CN112383624A - Fire extinguishing system based on thing networking - Google Patents
Fire extinguishing system based on thing networking Download PDFInfo
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- CN112383624A CN112383624A CN202011273172.8A CN202011273172A CN112383624A CN 112383624 A CN112383624 A CN 112383624A CN 202011273172 A CN202011273172 A CN 202011273172A CN 112383624 A CN112383624 A CN 112383624A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/50—Testing or indicating devices for determining the state of readiness of the equipment
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
- G16Y40/00—IoT characterised by the purpose of the information processing
- G16Y40/30—Control
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Abstract
The embodiment of the invention provides a fire fighting system based on the Internet of things, which comprises a robot cluster and a control center, wherein the robot cluster comprises a main control robot and a sub-robot, and the main control robot and the sub-robot are as follows: the sub-robots are used for acquiring fire scene data and sending the fire scene data to the main control robot; the main control robot is used for receiving the fire scene data and sending the fire scene data to the control center; the control center is used for receiving the fire scene data, determining a fire extinguishing strategy according to the fire scene data, and sending the fire extinguishing strategy to the main control robot; the main control robot is further used for receiving the fire extinguishing strategy and controlling the sub-robots to conduct fire extinguishing operation based on the fire extinguishing strategy. Through the cooperation between main control robot, sub-robot and the control center, can cooperate the fire fighter to put out a fire the task, can replace the fire fighter to put out a fire the task even, can guarantee fire fighter's life safety.
Description
Technical Field
The invention relates to the technical field of Internet of things, in particular to a fire fighting system based on the Internet of things.
Background
The fire hazard happens frequently in rural areas of various major cities, which causes serious economic loss every year and even harms the life safety of people.
When carrying out the task of putting out a fire, the fire fighter need get into the scene of a fire and put out a fire, because site environment and intensity of a fire condition are more complicated to people's perception scope is limited, the fire fighter is under the high-risk complex environment, and very difficult comprehensive perception surrounding environment changes, has seriously threatened fire fighter's life safety. There is therefore a need for a fire protection system that ensures the life safety of fire fighters.
Disclosure of Invention
The embodiment of the invention aims to provide a fire fighting system based on the Internet of things, so as to ensure the life safety of fire fighters in the process of executing a fire fighting task. The specific technical scheme is as follows:
the embodiment of the invention provides a fire fighting system based on the Internet of things, which comprises a robot cluster and a control center, wherein the robot cluster comprises a main control robot and a sub-robot, and the main control robot and the sub-robot are as follows:
the sub-robots are used for acquiring fire scene data and sending the fire scene data to the main control robot;
the main control robot is used for receiving the fire scene data and sending the fire scene data to the control center;
the control center is used for receiving the fire scene data, determining a fire extinguishing strategy according to the fire scene data, and sending the fire extinguishing strategy to the main control robot;
the main control robot is further used for receiving the fire extinguishing strategy and controlling the sub-robots to conduct fire extinguishing operation based on the fire extinguishing strategy.
Optionally, the system further comprises a processing device and a display device carried by the firefighter;
the main control robot is also used for sending the fire scene data to the display equipment;
the display equipment is used for receiving the fire scene data and displaying the fire scene data;
the processing equipment is used for acquiring a fire extinguishing instruction sent by the fire fighter based on the fire scene data and sending the fire extinguishing instruction to the sub-robot;
the sub-robot is also used for receiving the fire extinguishing instruction and carrying out fire extinguishing operation according to the fire extinguishing instruction.
Optionally, the display device is a head-mounted display device, and the processing device has a voice recognition function;
the processing equipment is specifically used for acquiring the voice signal sent by the fire fighter based on the fire scene data, identifying the voice signal to obtain a voice identification result, determining a fire extinguishing instruction based on the voice identification result, and sending the fire extinguishing instruction to the sub-robot.
Optionally, the system further comprises a sensing device and a positioning device carried by the firefighter;
the sensing equipment is used for acquiring vital sign data of the fire fighter and sending the vital sign data to the processing equipment;
the positioning equipment is used for acquiring the position information of the fire fighter and sending the position information to the control center;
the processing device is further used for receiving the vital sign data and sending a rescue request to the control center under the condition that the vital sign data meet a preset rescue condition, so that the control center guides rescuers to carry out rescue actions based on the position information of the firefighters.
Optionally, the robot cluster further includes a rescue robot;
the control center is further used for sending a first rescue instruction to the main control robot under the condition that the rescue request is received;
the main control robot is further configured to receive the first rescue instruction and send a second rescue instruction to a rescue robot, where the second rescue instruction carries position information of the firefighter, and the position information of the firefighter is carried by the first rescue instruction, or the positioning device is sent to the main control robot;
and the rescue robot is used for moving to the position identified by the position information of the fire fighter carried by the second rescue instruction under the condition of receiving the second rescue instruction, and rescuing the fire fighter.
Optionally, the sub-robots and/or firefighters carry life detection equipment;
the life detection device is used for sending out an alarm signal under the condition that the vital signs are detected;
the sub-robot is further used for implementing search and rescue operation under the condition that preset search and rescue conditions are met, wherein the preset search and rescue conditions comprise that the alarm signal is detected or a search and rescue instruction sent by fire fighters is received.
Optionally, the sub-robot is further configured to send a first search and rescue request to the main controller robot when a preset search and rescue condition is met, where the first search and rescue request carries location information of the sub-robot;
the main control robot is further used for sending a second search and rescue request to the control center under the condition that the first search and rescue request is received, so that the control center guides rescue workers to carry out search and rescue actions based on the position information of the sub-robots.
Optionally, the control center is specifically configured to receive the fire scene data sent by the master robot, determine, according to the fire scene data, the number of required sub-robots, the position of each sub-robot in the fire scene, and the type and number of fire extinguishing materials carried by each sub-robot, use the fire extinguishing strategies as fire extinguishing strategies, and send the fire extinguishing strategies to the master robot;
the main control robot is specifically used for receiving the fire extinguishing strategy, determining each sub-robot for executing a fire extinguishing task based on the fire extinguishing strategy, and sending a fire extinguishing instruction to each sub-robot, wherein the fire extinguishing instruction carries the position of the corresponding sub-robot in a fire scene and the type and the quantity of fire extinguishing materials carried by each sub-robot;
and the sub-robots are used for carrying the fire extinguishing materials of the type and the quantity indicated by the fire extinguishing instructions under the condition of receiving the fire extinguishing instructions, moving the fire extinguishing materials to the positions in the fire scene indicated by the fire extinguishing instructions and carrying out fire extinguishing operation.
Optionally, the sub-robot is further configured to report information of remaining fire extinguishing materials to the main control robot;
the main control robot is further used for determining whether fire extinguishing materials need to be supplemented or not based on the residual fire extinguishing material information, and carrying the fire extinguishing materials to the position of the sub-robot under the condition that the fire extinguishing materials need to be supplemented.
Optionally, the sub-robot is further configured to report information of remaining fire extinguishing materials to the main control robot;
the main control robot is further used for determining whether fire extinguishing materials need to be supplemented or not based on the information of the residual fire extinguishing materials, carrying the fire extinguishing materials to a preset position in a fire scene under the condition that the fire extinguishing materials need to be supplemented, and sending a material supplementing completion message to the sub-robots;
and the sub-robot is further used for moving to the preset position under the condition of receiving the material supplement completion message, and carrying the fire extinguishing materials to an original position for fire extinguishing operation, wherein the original position is the position where the sub-robot is located before moving to the preset position.
In the scheme provided by the embodiment of the invention, the fire fighting system based on the Internet of things comprises a robot cluster and a control center, wherein the robot cluster comprises a main control robot and a sub-robot, and the main control robot and the sub-robot are as follows: the sub-robots are used for collecting fire scene data and sending the fire scene data to the main control robot; the main control robot is used for receiving fire scene data and sending the fire scene data to the control center; the control center is used for receiving the fire scene data, determining a fire extinguishing strategy according to the fire scene data and sending the fire extinguishing strategy to the main control robot; the main control robot is also used for receiving the fire extinguishing strategy and controlling the sub-robots to carry out fire extinguishing operation based on the fire extinguishing strategy. Control center can appoint the strategy of putting out a fire according to the scene of a fire data that sub-robot gathered, and then control sub-robot through main control robot and put out a fire the operation, like this, through the cooperation between main control robot, sub-robot and the control center, can cooperate the fire fighter to put out a fire the task, can replace the fire fighter to put out a fire the task even, can guarantee fire fighter's life safety.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, 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 the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a fire fighting system based on the internet of things according to an embodiment of the present invention;
FIG. 2 is another schematic structural diagram of a fire fighting system based on the embodiment shown in FIG. 1;
FIG. 3 is another schematic structural view of the fire fighting system according to the embodiment shown in FIG. 1;
FIG. 4 is another schematic structural view of the fire fighting system according to the embodiment shown in FIG. 1;
fig. 5 is another schematic structural diagram of the fire fighting system based on the embodiment shown in fig. 1.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to ensure the life safety of fire fighters in the process of carrying out a fire extinguishing task, the embodiment of the invention provides a fire fighting system based on the Internet of things.
The fire fighting system based on the internet of things provided by the embodiment of the invention is introduced below. As shown in fig. 1, a fire fighting system based on the internet of things provided by the embodiment of the present invention may include: a robot cluster 110 and a control center 120, wherein the robot cluster 110 comprises a master robot 111 and a sub robot 112. The master robot 111 is mainly responsible for communicating with the control center 120 to obtain instructions and information issued by the control center 120, and interacting with the sub-robots 112 to control the sub-robots 112 to perform fire extinguishing operation. Specifically, the method comprises the following steps:
the sub-robot 112 is configured to collect fire scene data and send the fire scene data to the master robot 11;
the main control robot 111 is configured to receive the fire scene data and send the fire scene data to the control center 120;
the control center 120 is configured to receive the fire scene data, determine a fire extinguishing strategy according to the fire scene data, and send the fire extinguishing strategy to the master robot 111;
the master control robot 111 is further configured to receive the fire extinguishing strategy and control the sub-robot 112 to perform a fire extinguishing operation based on the fire extinguishing strategy.
Therefore, in the scheme provided by the embodiment of the invention, the fire fighting system based on the internet of things comprises a robot cluster and a control center, wherein the robot cluster comprises a main control robot and a sub-robot, and the method comprises the following steps: the sub-robots are used for collecting fire scene data and sending the fire scene data to the main control robot; the main control robot is used for receiving fire scene data and sending the fire scene data to the control center; the control center is used for receiving the fire scene data, determining a fire extinguishing strategy according to the fire scene data and sending the fire extinguishing strategy to the main control robot; the main control robot is also used for receiving the fire extinguishing strategy and controlling the sub-robots to carry out fire extinguishing operation based on the fire extinguishing strategy. Control center can appoint the strategy of putting out a fire according to the scene of a fire data that sub-robot gathered, and then control sub-robot through main control robot and put out a fire the operation, like this, through the cooperation between main control robot, sub-robot and the control center, can cooperate the fire fighter to put out a fire the task, can replace the fire fighter to put out a fire the task even, can guarantee fire fighter's life safety.
The fire fighting system based on the Internet of things provided by the embodiment of the invention can comprise one or more robot clusters, and each robot cluster can comprise a plurality of sub-robots. The main control robot and the sub-robots are movable robots, and each sub-robot can have an image acquisition function, a carrying function, a temperature detection function, a toxic and harmful substance detection function and the like.
In the process of processing the task of putting out a fire, the sub-robot can gather the fire scene data after getting into the fire scene, wherein, the fire scene data can include information such as fire scene image, fire scene temperature, fire scene poisonous and harmful substance concentration. And then the fire scene data is sent to the master robot. In one embodiment, to obtain a comprehensive fire situation, multiple sub-robots may be evenly distributed in the fire to ensure that comprehensive fire data of the fire can be collected.
After receiving the fire scene data, the main control robot can send the fire scene data to the control center and can store the fire scene data so as to be used when needed subsequently. After receiving the fire scene data, the control center can determine a fire extinguishing strategy according to the fire scene data and send the fire extinguishing strategy to the main control robot. Among other things, the fire suppression strategy may include whether fire fighters are required to enter the fire scene, the amount of fire suppression supplies required, the number of sub-robots required, etc.
After the main control robot receives the fire extinguishing strategy, the sub-robots can be controlled to carry out fire extinguishing operation based on the fire extinguishing strategy. In one embodiment, the main control robot can determine the number of the needed sub-robots according to the fire extinguishing strategy and control the corresponding number of the sub-robots to carry fire extinguishing materials into a fire scene for fire extinguishing operation.
As an implementation of the embodiment of the present invention, as shown in fig. 2, the system may further include a processing device 130 and a display device 140 carried by the firefighter.
The main control robot is also used for sending the fire scene data to the display equipment; the display equipment is used for receiving the fire scene data and displaying the fire scene data; the processing equipment is used for acquiring a fire extinguishing instruction sent by the fire fighter based on the fire scene data and sending the fire extinguishing instruction to the sub-robot; the sub-robot is also used for receiving the fire extinguishing instruction and carrying out fire extinguishing operation according to the fire extinguishing instruction.
In one embodiment, the processing device and the display device may be integrated together to form a physical device for the convenience of carrying by fire fighters. When fire fighters are required to enter the fire scene to extinguish the fire, the fire fighters can carry the processing equipment and the display equipment to enter the fire scene.
In order to facilitate the firefighters to check the current fire scene, the main control robot can send the fire scene data to the display equipment carried by the firefighters, and then the display equipment can receive the fire scene data and display the fire scene data for the firefighters to check.
The fire fighter can control the sub-robot to put out a fire according to the scene of a fire data, and specifically, the fire fighter can send a fire extinguishing instruction to the processing device. In an embodiment, each sub-robot can report its own position in real time and carry information such as materials to the main control robot or the processing device, and under the condition that each sub-robot reports its own position in real time and carries information such as materials to the main control robot, the main control robot can send the position of each robot to the processing device carried by each firefighter.
And then processing equipment alright with sending these information to display device to make display device show that each sub-robot reports self position in real time, carries information such as goods and materials and look over for the fire fighter, and then the fire fighter can be according to the position of each sub-robot, carry the fire extinguishing instruction that information such as goods and materials sent.
After the processing equipment acquires the fire extinguishing instruction sent by the fire fighter based on the fire scene data, the fire extinguishing instruction can be sent to the sub-robot, and then the sub-robot can receive the fire extinguishing instruction and carry out fire extinguishing operation according to the fire extinguishing instruction. The fire extinguishing operation is an operation indicated by a fire extinguishing instruction, and may be, for example, spraying a fire extinguishing foam, carrying fire extinguishing materials, and the like, which is not specifically limited herein.
For example, fire fighter A needs when the foam agent of putting out a fire, can look over each sub-robot that display device shows and report self position in real time, carry information such as goods and materials, suppose that look over sub-robot b near oneself, and carry the foam agent of putting out a fire, then fire fighter A can send the instruction of putting out a fire to treatment facility, this instruction of putting out a fire is used for instructing sub-robot b to carry the foam agent of putting out a fire to this fire fighter A position, and then, treatment facility alright send the instruction of putting out a fire to sub-robot b, and then, sub-robot b is after receiving the instruction of putting out a fire, can carry the foam agent of putting out a fire to. The fire extinguishing instruction can carry the position information of the fire fighter A, so that the sub-robot b plans a route according to the position of the fire fighter A and the position of the sub-robot b, and moves to the position of the fire fighter A.
As can be seen, in this embodiment, the system may further include a processing device and a display device that are carried by the firefighter, and the master robot is configured to send the fire scene data to the display device; the display equipment is used for receiving the fire scene data and displaying the fire scene data; the processing equipment is used for acquiring a fire extinguishing instruction sent by a fire fighter based on the fire scene data and sending the fire extinguishing instruction to the sub-robot; the sub-robot is also used for receiving the fire extinguishing instruction and carrying out fire extinguishing operation according to the fire extinguishing instruction. Like this, when needs fire fighter gets into the scene of a fire, each equipment can be according to fire fighter's needs, and the completion operation of putting out a fire is mutually supported, can assist fire fighter work to for the fire fighter provides the scene of a fire condition, the fire fighter can dispatch the sub-robot according to the scene of a fire condition at any time, and then guarantees fire fighter's life safety.
As an implementation manner of the embodiment of the present invention, the display device may be a head-mounted display device, and the processing device may have a voice recognition function.
The processing equipment can be specifically used for acquiring the voice signal sent by the fire fighter based on the fire scene data, identifying the voice signal to obtain a voice identification result, determining a fire extinguishing instruction based on the voice identification result, and sending the fire extinguishing instruction to the sub-robot.
Because the general inconvenient electronic equipment such as manually operation processing apparatus and display device of personnel of defending in the scene of a fire, so look over the scene of a fire condition and send out the instruction of putting out a fire for the fire fighter of making things convenient for, above-mentioned display device can be for wearing display device, for example, can be for intelligent helmet, intelligent glasses etc. fire fighter can look over the scene of a fire data very conveniently like this.
The processing device can have a voice recognition function, so that the firefighter can interact with the processing device in a voice mode. In one embodiment, the fire fighter can issue a voice signal, that is, say, an action that the sub-robot is intended to perform. Furthermore, the processing equipment can acquire the voice signal sent by the fire fighter based on the fire scene data through the arranged microphone and other devices, and then recognize the voice signal to obtain a voice recognition result. Then, a fire extinguishing instruction can be determined based on the voice recognition result, and the fire extinguishing instruction is sent to the sub-robot.
The specific voice recognition mode may be any one of the recognition modes in the field of voice recognition, and is not specifically limited and described herein, as long as the voice recognition result of the voice signal sent by the firefighter can be recognized.
For example, the firefighter says that the sub-robot a goes to the B position to extinguish a fire, then the processing device can acquire the voice signal and further recognize the voice signal to obtain a voice recognition result of the sub-robot a, the B position to extinguish a fire. Then, a fire-extinguishing instruction for instructing the sub-robot a to go to the B-position to extinguish a fire can be determined based on the voice recognition result, and then a fire-extinguishing instruction can be sent to the sub-robot a to instruct it to move to the B-position to perform a fire-extinguishing operation.
It can be seen that, in this embodiment, above-mentioned display device can be for wearing display device, and processing apparatus can have the speech recognition function, and processing apparatus specifically is used for acquireing the speech signal that fire fighter sent based on the scene of a fire data, discerns the speech signal, obtains the speech recognition result, confirms the instruction of putting out a fire based on the speech recognition result, and sends the instruction of putting out a fire to the sub-robot. Like this, the fire fighter need not to operate display device and treatment facility with the hand, improves the simple operation nature, does benefit to the fire fighter more and dispatches sub-robot, and then guarantees fire fighter's life safety.
As an implementation of the embodiment of the present invention, as shown in FIG. 3, the system may further include a sensing device 150 and a positioning device 160 carried by the firefighter.
The sensing equipment is used for acquiring vital sign data of the fire fighter and sending the vital sign data to the processing equipment; the positioning equipment is used for acquiring the position information of the fire fighter and transmitting the position information to the control center; the processing device is further used for receiving the vital sign data and sending a rescue request to the control center under the condition that the vital sign data meet a preset rescue condition, so that the control center guides rescuers to carry out rescue actions based on the position information of the firefighters.
In order to conveniently determine the positions of all the firefighters and rapidly rescue the firefighters in case of danger, the firefighters can also carry sensing equipment and positioning equipment when entering a fire scene. The sensing device is a device capable of detecting vital sign data of a fire fighter, and the vital sign data may include data such as heartbeat, blood pressure, blood sugar, and body temperature, and is not specifically limited herein. The Positioning device is a device capable of detecting the position of the fire fighter, and may be a GPS (Global Positioning System) Positioning device, a BDS (BeiDou Navigation Satellite System) device, or the like.
The sensing equipment can acquire vital sign data of fire fighters in real time and send the vital sign data to the processing equipment. The positioning equipment can acquire the position information of the fire fighter in real time and send the position information to the control center. After receiving the vital sign data, the processing device can determine whether the physical condition of the fire fighter is normal according to the vital sign data of the normal person, and sends a rescue request to the control center under the condition that the vital sign data meets the preset rescue conditions. The preset rescue condition is the condition that the vital sign data of the fire fighter is abnormal, such as too fast heartbeat, too high blood pressure, too low blood sugar and the like.
After receiving the rescue request, the control center can display the position information of the firefighter needing rescue, so that the firefighter can rush to the corresponding position to carry out rescue action on the firefighter. Of course, the control center can also send the relevant information such as the position information of the fire fighter to the main control robot, so that the main control robot can record the relevant information of the fire fighter and can cooperate with the rescue personnel to carry out rescue actions on the fire fighter.
As can be seen, in this embodiment, the system may further include a sensing device and a positioning device carried by the firefighter, and the sensing device may acquire vital sign data of the firefighter and send the vital sign data to the processing device; the positioning equipment can acquire the position information of the fire fighter and send the position information to the control center; the processing equipment can receive the vital sign data, and sends a rescue request to the control center under the condition that the vital sign data meet the preset rescue conditions, and then the control center guides rescue personnel to implement rescue actions based on the position information of the fire fighters. Like this, whether can real time monitoring fire fighter's health is normal, holds together the rescue rapidly when the fire fighter health appears unusually, further guarantees fire fighter's life safety.
As an implementation manner of the embodiment of the present invention, as shown in fig. 4, the robot cluster 110 may further include a rescue robot 113.
The control center is further used for sending a first rescue instruction to the main control robot under the condition that the rescue request is received; the main control robot is also used for receiving the first rescue instruction and sending a second rescue instruction to the rescue robot; and the rescue robot is used for moving to the position identified by the position information of the fire fighter carried by the second rescue instruction under the condition of receiving the second rescue instruction, and rescuing the fire fighter.
Because the fire scene situation is complicated, when the fire fighter appears danger, if the rescue personnel only go to carry out the rescue, it is also possible to put in danger, so in order to guarantee the life safety of the rescue personnel while rescuing the fire fighter, the robot cluster can also comprise a rescue robot, and the rescue robot is used for rescuing the fire fighter in real time or is matched with the rescue personnel to rescue the fire fighter in real time.
As an implementation manner, the control center may send a first rescue instruction to the master robot when receiving the rescue request, and the master robot may send a second rescue instruction to the rescue robot after receiving the first rescue instruction. Wherein the second rescue order carries location information of the firefighter.
The position information of the fire fighter can be carried by the first rescue order or can be sent to the main control robot by the positioning device. In an implementation manner, the first rescue instruction sent by the control center can carry the position information of the firefighter needing rescue, and then the main control robot can add the position information of the firefighter needing rescue to the second rescue instruction and send the second rescue instruction to the rescue robot. In another embodiment, the positioning device carried by the firefighter to be rescued can send the position information of the firefighter to the main control robot, and then the main control robot can add the position information of the firefighter to be rescued to the second rescue instruction and send the second rescue instruction to the rescue robot.
The rescue robot can perform route planning based on the position identified by the position information of the fire fighter and the position of the rescue robot when receiving the second rescue instruction, and then move to the position identified by the position information of the fire fighter carried by the second rescue instruction to rescue the fire fighter. For example, the rescue robot can carry rescue goods and materials such as an oxygen mask and the like, so that rescued firefighters can save themselves by using the rescue goods and materials, or the rescuers can rescue the firefighters by using the rescue goods and materials. The rescue robot can also transport the fire fighters to medical points outside the fire scene and the like so as to conveniently rescue the fire fighters.
As can be seen, in this embodiment, the robot cluster may further include a rescue robot, and the control center may send a first rescue instruction to the master robot when receiving a rescue request; the main control robot is used for receiving the first rescue instruction and sending a second rescue instruction to the rescue robot; the rescue robot is used for moving to the position identified by the position information of the fire fighter carried by the second rescue instruction under the condition of receiving the second rescue instruction, and rescuing the fire fighter. The rescue robot can replace rescue workers or be matched with the rescue workers to rescue fire fighters, so that the fire fighters can be rescued in time, and the life safety of the rescue workers can be guaranteed.
As an implementation of the embodiment of the present invention, as shown in fig. 5, the above-described sub-robot and/or fire fighter can carry a life detection device 170.
The life detection device is used for sending out an alarm signal under the condition that the vital signs are detected; the sub-robot is further used for implementing search and rescue operation under the condition that the preset search and rescue conditions are met.
In some cases, for example, a residential building fire, an office building fire, or the like, a person may be trapped in a fire scene, and in order to search for and rescue the trapped person, the sub-robot and/or the fire fighter may carry a life detection device with which it is possible to detect whether or not a person is trapped in the fire scene.
The life detection equipment can send alarm signals under the condition of detecting vital signs, for example, send alarm sound signals, display alarm information and the like, and can also send alarm signals to the sub-robots. The sub-robot can implement search and rescue operation under the condition of meeting the preset search and rescue conditions. The preset search and rescue conditions comprise detection of alarm signals or reception of search and rescue instructions sent by fire fighters.
In the case of a fire fighter carrying a life detection device, if the life detection device sends an alarm signal indicating that the fire fighter is trapped, in one embodiment, the fire fighter can rescue the trapped fire fighter. In another embodiment, if the firefighter is inconvenient to rescue or the trapped person is not allowed to enter for rescue, the rescue instruction sent by the firefighter is sent to the sub-robot, and then the sub-robot can rescue the trapped person.
Under the condition that the sub-robot carries life detection equipment, if life detection equipment sends alarm signal, the sub-robot can detect this alarm signal, and at this moment, the sub-robot alright with rescue stranded personnel, like this, under the condition that fire fighter is not present, also can save stranded personnel.
It can be seen that in this embodiment, the above-described sub-robots and/or firefighters can carry life detection devices. The life detection equipment sends out an alarm signal under the condition of detecting vital signs, and the sub-robot carries out search and rescue operation under the condition of meeting the preset search and rescue conditions. Like this, sub-robot can cooperate the fire fighter to carry out search and rescue to stranded personnel to even when the fire fighter is not present, also can search and rescue stranded personnel, guarantee stranded personnel's life safety.
As an implementation manner of the embodiment of the present invention, the sub-robot may be further configured to send a first search and rescue request to the main controller when a preset search and rescue condition is met; the main control robot may be further configured to send a second search and rescue request to the control center when receiving the first search and rescue request, so that the control center guides rescuers to perform search and rescue actions based on the position information of the sub-robots.
Because some stranded personnel's environment probably is more complicated, fire fighter and sub robot may be difficult to accomplish the search and rescue action alone, in order to further guarantee that stranded personnel can be rescued successfully, above-mentioned sub robot can also satisfy under the condition of presetting search and rescue condition, sends first search and rescue request to the master robot, wherein, first search and rescue request carries the positional information of sub robot.
In this way, the main control robot can send the second search and rescue request to the control center under the condition of receiving the first search and rescue request, and then the control center can guide the rescue workers to implement search and rescue actions based on the position information of the sub-robots. Particularly, the control center can display the position information of the sub-robot, and prompt rescuers to the position of the sub-robot through modes such as outputting prompt information and the like so as to rescue trapped people.
As can be seen, in this embodiment, the sub-robot may send the first search and rescue request to the main controller robot when the preset search and rescue conditions are met; and the main control robot sends a second search and rescue request to the control center under the condition of receiving the first search and rescue request, so that the control center guides rescue workers to carry out search and rescue actions based on the position information of the sub-robots. Therefore, under the condition that the environment where the trapped person is located is complex, the trapped person can be rescued, and the life safety of the trapped person is further ensured.
As an implementation manner of the embodiment of the present invention, the control center may be specifically configured to receive the fire scene data sent by the master-control robot, determine, according to the fire scene data, the required number of sub-robots, the position of each sub-robot in the fire scene, and the type and number of fire extinguishing materials carried by each sub-robot, as a fire extinguishing strategy, and send the fire extinguishing strategy to the master-control robot.
After receiving fire scene data sent by the main control robot, the control center can determine the number of the needed sub-robots, the positions of the sub-robots in the fire scene and the types and the number of fire extinguishing materials carried by the sub-robots according to the fire scene data, and sends the fire extinguishing strategy to the main control robot as a fire extinguishing strategy.
As an embodiment, the control center can determine the required number of the sub-robots, the position of each sub-robot in the fire scene, and the type and amount of fire extinguishing materials carried by each sub-robot as a fire extinguishing strategy according to the fire size, fire passing area, type of burning materials, etc. indicated by the fire scene data. As another implementation mode, the commander can formulate the fire extinguishing strategy according to the fire scene data, and then inputs this fire extinguishing strategy to control center, and then control center can send this fire extinguishing strategy to the main control robot.
The main control robot may be specifically configured to receive the fire extinguishing strategy, determine each sub-robot for performing a fire extinguishing task based on the fire extinguishing strategy, and send a fire extinguishing instruction to each sub-robot.
After receiving the fire extinguishing strategy, the main control robot can determine each sub-robot for executing the fire extinguishing task based on the fire extinguishing strategy and send a fire extinguishing instruction to each sub-robot, wherein the fire extinguishing instruction carries the position of the corresponding sub-robot in the fire scene and the type and the quantity of fire extinguishing materials carried by each sub-robot.
For example, the fire suppression strategy received by the master robot is as shown in the following table:
| sub robot | Position of | Kinds of fire extinguishing materials | Amount of fire extinguishing material |
| Sub robot 1 | Position w1 | Foam fire extinguishing agent | 10 |
| Sub robot 2 | Position w2 | Dry powder extinguishing agent | 15 |
| Sub robot 3 | Position w3 | Foam extinguishing agent and dry powder extinguishing agent | 15、10 |
| Sub robot 4 | Position w4 | Foam fire extinguishing agent | 20 |
| Sub robot 5 | Position w5 | Foam extinguishing agent and dry powder extinguishing agent | 22、8 |
| … | … | … | … |
| Sub robot 20 | Position w6 | Dry powder extinguishing agent | 17 |
The main control robot can select 20 sub-robots from all the sub-robots as the sub-robots performing the fire extinguishing task based on the fire extinguishing strategy shown in the above table, and then sends a fire extinguishing instruction to the selected 20 sub-robots, the fire extinguishing instruction carrying the positions of the corresponding sub-robots in the fire scene and the kinds and the number of fire extinguishing materials carried by each sub-robot. For example, the master robot may send a fire-fighting instruction to the sub-robot 5, the fire-fighting instruction carrying information including: position w5, foam extinguishing agent, quantity 22, dry powder extinguishing agent, quantity 8.
The sub-robot can be used for carrying the fire extinguishing materials of the type and the quantity indicated by the fire extinguishing instruction, moving to the position in a fire scene indicated by the fire extinguishing instruction and carrying out fire extinguishing operation under the condition of receiving the fire extinguishing instruction.
The son robot can carry the fire extinguishing materials of the kind and the quantity that the instruction of putting out a fire instructed after receiving the instruction of putting out a fire, removes the position in the scene of a fire that the instruction of putting out a fire instructed, carries out the operation of putting out a fire. For example, in the case of the sub-robot 5, after receiving the fire extinguishing instruction, it is assumed that the information carried by the fire extinguishing instruction includes: position w5, amount of foam extinguishing agent 22, amount of dry powder extinguishing agent 8, the sub-robot 5 can carry the amount of foam extinguishing agent 22 and the amount of dry powder extinguishing agent 5, and move to position w5 for fire extinguishing operation.
It is thus clear that, in this embodiment, control center issues to main control robot after confirming concrete fire extinguishing strategy, main control robot is based on each sub-robot that fire extinguishing strategy confirms to be used for carrying out the task of putting out a fire, and send the instruction of putting out a fire to each sub-robot, and then, each sub-robot can get into the scene of a fire according to the instruction of putting out a fire and put out a fire operation, each sub-robot can carry the adaptation and remove to suitable position in the material of putting out a fire of the scene of a fire condition and put out a fire, can make pointed references to put out a fire operation, be favorable to the quick control and the putting out.
As an implementation manner of the embodiment of the present invention, the sub-robot may be further configured to report information of remaining fire extinguishing materials to the main control robot; the main control robot is further used for determining whether fire extinguishing materials need to be supplemented or not based on the residual fire extinguishing material information, and carrying the fire extinguishing materials to the position of the sub-robot under the condition that the fire extinguishing materials need to be supplemented.
Along with the going on of task of putting out a fire, the goods and materials that sub robot carried can be consumed by gradually, in order to guarantee can in time supply the goods and materials of putting out a fire, sub robot can report surplus goods and materials information of putting out a fire to main control robot regularly or untimely. Wherein, the remaining fire extinguishing material information can comprise the type and the remaining amount of the fire extinguishing material.
After receiving this remaining fire extinguishing materials information, main control robot can confirm whether need to supply the fire extinguishing materials based on remaining fire extinguishing materials information, in an embodiment, can set up remaining quantity threshold value in advance, when remaining quantity that remaining fire extinguishing materials information includes is not more than this remaining quantity threshold value, shows that this sub-robot's remaining materials has been few, just can consume in short time and totally, can confirm this moment and need supply the fire extinguishing materials.
If the remaining quantity included in the remaining fire extinguishing material information is larger than the remaining quantity threshold value, the remaining material of the sub-robot is still used for a period of time, and at this time, it can be determined that the fire extinguishing material does not need to be supplemented.
Under the condition that the main control robot determines that the fire extinguishing materials need to be supplemented, the main control robot can carry the fire extinguishing materials to the position of the sub-robot. The specific amount of the fire extinguishing materials to be carried can be determined according to the actual situation of the fire scene or can be preset, which is reasonable and not particularly limited.
For example, the remaining fire extinguishing material information reported by the sub-robot 1 is: foam extinguishing agent, remaining amount 2. The preset residual quantity threshold value is 3, at the moment, the main control robot determines that fire extinguishing materials need to be supplemented for the sub-robot 1, and the main control robot can carry the foam extinguishing agent to the position of the sub-robot 1.
Therefore, in the embodiment, the sub-robot can report the information of the rest fire extinguishing materials to the main control robot; the main control robot can determine whether the fire extinguishing materials need to be supplemented or not based on the information of the residual fire extinguishing materials, and carries the fire extinguishing materials to the position of the sub-robot under the condition that the fire extinguishing materials need to be supplemented. Therefore, fire extinguishing materials can be supplemented for the sub-robot in time, and smooth fire extinguishing task is guaranteed.
As an implementation manner of the embodiment of the present invention, the sub-robot may be further configured to report information of remaining fire extinguishing materials to the main control robot; the main control robot can also be used for determining whether fire extinguishing materials need to be supplemented or not based on the residual fire extinguishing material information, carrying the fire extinguishing materials to a preset position in a fire scene under the condition that the fire extinguishing materials need to be supplemented, and sending a material supplementing completion message to the sub-robot.
In one embodiment, the master robot can transport the fire extinguishing materials required by the sub-robots to preset positions in the fire scene in case that it is determined that the fire extinguishing materials need to be replenished. Wherein, the preset position can be a preset robot joint point and the like.
After receiving the material supplement completion message, the sub-robot indicates that the main control robot has moved the required fire extinguishing materials to the preset position, and then the sub-robot can move to the preset position and carry the fire extinguishing materials to the original position for fire extinguishing operation. Wherein, the original position is the position where the sub-robot is before moving to the preset position. The sub-robot can continue to perform fire extinguishing operation after returning to the original position, and the fire extinguishing task is completed.
For example, the remaining fire extinguishing material information reported by the sub-robot 20 is: the rest amount of the dry powder extinguishing agent is 1. The preset residual quantity threshold value is 2, at this time, the main control robot determines that fire extinguishing materials need to be supplemented for the sub-robot 20, the main control robot can carry the dry powder fire extinguishing agent to the preset position P, and sends a material supplement completion message to the sub-robot 20. The sub-robot 20 can move to the preset position P after receiving the material supplement completion message, and carry the dry powder extinguishing agent to the original position, and continue the extinguishing operation.
Therefore, in the embodiment, the main control robot can also carry the fire extinguishing materials to the preset position in the fire scene under the condition that the fire extinguishing materials need to be supplemented, and send the material supplementing completion message to the sub-robots; the sub-robot can move to a preset position under the condition of receiving the material supplement completion message, and carries the fire extinguishing materials to an original position for fire extinguishing operation. Therefore, the main control robot can supply fire extinguishing materials to the plurality of sub-robots, and the fire extinguishing task can be ensured to be carried out orderly.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a relevant manner, and the same and similar components in all the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (10)
1. The utility model provides a fire extinguishing system based on thing networking, its characterized in that, the system includes robot cluster and control center, robot cluster includes master control robot and sub-robot, wherein:
the sub-robots are used for acquiring fire scene data and sending the fire scene data to the main control robot;
the main control robot is used for receiving the fire scene data and sending the fire scene data to the control center;
the control center is used for receiving the fire scene data, determining a fire extinguishing strategy according to the fire scene data, and sending the fire extinguishing strategy to the main control robot;
the main control robot is further used for receiving the fire extinguishing strategy and controlling the sub-robots to conduct fire extinguishing operation based on the fire extinguishing strategy.
2. The system of claim 1, further comprising a processing device and a display device carried by a firefighter;
the main control robot is also used for sending the fire scene data to the display equipment;
the display equipment is used for receiving the fire scene data and displaying the fire scene data;
the processing equipment is used for acquiring a fire extinguishing instruction sent by the fire fighter based on the fire scene data and sending the fire extinguishing instruction to the sub-robot;
the sub-robot is also used for receiving the fire extinguishing instruction and carrying out fire extinguishing operation according to the fire extinguishing instruction.
3. The system of claim 2, wherein the display device is a head mounted display device, the processing device having voice recognition functionality;
the processing equipment is specifically used for acquiring the voice signal sent by the fire fighter based on the fire scene data, identifying the voice signal to obtain a voice identification result, determining a fire extinguishing instruction based on the voice identification result, and sending the fire extinguishing instruction to the sub-robot.
4. The system of claim 2, further comprising a sensing device and a locating device carried by a firefighter;
the sensing equipment is used for acquiring vital sign data of the fire fighter and sending the vital sign data to the processing equipment;
the positioning equipment is used for acquiring the position information of the fire fighter and sending the position information to the control center;
the processing device is further used for receiving the vital sign data and sending a rescue request to the control center under the condition that the vital sign data meet a preset rescue condition, so that the control center guides rescuers to carry out rescue actions based on the position information of the firefighters.
5. The system of claim 4, wherein the robot cluster further comprises a rescue robot;
the control center is further used for sending a first rescue instruction to the main control robot under the condition that the rescue request is received;
the main control robot is further configured to receive the first rescue instruction and send a second rescue instruction to a rescue robot, where the second rescue instruction carries position information of the firefighter, and the position information of the firefighter is carried by the first rescue instruction, or the positioning device is sent to the main control robot;
and the rescue robot is used for moving to the position identified by the position information of the fire fighter carried by the second rescue instruction under the condition of receiving the second rescue instruction, and rescuing the fire fighter.
6. The system of claim 1, wherein the sub-robots and/or firefighters carry life detection devices;
the life detection device is used for sending out an alarm signal under the condition that the vital signs are detected;
the sub-robot is further used for implementing search and rescue operation under the condition that preset search and rescue conditions are met, wherein the preset search and rescue conditions comprise that the alarm signal is detected or a search and rescue instruction sent by fire fighters is received.
7. The system of claim 6,
the sub-robot is further used for sending a first search and rescue request to the main control robot under the condition that a preset search and rescue condition is met, wherein the first search and rescue request carries the position information of the sub-robot;
the main control robot is further used for sending a second search and rescue request to the control center under the condition that the first search and rescue request is received, so that the control center guides rescue workers to carry out search and rescue actions based on the position information of the sub-robots.
8. The system of any one of claims 1-7,
the control center is specifically used for receiving the fire scene data sent by the main control robot, determining the number of required sub-robots, the positions of the sub-robots in the fire scene and the types and the number of fire extinguishing materials carried by the sub-robots according to the fire scene data, taking the fire extinguishing strategies as fire extinguishing strategies, and sending the fire extinguishing strategies to the main control robot;
the main control robot is specifically used for receiving the fire extinguishing strategy, determining each sub-robot for executing a fire extinguishing task based on the fire extinguishing strategy, and sending a fire extinguishing instruction to each sub-robot, wherein the fire extinguishing instruction carries the position of the corresponding sub-robot in a fire scene and the type and the quantity of fire extinguishing materials carried by each sub-robot;
and the sub-robots are used for carrying the fire extinguishing materials of the type and the quantity indicated by the fire extinguishing instructions under the condition of receiving the fire extinguishing instructions, moving the fire extinguishing materials to the positions in the fire scene indicated by the fire extinguishing instructions and carrying out fire extinguishing operation.
9. The system of claim 8,
the sub-robot is also used for reporting the information of the rest fire extinguishing materials to the main control robot;
the main control robot is further used for determining whether fire extinguishing materials need to be supplemented or not based on the residual fire extinguishing material information, and carrying the fire extinguishing materials to the position of the sub-robot under the condition that the fire extinguishing materials need to be supplemented.
10. The system of claim 8,
the sub-robot is also used for reporting the information of the rest fire extinguishing materials to the main control robot;
the main control robot is further used for determining whether fire extinguishing materials need to be supplemented or not based on the information of the residual fire extinguishing materials, carrying the fire extinguishing materials to a preset position in a fire scene under the condition that the fire extinguishing materials need to be supplemented, and sending a material supplementing completion message to the sub-robots;
and the sub-robot is further used for moving to the preset position under the condition of receiving the material supplement completion message, and carrying the fire extinguishing materials to an original position for fire extinguishing operation, wherein the original position is the position where the sub-robot is located before moving to the preset position.
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Application publication date: 20210219 |