CN210992757U - Semi-autonomous remote control fire extinguishing device - Google Patents
Semi-autonomous remote control fire extinguishing device Download PDFInfo
- Publication number
- CN210992757U CN210992757U CN201921580735.0U CN201921580735U CN210992757U CN 210992757 U CN210992757 U CN 210992757U CN 201921580735 U CN201921580735 U CN 201921580735U CN 210992757 U CN210992757 U CN 210992757U
- Authority
- CN
- China
- Prior art keywords
- module
- fire
- fire extinguisher
- semi
- control
- 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.)
- Active
Links
Images
Landscapes
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The utility model discloses a semi-autonomous remote control fire extinguishing device, which comprises a lower computer system, wherein the lower computer system comprises four parts, namely a control module, a communication module, a mechanical structure module and a driving module, the communication module comprises a transmitting module and a receiving module, and a system background management platform establishes communication connection with the communication receiving module of the lower computer system through the communication transmitting module; the receiving module is connected with the control module; the control module is connected with the driving module, and the driving module is connected with a fire extinguisher, a water cannon and a double-spectrum holder. The utility model discloses a semi-autonomous remote control extinguishing device carries the medium of putting out a fire through self, has realized early discovery, early warning, early processing, occupies "initial stage conflagration" best opportunity of putting out a fire, can replace the people to carry out tasks such as putting out a fire under dangerous environment such as high temperature, easily fire, explosive, dense smoke, toxic gas simultaneously, has reduced casualties risk and loss of property to a great extent.
Description
Technical Field
The utility model relates to a extinguishing device technical field particularly, relates to a semi-autonomous remote control extinguishing device.
Background
At present, security patrol robots are equipped in a plurality of important occasions such as warehouses, chemical industry parks, transformer substations, underground parking lots, stations, airports and the like, but once a fire disaster occurs, the security patrol robots cannot extinguish the fire, and only can early warn and wait for corresponding rescue workers to arrive at the site to extinguish the fire. On one hand, the optimal fire extinguishing time is easily missed; on the other hand, rescue workers need to rush into the fire ring for rescuing at a short distance sometimes, and the short-distance rescue measures are easy to cause casualties, thereby bringing about great casualties and property loss to people.
The following problems also exist in the prior art: (1) the autonomous positioning jet water cannon is fixedly arranged above an indoor area, the coverage area is limited, the full coverage cost is very high, and the area which cannot be covered is mainly subjected to mobile inspection by a security patrol robot at present, so that abnormity is found, early warning is carried out in time, image video information is returned, but fire extinguishing treatment cannot be carried out in time; (2) at present, corresponding fire-fighting robots are available in the market, but the robots do not contain fire-fighting media, fire can be extinguished by providing pressurized water flow or foam through equipment such as a fire truck, and meanwhile, some electrical equipment cannot use water or foam for fire extinguishment; (3) at present, the existing fire-fighting robots in the market temporarily do not have the autonomous patrol function, and can not actively find and actively early warn and timely extinguish fire.
SUMMERY OF THE UTILITY MODEL
To the above-mentioned technical problem among the correlation technique, the utility model provides a semi-autonomous remote control extinguishing device can overcome the above-mentioned not enough of prior art.
In order to achieve the technical purpose, the technical scheme of the utility model is realized as follows:
a semi-autonomous remote control fire extinguishing device comprises a communication module, wherein the communication module is connected with a control module, and the control module is connected with a driving module through a control bus; the driving module is connected with the mechanical structure module;
the communication module comprises a transmitting module, the transmitting module is in wireless communication connection with a receiving module, and the receiving module is connected with the control module;
the control module comprises a single chip microcomputer which is connected with the relay;
the mechanical structure module comprises a mobile robot chassis and a fire extinguisher, the fire extinguisher comprises a fire extinguisher tank, the fire extinguisher tank is fixed on the upper part of the mobile robot chassis, one side of the fire extinguisher tank is provided with a fire fighting bayonet, an infrared thermal imaging camera is arranged above the fire extinguisher tank, an infrared high-definition camera is arranged on the right side of the infrared thermal imaging camera, a differential GPS antenna is arranged on one side of the infrared thermal imaging camera, the top of the fire extinguisher tank is connected with one end of a fire extinguisher spray pipe through a hose, the fire extinguisher spray pipe is provided with an electromagnetic valve, the electromagnetic valve is connected with the control module, the fire extinguisher spray pipe is bound and connected with the fire water monitor spray pipe, the fire water monitor spray pipe is connected with the fire water monitor holder, the fire water monitor holder is connected with the driving module, and the front side of the control module is provided with a laser radar.
Further, the receiving module is a super-regenerative receiving head device matched with the transmitting module.
Furthermore, the transmitting module comprises a key addressing circuit, one end of the key addressing circuit is connected with one end of the data coding circuit, and the other end of the data coding circuit is connected with the wireless transmitting circuit.
Further, the mobile robot chassis is in a wheel type, a crawler wheel type or a sucker type.
Further, the chassis of the mobile robot comprises a direct current motor.
The utility model has the advantages that: the utility model discloses a semi-autonomous remote control extinguishing device is through setting up communication module, control module, drive module and mechanical structure module, and self carries the medium of putting out a fire, has realized early discovery, early warning, early processing, seizes "initial stage conflagration" best opportunity of putting out a fire, can replace the people to carry out tasks such as putting out a fire under dangerous environment such as high temperature, easily fire, explosive, dense smoke, toxic gas simultaneously, has reduced casualties risk and loss of property to a great extent.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural view of a lower computer system in a semi-autonomous remote control fire extinguishing apparatus according to an embodiment of the present invention;
fig. 2 is a partial schematic view of a control panel of a background management platform according to an embodiment of the present invention;
fig. 3 is a schematic view of a communication module in the semi-autonomous remote control fire extinguishing apparatus according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a semi-autonomous remote control fire extinguishing apparatus according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a transmitter module according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a receiving module according to an embodiment of the present invention;
in the figure: 1. the system comprises a mobile robot chassis, 2, a fire extinguisher tank, 3, a fire fighting bayonet, 4, a differential GPS antenna, 5, an infrared thermal imaging camera, 6, an infrared high-definition camera, 7, a solenoid valve, 8, a water monitor aiming camera, 9, a fire extinguisher spray pipe, 10 and a fire fighting water monitor spray pipe; 11. a fire water monitor pan-tilt; 12. a laser radar; 13. and a control module.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art all belong to the protection scope of the present invention.
As shown in fig. 1-6, according to the embodiment of the present invention, the fire extinguishing apparatus comprises a lower computer system, the lower computer system comprises a communication module, the communication module is connected with a control module 13 (i.e. a controller), the control module 13 is connected with a driving module through a control bus, and the driving module is connected with a mechanical structure module.
The communication module comprises a transmitting module, the transmitting module is in wireless communication connection with a receiving module and used for responding to an operation instruction of a user to the transmitting module, the receiving module receives the response of the transmitting module and the output operation instruction and then outputs the received response and operation instruction to the control module, and the control module compiles and decodes the received operation instruction and outputs the corresponding instruction. And the system background management platform establishes wireless communication connection with the lower computer system communication receiving module through the communication transmitting module.
The transmitting module comprises a key addressing circuit, one end of the key addressing circuit is connected with one end of the data coding circuit and used for responding to an operation instruction of a user to the transmitting module and generating uniformly numbered address numbers after operating keys of the transmitting module; the other end of the data coding circuit is connected with the wireless transmitting circuit and is used for uniformly coding the generated uniformly-numbered address numbers; the wireless transmitting circuit is used for transmitting the generated uniform code to the receiving module for receiving.
The receiving module is a super-regenerative receiving head device matched with the transmitting module. The receiving module is connected with a port F3 of the singlechip through a lead of the receiving box; the receiving module has the main functions of receiving and inputting the instruction codes into the single chip microcomputer, decoding the instructions sent by an operator through judgment and operation of the single chip microcomputer, and reducing the instruction codes into specific actions of the remote control fire extinguishing device so as to control a mechanical structure module of the remote control fire extinguishing device to fulfill the fire extinguishing requirement. The binary codes received by the receiving module are respectively transmitted to an F3 port of the singlechip through a lead of the receiving box, and the coded signals on the circuit board are not directly input into the singlechip but are isolated through an optical coupler, thereby playing a role of protecting the singlechip. After the decoding of the single chip microcomputer, the signals are output from the designated single chip microcomputer output ends F1 and F2 ports, and the attraction of the relay is triggered by the high and low level changes of the F1 and F2 ports, so that the rotation of the motor is controlled, and the remote control command of an operator is effectively finished.
The control module 13 is connected with the receiving module and used for driving the driving module connected with the mechanical structure module to control the movement of the movable chassis and the opening or closing of the electromagnetic valve of the fire extinguisher according to the received operation instruction, and is a single chip microcomputer control Relay (Relay N-path electromagnetic Relay).
The mechanical structure module comprises a fire extinguisher, the control module 13 is connected with the driving module, and the driving module is connected with the fire extinguisher; the mechanical structure module comprises a mobile robot chassis 1, the fire extinguisher comprises a fire extinguisher tank 2, the fire extinguisher tank 2 is fixed on the upper portion of the mobile robot chassis 1, one side of the fire extinguisher tank 2 is provided with a fire fighting bayonet 3, and the dual-spectrum holder comprises an infrared thermal imaging camera 5 and an infrared high-definition camera 6. Fire extinguisher jar 2's top is equipped with infrared thermal imaging camera 5 of two spectrum cloud platforms, infrared thermal imaging camera 5's the right-hand infrared high definition digtal camera 6 that is equipped with two spectrum cloud platforms, one side of infrared thermal imaging camera 5 is equipped with difference GPS antenna 4, the top of fire extinguisher jar 2 is passed through the hose and is connected with the one end of fire extinguisher spray tube 9, be equipped with solenoid valve 7 on the fire extinguisher spray tube 9, solenoid valve 7 with control module 13 connects, fire water monitor spray tube 9 binds with the fire water monitor spray tube 10 of water monitor and is connected, controls the corresponding action of fire extinguisher spray tube through the every single move and the rotation of remote control water monitor, fire water monitor spray tube 10 is connected with fire water monitor cloud platform 11, fire water monitor cloud platform 11 with control module 13 connects, control module 13 front side is equipped with laser radar 12. The mobile robot chassis 1 is in a wheel type, crawler wheel type or sucker type, the mobile robot chassis 1 comprises a direct current motor which is used for simultaneously controlling the mobile robot chassis 1 to move, and the mobile robot chassis 1 is used for bearing a fire extinguisher tank 2 to reach a fire scene according to a received operation instruction; the fire water monitor holder 11 is connected with a fire hydrant or a fire-fighting booster pump through a fire bayonet 3 and a fire hose, and the pitching and the rotation control of the fire water monitor accurately trace a fire source to perform secondary fire extinguishing treatment.
In one embodiment, the system background management platform control panel shown in fig. 2 is designed according to various functions of the fire extinguishing apparatus and combined with specific fire extinguishing actions of the fire extinguishing apparatus. Four directions in the circle of the right part of the control panel are four directions of the movement of the remote control fire extinguishing device moving chassis mechanism, and four directions in the circle of the left part of the control panel are four directions of the rotation and pitching of the fire water monitor holder. When "rising" button is pressed down, the fire water monitor spray tube will drive the fire extinguisher spray tube to pitch up, and like the same reason, when "decline" button is pressed down, the fire water monitor spray tube will drive the fire extinguisher spray tube to pitch down. The mobile robot chassis 1 adopts a four-wheel four-drive belt steering mode chassis, duralumin is used as a frame material, the direct current motors are 48V direct current motors and are arranged on the mobile robot chassis 1, a fire extinguisher tank 2 on the mobile robot chassis 1 is a water agent fire extinguisher or an ultrafine dry powder fire extinguisher, and a fire extinguisher spray pipe 9 is bound with a fire water monitor spray pipe 10 and moves along with the motion of the fire water monitor; this fire extinguisher spray tube 9 receives rotation and every single move instruction, rotate fire extinguisher spray tube 9 earlier to suitable position, aim at the burning things which may cause a fire disaster, the nozzle of readjustment fire extinguisher spray tube 9 aims at the burning things which may cause a fire disaster position height, the opening or the shutoff of control solenoid valve 7 valve, fire extinguisher solenoid valve opens the back, aim at camera 8 according to the water cannon and observe the upper and lower deviation of putting out a fire jet and burning things which may cause a fire disaster, adjust the every single move angle of the nozzle of fire extinguisher spray tube 9, the accurate processing of putting out a fire of.
The mobile robot chassis has autonomous patrol, autonomous navigation and autonomous obstacle avoidance functions, in the patrol process, a fire source or fire hazard is captured through the infrared thermal imaging camera 5 carried by the mobile robot chassis, pictures and videos are transmitted to the background in time for early warning, after the background confirms the fire hazard, the fixed-point cruise or remote control mobile terminal is close to the optimal position of a fire source area for fire extinguishment, so that early discovery, early warning and early disposal can be realized, and casualties and property loss are reduced to a great extent; meanwhile, the fire fighting bayonet 3 can be further externally connected with a fire hydrant through a fire hose, and secondary fire fighting can be carried out through a remote control fire water monitor.
The specific process is that the background terminal performs corresponding key control, the communication module responds to an operation instruction of a user to a transmitting module in the semi-autonomous remote control fire extinguishing device, the receiving module in the device receives the operation instruction responded and output by the transmitting module, the received operation instruction is output to the control module, the control module analyzes the instruction to generate a corresponding action instruction, the mobile chassis is controlled to move to the position near a fire source, then the pitching or the rotation of the fire monitor holder is controlled to be aligned to the fire source, an electromagnetic valve is controlled to be opened, and water aqua or dry powder is sprayed to perform fire extinguishing treatment.
When the mobile robot chassis 1 receives an operation instruction, the mobile robot chassis 1 bears the fire extinguisher tank 2 to reach a fire scene; when a fire water monitor (pitching and rotating) holder 11 in the fire water monitor device receives an operation instruction, the fire water monitor holder 11 controls the direction of a nozzle of a fire extinguisher spray pipe 9 aiming at a fire source and the pitching fire water monitor holder 11 controls the angle of the spray pipe nozzle of a fire extinguisher; when the electromagnetic valve 7 (electromagnetic valve opening and closing mechanism) receives an operation instruction, the fire extinguisher is controlled to spray or close by controlling the opening or closing of the fire extinguisher valve.
Information acquisition in the process control of the remote control system is divided into an on state and an off state, and some on-off states of a controlled object (namely, the remote control fire extinguishing device) need to be input into the singlechip through a switching value input channel; the information interaction between the single chip microcomputer and the controlled object is divided into an input type and an output type: the former sends the information of the controlled object to the single chip computer through the input channel when the single chip computer data is collected; the latter is output when controlled by a single chip, as shown in fig. 5. Before the operator does not send out the instruction, each I/O interface of the single chip is in high level, and after the operator sends out the instruction, the I/O interface corresponding to the instruction changes to low level, and the instruction transmission step is exemplified as follows:
when an operator sends a certain continuous action command to the semi-autonomous remote control fire extinguishing device, if the operator firstly commands the remote control fire extinguishing device to advance, then the fire water monitor holder is tilted upwards, and finally the fire extinguishing agent is sprayed, as can be seen from fig. 2, the operator firstly presses the forward button, then presses the ascending button, and finally presses the solenoid valve opening button.
When the 'forward' button is pressed down, the semi-autonomous remote control fire extinguishing device receives a 'forward' action instruction through the receiving module, at the moment, the P1.4 pin is output to be low level (as shown in figure 5), the level of the F1.1 port of the output end of the single chip microcomputer is high (as shown in figure 6), the relay switch is attracted, the motor rotates forwards, and conversely, the level of the F1.2 port is high, the relay switch is closed, and the remote control fire extinguishing device moves backwards.
When the remote control fire extinguishing device moves to the optimal fire extinguishing position, the 'ascending' button is pressed, the P3.0 pin is output to be at a low level (as shown in figure 5), when the singlechip scans that the I/O port corresponding to the action command is at the low level, the I/O port is output in a code mode, and therefore code emission of the action is completed, and similarly, other action command code transmission processes can be obtained. When the fire scene fire extinguisher spray pipe is too high and needs to bow down, an operator sends a 'bowing down' command to the remote control fire extinguishing device, a loop corresponding to the remote control fire extinguishing device is conducted at the moment, a pin of a single chip microcomputer P3.1 at a transmitting end is set to be a low level, the single chip microcomputer compiles the binary code after scanning the switching value according to a low level effective principle, the single chip microcomputer outputs the binary code at the pin of the single chip microcomputer P1.0 and sends the binary code into a transmitting module, and therefore the command code can be transmitted out through the transmitting module. The receiving module receives the instruction, the binary codes received by the receiving module are respectively transmitted to F3 ports of the single chip microcomputer through a lead of the receiving box, the binary codes are output from an output port F2 port of the appointed single chip microcomputer after being decoded by the single chip microcomputer, and the suction of the relay is triggered by the change of high and low levels of the F2 port, so that the motion of the pitching motor of the water cannon is controlled, the pitching angle of the water cannon is accurately adjusted, and the optimal fire extinguishing position of a fire source is accurately aimed.
When the 'solenoid valve opening' button is pressed down, the semi-autonomous remote control fire extinguishing device receives a 'solenoid valve opening' command through the receiving module, the high level is set at the port F2.5 of the single chip microcomputer, the relay switch is closed at the moment, the solenoid valve is opened to open the fire extinguisher valve, the fire extinguishing agent is sprayed forwards, and otherwise, the fire extinguishing agent is stopped. When the remote control fire extinguishing device executes a certain action command, the corresponding output end I/O port is set to be at a high level, and other output ports are set to be at low levels, so that the misoperation of the remote control fire extinguishing device is avoided.
To sum up, with the help of the above technical scheme of the utility model, carry the medium of putting out a fire through self, realized early discovery, early warning, early processing, seize "initial stage conflagration" best opportunity of putting out a fire, can replace the people to carry out tasks such as putting out a fire under dangerous environment such as high temperature, easily fire, explosive, dense smoke, toxic gas simultaneously, greatly reduced casualties risk and loss of property.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A semi-autonomous remote control fire extinguishing device is characterized by comprising a communication module, wherein the communication module is connected with a control module (13), the control module (13) is connected with a driving module through a control bus, and the driving module is connected with a mechanical structure module;
the communication module comprises a transmitting module, the transmitting module is in communication connection with a receiving module, and the receiving module is connected with the control module (13);
the control module (13) comprises a single chip microcomputer which is connected with a relay;
the mechanical structure module comprises a mobile robot chassis (1) and a fire extinguisher, the fire extinguisher comprises a fire extinguisher tank (2), the fire extinguisher tank (2) is fixed on the upper part of the mobile robot chassis (1), one side of the fire extinguisher tank (2) is provided with a fire fighting bayonet (3), an infrared thermal imaging camera (5) with a dual-spectrum holder is arranged above the fire extinguisher tank (2), an infrared high-definition camera (6) with a dual-spectrum holder is arranged on the right side of the infrared thermal imaging camera (5), one side of the infrared thermal imaging camera (5) is provided with a differential GPS antenna (4), the top of the fire extinguisher tank (2) is connected with one end of a fire extinguisher spray pipe (9) through a hose, the fire extinguisher spray pipe (9) is provided with a solenoid valve (7), the solenoid valve (7) is connected with a control module (13), the fire extinguisher spray pipe (9) is bound with a fire fighting water cannon spray pipe (10), fire water monitor spray tube (10) are connected with fire water monitor cloud platform (11), fire water monitor cloud platform (11) with drive module connects, control module (13) front side is equipped with laser radar (12).
2. The semi-autonomous remote-controlled fire extinguishing apparatus according to claim 1, characterized in that the receiving module is a super-regenerative receiving head device cooperating with the transmitting module.
3. The semi-autonomous remote-control fire extinguishing apparatus according to claim 1, wherein the transmission module includes a key addressing circuit, one end of the key addressing circuit is connected to one end of a data coding circuit, and the other end of the data coding circuit is connected to the wireless transmission circuit.
4. Semi-autonomous remote control fire extinguishing apparatus according to claim 1, characterized in that the mobile robot chassis (1) is wheel, crawler wheel or suction cup type.
5. Semi-autonomous remote control fire extinguishing apparatus according to claim 1, characterized in that the mobile robot chassis (1) comprises a direct current motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921580735.0U CN210992757U (en) | 2019-09-23 | 2019-09-23 | Semi-autonomous remote control fire extinguishing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921580735.0U CN210992757U (en) | 2019-09-23 | 2019-09-23 | Semi-autonomous remote control fire extinguishing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210992757U true CN210992757U (en) | 2020-07-14 |
Family
ID=71499260
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921580735.0U Active CN210992757U (en) | 2019-09-23 | 2019-09-23 | Semi-autonomous remote control fire extinguishing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210992757U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114832265A (en) * | 2022-05-06 | 2022-08-02 | 江苏桐方消防科技集团股份有限公司 | But portable indoor fire water monitor of remote control |
-
2019
- 2019-09-23 CN CN201921580735.0U patent/CN210992757U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114832265A (en) * | 2022-05-06 | 2022-08-02 | 江苏桐方消防科技集团股份有限公司 | But portable indoor fire water monitor of remote control |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209378355U (en) | A kind of multifunctional intellectual fire-fighting robot sprayed water or spray powder is put out a fire | |
| CN202777559U (en) | Remote teleoperator fire-extinguishing system | |
| CN201164675Y (en) | Intelligent robot system for tunnel fire-fighting emergency | |
| CN201399172Y (en) | Multifunctional firefighting robot | |
| CN111150953A (en) | Compound multi-functional intelligent fire-fighting robot | |
| CN104800990B (en) | A kind of oil tank storage area fire-fighting fire monitoring and firefighting robot | |
| WO2019190348A1 (en) | Compact mobile robotic fire-extinguishing system | |
| CN210992757U (en) | Semi-autonomous remote control fire extinguishing device | |
| CN109331378A (en) | A kind of firefighting robot and intelligent fire extinguishing method based on image procossing | |
| CN104288953B (en) | Remote control fire extinguishing device and operation method thereof | |
| Mittal et al. | CeaseFire: the fire fighting robot | |
| CN113805586A (en) | Autonomous fire-fighting special explosion-proof robot | |
| CN108939384A (en) | A kind of Initial Stage of Fire automatic fire extinguishing system based on robot | |
| CN112915420A (en) | Fire scene positioning and fire extinguishing method of warehouse intelligent fire extinguishing robot | |
| CN115285100A (en) | Intelligent security patrol robot system supporting multi-mode driving control | |
| JPH05293198A (en) | Fire extinguishing device | |
| CN105035323A (en) | Remote-control flight-type dry powder extinguishing lifesaving device | |
| CN111544810B (en) | Intelligent disaster relief vehicle based on MESH network and applied to tunnel | |
| CN204846374U (en) | Remote control flight formula dry powder life saving equipment that puts out a fire | |
| CN107450558A (en) | A kind of cable tunnel robot inspection device | |
| GB2336776A (en) | Mobile robotic fire fighting equipment | |
| CN204631490U (en) | A kind of cable tunnel comprehensive monitoring Robot Extinguishing Fire device | |
| CN204952005U (en) | Oil tank storage area is fire monitoring and machine people that puts out a fire for fire control | |
| CN115743547A (en) | Fire extinguishing system, fire-fighting unmanned aerial vehicle and fire extinguishing method thereof | |
| CN112569508A (en) | Intelligent fire engine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |