TWM521473U - Remote-controlling fire extinguishing device - Google Patents

Remote-controlling fire extinguishing device Download PDF

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Publication number
TWM521473U
TWM521473U TW105201625U TW105201625U TWM521473U TW M521473 U TWM521473 U TW M521473U TW 105201625 U TW105201625 U TW 105201625U TW 105201625 U TW105201625 U TW 105201625U TW M521473 U TWM521473 U TW M521473U
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fire
fire extinguishing
source
remote
extinguishing device
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TW105201625U
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Chinese (zh)
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Zhen-Xiang Huang
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Zhen-Xiang Huang
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Description

遠端遙控滅火裝置Remote remote fire extinguishing device

本創作涉及一種滅火裝置,特別是有關於遠端遙控滅火裝置。 The present invention relates to a fire extinguishing device, and more particularly to a remotely controlled fire extinguishing device.

惟,傳統滅火器種類繁多,若按驅動滅火劑的動力來源,即分為儲壓式、儲氣瓶式以及化學反應式,而依照移動的方式可分為:推車式和手提式,如果是以所填裝的滅火劑來區分,則有清水、二氧化碳、泡沫、乾粉..等,各式各樣的滅火器,種類不勝枚舉,但,這些傳統滅火器均需要由人們將其提到火場或推、扛到火場,並在現場操作,才能對準火源加以撲滅,然而多數滅火劑皆有一定的毒性,若操作者長時間停留在火場,不但會危害到人體的健康,萬一操作不當,甚至會助長火焰,引發爆炸,讓身處於火場進行滅火的人員生命遭受威脅,不但如此,這些操作滅火器的人員在火場中滅火,也常常因吸入過多的一氧化碳或二氧化碳,而造成吸入性的傷害,嚴重者,甚至因而死亡,造成無法彌補的遺憾,因此,傳統滅火器在需要人員操作才能使用且不適合長時間使用之下,大大降低了滅火的成效,且若火災是發生在深夜或無人發現的情況,這些傳統滅火器更無法發揮其功用;雖然,傳統自動滅火灑水器有主偵測器能夠偵測火災的發生,不需要人員操作即能自動噴水,但,傳統自動滅火灑水器是被安裝 在固定位置,根本無法移動,不但噴灑的角度有限,更不能自動針對較大火源處集中進行滅火,俾使其滅火效果不彰,且未著火處也無法分辦,全都被制式的噴灑水霧,亦不能即時通知沉睡中或出門在外的屋主,以致於,經常釀成更大的火勢,導致更大的傷害與損失;以上此些缺失即是傳統滅火器無法突破的長期缺弊,確實有進一步再研發、創新之必要。 However, there are many kinds of traditional fire extinguishers. If the power source of the fire extinguishing agent is driven, it is divided into a storage pressure type, a gas storage type and a chemical reaction type, and can be classified into a trolley type and a portable type according to the movement method. Different from the fire extinguishing agent to be filled, there are clear water, carbon dioxide, foam, dry powder, etc. There are so many kinds of fire extinguishers, but these traditional fire extinguishers need to be mentioned by people to the fire. Or push, smash into the fire, and operate on the spot, in order to align with the fire source, but most fire extinguishing agents have certain toxicity. If the operator stays in the fire for a long time, it will not only endanger the health of the human body. Improper operation can even contribute to the flames, causing an explosion, and threatening the lives of people who are on fire in the fire. Not only that, but the personnel who operate the fire extinguishers extinguish the fire in the fire, often because they inhale too much carbon monoxide or carbon dioxide. Inhalation injury, serious or even death, resulting in irreparable regret, therefore, traditional fire extinguishers need to be operated by personnel and not Combined with long-term use, the effectiveness of fire fighting is greatly reduced, and if the fire occurs late at night or undetected, these traditional fire extinguishers are even less able to perform their functions; although traditional automatic fire sprinklers have main detectors capable of To detect the occurrence of fire, it can automatically spray water without the need of personnel operation, but the traditional automatic fire sprinkler is installed. In a fixed position, it is impossible to move at all. Not only is the angle of spraying limited, but it is also impossible to automatically extinguish fires against large fire sources, so that the fire-extinguishing effect is not good, and it can not be separated without fire. All the spray water is prepared. Fog can't immediately notify the homeowners who are sleeping or going out, so that they often cause a bigger fire, resulting in greater damage and loss. These shortcomings are the long-term shortcomings that traditional fire extinguishers can't break through. There is a need for further research and development and innovation.

本創作人有鑒於前述傳統滅火器所存在的諸多問題無法突破,而加以精心研究,再積極的研發、創作,經多年從事於此一行業之專業經驗與心得,於是創作出本案之創作。 In view of the above-mentioned problems of the traditional fire extinguishers, the creators have been carefully researched, and then actively researched and developed, and after years of professional experience and experience in this industry, they created the creation of this case.

本創作之主要目的乃在於提供一種遠端遙控滅火裝置,主要包含有無線網際網路訊號相連結之自動感測滅火裝置、第二火源偵測元件以及遠端控制終端主機,該自動感測滅火裝置為一內部容置有滅火劑並可藉由其影像擷取元件、第一火源偵測元件或外在之第二火源偵測元件自動感測火源訊號,火源訊號被自動感測滅火裝置之滅火控制系統模組接收而加以分析處理,自動計算出該火源的正確座標位置,俾使自動感測滅火裝置驅動其移動機構,移動至最接近火源且足以滅火的最佳距離,據以轉動其頂端之滅火噴頭對準火源噴出滅火劑,且當需要時,自動感測滅火裝置亦可將火源燃燒訊號及火源之正確座標位置訊號傳送至其他自動感測滅火裝置,俾使其他自動感測滅火裝置一同加入,合力滅火,不但可達到自動快速滅火之功效,更可防止人員在火場滅火而造成無法彌補的傷害,確實提高滅火之效率與準確性,增進人類之安全。 The main purpose of the present invention is to provide a remote remote fire extinguishing device, which mainly comprises an automatic sensing fire extinguishing device connected with a wireless internet signal, a second fire source detecting component and a remote control terminal host, and the automatic sensing The fire extinguishing device is internally provided with a fire extinguishing agent and can automatically sense the fire source signal by the image capturing component, the first fire source detecting component or the external second fire source detecting component, and the fire source signal is automatically The fire extinguishing control system module of the sensing fire extinguishing device is received and analyzed, and the correct coordinate position of the fire source is automatically calculated, so that the automatic sensing fire extinguishing device drives the moving mechanism to move to the fire source closest to the fire source and is capable of extinguishing the fire. According to the distance, the fire extinguishing nozzle that rotates the top is fired with the fire extinguishing agent, and when needed, the automatic sensing fire extinguishing device can also transmit the correct coordinate position signal of the fire source burning signal and the fire source to other automatic sensing. Fire-fighting devices, so that other automatic sensing fire-extinguishing devices can be joined together, and fire-fighting together can not only achieve the effect of automatic and rapid fire-fighting, but also prevent people from extinguishing fire in the fire. Cause irreparable harm, indeed improve the efficiency and accuracy of fire, the promotion of human security.

本創作之另一主要目的在於提供一種遠端遙控滅火系統,該自動感測滅火裝置的滅火控制系統模組接收到火源燃燒訊號時,即同步以無線網際網路將火源燃燒訊號及火源之正確座標位置訊號傳送至遠端控制者的遠端控制終端主機,以通知遠端控制者,遠端控制者即可經由遠端控制終端主機監控火災發生情形,若火勢無法由單一自動感測滅火裝置加以撲滅,或火源不只有一處時,遠端控制者亦可遠端遙控最接近該火源座標位置的其他自動感測滅火裝置移動至接近火源之適當距離,一同協助滅火或分工合作,有效將火源自動迅速撲滅,防止火災繼續擴大,降低財務損失,提高自動滅火裝置之優越實用性,滿足忙碌現代人之需求。 Another main purpose of the present invention is to provide a remote remote fire extinguishing system. When the fire extinguishing control system module of the automatic sensing fire extinguishing device receives the fire source burning signal, it simultaneously synchronizes the fire source signal and fire with the wireless internet. The correct coordinate position signal of the source is transmitted to the remote control terminal host of the remote controller to notify the remote controller that the remote controller can monitor the fire occurrence situation via the remote control terminal host, if the fire cannot be sensed by a single automatic When the fire extinguishing device is extinguished, or the fire source is not only one place, the remote controller may also remotely control other automatic sensing fire extinguishing devices closest to the fire source coordinate position to move to an appropriate distance close to the fire source to assist in extinguishing the fire. Or the division of labor and cooperation, effectively extinguish the fire source automatically, prevent the fire from continuing to expand, reduce financial losses, improve the superior practicability of the automatic fire extinguishing device, and meet the needs of busy modern people.

為達成上述目的,本創作係提供一種遠端遙控滅火裝置,主要包含有網際網路訊號相連結之自動感測滅火裝置以及遠端控制終端主機;該自動感測滅火裝置為一內部容置有滅火劑之自動移動裝置,其內建有滅火控制系統模組;其中,滅火控制系統模組具有第一網際網路訊號傳送接收模組以及GPS定位元件,該滅火控制系統模組、第一網際網路訊號傳送接收模組以及GPS定位元件均電性相連接;該自動感測滅火裝置上設置有至少一影像擷取元件或/以及至少一第一火源偵測元件,所述影像擷取元件或第一火源偵測元件分別與滅火控制系統模組電性相連接;其中,自動感測滅火裝置底端係設置有移動機構,所述移動機構係受滅火控制系統模組機械式電性連接並控制其移動之動作方向;該自動感測滅火裝置頂端設置有滅火噴頭,所述滅火噴頭往下延伸有轉軸,俾使滅火噴頭可藉由轉軸受滅火控制系統模組機械式 電性連接而得以上下移動改變方向;當影像擷取元件攝錄到有火源燃燒影像訊號或第一火源偵測元件感測到有火源燃燒訊號時,該火源燃燒影像訊號或火源燃燒訊號即傳送至滅火控制系統模組並被滅火控制系統模組所接收而加以分析處理,自動計算出該火源的正確座標位置,俾使自動感測滅火裝置自動移動至接近火源並保持在足以滅火的最佳距離,令滅火噴頭對準火源噴出滅火劑,達到自動快速撲滅火源之功效;其中,火源燃燒訊號及火源的正確座標位置訊號係被自動感測滅火裝置以無線網際網路同步傳送至遠端控制者的遠端控制終端主機;該遠端控制終端主機內建有遠端控制應用程式系統,所述遠端控制應用程式系統具有第二網際網路訊號傳送接收模組;其中,遠端控制者係藉由操作遠端控制終端主機之遠端控制應用程式系統,以無線網際網路連結最接近火源座標位置的至少一自動感測滅火裝置,據以遠端遙控至少一自動感測滅火裝置,移動至接近火源並保持在足以滅火的最佳距離,對火源噴灑出滅火劑,達到遠端監看及有效控制撲滅火源之最佳效益;其中,自動感測滅火裝置係可自動以無線網際網路將火源燃燒訊號及火源之正確座標訊號傳送至其他最接近火源的至少一自動感測滅火裝置,俾使其他至少一自動感測滅火裝置自動移動至接近火源並保持在足以滅火的最佳距離,對火源噴灑出滅火劑,據以協助撲滅火源;其中,遠端遙控滅火裝置進一步包含有第二火源偵測元件,該第二火源偵測元件係配置在自動感測滅火裝置之外的預定位置,並與自動感測滅火裝置無線網際網路連接,當第二火源偵測元件攝錄到有火源燃燒影像訊號或感測到有火源燃燒訊號時,該火源燃燒影像訊號或火源燃燒訊號即 藉由無線網際網路傳送至滅火控制系統模組並被滅火控制系統模組之第一網際網路訊號傳送接收模組所接收,俾使滅火控制系統模組加以分析處理,自動計算出該火源的正確座標位置,令自動感測滅火裝置自動移動至接近火源並保持在足以滅火的最佳距離,對火源噴灑出滅火劑,達到準確自動快速撲滅火源之功效;其中,藉由自動感測滅火裝置之GPS定位元件及遠端控制終端主機,俾使遠端控制者遠端監控自動感測滅火裝置的正確座標位置;其中,火源偵測元件係為感煙元件、溫度感測元件或紅外線偵測元件;其中,自動感測滅火裝置設置有與滅火控制系統模組電性相連接之電池裝置;所述電池裝置為一般電池或可充電儲存電能之儲電電池;其中,滅火劑之噴出係受滅火控制系統模組機械式控制;其中,遠端控制終端主機係為個人電腦、行動通訊裝置、可攜式行動多媒體影音裝置,或可穿戴於人體身上的通訊裝置、多媒體影音裝置、接收或發射訊號之裝置,以及穿戴式通訊裝置和穿戴式多媒體影音裝置者;其中,移動機構係為移動滑輪;藉由上述之技術手段得知,本創作確實為一特殊的創新設計。 In order to achieve the above objective, the present invention provides a remote remote fire extinguishing device, which mainly comprises an automatic sensing fire extinguishing device and a remote control terminal host connected by an internet signal; the automatic sensing fire extinguishing device is internally housed. The automatic moving device of the fire extinguishing agent has a fire extinguishing control system module therein; wherein the fire extinguishing control system module has a first internet signal transmitting and receiving module and a GPS positioning component, the fire extinguishing control system module, the first internet The network signal transmitting and receiving module and the GPS positioning component are electrically connected; the automatic sensing fire extinguishing device is provided with at least one image capturing component or/and at least one first fire source detecting component, and the image capturing device The component or the first fire source detecting component is electrically connected to the fire extinguishing control system module respectively; wherein the bottom of the automatic sensing fire extinguishing device is provided with a moving mechanism, and the moving mechanism is mechanically charged by the fire extinguishing control system module Sexually connecting and controlling the direction of movement of the moving device; the top of the automatic sensing fire extinguishing device is provided with a fire extinguishing nozzle, and the fire extinguishing nozzle extends downward with a rotating shaft,灭火The fire sprinkler can be mechanically controlled by the fire extinguishing control system module Electrically connected to move up and down to change direction; when the image capturing component is recorded to have a fire source burning image signal or the first fire source detecting component senses a fire source burning signal, the fire source burns the image signal or fire The source combustion signal is transmitted to the fire extinguishing control system module and received and analyzed by the fire control system module, and the correct coordinate position of the fire source is automatically calculated, so that the automatic sensing fire extinguishing device automatically moves to the fire source and Keep the best distance for fire extinguishing, so that the fire extinguishing nozzle can be fired out of the fire source to achieve the effect of automatically and quickly extinguishing the fire extinguishing source; among them, the fire source burning signal and the correct coordinate position signal of the fire source are automatically sensed by the fire extinguishing device. Synchronously transmitting to the remote control terminal host of the remote controller by the wireless internet; the remote control terminal host has a remote control application system built therein, and the remote control application system has a second internet signal a transmitting and receiving module; wherein the remote controller controls the application system by using a remote control terminal host to operate the wireless internet At least one automatic sensing fire extinguishing device closest to the position of the source of the fire source, according to which at least one automatic sensing fire extinguishing device is remotely remotely controlled, moved to an approaching fire source and maintained at an optimal distance sufficient for extinguishing the fire, and fired the fire source The agent can achieve the best benefit of remote monitoring and effective control of the fire extinguishing source; among them, the automatic sensing fire extinguishing device can automatically transmit the correct coordinate signal of the fire source burning signal and the fire source to the other nearest wireless network. At least one automatic sensing fire extinguishing device of the fire source, so that at least one of the other automatic sensing fire extinguishing devices is automatically moved to an approaching fire source and maintained at an optimal distance sufficient for extinguishing the fire, and the fire extinguishing agent is sprayed on the fire source to assist in extinguishing the fire The remote remote fire extinguishing device further includes a second fire source detecting component, wherein the second fire source detecting component is disposed at a predetermined position outside the automatic sensing fire extinguishing device, and is wireless with the automatic sensing fire extinguishing device Internet connection, when the second fire source detecting component captures a fire source burning image signal or senses a fire source burning signal, the fire source burns the image signal or the fire source Signal that is burning It is transmitted to the fire-extinguishing control system module via the wireless Internet and received by the first Internet signal transmission and reception module of the fire-fighting control system module, and the fire-fighting control system module is analyzed and processed, and the fire is automatically calculated. The correct coordinate position of the source, the automatic sensing fire extinguishing device automatically moves to the fire source and maintains the optimal distance for extinguishing the fire, and the fire extinguishing agent is sprayed on the fire source to achieve the effect of accurately and automatically extinguishing the fire extinguishing source; Automatically sensing the GPS positioning component of the fire extinguishing device and the remote control terminal host, so that the remote controller remotely monitors the correct coordinate position of the automatic sensing fire extinguishing device; wherein the fire source detecting component is a smoke sensing component and a temperature sense The detecting component or the infrared detecting component; wherein the automatic sensing fire extinguishing device is provided with a battery device electrically connected to the fire extinguishing control system module; wherein the battery device is a general battery or a storage battery capable of storing and storing electrical energy; The fire extinguishing agent is mechanically controlled by the fire extinguishing control system module; wherein the remote control terminal host is a personal computer, mobile communication device , a portable mobile multimedia audio-visual device, or a communication device that can be worn on a human body, a multimedia audio-visual device, a device for receiving or transmitting signals, and a wearable communication device and a wearable multimedia audio-visual device; wherein the mobile mechanism is mobile Pulley; by the above technical means, this creation is indeed a special innovative design.

(1)‧‧‧遠端遙控滅火系統 (1)‧‧‧ Remote remote fire extinguishing system

(10)‧‧‧自動感測滅火裝置 (10)‧‧‧Automatic sensing fire extinguishing device

(11)‧‧‧滅火噴頭 (11)‧‧‧Fire extinguisher

(12)‧‧‧轉軸 (12) ‧‧‧ shaft

(13)‧‧‧影像擷取元件 (13)‧‧‧Image capture components

(15)‧‧‧第一火源偵測元件 (15)‧‧‧First Fire Source Detection Element

(16)‧‧‧滅火控制系統模組 (16)‧‧‧Fire Control System Module

(161)‧‧‧第一網際網路訊號傳送接收模組 (161)‧‧‧First Internet Signal Transmission Receiver Module

(162)‧‧‧GPS定位元件 (162)‧‧‧GPS positioning components

(17)‧‧‧電池裝置 (17)‧‧‧ battery device

(18)‧‧‧移動機構 (18) ‧‧‧Mobile agencies

(181)‧‧‧移動滑輪 (181)‧‧‧Mobile pulley

(20)‧‧‧第二火源偵測元件 (20)‧‧‧Second fire source detection component

(30)‧‧‧遠端控制者 (30) ‧‧‧Remote controller

(50)‧‧‧遠端控制終端主機 (50) ‧‧‧Remote control terminal host

(51)‧‧‧遠端控制應用程式系統 (51)‧‧‧Remote Control Application System

(511)‧‧‧第二網際網路訊號傳送接收模組 (511)‧‧‧Second Internet Signal Transmitting and Receiving Module

(S10)‧‧‧火源燃燒訊號 (S10) ‧ ‧ fire source combustion signal

(S20)‧‧‧火源燃燒及火源座標位置訊號 (S20) ‧‧‧Fire source burning and fire source coordinate position signal

(S30)‧‧‧準確自動滅火 (S30) ‧ ‧ accurate automatic fire extinguishing

第1圖:係本創作較佳實施例立體示意圖。 Fig. 1 is a perspective view showing a preferred embodiment of the present invention.

第2圖:係本創作較佳實施例流程圖(一)。 Figure 2 is a flow chart (1) of a preferred embodiment of the present invention.

第3圖:係本創作較佳實施例流程圖(二)。 Fig. 3 is a flow chart (2) of a preferred embodiment of the present invention.

為使 貴審查委員能進一步瞭解本創作之結構、特徵及功效所在,茲附以較佳實施例並配合圖式詳細說明如後。 In order to enable the review board to further understand the structure, features and functions of the present work, the preferred embodiment is described in detail with reference to the drawings.

請參閱第1圖、第2圖以及第3圖所示,本創作遠端遙控滅火系統(1)主要包含有網際網路訊號相連結之自動感測滅火裝置(10)以及遠端控制終端主機(30);該自動感測滅火裝置(10)為一內部容置有滅火劑之自動移動裝置,其內建有滅火控制系統模組(16);其中,滅火劑之噴出係受滅火控制系統模組(16)所機械式控制,所述滅火劑可依據需要為滅火液體、滅火氣體、滅火固體(如滅火藥劑或滅火粉狀物…等),該自動感測滅火裝置(10)並設置有與滅火控制系統模組(16)電性相連接之電池裝置(17),所述電池裝置(17)可依據需要為一般電池或可充電儲存電能之儲電電池,以提供充足電力予自動感測滅火裝置(10)使用;其中,滅火控制系統模組(16)具有第一網際網路訊號傳送接收模組(161)以及GPS定位元件(162),該滅火控制系統模組(16)、第一網際網路訊號傳送接收模組(161)以及GPS定位元件(162)亦相互電性連接,且自動感測滅火裝置(10)周緣上設置有複數影像擷取元件(13)以及第一火源偵測元件(15),所述影像擷取元件(13)、第一火源偵測元件(15)分別與滅火控制系統模組(16)電性相連接;其中,第一火源偵測元件(15)可依據需要為感煙元件、溫度感測元件或紅外線偵測元件,且自動感測滅火裝置(10)之底端係設置有移動機構(18),移動機構(18)可依據需要為移動滑輪(181),所述移動機構(18)係受滅火控制系統模組(16)機械式電性連接並加以控制其移動之動作方向,俾使自動感測滅火裝置(10)為一自動移動裝置,且其頂端設置有滅火噴頭(11),滅火噴頭(11)往下延伸有一轉軸(12),俾使滅火噴頭(11)可藉由轉軸(12)受滅火控制系統模組(16)機械 式電性連接而得以上下移動;當自動感測滅火裝置(10)之影像擷取元件(13)攝錄到有火源燃燒影像訊號或第一火源偵測元件(15)感測到有火源燃燒訊號時,該火源燃燒影像訊號或火源燃燒訊號即傳送至滅火控制系統模組(16)並被滅火控制系統模組(16)所接收而加以分析處理,自動計算出該火源的正確座標位置,據以機械式驅動底端之移動機構(18),俾使自動感測滅火裝置(10)移動至接近火源的適當位置,隨時自動保持在足以滅火的最佳距離,再驅動滅火噴頭(11)之轉軸轉動改變方向,令頂端之滅火噴頭(11)對準火源,以對火源噴灑出滅火劑,達到準確自動快速撲滅火源之效果;其中,遠端遙控滅火系統(1)進一步包含有第二火源偵測元件(20),第二火源偵測元件(20)係配置在自動感測滅火裝置(10)以外的適當預定位置,可依據需要設置在天花板或牆壁…等預定位置,並與自動感測滅火裝置(10)無線網際網路連接,該第二火源偵測元件(20)同樣可依據需要為影像擷取元件、感煙元件、溫度感測元件或紅外線偵測元件,當自動感測滅火裝置(10)外在之第二火源偵測元件(20)攝錄到有火源燃燒影像訊號或感測到有火源燃燒訊號時,該火源燃燒影像訊號或火源燃燒訊號即藉由無線網際網路傳送至滅火控制系統模組(16)並被滅火控制系統模組(16)之網際網路訊號傳送接收模組(161)所接收,俾使滅火控制系統模組(16)加以分析處理,自動計算出該火源的正確座標位置,同樣能以機械式驅動底端之移動機構(18),俾使自動感測滅火裝置(10)移動至接近火源的適當位置,並隨時自動保持在足以滅火的最佳距離,再驅動滅火噴頭(11)之轉軸轉動改變方向,令頂端之滅火噴頭(11) 對準火源,以對火源噴灑出滅火劑,同樣能達到自動快速滅火之效果;當本創作遠端遙控滅火系統(1)之自動感測滅火裝置(10)的滅火控制系統模組(16)接收到火源燃燒訊號並自動計算出該火源燃燒之正確座標位置時,該火源燃燒訊號與火源燃燒之正確座標位置訊號即被自動感測滅火裝置(10)以無線網際網路同步傳送至遠端控制者(30)的遠端控制終端主機(50),該遠端控制終端主機(50)內建有遠端控制應用程式系統(51),遠端控制應用程式系統(51)具有第二網際網路訊號傳送接收模組(511),所述遠端控制終端主機(50)可依據需要為個人PC電腦、行動通訊裝置(如手機、高階智慧型手機、GPS手機、iPad、筆記型電腦)、可攜式行動多媒體影音裝置,或可穿戴於人體身上的通訊裝置、多媒體影音裝置、接收或發射訊號之裝置,以及穿戴式通訊裝置和穿戴式多媒體影音裝置;當遠端控制終端主機(50)之遠端控制應用程式系統(51)接收到遠端之自動感測滅火裝置(10)所傳送之火源燃燒訊號及火源之正確座標位置訊號時,遠端控制者(30)不但可經由遠端控制終端主機(50)清楚監看火災發生之情形,並可藉由自動感測滅火裝置(10)之GPS定位元件(162)監控正在滅火或每一自動感測滅火裝置(10)或每一自動感測滅火裝置(10)的正確座標位置,若火勢無法由單一自動感測滅火裝置(10)加以撲滅時或火源不只有一處時,遠端控制者(30)更可操作遠端控制應用程式系統(51),俾使遠端控制應用程式系統(51)無線網際網路連結最接近火源座標位置的至少一自動感測滅火裝置(10)之滅火控制系統模組(16),據以遠端遙控該自動感測滅火裝置(10)驅動其移動機構(18),快速移動至接近同 一火源或另一火源的適當位置,並隨時自動保持在足以滅火的最佳距離,再驅動滅火噴頭(11)之轉軸轉動改變方向,令頂端之滅火噴頭(11)對準火源,以對火源噴灑出滅火劑,達到合力及分工合作自動快速撲滅火源之效果;本創作遠端遙控滅火系統(1)偵測到火源發生時,該最接近火源之自動感測滅火裝置(10)即會自動驅動其移動機構(18),快速移動至接近火源的適當位置並保持在足以滅火的最佳距離,再驅動滅火噴頭(11)之轉軸轉動改變方向,令頂端之滅火噴頭(11)對準火源,對火源噴灑出滅火劑,以自動快速滅火,若火勢無法由其最接近火源的單一自動感測滅火裝置(10)獨自撲滅,且遠端控制者(30)亦未即時操作遠端控制應用程式系統(51),遠端遙控其他自動感測滅火裝置(10)前往一起滅火時,該接收火源燃燒訊號並自動計算出所述火源的正確座標位置之自動感測滅火裝置(10),或正在進行滅火之自動感測滅火裝置(10)即會自動以無線網際網路將火源燃燒訊號及火源之正確座標訊號傳送至其他最接近火源的單一或複數自動感測滅火裝置(10)並被所述單一或複數自動感測滅火裝置(10)之滅火控制系統模組(16)所接收而迅速分析處理,驅動其移動機構(18),快速移動至接近火源的適當滅火位置,一同加入滅火之工作行列,相互合作,達到自動快速滅火之最佳效益,不但可由複數自動感測滅火裝置(10)以無線網際網路將火源燃燒訊號及火源之正確座標訊號相互傳送,自動判別由最接近火源之自動感測滅火裝置(10)前往協助滅火,更可由不在火災現場的遠端控制者(30)即時操作遠端控制應用程式系統(51),遠端遙控其他自動感測滅火裝置(10)前往一起撲滅火源,不用擔心 因人員深入火場而造成無法彌補的傷害,也不會因滅火人員不夠,而釀成更大的火災,即使在睡夢中的屋主,也會經由自動感測滅火裝置(10)之滅火控制系統模組(16)迅速同步傳送火警訊號予其隨身之遠端控制終端主機(50),令身處火災之人員不但能在第一時間離開火災現場,達到保護人身安全之功效,且能夠在遠離火災現場,還可藉由其遠端控制終端主機(50)遠端隨時監看火災情況並適時遙控自動感測滅火裝置(10)對不同座標位置之火源進行滅火工作,有效快速撲滅火源,大大降低火災之損失,提高滅火之最佳安全性與效率。 Referring to FIG. 1 , FIG. 2 and FIG. 3 , the remote remote fire extinguishing system ( 1 ) of the present invention mainly comprises an automatic sensing fire extinguishing device ( 10 ) and a remote control terminal host connected by an internet signal. (30); the automatic sensing fire extinguishing device (10) is an automatic moving device internally containing a fire extinguishing agent, and has a fire extinguishing control system module (16) built therein; wherein the fire extinguishing agent is fired by the fire extinguishing control system The module (16) is mechanically controlled, and the fire extinguishing agent can be a fire extinguishing liquid, a fire extinguishing gas, a fire extinguishing solid (such as a fire extinguishing agent or a fire extinguishing powder, etc.) according to requirements, and the automatic sensing fire extinguishing device (10) is set and set There is a battery device (17) electrically connected to the fire extinguishing control system module (16), and the battery device (17) can be a general battery or a rechargeable battery for storing electric energy according to need to provide sufficient power to automatically The fire extinguishing control system module (16) has a first internet signal transmitting and receiving module (161) and a GPS positioning component (162), and the fire extinguishing control system module (16) , the first internet signal transmission receiving module (161) and the GPS The bit elements (162) are also electrically connected to each other, and a plurality of image capturing elements (13) and a first fire source detecting element (15) are disposed on the periphery of the automatic sensing fire extinguishing device (10), and the image capturing elements are (13) The first fire source detecting component (15) is electrically connected to the fire extinguishing control system module (16), wherein the first fire source detecting component (15) can be a smoke sensing component and a temperature according to requirements. a sensing element or an infrared detecting element, and the bottom end of the automatic sensing fire extinguishing device (10) is provided with a moving mechanism (18), and the moving mechanism (18) can be a moving pulley (181) as needed, the moving mechanism ( 18) The fire-extinguishing control system module (16) is mechanically electrically connected and controls the moving direction of the movement, so that the automatic sensing fire-extinguishing device (10) is an automatic moving device, and the fire-extinguishing nozzle is arranged at the top end thereof ( 11) The fire extinguishing nozzle (11) extends downwardly with a rotating shaft (12), so that the fire extinguishing nozzle (11) can be subjected to the fire extinguishing control system module (16) by the rotating shaft (12). The electrical connection is allowed to move up and down; when the image capturing component (13) of the automatic sensing fire extinguishing device (10) is recorded to the fire source burning image signal or the first fire source detecting component (15) is sensed When the fire source burns the signal, the fire source burning image signal or the fire source combustion signal is transmitted to the fire extinguishing control system module (16) and received by the fire control system module (16) for analysis and processing, and the fire is automatically calculated. The correct coordinate position of the source, according to the mechanically driven bottom moving mechanism (18), allows the automatic sensing fire extinguishing device (10) to move to an appropriate position close to the fire source, and automatically maintains an optimum distance sufficient for fire extinguishing at any time. Then drive the rotating shaft of the fire extinguishing nozzle (11) to change direction, so that the top fire extinguishing nozzle (11) is aligned with the fire source to spray the fire extinguishing agent on the fire source to achieve the effect of accurately and automatically extinguishing the fire extinguishing source; The fire extinguishing system (1) further includes a second fire source detecting component (20), and the second fire source detecting component (20) is disposed at a suitable predetermined position other than the automatic sensing fire extinguishing device (10), and can be set as needed In a predetermined position such as a ceiling or a wall, The second fire source detecting component (20) can also be an image capturing component, a smoke sensing component, a temperature sensing component or an infrared detecting component, as needed, in connection with the wireless network of the automatic sensing fire extinguishing device (10). When the second fire source detecting component (20) externally detecting the fire extinguishing device (10) captures a fire source burning image signal or senses a fire source burning signal, the fire source burns the image signal or fire. The source combustion signal is transmitted to the fire suppression control system module (16) via the wireless internet network and received by the internet signal transmission receiving module (161) of the fire suppression control system module (16) to enable the fire control system The module (16) is analyzed and processed to automatically calculate the correct coordinate position of the fire source, and the mechanically driven bottom moving mechanism (18) can also be used to move the automatic sensing fire extinguishing device (10) to near the fire source. Proper position, and automatically maintain the optimal distance for fire extinguishing at any time, and then drive the rotating shaft of the fire extinguishing nozzle (11) to change direction, so that the top of the fire extinguishing nozzle (11) Aligning with the fire source, spraying the fire extinguishing agent on the fire source can also achieve the effect of automatic rapid fire extinguishing; when the fire control system module of the automatic remote sensing fire extinguishing system (10) of the remote remote fire extinguishing system (1) is created ( 16) When the fire source combustion signal is received and the correct coordinate position of the fire source is automatically calculated, the correct coordinate position signal of the fire source combustion signal and the fire source combustion is automatically sensed by the fire extinguishing device (10) to the wireless internet network. The path is synchronously transmitted to the remote control terminal host (50) of the remote controller (30), and the remote control terminal host (50) has a remote control application system (51) built therein, and the remote control application system ( 51) having a second Internet signal transmission receiving module (511), the remote control terminal host (50) can be a personal PC computer, a mobile communication device (such as a mobile phone, a high-end smart phone, a GPS mobile phone, etc.) iPad, notebook computer, portable mobile multimedia audio-visual device, or communication device that can be worn on the human body, multimedia audio-visual device, device for receiving or transmitting signals, and wearable communication device and wearable multimedia audio-visual device; When the remote control application system (51) of the remote control terminal host (50) receives the fire source combustion signal transmitted by the remote automatic sensing fire extinguishing device (10) and the correct coordinate position signal of the fire source, The end controller (30) not only can clearly monitor the occurrence of the fire through the remote control terminal host (50), but also can monitor the fire or each by the GPS positioning component (162) of the automatic sensing fire extinguishing device (10). Automatically sense the correct coordinate position of the fire extinguishing device (10) or each of the automatic sensing fire extinguishing devices (10). If the fire cannot be extinguished by a single automatic sensing fire extinguishing device (10) or when there is not only one fire source, The end controller (30) is further operable to operate the remote control application system (51) such that the remote control application system (51) wireless network connects at least one of the automatic sensing fire extinguishing devices closest to the location of the fire source coordinates ( 10) The fire control system module (16), according to the remote control, the automatic sensing fire extinguishing device (10) drives the moving mechanism (18), and quickly moves to the same The proper position of a fire source or another source of ignition, and automatically maintain the optimum distance for extinguishing the fire at any time, and then drive the shaft of the fire extinguishing nozzle (11) to change direction, so that the top fire extinguishing nozzle (11) is aligned with the fire source. Spraying the fire extinguishing agent on the fire source to achieve the effect of automatic and rapid fire extinguishing source by cooperation and division of labor; the remote remote fire extinguishing system of the creation (1) detects the fire source, the fire detection is the closest to the fire source. The device (10) will automatically drive its moving mechanism (18), quickly move to the appropriate position close to the fire source and maintain the optimal distance for extinguishing the fire, and then drive the rotating shaft of the fire extinguishing nozzle (11) to change direction, so that the top end The fire extinguishing nozzle (11) is aligned with the fire source, and the fire extinguishing agent is sprayed on the fire source to automatically and quickly extinguish the fire. If the fire cannot be extinguished by the single automatic sensing fire extinguishing device (10) closest to the fire source, and the remote controller (30) The remote control application system (51) is not operated immediately, and the remote automatic other sensing fire extinguishing device (10) is used to extinguish the fire, and the fire source is burned and the fire source is automatically calculated. Automatic coordinate position The sensing fire extinguishing device (10), or the automatic sensing fire extinguishing device (10) that is performing the fire extinguishing, automatically transmits the correct coordinate signal of the fire source burning signal and the fire source to the other single source closest to the fire source through the wireless internet. Or a plurality of automatic sensing fire extinguishing devices (10) and being received by the fire extinguishing control system module (16) of the single or multiple automatic sensing fire extinguishing device (10) for rapid analysis and processing, driving the moving mechanism (18), fast Move to the appropriate fire-extinguishing location close to the fire source, join the fire-fighting work, cooperate with each other, and achieve the best benefit of automatic rapid fire-fighting. Not only can the automatic automatic fire-fighting device (10) burn the fire source with the wireless Internet. And the correct coordinate signals of the fire source are transmitted to each other, and the automatic sensing fire extinguishing device (10) closest to the fire source is automatically determined to assist in the fire extinguishing, and the remote control application can be operated immediately by the remote controller (30) who is not at the fire scene. System (51), remote control other automatic sensing fire extinguishing device (10) to go together to extinguish the fire source, don't worry Because the personnel go deep into the fire, it will cause irreparable damage, and it will not cause a bigger fire due to insufficient fire fighting personnel. Even the sleeping owner will pass the fire control of the automatic sensing fire extinguishing device (10). The system module (16) quickly and synchronously transmits the fire alarm signal to the remote control terminal host (50), so that the person in the fire can not only leave the fire scene at the first time, but also achieve the effect of protecting personal safety and can Keep away from the fire scene, and also monitor the fire situation at any time by the remote control terminal host (50) and timely control the fire extinguishing device (10) to fire the fire source at different coordinate positions, effectively extinguish the fire. The source greatly reduces the loss of fire and improves the safety and efficiency of fire fighting.

以上所述者,僅為本創作其中的較佳實施例而已,並非用來限定本創作的實施範圍,其他舉凡依本創作相同精神下及專利範圍所做的任何變化與修飾或均等性之安排,皆為本創作保護之範疇及專利範圍所涵蓋。 The above is only the preferred embodiment of the present invention, and is not intended to limit the scope of implementation of the present invention, and any other changes and modifications or equalities in the same spirit and scope of the present invention. All are covered by the scope of the creative protection and the scope of patents.

本創作基於以上特點而為一相當傑出且優異之設計;其未見於刊物或公開使用,合於新型專利之申請要件,爰依法具文提出申請。 This creation is based on the above characteristics and is a very outstanding and excellent design; it is not found in the publication or public use, and is suitable for the application requirements of the new patent, and is submitted in accordance with the law.

(1)‧‧‧遠端遙控滅火系統 (1)‧‧‧ Remote remote fire extinguishing system

(10)‧‧‧自動感測滅火裝置 (10)‧‧‧Automatic sensing fire extinguishing device

(11)‧‧‧滅火噴頭 (11)‧‧‧Fire extinguisher

(12)‧‧‧轉軸 (12) ‧‧‧ shaft

(13)‧‧‧影像擷取元件 (13)‧‧‧Image capture components

(15)‧‧‧第一火源偵測元件 (15)‧‧‧First Fire Source Detection Element

(16)‧‧‧滅火控制系統模組 (16)‧‧‧Fire Control System Module

(161)‧‧‧第一網際網路訊號傳送接收模組 (161)‧‧‧First Internet Signal Transmission Receiver Module

(162)‧‧‧GPS定位元件 (162)‧‧‧GPS positioning components

(17)‧‧‧電池裝置 (17)‧‧‧ battery device

(18)‧‧‧移動機構 (18) ‧‧‧Mobile agencies

(181)‧‧‧移動滑輪 (181)‧‧‧Mobile pulley

Claims (10)

一種遠端遙控滅火裝置,主要包含有網際網路訊號相連結之自動感測滅火裝置以及遠端控制終端主機;該自動感測滅火裝置為一內部容置有滅火劑之自動移動裝置,其內建有滅火控制系統模組;其中,滅火控制系統模組具有第一網際網路訊號傳送接收模組以及GPS定位元件,該滅火控制系統模組、第一網際網路訊號傳送接收模組以及GPS定位元件均電性相連接;該自動感測滅火裝置上設置有至少一影像擷取元件或/以及至少一第一火源偵測元件,所述影像擷取元件或第一火源偵測元件分別與滅火控制系統模組電性相連接;其中,自動感測滅火裝置底端係設置有移動機構,所述移動機構係受滅火控制系統模組機械式電性連接並控制其移動之動作方向;該自動感測滅火裝置頂端設置有滅火噴頭,所述滅火噴頭往下延伸有轉軸,俾使滅火噴頭可藉由轉軸受滅火控制系統模組機械式電性連接而得以上下移動改變方向;當影像擷取元件攝錄到有火源燃燒影像訊號或第一火源偵測元件感測到有火源燃燒訊號時,該火源燃燒影像訊號或火源燃燒訊號即傳送至滅火控制系統模組並被滅火控制系統模組所接收而加以分析處理,自動計算出該火源的正確座標位置,俾使自動感測滅火裝置自動移動至接近火源並保持在足以滅火的最佳距離,令滅火噴頭對準火源噴出滅火劑,達到自動快速撲滅火源之功效。 A remote remote fire extinguishing device mainly comprises an automatic sensing fire extinguishing device and a remote control terminal host connected by an internet signal; the automatic sensing fire extinguishing device is an automatic moving device internally containing a fire extinguishing agent, wherein There is a fire extinguishing control system module; wherein the fire extinguishing control system module has a first internet signal transmitting and receiving module and a GPS positioning component, the fire extinguishing control system module, the first internet signal transmitting and receiving module, and the GPS The positioning component is electrically connected; the automatic sensing fire extinguishing device is provided with at least one image capturing component or/and at least one first fire source detecting component, and the image capturing component or the first fire source detecting component The fire-fighting control system module is electrically connected to each other; wherein the bottom of the automatic sensing fire-extinguishing device is provided with a moving mechanism, and the moving mechanism is mechanically electrically connected by the fire-extinguishing control system module and controls the moving direction of the fire-fighting control system The top of the automatic sensing fire extinguishing device is provided with a fire extinguishing nozzle, and the fire extinguishing nozzle extends downwardly with a rotating shaft, so that the fire extinguishing nozzle can be extinguished by the rotating shaft The control system module is mechanically connected to move up and down to change direction; when the image capturing component is recorded to have a fire source burning image signal or the first fire source detecting component senses a fire source burning signal, the fire The source burning image signal or the fire source burning signal is transmitted to the fire extinguishing control system module and received and analyzed by the fire extinguishing control system module, and the correct coordinate position of the fire source is automatically calculated, so that the automatic sensing fire extinguishing device is automatically Move to a source close to the fire source and keep it at an optimal distance for fire extinguishing. Align the fire extinguisher with the fire source to achieve the effect of automatically and quickly extinguishing the fire source. 如請求項1所述之遠端遙控滅火裝置,其中,火源燃燒訊號及火源的正確座標位置訊號係被自動感測滅火裝置以無線網際網路同步傳送至遠端控制者的遠端控制終端主機;該遠端控制終端主機內建有遠端控制應用程式系統,所述遠端控制應用程式系統具有第二網際網路訊號傳送接收模組;其中,遠端控制者係藉由操作遠端控制終端主機之遠端控制應用程式系統,以無線網際網路連結最接近火源座標位置的至少一自動感測滅火裝置,據以遠端遙控至少一自動感測滅火裝置,移動至接近火源並保持在足以滅火的最佳距離,對火源噴灑出滅火劑,達到遠端監看及有效控制撲滅火源之最佳效益。 The remote remote fire extinguishing device according to claim 1, wherein the correct coordinate position signal of the fire source combustion signal and the fire source is automatically transmitted by the automatic sensing fire extinguishing device to the remote controller for remote control by the wireless internet network. An end host; the remote control terminal host has a remote control application system, and the remote control application system has a second internet signal transmission receiving module; wherein the remote controller is operated remotely The remote control application system of the terminal control terminal host connects at least one automatic sensing fire extinguishing device closest to the position of the fire source coordinate position by the wireless internet, and remotely controls at least one automatic sensing fire extinguishing device to move to near fire The source is kept at an optimal distance for extinguishing the fire, and the fire extinguishing agent is sprayed on the fire source to achieve the best benefit of remote monitoring and effective control of the fire extinguishing source. 如請求項1所述之遠端遙控滅火裝置,其中,自動感測滅火裝置係可自動以無線網際網路將火源燃燒訊號及火源之正確座標訊號傳送至其他最接近火源的至少一自動感測滅火裝置,俾使其他至少一自動感測滅火裝置自動移動至接近火源並保持在足以滅火的最佳距離,對火源噴灑出滅火劑,據以協助撲滅火源。 The remote remote fire extinguishing device of claim 1, wherein the automatic sensing fire extinguishing device automatically transmits the correct coordinate signal of the fire source combustion signal and the fire source to at least one of the closest fire sources by the wireless internet. The automatic sensing fire extinguishing device automatically moves the other at least one automatic sensing fire extinguishing device to the fire source and maintains the optimal distance for extinguishing the fire, and sprays the fire extinguishing agent on the fire source to assist the fire extinguishing source. 如請求項1所述之遠端遙控滅火裝置,其中,遠端遙控滅火裝置進一步包含有第二火源偵測元件,該第二火源偵測元件係配置在自動感測滅火裝置之外的預定位置,並與自動感測滅火裝置無線網際網路連接,當第二火源偵測元件攝錄到有火源燃燒影像訊號或感測到有火源燃燒訊號時,該火源燃燒影像訊號或火源燃燒訊號即藉由無線網際網路傳送至滅火控制系統模組並被滅火控制系統模組之第一網際網路訊號傳送接收模組所接收,俾使滅火控制系統模組加以分析處理,自動計算出該火 源的正確座標位置,令自動感測滅火裝置自動移動至接近火源並保持在足以滅火的最佳距離,對火源噴灑出滅火劑,達到準確自動快速撲滅火源之功效。 The remote remote fire extinguishing device of claim 1, wherein the remote remote fire extinguishing device further comprises a second fire source detecting component, wherein the second fire source detecting component is disposed outside the automatic sensing fire extinguishing device a predetermined location and connected to the wireless network of the automatic sensing fire extinguishing device. When the second fire source detecting component captures a fire source burning image signal or senses a fire source burning signal, the fire source burns the image signal Or the fire source burning signal is transmitted to the fire extinguishing control system module through the wireless internet network and received by the first internet signal transmitting and receiving module of the fire extinguishing control system module, so that the fire extinguishing control system module is analyzed and processed. Automatically calculate the fire The correct coordinate position of the source enables the automatic sensing fire extinguishing device to automatically move to the fire source and maintain the optimal distance for extinguishing the fire. The fire extinguishing agent is sprayed on the fire source to achieve the effect of accurately and automatically extinguishing the fire extinguishing source. 如請求項1所述之遠端遙控滅火裝置,其中,藉由自動感測滅火裝置之GPS定位元件及遠端控制終端主機,俾使遠端控制者遠端監控自動感測滅火裝置的正確座標位置。 The remote remote fire extinguishing device of claim 1, wherein the remote controller remotely monitors the correct coordinates of the automatic sensing fire extinguishing device by automatically sensing the GPS positioning component of the fire extinguishing device and the remote control terminal host position. 如請求項1或4所述之遠端遙控滅火裝置,其中,火源偵測元件係為感煙元件、溫度感測元件或紅外線偵測元件。 The distal remote control fire extinguishing device of claim 1 or 4, wherein the fire source detecting component is a smoke sensing component, a temperature sensing component or an infrared detecting component. 如請求項1所述之遠端遙控滅火裝置,其中,自動感測滅火裝置設置有與滅火控制系統模組電性相連接之電池裝置;所述電池裝置為一般電池或可充電儲存電能之儲電電池。 The distal remote control fire extinguishing device of claim 1, wherein the automatic sensing fire extinguishing device is provided with a battery device electrically connected to the fire extinguishing control system module; the battery device is a general battery or a rechargeable storage electrical energy storage device. Electric battery. 如請求項1所述之遠端遙控滅火裝置,其中,滅火劑之噴出係受滅火控制系統模組機械式控制。 The remote remote fire extinguishing device of claim 1, wherein the fire extinguishing agent is mechanically controlled by the fire extinguishing control system module. 如請求項1所述之遠端遙控滅火裝置,其中,遠端控制終端主機係為個人電腦、行動通訊裝置、可攜式行動多媒體影音裝置,或可穿戴於人體身上的通訊裝置、多媒體影音裝置、接收或發射訊號之裝置,以及穿戴式通訊裝置和穿戴式多媒體影音裝置者。 The remote control fire extinguishing device of claim 1, wherein the remote control terminal host is a personal computer, a mobile communication device, a portable mobile multimedia audio/video device, or a communication device or a multimedia audio-visual device that can be worn on a human body. , devices that receive or transmit signals, as well as wearable communication devices and wearable multimedia audio and video devices. 如請求項1所述之遠端遙控滅火裝置,其中,移動機構係為移動滑輪。 The distal remote fire extinguishing device of claim 1, wherein the moving mechanism is a moving pulley.
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106621129A (en) * 2016-11-21 2017-05-10 滨州学院 Foam extinguisher automatically seeking for fire source for fire extinguishment
CN114259679A (en) * 2021-12-31 2022-04-01 重庆电子工程职业学院 Intelligent fire-fighting inspection fire-extinguishing system for factory
CN114288587A (en) * 2021-11-26 2022-04-08 国网辽宁省电力有限公司大连供电公司 Miniature automatic fire extinguishing tank with networking function
CN114832260A (en) * 2022-05-31 2022-08-02 中国科学技术大学 Multi-mode intelligent fire-extinguishing robot and use method thereof

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106621129A (en) * 2016-11-21 2017-05-10 滨州学院 Foam extinguisher automatically seeking for fire source for fire extinguishment
CN114288587A (en) * 2021-11-26 2022-04-08 国网辽宁省电力有限公司大连供电公司 Miniature automatic fire extinguishing tank with networking function
CN114259679A (en) * 2021-12-31 2022-04-01 重庆电子工程职业学院 Intelligent fire-fighting inspection fire-extinguishing system for factory
CN114832260A (en) * 2022-05-31 2022-08-02 中国科学技术大学 Multi-mode intelligent fire-extinguishing robot and use method thereof

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