CN113805586A - Autonomous fire-fighting special explosion-proof robot - Google Patents
Autonomous fire-fighting special explosion-proof robot Download PDFInfo
- Publication number
- CN113805586A CN113805586A CN202111057629.6A CN202111057629A CN113805586A CN 113805586 A CN113805586 A CN 113805586A CN 202111057629 A CN202111057629 A CN 202111057629A CN 113805586 A CN113805586 A CN 113805586A
- Authority
- CN
- China
- Prior art keywords
- fire
- explosion
- fighting
- proof
- unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004891 communication Methods 0.000 claims abstract description 49
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 31
- 239000000428 dust Substances 0.000 claims abstract description 30
- 230000033001 locomotion Effects 0.000 claims abstract description 19
- 238000012545 processing Methods 0.000 claims abstract description 19
- 238000005507 spraying Methods 0.000 claims abstract description 13
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 claims abstract description 4
- 229910001416 lithium ion Inorganic materials 0.000 claims abstract description 4
- 229910052751 metal Inorganic materials 0.000 claims description 8
- 239000002184 metal Substances 0.000 claims description 8
- 238000003331 infrared imaging Methods 0.000 claims description 4
- 238000001931 thermography Methods 0.000 claims description 4
- 229920000271 Kevlar® Polymers 0.000 claims description 3
- FYYHWMGAXLPEAU-UHFFFAOYSA-N Magnesium Chemical compound [Mg] FYYHWMGAXLPEAU-UHFFFAOYSA-N 0.000 claims description 3
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 claims description 3
- 239000000835 fiber Substances 0.000 claims description 3
- 239000006260 foam Substances 0.000 claims description 3
- 238000009413 insulation Methods 0.000 claims description 3
- 239000004761 kevlar Substances 0.000 claims description 3
- 229910052749 magnesium Inorganic materials 0.000 claims description 3
- 239000011777 magnesium Substances 0.000 claims description 3
- 239000010936 titanium Substances 0.000 claims description 3
- 229910052719 titanium Inorganic materials 0.000 claims description 3
- 239000002360 explosive Substances 0.000 abstract description 10
- 238000004880 explosion Methods 0.000 abstract description 8
- 238000001514 detection method Methods 0.000 abstract description 7
- 238000007689 inspection Methods 0.000 abstract description 5
- 238000010276 construction Methods 0.000 abstract description 2
- 239000007789 gas Substances 0.000 description 37
- 230000005540 biological transmission Effects 0.000 description 14
- 238000005516 engineering process Methods 0.000 description 8
- 230000009471 action Effects 0.000 description 7
- 238000013461 design Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 239000000779 smoke Substances 0.000 description 3
- 239000000243 solution Substances 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 206010021143 Hypoxia Diseases 0.000 description 2
- 241000876443 Varanus salvator Species 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 238000005538 encapsulation Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 231100000614 poison Toxicity 0.000 description 2
- 230000007096 poisonous effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 206010002660 Anoxia Diseases 0.000 description 1
- 241000976983 Anoxia Species 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000007953 anoxia Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000003029 clitoris Anatomy 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000001815 facial effect Effects 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 102200085463 rs6077510 Human genes 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 230000005236 sound signal Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000008400 supply water Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 239000002341 toxic gas Substances 0.000 description 1
- 230000001988 toxicity Effects 0.000 description 1
- 231100000419 toxicity Toxicity 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- 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
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/005—Delivery of fire-extinguishing material using nozzles
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C31/00—Delivery of fire-extinguishing material
- A62C31/28—Accessories for delivery devices, e.g. supports
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/36—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device
- A62C37/38—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device by both sensor and actuator, e.g. valve, being in the danger zone
- A62C37/40—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device by both sensor and actuator, e.g. valve, being in the danger zone with electric connection between sensor and actuator
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Public Health (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Emergency Management (AREA)
- Health & Medical Sciences (AREA)
- Business, Economics & Management (AREA)
- Electromagnetism (AREA)
- Optics & Photonics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The invention provides an autonomous fire-fighting special type explosion-proof robot, and belongs to the technical field of fire-fighting robots. The fire fighting system comprises a sensor unit, a motion unit, a fire fighting unit, a communication unit, a processing unit and a power supply unit; the sensor unit comprises a camera, a laser radar, a flame detector, a temperature and humidity sensor, a gas detector and a positioning antenna; the motion unit comprises a chassis and a driving motor; the fire-fighting unit comprises a fire monitor, a water supply pipe and a spraying device; the communication unit is used for being in wireless connection with the control terminal; the power supply unit comprises a battery box and a lithium ion battery. The invention has the functions of autonomous map construction, autonomous navigation, autonomous obstacle avoidance, flame detection and calibration and autonomous fire extinguishing; the invention has double explosion-proof performance of gas and dust, and can be used in explosion danger areas; the invention can replace manual work to carry out daily inspection, and can also replace fire rescue personnel to enter dangerous disaster accident sites such as inflammable and explosive to carry out detection, rescue or fire extinguishing.
Description
Technical Field
The invention belongs to the technical field of fire-fighting robots, and particularly relates to an autonomous fire-fighting special type explosion-proof robot.
Background
At present, fire incident frequently happens, and the personal safety of the fire fighter who rescues at a ray receives the threat, and fire control safety is urgent need for science and technology armed, and fire-fighting robot can replace the fire fighter to get into dangerous places such as inflammable and explosive, poisonous, oxygen deficiency, collapse, dense smoke and carry out the rescue of putting out a fire, effectively solves the personal safety that the fire fighter faced, the not enough scheduling problem of data information acquisition. However, in the fire-fighting accident field, not only an explosive gas atmosphere but also an explosive dust atmosphere may exist, various types of explosive gases and explosive dust may appear, and at present, fire-fighting fire-extinguishing reconnaissance explosion-proof robots with gas explosion-proof and dust explosion-proof performances are still few, and the autonomy of the existing explosion-proof robots is very low.
Like patent document CN105999598A provides an explosion-proof fire control reconnaissance robot that puts out a fire, including fire control robot body and remote control case two parts, fire control robot body is by the box subassembly, independently hang shock mitigation system, the fire water monitor, data acquisition multimedia assembly and annex are constituteed, fire control robot body adopts explosion-proof design, and carry the sensor, the camera, the fire water monitor, can replace the fire fighter to get into easily to fire, easily explode, toxic gas environment surveys and reconnaissance, also can get into dense smoke, accident scene such as conflagration, carry out the fire control and put out a fire. The antenna on the fire-fighting robot body is responsible for receiving the command sent by the control box and driving the fire-fighting robot body to walk according to the command. The walking action and the fire fighting action of the fire fighting robot are completely dependent on remote control, and the fire fighting robot has no autonomous action capability.
Still like patent document CN108686324A provides a fire control reconnaissance explosion-proof robot that puts out a fire, including robot terminal and remote control operation case, robot terminal includes explosion-proof chassis, explosion-proof chassis top is equipped with the fire gun, the water curtain shower nozzle, lift platform, explosion-proof headlight, the alarm lamp, explosion-proof thermal infrared imager, explosion-proof adapter, explosion-proof stereo set, a data transmission antenna, first picture transmission antenna and explosion-proof laser keep away barrier sensor, remote control operation case and bag are including bearing case and hand case, this robot adopts crawler-type chassis, can carry fire water gun, poisonous and harmful gas detector, temperature and humidity transmitter, the camera, different facial make-up such as adapter. Although the anti-explosion robot is provided with the laser obstacle avoidance sensor, the obstacle avoidance operation can be carried out, the autonomous operation such as path planning can not be carried out, and the autonomy is low.
Disclosure of Invention
The invention aims to solve the technical problem of providing a special fire-fighting anti-explosion robot with strong autonomy aiming at the defects of the prior art.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
an autonomous fire-fighting special anti-explosion robot comprises a sensor unit, a motion unit, a fire-fighting unit, a communication unit, a processing unit and a power supply unit;
the sensor unit comprises a camera, a laser radar, a flame detector, a temperature and humidity sensor, a gas detector and a positioning antenna; the camera is used for obtaining surrounding environment images, the laser radar is used for identifying surrounding obstacles, the flame detector is used for identifying a fire source, the temperature and humidity sensor is used for obtaining temperature and humidity data of the surrounding environment, the gas detector is used for identifying various gases such as SO2, NO2 and NH3, and the positioning antenna is used for obtaining position information through GPS/Beidou satellite positioning;
the motion unit comprises a chassis and a driving motor and is used for controlling the motion of the invention;
the fire-fighting unit comprises a fire monitor, a water supply pipe and a spraying device; the fire monitor is used for spraying water flow or foam to extinguish fire, the water supply pipe is used for supplying water to the fire monitor, and the spraying device is used for spraying water drops to the periphery;
the communication unit is used for being in wireless connection with the control terminal;
the processing unit is used for acquiring sensing information from the sensor unit and is used for autonomously constructing a map, autonomously navigating, autonomously avoiding obstacles, detecting flame and calibrating;
the power supply unit comprises a battery box and a lithium ion battery arranged in the battery box and is used for providing electric energy;
the camera, the laser radar, the flame detector, the temperature and humidity sensor, the gas detector, the positioning antenna, the chassis and the battery box are all gas and dust explosion-proof electric products.
Further, the flame detector can simultaneously acquire visible light, infrared and thermal imaging images.
Further, the water supply pipe is of a double-opening structure; the water supply pipe is also provided with an automatic water hose detaching device which is used for automatically detaching the fire hose and is a gas and dust explosion-proof electric product.
Further, the chassis is a clitoris suspension type crawler chassis and comprises a crawler, a supporting wheel and a driving wheel; the total mass percentage content of the metal magnesium and the metal titanium of the supporting wheel and the driving wheel is not more than 7.5%, the crawler belt is made of rubber embedded with Kevlar fiber and core metal, and the surface insulation resistance is not more than 109 omega.
Further, the sensor unit further comprises a laser obstacle avoidance sensor, wherein the laser obstacle avoidance sensor is used for identifying obstacles in the front and is a gas and dust explosion-proof electric product.
Furthermore, the sound box also comprises a sound pickup and a sound box.
Further, the communication unit is also used for realizing internet communication.
The existing fire-fighting robots, especially the explosion-proof fire-fighting robots, still mostly work in a remote control mode, and both the walking or fire source searching and fire extinguishing processes depend on the control of remote control personnel. For example, patent document CN105999598A proposes an explosion-proof fire-fighting fire-extinguishing reconnaissance robot, the main body of which is advanced, retreated, turned left and turned right according to commands sent by a remote control box, when the main body of the fire-fighting robot approaches an accident or fire scene, a camera of the main body of the fire-fighting robot, a gas sensor, an infrared temperature sensor and an obstacle avoidance sensor return collected information to the control box, and an operator sends various commands to control the main body of the fire-fighting robot to perform fire-fighting, reconnaissance and other works according to actual situations of the scene. However, the fire-fighting environment may have the problems of complex terrain, unsmooth communication and the like, and the fire-fighting robot needing manual control is difficult to fully play a role in the complex environment due to the lack of autonomous fire-fighting capability and mobility, so that the development of fire-fighting work is influenced.
In order to cope with such a situation, some explosion-proof fire-fighting robots having an autonomous function have appeared. For example, in an explosion-proof fire-fighting reconnaissance fire-extinguishing robot proposed in patent document CN107875549A, a vehicle-mounted main controller of the robot realizes distance detection of a front obstacle through the combination of an explosion-proof infrared sensor and an explosion-proof laser ranging sensor in a sensing and prompting component, and sends detected data to the vehicle-mounted main controller in real time for analysis, so as to judge the distance of the front obstacle of the robot and make a forward or stop motion strategy; for example, the fire-fighting, fire-extinguishing, reconnaissance and explosion-proof robot proposed in patent document CN108686324A is provided with a laser obstacle-avoiding sensor to perform automatic obstacle-avoiding operation. Although the explosion-proof fire-fighting robot of the patent has the autonomous obstacle avoidance function, the functions of movement, fire source searching, fire extinguishing and the like are still manually controlled. Although patent documents CN107875549A and CN108686324A have certain autonomous functions, the whole autonomy is still not strong, and part of functions are still affected by communication quality.
In this case, in order to ensure the quality of communication between the fire fighting robot and the remote control terminal, the signal intensity of the fire fighting robot is enhanced. An intelligent fire-fighting robot as proposed in patent document CN205095302U is provided with a signal booster for boosting a transmission signal.
Increasing the signal strength increases the transmitted power of the signal, but in hazardous areas with explosive gases, there is a possibility of the rf electromagnetic waves igniting the explosive gases. Especially, under the condition of poor signals, the communication part of the fire-fighting robot automatically increases the power to realize or maintain the communication connection. In order to reduce the risk of ignition of the radio frequency energy, the transmission power of the wireless communication part (radio frequency electromagnetic wave transmitting part) of the fire-fighting robot needs to be limited. However, most of the existing fire-fighting robots do not adopt a transmission power limiting measure, and the transmission power limitation inevitably affects the communication quality, further affects the connection with a remote control terminal, and affects the normal work of a manual remote control fire-fighting robot or a semi-autonomous fire-fighting robot.
Even if some fire-fighting robots in the prior art limit the signal transmission power, such as patent document CN108686324A, the power of the data transmission station and the image transmission station is limited to be not more than 2W, but only the power is limited without taking other signal enhancement measures, and the communication quality and the remote control distance are inevitably affected.
Under the condition, on one hand, the inventor researches the contradiction between the radio frequency ignition energy and the wireless transmission quality, carries out intrinsic safety design on a radio frequency electromagnetic wave transmitting component, limits the transmitting power of the radio frequency electromagnetic wave transmitting component, ensures that the radio frequency ignition energy does not exceed a dangerous value, increases the gain effect of an antenna, reduces the size of a transmission image file and ensures the communication quality; on the other hand, the autonomous fire-fighting robot control system adopted by the inventor can realize the functions of autonomous map building, autonomous walking, autonomous path finding, autonomous obstacle avoidance, autonomous fire source searching, autonomous fire extinguishing and the like, and even under the condition of poor communication quality, the autonomous work of the fire-fighting robot is not influenced.
Compared with the prior art, the invention has the following beneficial effects:
the invention has the function of automatically constructing a map, can establish a two-dimensional map of the area or the inspection area, and can transmit the established two-dimensional map data to the control terminal; the invention has the autonomous navigation function, can autonomously navigate among target points in a constructed two-dimensional map, can autonomously dynamically plan a driving path among the target points, and automatically drives to a target position; the invention has the function of autonomous obstacle avoidance, if an obstacle appears in the driving direction during driving, the invention can adopt the obstacle avoidance modes of steering to avoid the obstacle or directly crossing the obstacle and the like according to the obstacle situation, and automatically plan a new driving path again after the obstacle avoidance; the flame detector has the functions of flame detection and calibration, can send out an alarm signal in time when flame is detected, and can automatically calibrate the flame position in a two-dimensional map, so that fire fighters can conveniently determine the position of a fire source; the fire extinguishing device has an autonomous fire extinguishing function, and can autonomously form a fire extinguishing operation scheme after a fire source is detected, automatically move forward to reach a fire extinguishing operation position, and automatically adjust the posture of a fire monitor to extinguish fire.
The invention adopts the complete machine explosion-proof technology, and comprehensively applies the gas and dust electrical explosion-proof technologies such as explosion-proof, safety-increasing, intrinsic safety, encapsulation, shell protection and the like and the non-electrical explosion-proof technology, so that the complete machine explosion-proof grade reaches the gas IIB + H2T 6 grade, the equipment protection grade reaches the Gb grade, and the dust explosion-proof grade is A21 IP 65T 80 ℃. The invention has double explosion-proof performance of gas and dust, has high explosion-proof level and can be used in areas 1, 2, 21 and 22 of explosion danger areas.
The positioning antenna and the communication unit both adopt intrinsic safety design, can automatically perform safety evaluation on antenna gain and emission energy, ensure that radio frequency ignition energy does not exceed a dangerous value, and ensure that explosive substances cannot be ignited. The invention is provided with two positioning antennas and two communication antennas, different communication antennas can bear different communication tasks, signals can be dispersed, and simultaneously the gain effect of the antennas is increased, thus not only reducing the risk of radio frequency ignition, but also improving the positioning and communication quality.
The fire-fighting monitoring system can replace workers to carry out daily inspection, and can send out sound and light alarm signals when flame is found, and inform a central control room to watch personnel at the same time, so that fire-fighting treatment can be carried out in time; the invention can also replace fire-fighting rescue personnel to enter dangerous disaster accident sites of flammability, explosiveness, toxicity, anoxia, dense smoke and the like for detection, rescue and fire extinguishment, effectively solves the problems of insufficient personal safety, insufficient data information acquisition and the like of the fire-fighting personnel in the sites, and can also provide powerful disaster judgment basis for rear commanders.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings.
FIG. 1: the invention has a structure schematic diagram;
FIG. 2: a connection block diagram of embodiment 1 of the present invention;
wherein: the system comprises a sensor unit, a camera 11, a laser radar 12, a flame detector 13, a positioning antenna 14, a laser obstacle avoidance sensor 15, a motion unit 2, a chassis 21, a crawler 211, a crawler 212, a supporting wheel 213, a driving wheel 3, a fire fighting unit 31, a fire monitor 32, a water supply pipe 33, a tripod head 33, a spraying device 34, a communication unit 4, a communication antenna 41 and a processing unit 5.
Detailed Description
For a better understanding of the invention, the following description is given in conjunction with the examples and the accompanying drawings, but the invention is not limited to the examples. In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details.
Example 1:
referring to fig. 1-2, the autonomous fire-fighting special explosion-proof robot provided in this embodiment is a crawler-type fire-fighting robot, and includes a sensor unit 1, a motion unit 2, a fire-fighting unit 3, a communication unit 4, a processing unit 5, and a power supply unit.
The sensor unit 1 comprises a camera 11, a lidar 12, a flame detector 13, a temperature and humidity sensor, a gas detector and a positioning antenna 14.
The camera 11 is an infrared camera, is provided at the front end of the present invention, and can acquire an environmental image in front by using a visible light or infrared method. The video camera 11 is a gas and dust dual explosion-proof electrical product, and the explosion-proof mark is Ex d IIC T6 Gb/DIP A20 TA T6.
The laser radar 12 is arranged above the front part of the invention and is used for identifying surrounding obstacles, assisting in establishing a two-dimensional map of the area where the laser radar is located and assisting in autonomous navigation. The laser radar 12 is a gas and dust double-explosion-proof electrical product, and the explosion-proof mark is Ex d IIC T6 Gb/Ex tD A21 IP 65T 80 ℃.
The flame detector 13 is arranged beside the upper fire monitor 31, is fixedly connected with the fire monitor 31 and is arranged in the same direction, integrates three cameras of visible light, infrared and thermal imaging, can simultaneously acquire three images of visible light, infrared and thermal imaging and is used for identifying a fire source. The flame detector 13 is a gas and dust dual explosion-proof electrical product, and the explosion-proof mark is Ex d IIC T6 Gb/DIP A20 TA T6.
The temperature and humidity sensor is arranged on the shell and used for acquiring temperature data and humidity data of the surrounding environment. The temperature and humidity sensor is a gas and dust double-explosion-proof electrical product, and the explosion-proof mark is Ex ib IICT6 Gb/Ex ib D A21T 80 ℃.
The gas detector is arranged on the shell of the invention and is used for identifying SO2、NO2、NH3、CO、CH4、CO2And the like. The gas detector is a gas and dust double-explosion-proof electrical product, and the explosion-proof mark is Ex d ib IIC T4 Gb/Ex ib D21T 4.
The positioning antenna 14 is arranged at the upper part of the invention and is used for acquiring the position and the course of the invention through satellite navigation positioning technologies such as GPS/Beidou and the like, assisting in establishing a two-dimensional map of the area where the positioning antenna is located and assisting in autonomous navigation. The positioning antenna is a gas and dust double-explosion-proof electrical product, and the explosion-proof mark is Ex d IIC T6 Gb/Ex tD A21 IP 66T 80 ℃. This embodiment provides positioning antennas 14 at both the front and rear of the invention.
The motion unit 2 is used to control the motion of the present invention and includes a chassis 21 and a driving motor. The chassis 21 of the invention adopts a clisby suspension type crawler chassis, which comprises a crawler 211, a supporting wheel 212 and a driving wheel 213, wherein the supporting wheel 212 and the driving wheel 213 both meet the requirements of non-electric explosion-proof standards, and the total content of metal magnesium and titanium in the mass percent is not more than 7.5%; the caterpillar track 211 is made of high-quality rubber embedded with Kevlar fiber and core metal, meets the requirement of non-electrical explosion-proof standard, and has surface insulation resistance not more than 109Omega. The whole chassis 21 is a gas and dust double-explosion-proof electrical product, and the explosion-proof mark is Ex d IIB + H2T 6 Gb + Exc IIB T6 Gb/Ex tD A21 IP 67T 80 ℃. The driving motor is arranged in the chassis 21, is a power output mechanism of the invention, is in transmission connection with the driving wheel 213, and realizes the moving functions of the invention such as forward movement, backward movement, steering and the like by controlling the rotating speed and the steering of the driving wheel 213.
The fire fighting unit 3 includes a fire monitor 31, a water supply pipe 32, a pan and tilt head 33, and a spray device 34. The fire monitor 31 is arranged on the holder 33 and can rotate left and right for spraying water flow or foam to extinguish fire. A water supply pipe 32 is provided at the rear of the present invention for supplying water to the fire monitor 31; the water supply pipe 32 adopts a double-port structure and can simultaneously support two water hoses to supply water, so that the fire monitor 31 can realize ultrahigh and ultra-long-distance injection. Meanwhile, the water supply pipe 32 of the invention is also provided with a water hose automatic dismounting device which is used for automatically dismounting the fire hose; the automatic water belt detaching device is a gas and dust double-explosion-proof electrical product, and the explosion-proof mark is Ex mb Il T6 Gb/Ex mb D A21 IP 65T 80 ℃. The spraying device 34 is used for spraying water drops or water mist on the body of the invention and is used for realizing the cooling protection of the invention.
The communication unit 4 is used for being wirelessly connected with the control terminal, transmitting the working data of the invention, the environmental data collected by the sensor, the image data shot by the camera 11 and the like to the control terminal, and receiving the control signal sent by the control terminal; the communication unit 4 is also provided with two communication antennas 41 at the rear of the invention. The communication between the communication unit 4 and the control terminal is realized by 2.4G wireless transmission, and of course, other wireless transmission methods such as 4G and 5G, which are conventional in the art, may also be adopted.
The control terminal is a manual remote control device provided with a display screen and an operation button, is in wireless connection with the communication unit 4, can take over the autonomous action of the invention, and can control the movement, the action of the cradle head 33, the fire extinguishing operation and the like of the invention.
The processing unit 5 is used for acquiring various sensing information from the sensor unit 1, and is used for realizing the functions of autonomous map construction, autonomous navigation, autonomous obstacle avoidance, flame detection and calibration, autonomous fire extinguishing and the like. The processing unit 5 is realized by adopting an MCU (micro controller unit) and is simultaneously provided with an SDRAM (synchronous dynamic random access memory) memory chip and a Flash memory chip. Of course, the processing unit 5 may also be implemented by an embedded industrial personal computer with more powerful performance and richer interfaces.
The power supply unit is arranged in the box body and used for providing electric energy for the battery box, and comprises a battery box and a lithium ion battery arranged in the battery box. The battery box is a gas and dust double-explosion-proof electrical product, and the explosion-proof mark is Ex d IIB + H2T 6 Gb/Ex tD A21 IP 67T 80 ℃. The power supply unit adopts a chargeable design, and the battery box supports quick replacement. The invention is also provided with a Zener safety grid which is used for limiting the electric energy input by the power supply unit, limiting the current and the voltage and ensuring the energy available by other electric components to be within a safety range; the explosion-proof sign of the Zener safety barrier is [ Ex ia Ga ] IIB.
The sensor unit 1 and the communication unit 4 are electrically connected with the processing unit 5, the driving motor of the movement unit 2 is electrically connected with the processing unit 5, and the cradle head 33 of the fire-fighting unit 3 and the control unit for controlling the fire-fighting action of the fire monitor 31 are electrically connected with the processing unit 5. The processing unit 5, the sensor unit 1, the communication unit 4, the driving motor of the motion unit 2, the cradle head 33 of the fire-fighting unit 3 and the control unit for controlling the fire-fighting action of the fire monitor 31 are all electrically connected with the power supply unit. The cable adopted in the internal electrical connection of the invention is an ultra-soft high-temperature-resistant silica gel wire.
The plug device, the junction box, the emergency stop switch and the button switch arranged on the body are gas and dust double-explosion-proof electrical products, and the explosion-proof mark is Ex d IIC T6 Gb/Ex tD A21 IP 66T 80 ℃.
The invention adopts the complete machine explosion-proof technology, and comprehensively applies the gas and dust electrical explosion-proof technologies such as explosion-proof, safety-increasing, intrinsic safety, encapsulation, shell protection and the like and the non-electrical explosion-proof technology, so that the complete machine explosion-proof grade reaches the gas IIB + H2T 6 grade, the equipment protection grade reaches the Gb grade, and the dust explosion-proof grade is A21 IP 65T 80 ℃. The invention has double explosion-proof performance of gas and dust, has high explosion-proof level and can be used in areas 1, 2, 21 and 22 of explosion danger areas.
When the positioning antenna 14 and the communication unit 4 are used, radio frequency electromagnetic wave signals are transmitted and received, in order to reduce the risk of explosion caused by radio frequency electromagnetic waves, the positioning antenna 14 and the communication unit 4 both adopt intrinsic safety design, can automatically perform safety evaluation on antenna gain and emission energy, ensure that radio frequency ignition energy does not exceed a dangerous value, and ensure that explosive substances cannot be ignited. The invention is provided with two positioning antennas 14 and two communication antennas 41, different communication antennas 41 can bear different communication tasks, signals can be dispersed, and simultaneously, the gain effect of the antennas is increased, thus not only reducing the risk of radio frequency ignition, but also improving the positioning and communication quality.
Meanwhile, the video images transmitted by the invention are all encoded by H.265. At the same image quality, H.265 encoding will reduce the video size encoded by H.265 by about 39-44% compared to H.264; the quality of the H.265 coded video can be similar to or even better than the H.264 coded video with a 51-74% rate reduction. Therefore, the image transmitted by using the h.265 code will occupy less bandwidth, the transmitting power of the communication unit 4 can be smaller during transmission, and the risk of explosion caused by radio frequency electromagnetic waves can be further reduced.
The invention has the function of automatically constructing a map, the processing unit 5 automatically acquires the obstacle data of the surrounding environment from the laser radar 12, and simultaneously acquires the actual position and the course of the invention from the positioning antenna, thereby establishing a two-dimensional map of the area or the inspection area, and the established two-dimensional map data can be transmitted to a control terminal or a command center through the communication unit 4.
The invention has the autonomous navigation function, can autonomously navigate among target points in a constructed two-dimensional map, can autonomously dynamically plan a driving path among the target points, and automatically drives to a target position.
The chassis has an autonomous obstacle avoidance function, and can span 20cm high obstacles and 30-degree slopes by adopting the Kreisti suspension. The processing unit 5 acquires obstacle data of the surrounding environment from the laser radar 12 in real time, and when an obstacle appears in the driving direction, the processing unit can autonomously adopt a forward mode of steering to avoid the obstacle or directly crossing the obstacle according to the obstacle condition, and can autonomously plan a new driving path again after the obstacle is avoided.
The invention has the functions of flame detection and calibration, and the flame detector 13 and the fire monitor 31 are arranged together and can rotate under the control of the holder 33 so as to be convenient for searching a fire source. The processing unit 5 acquires data from the flame detector 13 in real time, can send out an alarm signal in time when detecting flame, and meanwhile, the processing unit 5 automatically marks the flame position in the two-dimensional map according to the acquired information such as the positioning and heading information and the orientation of the flame detector 13, so that firefighters can conveniently determine the position of a fire source in time.
The fire extinguishing device has an autonomous fire extinguishing function, and can autonomously form a fire extinguishing operation scheme after a fire source is detected, automatically move forward to reach a fire extinguishing operation position, and automatically adjust the posture of a fire monitor to extinguish fire.
Example 2:
referring to fig. 1, compared with embodiment 1, the autonomous fire-fighting special explosion-proof robot provided in this embodiment is improved as follows: the sensor unit 1 further comprises a laser obstacle avoidance sensor 15.
The laser obstacle avoidance sensor 15 is provided at the front end of the present invention, and is used for identifying an obstacle right in front. The laser obstacle avoidance sensor 15 is a gas and dust double-explosion-proof electrical product, and the explosion-proof mark is Ex d IIC T6 Gb/Ex tD A21 IP 67T 80 ℃.
The laser obstacle avoidance sensor 15 can identify a small obstacle in front, and the laser obstacle avoidance sensor is matched with the laser radar 12 for use, so that the autonomous obstacle avoidance function of the invention is more accurate and efficient, and collision accidents are avoided.
Example 3:
compared with the embodiment 2, the autonomous fire-fighting special type explosion-proof robot provided by the embodiment is improved as follows: and a warning module is also arranged.
When a fire disaster is monitored in the inspection process, the alarm module can immediately send out alarm sound and alarm light through the audible and visual alarm to remind workers to pay attention.
The acousto-optic alarm is a gas and dust double-explosion-proof electrical product, and the explosion-proof mark is Ex d IIC T6 Gb/Ex tD A21 IP 66T 80 ℃.
Example 4:
compared with the embodiment 3, the autonomous fire-fighting special type explosion-proof robot provided by the embodiment is improved as follows: the sensor unit 1 further comprises a sound pickup, and the warning module further comprises a sound box.
The sound pickup is arranged on the shell of the invention and is used for acquiring surrounding sound signals. The sound pick-up is a gas and dust double-explosion-proof electrical product, and the explosion-proof mark is Ex d IIC T6 Gb/Ex tD A21 IP 65T 80 ℃.
The sound box is arranged in the sound box and used for playing or broadcasting sound. The sound box is a gas and dust double-explosion-proof electrical product, and the explosion-proof sign is Ex d IIC T5 Gb/Ex tD A21 IP 65T 95 ℃.
This embodiment is when the rescue, and the adapter that sets up can gather site sound in real time to can pass through audio amplifier broadcast fire fighter sound, can know the stranded personnel condition through the mode of sound conversation when carrying out fire rescue.
Example 5:
compared with the embodiment 4, the autonomous fire-fighting special type explosion-proof robot provided by the embodiment is improved as follows: the communication unit 4 has an internet communication function.
The communication unit of the embodiment can access the internet through a 4G or 5G public network communication mode, and can transmit data to a command center in real time, so that a reliable decision basis is provided for a rescue decision maker.
Finally, the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and other modifications or equivalent substitutions made by the technical solutions of the present invention by those of ordinary skill in the art should be covered within the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solutions of the present invention.
Claims (8)
1. The utility model provides an independently explosion-proof robot of fire control special type which characterized in that: the fire fighting system comprises a sensor unit, a motion unit, a fire fighting unit, a communication unit, a processing unit and a power supply unit;
the sensor unit comprises a camera, a laser radar, a flame detector, a temperature and humidity sensor, a gas detector and a positioning antenna; the camera is used for obtaining surrounding environment images, the laser radar is used for identifying surrounding obstacles, the flame detector is used for identifying a fire source, the temperature and humidity sensor is used for obtaining temperature and humidity data of the surrounding environment, and the gas detector is used for identifying SO2、NO2、NH3The positioning antenna is used for acquiring position information through GPS/Beidou satellite positioning;
the motion unit comprises a chassis and a driving motor and is used for controlling the motion of the invention;
the fire-fighting unit comprises a fire monitor, a water supply pipe and a spraying device; the fire monitor is used for spraying water flow or foam to extinguish fire, the water supply pipe is used for supplying water to the fire monitor, and the spraying device is used for spraying water drops to the periphery;
the communication unit is used for being in wireless connection with the control terminal;
the processing unit is used for acquiring sensing information from the sensor unit and is used for autonomously constructing a map, autonomously navigating, autonomously avoiding obstacles, detecting flame and calibrating;
the power supply unit comprises a battery box and a lithium ion battery arranged in the battery box and is used for providing electric energy;
the camera, the laser radar, the flame detector, the temperature and humidity sensor, the gas detector, the positioning antenna, the chassis and the battery box are all gas and dust explosion-proof electric products.
2. The autonomous fire-fighting special type explosion-proof robot according to claim 1, characterized in that: the flame detector can simultaneously acquire visible light, infrared and thermal imaging images.
3. The autonomous fire-fighting special type explosion-proof robot according to claim 2, characterized in that: the water supply pipe is of a double-opening structure; the water supply pipe is also provided with an automatic water hose detaching device which is used for automatically detaching the fire hose and is a gas and dust explosion-proof electric product.
4. The autonomous fire-fighting special type explosion-proof robot according to claim 3, characterized in that: the chassis is a Krispi suspended crawler chassis and comprises a crawler, a supporting wheel and a driving wheel; the total mass percentage content of the metal magnesium and the metal titanium of the supporting wheel and the driving wheel is not more than 7.5 percent, the crawler belt is made of rubber embedded with Kevlar fiber and core metal, and the surface insulation resistance is not more than 109Ω。
5. The autonomous fire-fighting special type explosion-proof robot according to claim 4, characterized in that: the sensor unit further comprises a laser obstacle avoidance sensor which is used for identifying obstacles in the front and is a gas and dust explosion-proof electric product.
6. The autonomous fire-fighting special type explosion-proof robot according to claim 5, characterized in that: also comprises a sound pick-up and a sound box.
7. The autonomous fire-fighting special type explosion-proof robot according to claim 6, characterized in that: the communication unit is also used for realizing internet communication.
8. The autonomous fire-fighting special type explosion-proof robot according to claim 7, characterized in that: the positioning antenna and the communication unit are designed in an intrinsic safety mode, and the transmitting power can be automatically limited not to exceed the dangerous value of radio frequency ignition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111057629.6A CN113805586A (en) | 2021-09-09 | 2021-09-09 | Autonomous fire-fighting special explosion-proof robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111057629.6A CN113805586A (en) | 2021-09-09 | 2021-09-09 | Autonomous fire-fighting special explosion-proof robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113805586A true CN113805586A (en) | 2021-12-17 |
Family
ID=78940573
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111057629.6A Pending CN113805586A (en) | 2021-09-09 | 2021-09-09 | Autonomous fire-fighting special explosion-proof robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113805586A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114735093A (en) * | 2022-05-05 | 2022-07-12 | 山东新一代信息产业技术研究院有限公司 | High-temperature-resistant explosion-proof disaster relief robot and system |
| CN115591165A (en) * | 2022-08-23 | 2023-01-13 | 国网上海市电力公司（Cn） | Extremely early fire recognition system and recognition method for fire-fighting robot |
| CN116895127A (en) * | 2023-09-11 | 2023-10-17 | 西安凌志航遥信息科技工程有限公司 | Safety monitoring alarm system with personnel positioning function for energy production |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108686324A (en) * | 2018-06-20 | 2018-10-23 | 南阳防爆电气研究所有限公司 | A kind of fire-fighting fire extinguishing scouting explosion prevention robot |
| CN110694214A (en) * | 2019-10-15 | 2020-01-17 | 哈工大机器人（合肥）国际创新研究院 | Device for realizing automatic separation of fire-fighting robot and multiple fire hoses |
| CN210078681U (en) * | 2019-04-10 | 2020-02-18 | 南阳中天防爆电气有限公司 | Automatic dismounting device for cast explosion-proof fire hose |
| CN211259952U (en) * | 2019-12-10 | 2020-08-14 | 苏州新鼎应急装备科技有限公司 | Automatic disengaging device of fire hose |
| CN111617414A (en) * | 2020-06-10 | 2020-09-04 | 中国船舶重工集团应急预警与救援装备股份有限公司 | Fully-autonomous fire-fighting and fire-extinguishing reconnaissance robot used in complex environment and working method |
-
2021
- 2021-09-09 CN CN202111057629.6A patent/CN113805586A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108686324A (en) * | 2018-06-20 | 2018-10-23 | 南阳防爆电气研究所有限公司 | A kind of fire-fighting fire extinguishing scouting explosion prevention robot |
| CN210078681U (en) * | 2019-04-10 | 2020-02-18 | 南阳中天防爆电气有限公司 | Automatic dismounting device for cast explosion-proof fire hose |
| CN110694214A (en) * | 2019-10-15 | 2020-01-17 | 哈工大机器人（合肥）国际创新研究院 | Device for realizing automatic separation of fire-fighting robot and multiple fire hoses |
| CN211259952U (en) * | 2019-12-10 | 2020-08-14 | 苏州新鼎应急装备科技有限公司 | Automatic disengaging device of fire hose |
| CN111617414A (en) * | 2020-06-10 | 2020-09-04 | 中国船舶重工集团应急预警与救援装备股份有限公司 | Fully-autonomous fire-fighting and fire-extinguishing reconnaissance robot used in complex environment and working method |
Non-Patent Citations (1)
| Title |
|---|
| 韩占先: "《矿井移动通信理论与技术》", 30 April 2001, 哈尔滨工业大学出版社, pages: 264 - 250 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114735093A (en) * | 2022-05-05 | 2022-07-12 | 山东新一代信息产业技术研究院有限公司 | High-temperature-resistant explosion-proof disaster relief robot and system |
| CN115591165A (en) * | 2022-08-23 | 2023-01-13 | 国网上海市电力公司（Cn） | Extremely early fire recognition system and recognition method for fire-fighting robot |
| CN115591165B (en) * | 2022-08-23 | 2023-10-31 | 国网上海市电力公司 | Extremely early fire identification system and method for fire-fighting robot |
| CN116895127A (en) * | 2023-09-11 | 2023-10-17 | 西安凌志航遥信息科技工程有限公司 | Safety monitoring alarm system with personnel positioning function for energy production |
| CN116895127B (en) * | 2023-09-11 | 2023-11-21 | 西安凌志航遥信息科技工程有限公司 | Safety monitoring alarm system with personnel positioning function for energy production |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113805586A (en) | Autonomous fire-fighting special explosion-proof robot | |
| CN109275097B (en) | Indoor positioning and monitoring system based on UWB | |
| US11377210B2 (en) | Monitoring system and mobile robot device | |
| KR101530843B1 (en) | fire fighting robot having high waterproof property and high heat resistance | |
| CN111150953A (en) | Compound multi-functional intelligent fire-fighting robot | |
| KR101739262B1 (en) | The unmanned air vehicle for castaway tracking | |
| CN205549293U (en) | Firefighting robot system | |
| Kim et al. | Portable fire evacuation guide robot system | |
| CN106693248A (en) | Intelligent remote-control fire-fighting robot | |
| CN110180114B (en) | Fire-fighting robot cooperative positioning, reconnaissance, fire source identification and aiming fire-extinguishing method | |
| CN110251861B (en) | Forest fire-fighting system | |
| JP6080568B2 (en) | Monitoring system | |
| KR101530704B1 (en) | fire fighting robot having high waterproof property | |
| KR101530844B1 (en) | fire fighting robot having high waterproof property and high wireless communication capabilty | |
| CN111991732A (en) | Fire-fighting reconnaissance fire-extinguishing robot based on visual SLAM and using method | |
| KR20110108858A (en) | An two wheel-drive robot for dangerous spot search to have high-efficiency transportation | |
| CN103845834A (en) | Fire rescue robot | |
| CN214633516U (en) | Normalized fire condition patrol early-warning fire rescue air-ground robot | |
| CN112915420A (en) | Fire scene positioning and fire extinguishing method of warehouse intelligent fire extinguishing robot | |
| Mittal et al. | CeaseFire: the fire fighting robot | |
| CN212282643U (en) | Fire control reconnaissance fire-extinguishing robot based on vision SLAM | |
| CN111494847B (en) | Safe and accurate fire extinguishing method based on intelligent fire extinguishing robot | |
| CN207996374U (en) | A kind of Intelligent fire-fighting robot | |
| CN115285100A (en) | Intelligent security patrol robot system supporting multi-mode driving control | |
| CN209108492U (en) | Level land formula Initiative Defense intelligent alarm firefighting robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |