed back by each sensing probe are consistent;
f. the control terminal sends a 'completion signal' to an external central control system and returns to a standby state.
10. Storage medium on which a computer program is stored which, when being executed by a processor, carries out the method according to claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011310200.9A CN112386840A (en) | 2020-11-20 | 2020-11-20 | Fire-fighting robot system, method and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011310200.9A CN112386840A (en) | 2020-11-20 | 2020-11-20 | Fire-fighting robot system, method and storage medium |
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| CN112386840A true CN112386840A (en) | 2021-02-23 |
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| CN202011310200.9A Pending CN112386840A (en) | 2020-11-20 | 2020-11-20 | Fire-fighting robot system, method and storage medium |
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| CN110665150A (en) * | 2019-10-14 | 2020-01-10 | 山东垣安智能科技有限公司 | Ant colony type remote control fire fighting system and method |
| CN110696011A (en) * | 2019-10-25 | 2020-01-17 | 内蒙古电力(集团)有限责任公司鄂尔多斯电业局 | Power equipment maintains warning robot |
| CN110711334A (en) * | 2019-11-06 | 2020-01-21 | 象山奋凡消防科技有限公司 | Fire extinguishing device capable of aiming at different fire sources |
| CN111120355A (en) * | 2019-11-12 | 2020-05-08 | 浙江华消科技有限公司 | Control method of fire-fighting smoke-discharging robot, robot and computer equipment |
| CN211349511U (en) * | 2019-11-28 | 2020-08-25 | 重庆达联消防工程有限公司 | Multifunctional fire alarm device |
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|---|---|---|---|---|
| JPH0866488A (en) * | 1994-08-31 | 1996-03-12 | Nohmi Bosai Ltd | Fire suppression system for enclosed space |
| CN105126287A (en) * | 2015-08-18 | 2015-12-09 | 无锡乐华自动化科技有限公司 | Fire-extinguishing and smoke-discharging fire fighting device |
| CN206463403U (en) * | 2017-01-11 | 2017-09-05 | 新昌县大成生物科技有限公司 | A kind of fire visits equipment safety detecting system |
| CN207412575U (en) * | 2017-09-27 | 2018-05-29 | 镇江玄润消防器材有限公司 | A kind of full-automatic indoor extinguishing device |
| CN110314307A (en) * | 2019-06-25 | 2019-10-11 | 福建工程学院 | A kind of self-propelled fire extinguishing ball delivery system of intelligence and method |
| CN110665150A (en) * | 2019-10-14 | 2020-01-10 | 山东垣安智能科技有限公司 | Ant colony type remote control fire fighting system and method |
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| CN111120355A (en) * | 2019-11-12 | 2020-05-08 | 浙江华消科技有限公司 | Control method of fire-fighting smoke-discharging robot, robot and computer equipment |
| CN211349511U (en) * | 2019-11-28 | 2020-08-25 | 重庆达联消防工程有限公司 | Multifunctional fire alarm device |
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Application publication date: 20210223 |