CN209378355U - A kind of multifunctional intellectual fire-fighting robot sprayed water or spray powder is put out a fire - Google Patents
A kind of multifunctional intellectual fire-fighting robot sprayed water or spray powder is put out a fire Download PDFInfo
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- CN209378355U CN209378355U CN201821687789.2U CN201821687789U CN209378355U CN 209378355 U CN209378355 U CN 209378355U CN 201821687789 U CN201821687789 U CN 201821687789U CN 209378355 U CN209378355 U CN 209378355U
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Abstract
A kind of multifunctional intellectual fire-fighting robot sprayed water or spray powder is put out a fire, comprising: chassis, left and right Athey wheel, drive assembly, water tank, powder case, the second cabinet, water pistol, podwer gun, wireless remote control operator and robot running control circuit part.It is characterized by: the chassis is equipped with water tank, there is high-pressure hydraulic pump in water tank, water tank tail portion, which is equipped with, can turn off formula fire-fighting water inlet interface, connect with external fire hose；Water tank front end is equipped with powder case, and the portable dry powder fire extinguisher and automatic telescopic podwer gun of 4KG dress are equipped with inside powder case；Water tank upper is equipped with the second cabinet, and the second cabinet front end is equipped with water pistol；Fire fighter is replaced to enter the scene of a fire by the multifunctional intellectual fire-fighting robot that can be sprayed water described in wireless remote control operator control or spray powder is put out a fire, best fire-fighting mode is selected to put out a fire according to scene of a fire situation, improve fire-fighting efficiency and quality, the risk of firefighters work is also reduced simultaneously, ensure that the life security of firefighters.
Description
Technical field
The utility model relates to a kind of multifunctional intellectual fire-fighting robots that can be sprayed water or spray powder is put out a fire, and in particular to one
Kind can sprinkling fire or spray powder fire extinguishing, it can be achieved that intelligence explore the way, the multi-functional intelligent fire robot such as intelligent fire fighting, can generation
Enter scene of fire for fire fighter and carries out the fire rescues action such as fire behavior prospecting, fire extinguishing.
Background technique
As the improvement of people's living standards, the use material and construction style of various buildings and residential location are more and more multiple
Miscellaneous multiplicity, sometimes, a unpredictable reason will cause a high fire, and many times, firefighters are all manually to haul
Fire extinguisher canvas hose, which enters in high fire, carries out fire extinguishing and personnel's search and rescue, sometimes because the intensity of a fire is excessive or toxic gas is excessive, firefighters
It cannot effectively be put out a fire at the fire source, or because leaning on what fire source closely occurred very much that fire fighter sacrifices to regret phenomenon, this is all given
The personal safety of effective action and firefighters brings detrimental effect.If can have a kind of equipment that can replace firefighters
Fire scene rescue action according to live fire condition flexible choice water spray or spray powder function, fire source is flutterred into scene of a fire source
It goes out, this will greatly improve fire-fighting efficiency, while be greatly reduced the risk of firefighters work.
In existing fire-fighting robot, only single sprinkling fire function mostly, when certain fire should not be carried out using water
When fire extinguishing, this fire-fighting robot loses the effect of its fire fighting and rescue；Meanwhile existing fire-fighting robot intelligent level is not high,
Observation to ambient enviroment is mostly to be realized using camera, and usually fire phenomena works as dense smoke all with a large amount of dense smoke
After aggregation to a certain extent, the camera on the fire-fighting robot will be unable to collect effective picture signal, at this point, robot
Also rescue effect will be lost.
Summary of the invention
In order to overcome problems of the prior art, the utility model provides a kind of existing sprinkling fire function, again
Have spray powder fire-extinguishing function concurrently, and can also intelligently explore the way, intelligent fire fighting, adaptive changeable environment spray water or spray powder fire extinguishing
Multifunctional intellectual fire-fighting robot.
In order to solve the above technical problems, the utility model provides following technical solution:
It is a kind of spray water or spray powder fire extinguishing multifunctional intellectual fire-fighting robot, it is characterised in that: it is described spray water or
The multifunctional intellectual fire-fighting robot of spray powder fire extinguishing includes: chassis, left Athey wheel, right-hand track chiain wheel, drive assembly, water tank, powder
Case, the second cabinet, water pistol, podwer gun, wireless remote control operator and robot running control circuit.The left and right crawler belt setting
In chassis both sides, respectively by the drive assembly driving of left and right two, the drive assembly is respectively by left gear reduction gearbox, left crawler belt electricity
Machine, right gear reduction gearbox, right-hand track chiain motor form；The water tank is placed on the chassis, for filling fire demand water, in water tank
Portion is provided with high-pressure hydraulic pump, and water tank tail portion, which is provided with, can turn off formula fire-fighting water inlet interface, connect with external fire hose；The powder
Case is placed in the water tank front end, and inside is equipped with the portable dry powder fire extinguisher of 4KG dress；Second cabinet is located at the water tank top
It is provided with level between portion, with water tank and strafes motor, the positive and negative rotation for controlling this motor can realize the second cabinet in the horizontal direction
Along clockwise or counterclockwise, spraying function is strafed in realization left/right orientation；Before the water pistol is placed in second cabinet
End, water pistol root is provided with hydraulic giant angle motor, and water pistol is adjusted in vertical direction in the positive and negative rotation for controlling this motor
Spray angle；Water pistol pipeline is communicated with the high-pressure hydraulic pump in the water tank, is had high-pressure hydraulic pump motor in high-pressure hydraulic pump, is controlled this
The operation of motor can produce high pressure water；The podwer gun is automatic telescopic, is placed in the powder case of water tank front end, in powder case
The injection pipe of the portable dry powder fire extinguisher of 4KG dress is connected, and podwer gun root is provided with powder rifle angle motor, powder rifle telescope motor
With the actuating motor that dusts, the spray angle of podwer gun in vertical direction, control is adjusted in the positive and negative rotation for controlling powder rifle angle motor
The positive and negative rotation of powder rifle telescope motor processed can realize that podwer gun stretches out or retract function in powder case, and controlling the actuating motor that dusts can realize
Dust fire-extinguishing function concurrently；The wireless remote control operator and the robot running control circuit carry out wireless signal transmission.
This programme is further, and the chassis front end is fixed with walking camera and ultrasonic wave module, the two sensors
Be used cooperatively, realizing originally can spray water or the intelligence of the multifunctional intellectual fire-fighting robot of spray powder fire extinguishing is explored the way function.
This programme is further, and water spray camera, infrared measurement of temperature module and photosensitive sensor are provided on the water pistol
Module, by the water spray situation of the water spray camera observable hydraulic giant, meanwhile, in conjunction with infrared measurement of temperature module and photosensitive sensor
Module can realize the intelligent fire fighting function under specific environment.
This programme is further, and the robot running control circuit is installed in second cabinet, mainly by data
Processing and control unit, motor drive module, executor module, vision signal transmitting module, control signal transmitting and receiving module, pressure stabilizing
Power module and the most of composition of battery five.The data processing and control unit are the core components of circuit, are connected to video
Signal emission module, control signal transmitting and receiving module, walking camera, ultrasonic wave module, water spray camera, infrared measurement of temperature module,
Between photosensitive sensor module, motor drive module and executor module, data operation and control mainly are carried out to system；It is described
The control signal that motor drive module sends data processing and control unit carries out power amplification, and drives left and right crawler belt
Motor, level strafe motor, hydraulic giant angle motor, high-pressure hydraulic pump motor, powder rifle angle motor, powder rifle telescope motor, dust and hold
The work of row motor；The control signal that the executor module receives data processing and control unit is sent, and control illumination
Lamp, alarm lamp and power supply indicator work；The vision signal transmitting module mainly images the walking camera and water spray
The vision signal of head is sent to the wireless remote control by radio wave after the data processing and control unit processing and operates
On device；The control signal transmitting and receiving module is mainly used for receiving the control instruction on the wireless remote control operator, and will instruction
It is transmitted to the data processing and control unit, meanwhile, the feedback command of data processing and control unit is returned described in being emitted to
On wireless remote control operator；The voltage of battery is mainly depressured and is stablized by the power module of voltage regulation, is whole system
Control circuit provides reliable and stable voltage；The battery is the power source of robot, is powered for entire robot system.
This programme is further, and the wireless remote control operator is mainly by signal processing unit, data transmit-receive module, video
Receiving module, display screen, key module, operation rocking bar, speed adjustment knob and battery composition.Signal processing unit is the wireless remote
The core component of operator is controlled, operation and processing mainly carried out to the data-signal of system and control signal, and by generation
Control signal is launched by data transmit-receive module, with the multifunctional intellectual fire-fighting that can be sprayed water described in control or spray powder is put out a fire
The operating condition of robot；Data transmit-receive module is one, and there is transmitting to receive difunctional radio receiving transmitting module, at signal
It manages unit and carries out data connection, mainly the control signal that signal processing unit generates is emitted in space；Video reception module
It is connected after being controlled by signal processing unit with display screen, for receiving the multifunctional intellectual that can be sprayed water or spray powder is put out a fire
The vision signal that vision signal transmitting module described in fire-fighting robot is emitted, is handled finally by signal processing unit
After be sent to display screen and perform image display；Display screen is connected with signal processing unit, is mainly used for showing that the robot works as
Route, water spray or the spray powder situation of preceding walking and the function selection interface of the wireless remote control operator；Speed adjustment knob is
One potentiometer, for adjusting described can spray water or the movement speed of the multifunctional intellectual fire-fighting robot of spray powder fire extinguishing；It presses
Key module is touch key, is mainly used for selecting system function；Operation rocking bar is used cooperatively with key module, for grasping
It can spray water described in making and being arranged or the multifunctional intellectual fire-fighting robot of spray powder fire extinguishing is walked or the angle of water spray and spray powder
With the functions such as orientation；Battery provides power supply for entire wireless remote control operator circuit.
This programme is further, and the chassis front end installation can be mentioned there are two headlamp when working environment dark
For illumination；Second cabinet top is provided with alarm lamp, power supply indicator and emergency stop push button, is respectively used to indicate to spray
Water or spray powder fire extinguishing multifunctional intellectual fire-fighting robot carrying out the warning of fire-fighting operation, the instruction that system is working
Occurs emergency shut-down control device when abnormal conditions with operation；Chassis tail portion is provided with charging interface, for can spray water to described or
The multifunctional intellectual fire-fighting robot battery of spray powder fire extinguishing charges.
Utility model works principle are as follows:
(1) fire-fighting water inlet is with dress powder before use, first by fire hose and the more function sprayed water or spray powder is put out a fire
The fire-fighting water inlet interface connection of energy intelligent fire robot, to the multifunctional intellectual fire tower sprayed water or spray powder is put out a fire
The water tank of device people carries out water-filling, then open described in can spray water or the powder case of the multifunctional intellectual fire-fighting robot of spray powder fire extinguishing
4KG portable dry powder fire extinguisher is packed into designated position in powder case by lid, and by the root of the discharge tube of fire extinguisher and the podwer gun
Portion's interface is connected, and completes fire-fighting water inlet and dress powder operation.
(2) travelling control drill personnel can pass through the screen viewing scene of fire on the wireless remote control operator
Fire behavior distribution and track route, then operate wireless remote control operator on key and operation rocking bar, will described in can spray water or
The multifunctional intellectual fire-fighting robot of spray powder fire extinguishing is moved to the position for being suitable for putting out the fire, then is carried out far by corresponding function selection
Journey is put out the fire, and operating procedure is as follows:
A) advancement function controls: after the wireless remote control operator is set walking function by drill personnel, by institute
State operation rocking bar to push to front, and speed adjustment knob be transferred to suitable position, it is described spray water or spray powder fire extinguishing it is more
After the robot running control circuit of function intelligent fire robot receives control command, left crawler belt motor and right-hand track chiain are driven
Motor is rotated forward with specified speed, can be sprayed water described in realization or the advance function of the multifunctional intellectual fire-fighting robot of spray powder fire extinguishing
It can control；
B) fallback function controls: after the wireless remote control operator is set walking function by drill personnel, by institute
State operation rocking bar to dead astern push, and turn speed adjustment knob arrive suitable position, it is described spray water or spray powder put out a fire it is more
After the robot running control circuit of function intelligent fire robot receives control command, left crawler belt motor and right-hand track chiain are driven
Motor is inverted with specified speed, can be sprayed water described in realization or the retrogressing function of the multifunctional intellectual fire-fighting robot of spray powder fire extinguishing
It can control；
C) left-hand rotation function control: after the wireless remote control operator is set walking function by drill personnel, by institute
Operation rocking bar is stated to the promotion of front 30 degree left-right positions to the left, and mixes up suitable speed, it is described to spray water or spray powder goes out
Fire multifunctional intellectual fire-fighting robot robot running control circuit receive control command after, drive left crawler belt motor with
Command speed lower than the certain revolving speed of right-hand track chiain motor rotates forward, and can spray water described in realization or the multifunctional intellectual of spray powder fire extinguishing disappears
The left-hand rotation function control of anti-robot；
D) right-hand rotation function control: after the wireless remote control operator is set walking function by drill personnel, by institute
Operation rocking bar is stated to the promotion of front 30 degree left-right positions to the right, and mixes up suitable speed, it is described to spray water or spray powder goes out
Fire multifunctional intellectual fire-fighting robot robot running control circuit receive control command after, drive right-hand track chiain motor with
Command speed lower than the left certain revolving speed of crawler belt motor rotates forward, and can spray water described in realization or the multifunctional intellectual of spray powder fire extinguishing disappears
The right-hand rotation function control of anti-robot；
E) left/right rotation function in original place controls: the wireless remote control operator is set walking function by drill personnel
After energy, by the operation rocking bar to positive left or front-right to promotion, and suitable speed is mixed up, it is described to spray water or spray powder goes out
After the robot running control circuit of the multifunctional intellectual fire-fighting robot of fire receives control command, drive left crawler belt motor anti-
Turn, right-hand track chiain motor rotates forward or left crawler belt motor rotates forward, right-hand track chiain motor reversal, can spray water described in realization or spray powder is put out a fire
Multifunctional intellectual fire-fighting robot original place left or right rotating function control；
(3) it can spray water described in water spray control or the multifunctional intellectual fire-fighting robot of spray powder fire extinguishing is moved to fire and shows
Occasion right position postpones, and is selected as water spraying mode in conjunction with the key module and operation rocking bar, can spray water described in realization or spray powder
The water spray control function of the multifunctional intellectual fire-fighting robot of fire extinguishing, concrete operations are as follows:
A) spraying function is strafed in horizontal left and right: it operates the key module and is selected as spraying function, click " water spray " key,
System starts the high-pressure hydraulic pump motor in the water tank, and water jets under high pressure is sprayed from hydraulic giant, if to the left by the operation rocking bar at this time
It pushes, then controlled level strafes motor rotating forward to system, and hydraulic giant rotates to the left, and realizes that spraying function is strafed on a left side；If by the operation
Rocking bar pushes to the right, and then controlled level strafes motor reversal to system, and hydraulic giant rotates to the right, and realizes that spraying function is strafed on the right side；
B) spraying function is vertically strafed: after selecting spraying function on the wireless remote control operator, if will be described
It operates rocking bar to push to front, system then controls the rotating forward of hydraulic giant angle motor, and the angle of hydraulic giant in vertical direction subtracts downwards
It is small, realize low angle spraying function；If the operation rocking bar is pushed to dead astern, it is anti-that system controls hydraulic giant angle motor
Turn, the angle of hydraulic giant in vertical direction increases upwards, realizes high angle spraying function, and final realize vertically strafes water spray
Function.
(4) dust control: it is described spray water or the multifunctional intellectual fire-fighting robot of spray powder fire extinguishing to be moved to fire existing
Occasion right position postpones, if it find that over-the-counter fire fighter can operate the wireless remote when live fire should not be put out the fire with water
The key module on operator is controlled, function is selected as " function of dusting ", the multi-functional intelligence sprayed water or spray powder is put out a fire
After the robot running control circuit of energy fire-fighting robot receives control instruction, controls the powder rifle telescope motor and rotate forward, institute
It states podwer gun to stretch out outside the powder case, robot enters preparation state of dusting, if fire fighter presses the wireless remote at this time
Control the key that dusts on operator, then system starts the actuating motor that dusts and starts to dust, meanwhile, pass through and operates the wireless remote control behaviour
Making the operation rocking bar on device can realize that the angle of podwer gun and left and right strafe function of dusting.
(5) intelligence is explored the way: in scene of fire, dense smoke is larger, the multifunctional intellectual fire-fighting sprayed water or spray powder is put out a fire
When robot can not detect effective track route by camera of walking, over-the-counter fire fighter can operate the wireless remote control
Function is selected as " intelligently exploring the way " function by the key module on operator, and the robot running control circuit is connected to control
Start ultrasonic wave module progress ultrasonic wave after instruction to explore the way, to judge the front whether have barrier, whether barrier can directly be got over
It crosses, finally realizes that intelligence is explored the way and walking function according to detection result.
(6) intelligent fire fighting: in scene of fire, dense smoke is larger, the multifunctional intellectual fire-fighting sprayed water or spray powder is put out a fire
Robot is difficult to observe live fire condition by water spray camera, can not carry out putting out the fire when taking action, operate the wireless remote
The key module on operator is controlled, is selected as " intelligent spraying " function, the robot running control circuit is connected to control instruction
Start infrared measurement of temperature module and photosensitive sensor module afterwards, by the synthesis operation of the two modules, estimates live fire fire
The position of seedling, then system starts spraying function automatically and carries out strafing water spray accordingly by operational data, realizes intelligent spraying
Function.
The beneficial effects of the utility model are: power is sufficient by Athey wheel as ground-engaging element, obstacle performance is good；Setting
There are water pistol and podwer gun, can select to fire-fight by water according to the property of practical scene of fire fire source or uses dry-chemical fire extinguishing, it is real
The fire-fighting mode of existing fancy grade；Synthesis has used a variety of different biographies such as camera, ultrasonic wave, infrared measurement of temperature, photosensitive sensor
Sensor, can spray water described in realization or the intelligence of the multifunctional intellectual fire-fighting robot of spray powder fire extinguishing explore the way, the function such as intelligent fire fighting
Energy.The utility model spray water or spray powder fire extinguishing multifunctional intellectual fire-fighting robot can replace fire fighter enter fire
, action is carried out with nearest fire source, most effective distance of putting out the fire, improves fire-fighting efficiency and quality, while also reducing and disappearing
The work risk and working strength of anti-officers and men, ensure that the life security of firefighters.
Detailed description of the invention
Fig. 1 is the main view for the multifunctional intellectual fire-fighting robot that the utility model can spray water or spray powder is put out a fire.
Fig. 2 is the front elevation for the multifunctional intellectual fire-fighting robot that the utility model can spray water or spray powder is put out a fire.
Fig. 3 is the left view for the multifunctional intellectual fire-fighting robot that the utility model can spray water or spray powder is put out a fire.
Fig. 4 is the right rear corner pictorial view for the multifunctional intellectual fire-fighting robot that the utility model can spray water or spray powder is put out a fire.
Fig. 5 is the rear top view for the multifunctional intellectual fire-fighting robot that the utility model can spray water or spray powder is put out a fire.
Fig. 6 is that the utility model can spray water or the robot operation of the multifunctional intellectual fire-fighting robot of spray powder fire extinguishing is controlled
Schematic block circuit diagram processed.
Fig. 7 is that the utility model can spray water or the wireless remote control of the multifunctional intellectual fire-fighting robot of spray powder fire extinguishing operates
Device functional block diagram.
Wherein: 1 chassis, 2 left Athey wheels, 3 right-hand track chiain wheels, 4 drive assembly, 5 water tanks, 6 powder casees, 7 second cabinets, 8 water sprays
Rifle, 9 podwer guns, 10 left gear reduction gearboxes, 11 left crawler belt motors, 12 right gear reduction gearboxes, 13 right-hand track chiain motors, 14 fire-fightings water inlet
Interface, 15 levels strafe motor, 16 hydraulic giant angle motors, 17 high-pressure hydraulic pump motors, 18 powder rifle angle motors, the flexible electricity of 19 powder rifles
Machine, 20 dust actuating motor, 21 walking cameras, 22 ultrasonic wave modules, 23 water spray cameras, 24 infrared measurement of temperature modules, 25 light
Dependent sensor module, 26 data processings and control unit, 27 motor drive modules, 28 executor modules, the transmitting of 29 vision signals
Module, 30 control signal transmitting and receiving modules, 31 power module of voltage regulation, 32 batteries, 33 headlamps, 34 alarm lamps, 35 power supply indicators,
36 emergency stop push buttons, 37 charging interfaces.
Specific embodiment
The utility model is further described referring to the drawings and in conjunction with specific embodiment, to enable those skilled in the art
Member's refer to the instruction text can be implemented accordingly, and scope of protection of the utility model is not limited to the specific implementation of the utility model
Mode.
As shown in Figures 1 to 5, the multifunctional intellectual fire-fighting that the utility model can spray water or spray powder is put out a fire is set forth
Main view, front elevation, left view, right rear corner pictorial view, the rear top view of robot, it is described spray water or spray powder fire extinguishing it is multi-functional
Intelligent fire robot specifically includes that chassis 1, left Athey wheel 2, right-hand track chiain wheel 3, drive assembly 4, water tank 5, powder case 6, the second case
Body 7, water pistol 8, podwer gun 9, left gear reduction gearbox 10, left crawler belt motor 11, right gear reduction gearbox 12,13 groups of right-hand track chiain motor
At the chassis 1 and drive assembly are placed on the left Athey wheel 2 and right-hand track chiain wheel 3, left crawler belt motor 11 and right-hand track chiain motor
13 are connected with left gear reduction gearbox 10 and right gear reduction gearbox 12 respectively, drive respectively by the speed reduction of motor and after promoting torque
It moves left Athey wheel 2 and right-hand track chiain wheel 3 to rotate, can spray water described in realization or the multifunctional intellectual fire-fighting robot of spray powder fire extinguishing
Walking function.
The water tank 5 is placed on chassis 1, and for filling fire demand water, water tank is internally provided with high-pressure hydraulic pump, and water tank tail portion is set
Formula fire-fighting water inlet interface 14 can be turned off by being equipped with, and be connect with external fire hose；Shown second cabinet 7 is placed on water tank 5, for pacifying
Water pistol 8 and its mechanical control part are filled, and can be sprayed water or the operation of the multifunctional intellectual fire-fighting robot of spray powder fire extinguishing
Control circuit；Water pistol root pipeline is connect with high-pressure hydraulic pump, to spray sufficiently strong hydraulic pressure.Level is strafed motor 15 and is set to
Between second cabinet 7 and water tank 5, the level for realizing water pistol 8 strafes function.Hydraulic giant angle motor 16 is set to water pistol
8 roots, for controlling the angle of 8 vertical direction of water pistol, to realize the angle regulating function of fire-fighting water spray.
The powder case 6 is placed in the front end of water tank 5, for placing the portable dry powder fire extinguisher and podwer gun 9 of 4KG dress, spray
The root of powder rifle 9 is connect with the discharge tube of the portable dry powder fire extinguisher.Powder rifle angle motor 18 is set to 9 root of podwer gun
Top, for adjusting the spray angle of podwer gun 9 in vertical direction.Powder rifle telescope motor 19 is set under 9 root of podwer gun
Side, for controlling the Telescopic of podwer gun.The actuating motor 20 that dusts is set to a fixed position in powder case 6, for controlling hand
It mentions formula dry powder extinguisher pressing handle, can spray water described in realization or the multifunctional intellectual fire-fighting robot of spray powder fire extinguishing dusts
Function.
In this way, can be sprayed water or the robot operation control of the multifunctional intellectual fire-fighting robot of spray powder fire extinguishing by described
Control of the circuit to left and right crawler belt motor operating state, realization can spray water or the multifunctional intellectual fire-fighting robot of spray powder fire extinguishing
Walking function, so that robot is moved to the position for being most suitable for putting out the fire；By strafing motor 15 and hydraulic giant angle motor to level
16 control, realization can spray water or the direction controlling of the multifunctional intellectual fire-fighting robot fire extinguishing water column of spray powder fire extinguishing；Similarly,
By the control to powder rifle angle motor 18, powder rifle telescope motor 19 and left and right crawler belt motor, realization can spray water or spray powder goes out
The multifunctional intellectual fire-fighting robot of fire dusts the control in orientation；Pass through the control to high-pressure hydraulic pump 17 or the actuating motor 20 that dusts
System, the sprinkling fire for the multifunctional intellectual fire-fighting robot that realization can spray water or spray powder is put out a fire or the fire-extinguishing function concurrently that dusts, reach
Fire-fighting mode is reasonably selected, the purpose of fire extinguishing quality and efficiency is improved.
Water spray camera 23, infrared measurement of temperature module 24 and photosensitive sensor module 25, water spray are provided on the water pistol 8
Camera 23 is used to acquire the fire image in the scene of a fire；Infrared measurement of temperature module 24 and photosensitive sensor module 25 are used in environment dense smoke
It is larger, when water spray camera 23 can not collect effective image, pass through the comprehensive analysis of infrared temperature and bright signal, judgement
The general location of flare out realizes intelligent control sprinkling fire function.The chassis 1 is fixedly arranged at the front end with walking camera 21, surpasses
Sound wave module 22 and headlamp 33, the multifunctional intellectual fire tower that walking camera 21, which is used to acquire, to spray water or spray powder is put out a fire
The walking pavement image of device people, ultrasonic wave module 22 is larger for dense smoke at the scene, and walking camera 21 can not collect effectively
Road ahead image when, road ahead situation is detected by transmitting ultrasonic signal, can spray water described in judgement or spray drying
Whether the road ahead of the multifunctional intellectual fire-fighting robot of powder fire extinguishing has barrier, and whether can be directed across barrier etc.
Information.
It is illustrated in figure 6 the robot for the multifunctional intellectual fire-fighting robot that the utility model can spray water or spray powder is put out a fire
Running control circuit functional block diagram, mainly by data processing and control unit 26, motor drive module 27, executor module 28,
Vision signal transmitting module 29, control signal transmitting and receiving module 30, power module of voltage regulation 31 and the most of composition of battery 32 7,
In, walking camera, ultrasonic wave module shown in described Fig. 6, water spray camera, infrared measurement of temperature module, photosensitive sensor mould
It is flexible that block, left and right crawler belt motor, level strafe motor, hydraulic giant angle motor, high-pressure hydraulic pump motor, powder rifle angle motor, powder rifle
Motor, the actuating motor that dusts, headlamp, alarm lamp and power supply indicator be with it is described spray water or spray powder fire extinguishing it is multi-functional
The Interface Terminal that intelligent fire robot related circuit module connects.Data processing and control unit 26 are the cores of circuit
Part is connected to vision signal transmitting module 29, control signal transmitting and receiving module 30, walking camera 21, ultrasonic wave module 22, water spray
It is main between camera 23, infrared measurement of temperature module 24, photosensitive sensor module 25, motor drive module 27 and executor module 28
Data operation and control are carried out to system；Walking camera 21 and the picture signal for the acquisition of camera 23 of spraying water are through data processing
Vision signal transmitting module 29 is reached after carrying out data analysis and processing with control unit 26, vision signal transmitting module 29 will be located
Image data after reason is loaded on radio wave, is emitted on the wireless remote control operator；Power module of voltage regulation 31 will be electric
The voltage in pond 32 is depressured and is stablized, and reliable and stable voltage is provided for entire control system；Battery 32 is the dynamic of robot
The power energy powers for motor and voltage stabilizing circuit module 31 etc., guarantees the normal operation of whole system.
Data processing and control unit 26 and motor drive module 27 carry out control connection, right by motor drive module 27
The control of 13 operating status of left crawler belt motor 11 and right-hand track chiain motor, can spray water described in realization or the multi-functional intelligence of spray powder fire extinguishing
The walking function of energy fire-fighting robot；Motor 15, hydraulic giant angle motor 16 and height are strafed by 27 pairs of levels of motor drive module
The control of 17 operating status of water pump motor, can spray water described in realization or the multifunctional intellectual fire-fighting robot of spray powder fire extinguishing
Water spray and water spray strafe function；Powder rifle angle motor 18, powder rifle telescope motor 19 and dusting is held by motor drive module 27
The control of 20 operating status of row motor, can spray water described in realization or the multifunctional intellectual fire-fighting robot of spray powder fire extinguishing dusts
And it dusts and strafes function；Data processing and control unit 26 and executor module 28 carry out control connection, pass through execution module 28
Control to headlamp 33, alarm lamp 34, power supply indicator 35, can spray water described in realization or the multifunctional intellectual of spray powder fire extinguishing
Illumination, alarm and the power supply electrifying of fire-fighting robot indicate function.
It is illustrated in figure 7 the wireless remote for the multifunctional intellectual fire-fighting robot that the utility model can spray water or spray powder is put out a fire
Operator schematic block circuit diagram is controlled, mainly by signal processing unit, data transmit-receive module, video reception module, display screen, speed
Knob, key module, operation rocking bar and battery composition.Signal processing unit is the core component of the wireless remote control operator,
Operation and processing mainly are carried out to the data-signal of system and control signal, and the control signal of generation is passed through into data transmit-receive
Module is launched, with control described in can spray water or spray powder fire extinguishing multifunctional intellectual fire-fighting robot operating condition；Number
Being one according to transceiver module, there is transmitting to receive difunctional radio receiving transmitting module, the control for mainly generating signal processing unit
It in signal loading to radio wave and is emitted in space, while receiving the control that the robot running control circuit is sent
Signal；Video reception module is connected after being controlled by signal processing unit with display screen, can spray water for reception or spray powder goes out
The vision signal that vision signal transmitting module described in the multifunctional intellectual fire-fighting robot of fire is emitted, finally by signal processing
Unit is sent to display screen after being handled and performs image display；Display screen and signal processing unit carry out data connection, main to use
It can spray water described in the display or current track route, water spray or the spray powder of the multifunctional intellectual fire-fighting robot of spray powder fire extinguishing
The function selection interface of situation of putting out a fire and the wireless remote control operator；Speed adjustment knob is for controlling described can spray water or spray drying
The travel speed of the multifunctional intellectual fire-fighting robot of powder fire extinguishing；Key module is touch key, is mainly used for system function
Carry out selection and parameter setting；Operation rocking bar is used cooperatively with key module, for that can spray water described in operating and being arranged or spray drying
The walking of multifunctional intellectual fire-fighting robot or the functions such as water spray and the angle of spray powder and orientation of powder fire extinguishing；Battery is entire nothing
Line remote manipulator circuit provides power supply.
The utility model can spray water or the rate-determining steps of the multifunctional intellectual fire-fighting robot of spray powder fire extinguishing are as follows:
Booting, pull up the emergency stop push button 36, power supply indicator 35 is bright, can spray water or spray powder fire extinguishing it is multi-functional
Intelligent fire robot enters booting standby mode；Press the power knob on wireless remote control operator, the wireless remote control behaviour
The power supply indicator made on device is bright, and screen shows that starting-up interface, wireless remote control operator are switched on successfully and enter standby mode.
Walking function control: forward-reverse: under walking mode (default mode), by the operation on wireless remote control operator
Rocking bar is pushed to front, speed adjustment knob is then transferred to suitable speed, the robot running control circuit receives control
After system order, left crawler belt motor 11 and right-hand track chiain motor 13 is driven to rotate forward by specified speed, can sprayed water or spray powder fire extinguishing
Multifunctional intellectual fire-fighting robot move forward, the velocity amplitude of adjustment speed knob is bigger, can spray water or spray powder fire extinguishing it is more
The mobile speed of function intelligent fire robot is faster；On the contrary, when in the same way pushing operation rocking bar to dead astern, it is real
It is existing described to spray water or the fallback function of the multifunctional intellectual fire-fighting robot of spray powder fire extinguishing.Left/right rotation and the rotation of original place left/right
Rotating function: under walking mode (default mode), the operation rocking bar on wireless remote control operator is left to 30 degree to the left of front
Right position pushes, and mixes up suitable speed, after the robot running control circuit receives control instruction, drives left crawler belt
Motor is rotated forward with the command speed lower than the certain revolving speed of right-hand track chiain motor, can spray water described in realization or spray powder fire extinguishing it is multi-functional
The left-hand rotation function of intelligent fire robot；Similarly, the operation rocking bar on wireless remote control operator is left to 30 degree to the right of front
Right position pushes, and mixes up suitable speed, can spray water described in realization or the multifunctional intellectual fire-fighting robot of spray powder fire extinguishing
Right-hand rotation function；When the operation rocking bar on wireless remote control operator to a positive left side/front-right to promotion, and is mixed up suitable speed
Degree after the robot running control circuit receives control instruction, drives left crawler belt motor 11 to invert, right-hand track chiain motor 13 is just
Turn or left crawler belt motor 11 rotates forward, right-hand track chiain motor 13 inverts, and can spray water described in realization or the multifunctional intellectual of spray powder fire extinguishing
The original place left/right rotating function of fire-fighting robot.
Spraying function control: operate the key module on the Digiplex, by can spray water or spray powder fire extinguishing it is more
The operating mode of function intelligent fire robot is selected as " spraying function mode ", presses " water spray " key, high-pressure hydraulic pump motor
17 operatings, fire-fighting high pressure water are sprayed from water pistol.The angle of water pistol vertical direction controls: the angle control of water pistol passes through nothing
Operation rocking bar on line remote manipulator controls, and under " spraying function mode ", operation rocking bar is pushed to front, hydraulic giant
Angle motor 16 rotates forward, and the angle of hydraulic giant vertical direction reduces, and forms the water column sprayed water downwards；Similarly, will operation rocking bar to
Dead astern pushes, and hydraulic giant angle motor 16 inverts, and the angle of hydraulic giant vertical direction increases, and forms the water column sprayed water upwards.Water
Square to strafe control: the level of water pistol is strafed control and is controlled by the operation rocking bar on wireless remote control operator,
Under " spraying function mode ", operation rocking bar is pushed to the left, level strafes the rotating forward of motor 15, and hydraulic giant moves to the left, realizes left
Strafe spraying function；Similarly, operation rocking bar is pushed to the right, level strafes the reversion of motor 15, and hydraulic giant moves to the right, realizes right
Strafe spraying function.
Dust function control: the key module on operation wireless remote control operator, by can spray water or spray powder fire extinguishing it is more
The operating mode of function intelligent fire robot is selected as " dust functional mode ", powder rifle telescope motor 19 rotate forward, podwer gun from
Powder case stretches out from inside to outside, presses " dusting " key, and the actuating motor 20 that dusts operating, dry powder is sprayed from podwer gun.Dust Vertical Square
To angle control: the angle of podwer gun is controlled to be controlled by the operation rocking bar on wireless remote control operator, in " function of dusting
Under mode ", operation rocking bar is pushed to front, powder rifle angle motor 18 rotates forward, and the angle of powder rifle vertical direction reduces, dry powder
Injection downwards；Similarly, operation rocking bar is pushed to dead astern, powder rifle angle motor 18 inverts, and the angle of powder rifle vertical direction increases
Greatly, dry powder sprays upwards.Horizontal direction strafes control: the level of podwer gun is strafed control and is passed through on wireless remote control operator
Rocking bar is operated to control, under " dust functional mode ", operation rocking bar is pushed to the left, left crawler belt motor 11 inverts, right-hand track chiain
Motor 13 rotates forward, and the multifunctional intellectual fire-fighting robot left face sprayed water or spray powder is put out a fire realizes that a left side is strafed
It dusts function；Similarly, operation rocking bar is pushed to the right, left crawler belt motor 11 rotates forward, and right-hand track chiain motor 13 inverts, described to spray water
Or the multifunctional intellectual fire-fighting robot flicker of spray powder fire extinguishing, realize that function of dusting is strafed on the right side.
Intelligence is explored the way function: in scene of fire, dense smoke is larger, and walking camera 21 can not detect effective track route
When, the function on the wireless remote control operator is selected as " intelligently exploring the way " function, can spray water or spray powder fire extinguishing more function
Energy intelligent fire robot starting ultrasonic wave module 22 carries out ultrasonic wave and explores the way, to judge the front whether have barrier, Yi Jishi
It is no to be directed across barrier, and by information feedback to the screen of wireless remote control operator, operator is according to screen message
It can spray water described in effective control or the walking situation of the multifunctional intellectual fire-fighting robot of spray powder fire extinguishing, to realize that intelligence is visited
Road function.
Intelligent fire fighting function: in scene of fire, dense smoke is larger, and water spray camera 23 can not collect effective live fire
When image, the function on wireless remote control operator is selected as " intelligent spraying " function, system starts 24 He of infrared measurement of temperature module
Photosensitive sensor module 25 estimates the position of live fire flare, then system root by the synthesis operation of the two modules
Start sprinkling fire program automatically according to control instruction situation, realizes intelligent spraying function.
Claims (6)
1. one kind can spray water or the multifunctional intellectual fire-fighting robot of spray powder fire extinguishing, it is characterised in that: described to spray water or spray
The multifunctional intellectual fire-fighting robot of dry-chemical fire extinguishing includes: chassis (1), left Athey wheel (2), right-hand track chiain wheel (3), drive assembly
(4), water tank (5), powder case (6), the second cabinet (7), water pistol (8), podwer gun (9), wireless remote control operator and robot fortune
Line control circuit part；The left and right crawler belt is set to chassis both sides, respectively by the drive assembly driving of left and right two, the driving
Assembly is respectively by left gear reduction gearbox (10), left crawler belt motor (11), right gear reduction gearbox (12), right-hand track chiain motor (13) group
At；The water tank (5) is placed on the chassis, and for filling fire demand water, water tank is internally provided with high-pressure hydraulic pump, water tank tail portion
Formula fire-fighting water inlet interface (14) can be turned off by being provided with, and be connect with external fire hose；Before the powder case (6) is placed in the water tank
End, inside are equipped with the portable dry powder fire extinguisher of 4KG dress；Second cabinet (7) is located at the top of the water tank (5), with water tank
Between be provided with level and strafe motor (15), the positive and negative rotation for controlling this decelerating motor can make the second cabinet in the horizontal direction along suitable
Hour hands or counterclockwise rotation realize that spraying function is strafed in left/right orientation；The water pistol (8) is placed in second cabinet front end,
Water pistol root is provided with hydraulic giant angle motor (16), and water pistol is adjusted in vertical direction in the positive and negative rotation for controlling this motor
Spray angle；Water pistol pipeline is communicated with the high-pressure hydraulic pump in the water tank, is had in high-pressure hydraulic pump high-pressure hydraulic pump motor (17), control
The operation for making this motor can produce high pressure water；The podwer gun (9) is automatic telescopic, is placed in the powder case of water tank front end, with
The injection pipe for the portable dry powder fire extinguisher that 4KG is filled in powder case is connected, and podwer gun root is provided with powder rifle angle motor (18), powder
Podwer gun is adjusted in Vertical Square in rifle telescope motor (19) and the actuating motor that dusts (20), the positive and negative rotation of control powder rifle angle motor
Upward spray angle, the positive and negative rotation of control powder rifle telescope motor can realize that podwer gun stretches out or retract function in powder case, control
The actuating motor that dusts can realize function of dusting；The wireless remote control operator and the robot running control circuit carry out wireless
Signal transmission.
2. can spray water according to claim 1 or spray powder fire extinguishing multifunctional intellectual fire-fighting robot, it is characterised in that: institute
State chassis front end be fixed with walking camera (21) and ultrasonic wave module (22), the two sensors be used cooperatively, realize
It can spray water or the intelligence of the multifunctional intellectual fire-fighting robot of spray powder fire extinguishing is explored the way function.
3. can spray water according to claim 1 or spray powder fire extinguishing multifunctional intellectual fire-fighting robot, it is characterised in that: institute
It states and is provided with water spray camera (23), infrared measurement of temperature module (24) and photosensitive sensor module (25) on water pistol, by described
The water spray situation of water spray camera observable hydraulic giant, meanwhile, it can be real in conjunction with the infrared measurement of temperature module and photosensitive sensor module
Intelligent fire fighting function under existing specific environment.
4. can spray water according to claim 1 or spray powder fire extinguishing multifunctional intellectual fire-fighting robot, it is characterised in that: institute
It states robot running control circuit to be installed in second cabinet (7), mainly by data processing and control unit (26), motor
Drive module (27), executor module (28), vision signal transmitting module (29), control signal transmitting and receiving module (30), pressure stabilizing electricity
Source module (31) and the most of composition of battery (32) five；The data processing and control unit (26) are the core components of circuit,
It is connected to vision signal transmitting module (29), control signal transmitting and receiving module (30), walking camera (21), ultrasonic wave module
(22), it sprays water camera (23), infrared measurement of temperature module (24), photosensitive sensor module (25), motor drive module (27) and hold
Between row device module (28), data operation and control mainly are carried out to system；The motor drive module (27) is by data processing
The control signal that sends with control unit carries out power amplification, and drive left and right crawler belt motor, level strafe motor (15),
Hydraulic giant angle motor (16), high-pressure hydraulic pump motor (17), powder rifle angle motor (18), powder rifle telescope motor (19), execution of dusting
Motor (20) work；The control signal that the executor module (28) receives data processing and control unit is sent, and control
Headlamp (33), alarm lamp (34) and power supply indicator (35) work processed；The vision signal transmitting module (29) is mainly by institute
The vision signal for stating walking camera (21) and water spray camera (23) passes through after the data processing and control unit processing
Radio wave is sent on the wireless remote control operator；The control signal transmitting and receiving module (30) is mainly used for receiving the nothing
Control instruction on line remote manipulator, and the data processing and control unit (26) are transferred the instructions to, meanwhile, by data
The feedback command of processing and control unit, which returns, to be emitted on the wireless remote control operator；The power module of voltage regulation (31) is main
It is that the voltage of battery is depressured and is stablized, reliable and stable voltage is provided for whole system control circuit；The battery
(32) be robot power source, for entire robot system power.
5. can spray water according to claim 4 or spray powder fire extinguishing multifunctional intellectual fire-fighting robot, it is characterised in that: institute
The wireless remote control operator stated mainly is revolved by signal processing unit, data transmit-receive module, video reception module, display screen, speed
Button, key module, operation rocking bar and battery composition；Signal processing unit is the core component of wireless remote control operator, mainly
Data-signal and control signal to system carry out operation and processing, and the control signal of generation is sent out by data transmit-receive module
Be shot out, with control described in can spray water or spray powder fire extinguishing multifunctional intellectual fire-fighting robot operating condition；Data transmit-receive
Module is one, and there is transmitting to receive difunctional radio receiving transmitting module, carries out data connection with signal processing unit, mainly will
The control signal that signal processing unit generates is emitted in space；Video reception module controlled by signal processing unit after with display
Screen is connected, for receive it is described can spray water or the multifunctional intellectual fire-fighting robot of spray powder fire extinguishing described in vision signal hair
The vision signal that module is emitted is penetrated, display screen is sent to after being handled finally by signal processing unit and performs image display；
Display screen is connected with signal processing unit, is mainly used for showing route, water spray or the spray powder that the robot currently walks
The function selection interface of situation and the wireless remote control operator；Speed adjustment knob is a potentiometer, for adjust it is described can
The movement speed of water spray or the multifunctional intellectual fire-fighting robot of spray powder fire extinguishing；Key module is touch key, is mainly used for
System function is selected；Operation rocking bar is used cooperatively with key module, for that can spray water described in operating and being arranged or spray drying
The walking of multifunctional intellectual fire-fighting robot or the functions such as water spray and the angle of spray powder and orientation of powder fire extinguishing；Battery is entire nothing
Line remote manipulator circuit provides power supply.
6. can spray water according to claim 5 or spray powder fire extinguishing multifunctional intellectual fire-fighting robot, it is characterised in that: institute
Stating the installation of chassis (1) front end, there are two headlamp (33), when working environment dark, it is possible to provide illumination；Second case
Body (7) top is provided with alarm lamp (34), power supply indicator (35) and emergency stop push button (36), is respectively used to indicate to spray water
Or spray powder fire extinguishing multifunctional intellectual fire-fighting robot carrying out the warning of fire-fighting operation, the instruction that system is working and
There is emergency shut-down control device when abnormal conditions in operation；Chassis tail portion is provided with charging interface (37), for the battery
(32) it charges.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821687789.2U CN209378355U (en) | 2018-10-18 | 2018-10-18 | A kind of multifunctional intellectual fire-fighting robot sprayed water or spray powder is put out a fire |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821687789.2U CN209378355U (en) | 2018-10-18 | 2018-10-18 | A kind of multifunctional intellectual fire-fighting robot sprayed water or spray powder is put out a fire |
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| Publication Number | Publication Date |
|---|---|
| CN209378355U true CN209378355U (en) | 2019-09-13 |
Family
ID=67866943
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821687789.2U Expired - Fee Related CN209378355U (en) | 2018-10-18 | 2018-10-18 | A kind of multifunctional intellectual fire-fighting robot sprayed water or spray powder is put out a fire |
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| Country | Link |
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| CN (1) | CN209378355U (en) |
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| CN110812745A (en) * | 2019-11-18 | 2020-02-21 | 燕山大学 | Mobile intelligent fire-fighting robot and fire-fighting control method |
| CN110917529A (en) * | 2019-12-09 | 2020-03-27 | 国网智能科技股份有限公司 | Transformer substation fire-fighting robot and operation method thereof |
| CN111282182A (en) * | 2020-04-09 | 2020-06-16 | 河南省威特消防设备有限公司 | Multifunctional intelligent fire-extinguishing robot device |
| CN111408086A (en) * | 2020-03-12 | 2020-07-14 | 北京中电飞华通信有限公司 | Fire patrol fire extinguishing system and fire extinguishing method for transformer substation |
| CN111437546A (en) * | 2020-04-08 | 2020-07-24 | 山东和兑智能科技有限公司 | High-temperature fire extinguishing device for high-voltage cable trench |
| CN111530006A (en) * | 2020-05-28 | 2020-08-14 | 陈圆圆 | Fire extinguishing device for fire engineering |
| CN111991723A (en) * | 2020-09-10 | 2020-11-27 | 泉州台商投资区双霞机械设计服务中心 | Forest fire control detection robot |
| CN112587846A (en) * | 2020-12-16 | 2021-04-02 | 中国科学院光电技术研究所 | Man-machine interaction fire-fighting robot system based on self-generation network |
| CN112847401A (en) * | 2021-01-20 | 2021-05-28 | 章余 | Fire-fighting mechanism for explosion-proof robot |
| CN113078692A (en) * | 2021-04-16 | 2021-07-06 | 北京仓告科技有限公司 | Robot capable of carrying multiple functional modules |
| CN114010998A (en) * | 2021-10-27 | 2022-02-08 | 镇江同舟螺旋桨有限公司 | Self-walking fire extinguishing robot based on remote control |
| CN114210008A (en) * | 2021-12-25 | 2022-03-22 | 深圳市铧泰建设工程有限公司 | Fire extinguishing device for fire engineering |
| RU213805U1 (en) * | 2022-03-09 | 2022-09-29 | Общество с ограниченной ответственностью "ГАЗПРОМ ТРАНСГАЗ НИЖНИЙ НОВГОРОД" | Robot firefighter with remote control |
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| CN116440443A (en) * | 2023-04-18 | 2023-07-18 | 广东工业大学 | Intelligent fire extinguishing robot |
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| CN110812745A (en) * | 2019-11-18 | 2020-02-21 | 燕山大学 | Mobile intelligent fire-fighting robot and fire-fighting control method |
| CN110917529B (en) * | 2019-12-09 | 2021-08-20 | 国网智能科技股份有限公司 | Transformer substation fire-fighting robot and operation method thereof |
| CN110917529A (en) * | 2019-12-09 | 2020-03-27 | 国网智能科技股份有限公司 | Transformer substation fire-fighting robot and operation method thereof |
| CN111408086A (en) * | 2020-03-12 | 2020-07-14 | 北京中电飞华通信有限公司 | Fire patrol fire extinguishing system and fire extinguishing method for transformer substation |
| CN111408086B (en) * | 2020-03-12 | 2022-04-15 | 北京中电飞华通信有限公司 | Fire patrol fire extinguishing system and fire extinguishing method for transformer substation |
| CN111437546A (en) * | 2020-04-08 | 2020-07-24 | 山东和兑智能科技有限公司 | High-temperature fire extinguishing device for high-voltage cable trench |
| CN111437546B (en) * | 2020-04-08 | 2021-03-19 | 山东和兑智能科技有限公司 | High-temperature fire extinguishing device for high-voltage cable trench |
| CN111282182A (en) * | 2020-04-09 | 2020-06-16 | 河南省威特消防设备有限公司 | Multifunctional intelligent fire-extinguishing robot device |
| CN111530006A (en) * | 2020-05-28 | 2020-08-14 | 陈圆圆 | Fire extinguishing device for fire engineering |
| CN111991723B (en) * | 2020-09-10 | 2021-06-01 | 泉州台商投资区双霞机械设计服务中心 | Forest fire control detection robot |
| CN111991723A (en) * | 2020-09-10 | 2020-11-27 | 泉州台商投资区双霞机械设计服务中心 | Forest fire control detection robot |
| CN112587846A (en) * | 2020-12-16 | 2021-04-02 | 中国科学院光电技术研究所 | Man-machine interaction fire-fighting robot system based on self-generation network |
| CN112847401A (en) * | 2021-01-20 | 2021-05-28 | 章余 | Fire-fighting mechanism for explosion-proof robot |
| CN113078692A (en) * | 2021-04-16 | 2021-07-06 | 北京仓告科技有限公司 | Robot capable of carrying multiple functional modules |
| CN114010998A (en) * | 2021-10-27 | 2022-02-08 | 镇江同舟螺旋桨有限公司 | Self-walking fire extinguishing robot based on remote control |
| CN114210008A (en) * | 2021-12-25 | 2022-03-22 | 深圳市铧泰建设工程有限公司 | Fire extinguishing device for fire engineering |
| CN114210008B (en) * | 2021-12-25 | 2022-08-23 | 深圳市铧泰建设工程有限公司 | Fire extinguishing device for fire engineering |
| RU213805U1 (en) * | 2022-03-09 | 2022-09-29 | Общество с ограниченной ответственностью "ГАЗПРОМ ТРАНСГАЗ НИЖНИЙ НОВГОРОД" | Robot firefighter with remote control |
| CN115708939A (en) * | 2022-10-31 | 2023-02-24 | 廊坊鼎创科技有限公司 | Remote monitoring full-automatic fire extinguishing sentinel |
| CN116440443A (en) * | 2023-04-18 | 2023-07-18 | 广东工业大学 | Intelligent fire extinguishing robot |
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Granted publication date: 20190913 Termination date: 20201018 |