CN109649075A - A kind of full landform forest fire prevention and control Detecting Robot and its application - Google Patents
A kind of full landform forest fire prevention and control Detecting Robot and its application Download PDFInfo
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- CN109649075A CN109649075A CN201910033933.3A CN201910033933A CN109649075A CN 109649075 A CN109649075 A CN 109649075A CN 201910033933 A CN201910033933 A CN 201910033933A CN 109649075 A CN109649075 A CN 109649075A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/02—Fire prevention, containment or extinguishing specially adapted for particular objects or places for area conflagrations, e.g. forest fires, subterranean fires
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/084—Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units
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- Emergency Management (AREA)
- Health & Medical Sciences (AREA)
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- Forests & Forestry (AREA)
- Life Sciences & Earth Sciences (AREA)
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Abstract
The present invention relates to a kind of full landform forest fire prevention and control Detecting Robot and its applications, including body, running gear, independent suspension system, fire water monitor and vehicle head, body connects running gear by independent suspension system, and fire water monitor and vehicle head are mounted on above body.The full landform forest fire prevention and control Detecting Robot of the present invention uses novel running gear, it cooperates with independent suspension system, fire water monitor and vehicle head, fire-fighting Detecting Robot can be achieved and be quickly converted wheeled and crawler type form according to different operating conditions, on flat hard pavement, it is converted into wheeled form, to improve travel speed, power consumption is reduced；On soft terrain, it is converted into crawler type form, to increase contact area, tractive force is improved, improves passability, mobility and working efficiency, and then the scene of the accident that enters of fire-fighting Detecting Robot rapidly and efficiently is enable to investigate, dispose and save.
Description
Technical field
The present invention relates to a kind of full landform forest fire prevention and control Detecting Robot and its applications, belong to robotic technology field.
Background technique
Forest fire is a kind of sudden strong, destructive natural calamity big, disposition relief is more difficult.All over the world
Frequent occurrence, in disaster relief, rescue personnel needs to fight a fire as early as possible, gives treatment to the wounded and mop up for forest fire.Mesh
Before, a line fighting is carried out in most cases or by rescue personnel, but in disaster field with a varied topography, conventional ground is big
Type rescue aid is difficult in disaster expansion rescue at the first time, the limited efficacy of aviation fire airplane.And due to a varied topography
And catastrophic destruction, the scene of the accident also results in huge threat to the life security of rescue personnel, at this point, fire-fighting robot can
To provide help for rescue personnel.
The one kind of fire-fighting robot as specialized robot, can play very important effect in fire extinguishing.Disaster thing
Therefore scene is complicated and changeable, fire-fighting robot carries the fire-extinguishing apparatus such as fire water monitor, fire-fighting and rescue personnel can be replaced to enter inflammable easy
The hazards such as quick-fried, toxic, anoxic, the dense smoke scene of the accident is detected, searched and rescued and is put out a fire, and effectively solves fire fighter in accident
Personal safety that scene faces, the problems such as field data information collection is insufficient.
Currently, fire-fighting robot mainly has wheeled and crawler type.For different work landform, need to select unused vehicle
Type.Wheeled fire-fighting robot has many advantages, such as simple structure, high speed, controls simple, motion stabilization and low energy consumption, but it is not
It is suitable across as gully, by muddy road surface etc., obstacle climbing ability, passability are poor.Crawler type fire-fighting robot disappears compared to wheeled
There is stronger landform adaptability in anti-robot, there is higher obstacle climbing ability and good under mountain terrain, complex environment
Environmental suitability, but since there are biggish frictional resistance, energy consumption is very high and movement velocity is lower.
However the scene of the accident of forest fire rescue is with a varied topography, fire behavior is complicated, existing wheeled and crawler type fire tower
Device people cannot be considered in terms of wheeled and caterpillar advantage, by a variety of limitations of landform, cannot achieve the rapidly and efficiently deployment at scene
With work, it is easy to delay the prime time of the disaster relief, influences disaster relief efficiency.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of full landform forest fire prevention and control Detecting Robot.
The present invention also provides a kind of above-mentioned working methods of full landform forest fire prevention and control Detecting Robot.
Technical scheme is as follows:
A kind of full landform forest fire prevention and control Detecting Robot, including body, running gear, independent suspension system, fire water monitor
And vehicle head, body connect running gear by independent suspension system, fire water monitor and vehicle head are mounted on above body.
Preferably, the running gear includes planetary gear reducing mechanism, movable composition formula hub mechanism and rubber belt track
Transmission mechanism；
Planetary gear reducing mechanism is connected by telescopic device, support rod and movable composition formula hub mechanism, by flexible
Device work makes movable composition formula hub mechanism change outer shape；
Rubber track drive mechanism is connect with movable composition formula hub mechanism, when movable composition formula hub mechanism outer shape
When change, the conversion between the wheeled form and crawler type form of rubber track drive mechanism is realized.
Preferably, the planetary gear reducing mechanism includes preceding planet carrier, rear planet carrier, drive shaft, sun gear, planet
Axis, planetary gear and clutch；Sun gear is fixedly mounted on the driving shaft, and drive shaft passes through rear planet carrier, and planetary gear passes through bearing
Connection is mounted in planet axis, and three planetary gears are meshed with sun gear, and planet axis is installed and connected in preceding planet carrier and rear planet
Between frame, clutch is installed between drive shaft and rear planet carrier.
Preferably, the planetary gear reducing mechanism further includes brake, brake be installed on rear planet carrier and body it
Between.
Preferably, the telescopic device includes hydraulic cylinder, cylinder, electric cylinder.
Preferably, the movable composition formula hub mechanism includes hub plate, stiffening plate and load-bearing axle；Hydraulic cylinder is fixedly mounted on
On preceding planet carrier, symmetrically hinged hub plate, every side hub plate are correspondingly connected with stiffening plate by load-bearing axle for the two sides of hydraulic cylinder pillar, support
Bar one end and hub plate be hinged, the other end and preceding planet carrier or rear planet carrier are hinged.
Preferably, the movable composition formula hub mechanism includes 12 blocks of hub plates, and every four blocks of hub plates are symmetrically articulated with same
The two sides of hydraulic cylinder pillar.The benefit of this design is just to constitute circular hub using 12 blocks of hub plates, while using minimum three
A hydraulic cylinder achieves that conversion of 12 blocks of hub plates between circular hub and crawler belt form.
Preferably, the rubber track drive mechanism includes rubber belt track, driving wheel, carrying roller；Driving wheel is installed on row
Star axis is simultaneously fixedly connected on planetary gear, and respectively there are a driving wheel in planetary gear left and right ends, and carrying roller is mounted on hub plate and reinforces
In load-bearing axle between plate, rubber belt track is wrapped in driving wheel and carrying roller, and engages on the inside of rubber belt track with driving wheel.
Preferably, there are four carrying rollers for arrangement between the hub plate and stiffening plate.
Preferably, the independent suspension system includes upper swing arm, lower swing arm, steering bracket, damper and steering wheel connecting rod；
One end of upper swing arm is respectively articulated with steering bracket and damper, the other end and body are hinged, the other end and body of damper
Hingedly, lower swing arm both ends are hinged with steering bracket and body respectively, and steering wheel connecting rod and steering bracket are hinged.
Preferably, the vehicle head includes video camera and LED infrared lamp.
A kind of working method of full landform forest fire prevention and control Detecting Robot, comprising the following steps:
When needing wheeled form when driving, hydraulic cylinder packs up hydraulic cylinder pillar, and hub plate forms circular hub, system to contract
Dynamic device separation, clutch engagement latch planet row, entire planet row follows drive shaft to rotate synchronously with rubber belt track, to realize
Conversion from from crawler type to wheeled form；
Or
When needing crawler type form when driving, brake is engaged, clutch separation, and drive shaft drives sun gear, sun gear
Planetary gear is driven, and then drives drive wheel rubber belt track, hydraulic cylinder rises hydraulic cylinder pillar, and hub plate spreads composition three outward
Angular wheel hub, to realize from the wheeled conversion to crawler type form.
After fire-fighting Detecting Robot enters the scene of the accident, fire source is looked for by video camera and LED infrared lamp, locks fire source
Afterwards, it is put out a fire by fire water monitor to fire source.
The beneficial effects of the present invention are:
The full landform forest fire prevention and control Detecting Robot of the present invention, the ground that running gear can be travelled according to fire-fighting Detecting Robot
Shape realizes that the wheeled mutual conversion between crawler type form is converted into wheeled form on flat hard pavement, to improve row
Speed is sailed, power consumption is reduced；On soft terrain, it is converted into crawler type form, to increase contact area, improves traction
Power improves passability.The present invention uses novel running gear, cooperates with independent suspension system, fire water monitor and vehicle head,
Fire-fighting Detecting Robot can be achieved and be quickly converted wheeled and crawler type form according to different operating conditions, to improve fire-fighting investigation machine
Passability, mobility and the working efficiency of people, and then the scene of the accident that enters of fire-fighting Detecting Robot rapidly and efficiently is enable to detect
It looks into, dispose and saves.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the complete wheeled form of landform forest fire prevention and control Detecting Robot；
Fig. 2 is the structure diagram of the complete wheeled form of landform forest fire prevention and control Detecting Robot；
Fig. 3 is the structure diagram of full landform forest fire prevention and control Detecting Robot crawler type form；
Fig. 4 is the structural schematic diagram of the wheeled form of running gear in full landform forest fire prevention and control Detecting Robot；
Fig. 5 is running gear and the structural representation of independent suspension system connection type in full landform forest fire prevention and control Detecting Robot
Figure；
Fig. 6 is the structural schematic diagram of running gear crawler type form in full landform forest fire prevention and control Detecting Robot；
Fig. 7 is the structural schematic diagram of the wheeled form lower hub of running gear in full landform forest fire prevention and control Detecting Robot；
Fig. 8 is the structural schematic diagram of running gear crawler type form lower hub in full landform forest fire prevention and control Detecting Robot；
Fig. 9 is the structural schematic diagram of running gear planetary gear speed reducing mechanism in full landform forest fire prevention and control Detecting Robot；
Figure 10 is the movable hub plate of running gear and carrying roller scheme of installation in full landform forest fire prevention and control Detecting Robot；
In figure: 1- body；2- running gear；201- planetary gear reducing mechanism；Planet carrier before 2011-；Planet after 2012-
Frame；2013- drive shaft；2014- sun gear；2015- planet axis；2016- planetary gear；2017- brake；2018- clutch；
2019- Hooks coupling universal coupling；202- movable composition formula hub mechanism；2021- hub plate；2022- hydraulic cylinder pillar；2023- hydraulic cylinder；
2024- support rod；2025- stiffening plate；2026- load-bearing axle；203- rubber track drive mechanism；2031- rubber belt track；2032-
Driving wheel；2033- carrying roller；3- independent suspension system；301- upper swing arm；302- lower swing arm；303- steering bracket；304- damping
Device；305- steering wheel connecting rod；4- fire water monitor；5- vehicle head；501- video camera；502-LED infrared lamp.
Specific embodiment
The present invention will be further described by way of example and in conjunction with the accompanying drawings, but not limited to this.
Embodiment 1:
A kind of full landform forest fire prevention and control Detecting Robot, including body 1, running gear 2, independent suspension system 3, fire water
Big gun 4 and vehicle head 5, body 1 connect running gear 2 by independent suspension system 3, and fire water monitor 4 and vehicle head 5 are mounted on
1 top of body.
Body 1 has water tank and control system in body 1 using the body construction of conventional fire fighting truck for the prior art,
Fire water monitor 4 is connect with water tank, and walking, the vehicle head operation of robot are controlled by control system.
Running gear 2 includes planetary gear reducing mechanism 201, movable composition formula hub mechanism 202 and rubber track drive
Mechanism 203；Planetary gear reducing mechanism 201 is connected by telescopic device, support rod 2024 and movable composition formula hub mechanism 202
It connects, so that movable composition formula hub mechanism 202 is changed outer shape by telescopic device work；Rubber track drive mechanism 203 with
Movable composition formula hub mechanism 202 connects, and when 202 outer shape of movable composition formula hub mechanism changes, realizes rubber belt track
Conversion between the wheeled form and crawler type form of transmission mechanism 203.
Planetary gear reducing mechanism 201 includes preceding planet carrier 2011, rear planet carrier 2012, drive shaft 2013, sun gear
2014, planet axis 2015, planetary gear 2016 and clutch 2018；Sun gear 2014 is fixedly mounted in drive shaft 2013, driving
Axis 2013 passes through rear planet carrier 2012, and planetary gear 2016 is mounted in planet axis 2015 by bearing connection, three planetary gears
2016 are meshed with sun gear 2014, and composition planet row, planet axis are combined with preceding planet carrier 2011 and rear planet carrier 2012
2015 are installed and connected between preceding planet carrier 2011 and rear planet carrier 2012, and clutch 2018 is installed on drive shaft 2013 and rear row
Between carrier 2012.Here clutch 2018 is used to connect or disconnect rear planet carrier 2012 and drive shaft 2013, to determine
Whether planet carrier follows drive shaft 2013 and sun gear 2014 to rotate synchronously.
Planetary gear reducing mechanism 201 further includes brake 2017, and brake 2017 is installed on rear planet carrier 2012 and machine
Between body 1, brake 2017 here is mainly used for remaining stationary planet carrier with body, to realize Gear Planet Transmission.This reality
Apply brake 2017 in example, clutch 2018 selects conventional equipment.
Telescopic device selects hydraulic cylinder 2023, planet carrier 2011 before being mounted on altogether there are three hydraulic cylinder 2023 in the present embodiment
On, it is spacedly distributed between three hydraulic cylinders 2023, hydraulic cylinder pillar 2022 (piston rod) is a T-type structure, and front end is a T-type
Block.
Movable composition formula hub mechanism 202 includes hub plate 2021, stiffening plate 2025 and load-bearing axle 2026；Hydraulic cylinder 2023 is solid
Dingan County is on preceding planet carrier 2011, and symmetrically (hub plate one end is hinged on T-type to hinged hub plate 2021 for the two sides of hydraulic cylinder pillar 2022
On block), every side hub plate 2021 is correspondingly connected with stiffening plate 2025 by load-bearing axle 2026, and 2024 one end of support rod and hub plate 2021 are cut with scissors
Connect, the other end and preceding planet carrier 2011 or rear planet carrier 2012 it is hinged, hub plate 2021, hydraulic cylinder pillar 2022, hydraulic cylinder at this time
2023 and support rod 2024 form the four-bar mechanism containing a prismatic pair.It is made of in the present embodiment 12 blocks of hub plates 2021
Hub mechanism, left and right ends are respectively mounted six pieces, and every four blocks of hub plates 2021 are symmetrically articulated with the two sides of same hydraulic cylinder pillar 2022.
Circular hub is just constituted using 12 blocks of hub plates, while achieving that 12 blocks of hub plates in circle using minimum of three hydraulic cylinder
Conversion between wheel hub and crawler belt form, component is few, at low cost.
Rubber track drive mechanism 203 includes rubber belt track 2031, driving wheel 2032, carrying roller 2033；Driving wheel 2032
It is installed on planet axis 2015 and is fixedly connected on planetary gear 2016, respectively there are a driving wheel in 2016 left and right ends of planetary gear
2032, driving wheel 2032 and planetary gear 2016 rotate synchronously, and carrying roller 2033 is mounted between hub plate 2021 and stiffening plate 2025
Load-bearing axle 2026 on, there are four carrying roller 2033, rubber belt track 2031 wraps up arrangement between hub plate 2021 and stiffening plate 2025
Driving wheel 2032 and carrying roller 2033, and the inside of rubber belt track 2031 is engaged with driving wheel 2032.
Independent suspension system 3 includes that upper swing arm 301, lower swing arm 302, steering bracket 303, damper 304 and steering wheel connect
Bar 305；One end of upper swing arm 301 and steering bracket 303 and damper 304 are respectively articulated with, the other end and body 1 are hinged, damping
The other end and body 1 of device 304 are hinged, and 302 both ends of lower swing arm are hinged with steering bracket 303 and body 1 respectively, steering wheel connecting rod
305 is hinged with steering bracket 303, and steering bracket 303 is fixedly connected by ring flange with brake 2017.
Vehicle head includes video camera and LED infrared lamp, and video camera is responsible for camera shooting, and LED infrared lamp plays the role of light filling.It is whole
A artificial automatic control mode of machine realizes that the automatically walk of running gear and wheel are carried out form and turned by the intracorporal control system of machine
It changes, control video camera tracking route and looks for fire source, control fire water monitor automatic water jetting and the big minor adjustment of discharge rate.
Embodiment 2:
A kind of full landform forest fire prevention and control Detecting Robot, structure is as described in Example 1, the difference is that: flexible dress
Set selection cylinder.According to vehicle difference requirement, different telescopic devices may be selected, to meet personalized configuration.
Embodiment 3:
A kind of full landform forest fire prevention and control Detecting Robot, structure is as described in Example 1, the difference is that: flexible dress
Set selection electric cylinder.
Embodiment 4:
The working method of full landform forest fire prevention and control Detecting Robot as described in Example 1, comprising the following steps:
When needing wheeled form when driving, hydraulic cylinder 2023 packs up hydraulic cylinder pillar 2022, and hub plate 2021 is to contract group
At circular hub, brake 2017 is separated, 2018 engagement latch planet row of clutch, and entire planet row and rubber belt track 2031 are locked
Determine and drive shaft 2013 is followed to rotate synchronously, to realize the conversion from crawler type to wheeled form；
When needing crawler type form when driving, brake 2017 is engaged, and clutch 2018 separates, and drive shaft 2013 drives too
Sun wheel 2014, sun gear 2014 drives planetary gear 2016, and then driving wheel 2032 is driven to drive rubber belt track 2031, hydraulic cylinder
2023 rise hydraulic cylinder pillar 2022, and diffusion forms triangular boss to hub plate 2021 outward, to realize from wheeled to crawler type
The conversion of form.
During wheel carries out modality conversion, by control hydraulic device hydraulic cylinder pillar it is flexible, make the shape of wheel hub
It changes, and guarantees that the outer circumference of wheel hub is held essentially constant in the process, so that rubber belt track is correct with driving wheel
Engagement.
After fire-fighting Detecting Robot enters the scene of the accident, fire source is looked for by video camera and LED infrared lamp, locks fire source
Afterwards, it is put out a fire by fire water monitor to fire source.It is intracorporal by machine when fire-fighting Detecting Robot carries out making an inspection tour investigation in forest
Control system carries out automatically controlling operation.
Claims (10)
1. a kind of full landform forest fire prevention and control Detecting Robot, which is characterized in that including body, running gear, independent suspension system,
Fire water monitor and vehicle head, body connect running gear by independent suspension system, and fire water monitor and vehicle head are mounted on
Above body.
2. full landform forest fire prevention and control Detecting Robot as described in claim 1, which is characterized in that the running gear includes row
Star gear reduction, movable composition formula hub mechanism and rubber track drive mechanism；Planetary gear reducing mechanism passes through flexible
Device, support rod and movable composition formula hub mechanism connect, and change movable composition formula hub mechanism by telescopic device work
Outer shape；Rubber track drive mechanism is connect with movable composition formula hub mechanism, the shape outside movable composition formula hub mechanism
When shape changes, the conversion between the wheeled form and crawler type form of rubber track drive mechanism is realized.
3. full landform forest fire prevention and control Detecting Robot as claimed in claim 2, which is characterized in that the planet-gear speed reducer
Structure includes preceding planet carrier, rear planet carrier, drive shaft, sun gear, planet axis, planetary gear and clutch；Sun gear is fixedly mounted on
In drive shaft, drive shaft passes through rear planet carrier, and planetary gear is mounted in planet axis by bearing connection, three planetary gears and the sun
Wheel is meshed, and planet axis is installed and connected between preceding planet carrier and rear planet carrier, and clutch is installed on drive shaft and rear planet carrier
Between.
4. full landform forest fire prevention and control Detecting Robot as claimed in claim 3, which is characterized in that the planet-gear speed reducer
Structure further includes brake, and brake is installed between rear planet carrier and body；The telescopic device includes hydraulic cylinder, cylinder, electricity
Dynamic cylinder.
5. full landform forest fire prevention and control Detecting Robot as claimed in claim 4, which is characterized in that the movable composition formula wheel hub
Mechanism includes hub plate, stiffening plate and load-bearing axle；Before hydraulic cylinder is fixedly mounted on planet carrier, the two sides of hydraulic cylinder pillar are symmetrically cut with scissors
Connect hub plate, every side hub plate is correspondingly connected with stiffening plate by load-bearing axle, support rod one end and hub plate is hinged, the other end and preceding planet carrier
Or planet carrier is hinged afterwards.
6. full landform forest fire prevention and control Detecting Robot as claimed in claim 5, which is characterized in that the movable composition formula wheel hub
Mechanism includes 12 blocks of hub plates, and every four blocks of hub plates are symmetrically articulated with the two sides of same hydraulic cylinder pillar.
7. full landform forest fire prevention and control Detecting Robot as claimed in claim 5, which is characterized in that the rubber track drive machine
Structure includes rubber belt track, driving wheel, carrying roller；Driving wheel is installed on planet axis and is fixedly connected on planetary gear, and planetary gear is left
Respectively there is a driving wheel at right both ends, and carrying roller is mounted in the load-bearing axle between hub plate and stiffening plate, and rubber belt track is wrapped in drive
Driving wheel and carrying roller, and engaged on the inside of rubber belt track with driving wheel；There are four carrying rollers for arrangement between the hub plate and stiffening plate.
8. full landform forest fire prevention and control Detecting Robot as claimed in claim 2, which is characterized in that the independent suspension system packet
Include upper swing arm, lower swing arm, steering bracket, damper and steering wheel connecting rod；One end of upper swing arm and steering bracket and damper point
The not hinged, other end and body are hinged, and the other end and body of damper are hinged, lower swing arm both ends respectively with steering bracket and machine
Body is hinged, and steering wheel connecting rod and steering bracket are hinged.
9. full landform forest fire prevention and control Detecting Robot as claimed in claim 1 or 2, which is characterized in that the vehicle head packet
Include video camera and LED infrared lamp.
10. a kind of working method of such as described in any item full landform forest fire prevention and control Detecting Robots of claim 1-9, including with
Lower step:
When needing wheeled form when driving, hydraulic cylinder packs up hydraulic cylinder pillar, and hub plate forms circular hub, brake to contract
Separation, clutch engagement latch planet row, entire planet row follow drive shaft to rotate synchronously with rubber belt track, to realize by carrying out
Conversion of the belt to wheeled form；
Or
When needing crawler type form when driving, brake is engaged, clutch separation, and drive shaft drives sun gear, and sun gear drives
Planetary gear, and then drive wheel rubber belt track is driven, hydraulic cylinder rises hydraulic cylinder pillar, and hub plate spreads composition triangle outward
Wheel hub, to realize from the wheeled conversion to crawler type form.
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| CN110237463A (en) * | 2019-05-10 | 2019-09-17 | 黄荣济 | A kind of rescuing robot for fire control resistant to high temperature |
| CN110370862A (en) * | 2019-07-26 | 2019-10-25 | 安徽沪宁智能科技有限公司 | A kind of full landform fire-fighting robot |
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| RU194356U1 (en) * | 2019-07-01 | 2019-12-06 | Общество С Ограниченной Ответственностью "Научно-Производственное Предприятие "Тензосенсор" | ROBOT FIRE |
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| US20220144357A1 (en) * | 2019-04-29 | 2022-05-12 | Carnegie Mellon University | Reconfigurable wheel-track assembly with bowtie configuration |
| CN110237463B (en) * | 2019-05-10 | 2020-10-30 | 孙秋梅 | High temperature resistant fire rescue robot |
| CN110237463A (en) * | 2019-05-10 | 2019-09-17 | 黄荣济 | A kind of rescuing robot for fire control resistant to high temperature |
| RU194356U1 (en) * | 2019-07-01 | 2019-12-06 | Общество С Ограниченной Ответственностью "Научно-Производственное Предприятие "Тензосенсор" | ROBOT FIRE |
| CN110370862A (en) * | 2019-07-26 | 2019-10-25 | 安徽沪宁智能科技有限公司 | A kind of full landform fire-fighting robot |
| CN110370862B (en) * | 2019-07-26 | 2021-04-02 | 安徽沪宁智能科技有限公司 | All-terrain firefighting robot |
| CN110410152A (en) * | 2019-08-28 | 2019-11-05 | 山东科技大学 | A kind of getting working face crusing robot and its application |
| WO2020134187A1 (en) * | 2019-08-28 | 2020-07-02 | 山东科技大学 | Mining workface inspection robot and application thereof |
| CN110410152B (en) * | 2019-08-28 | 2024-04-12 | 山东科技大学 | Mining working face inspection robot and application thereof |
| CN112107812A (en) * | 2020-05-21 | 2020-12-22 | 西南科技大学 | Forest fire fighting method and system based on deep convolutional neural network |
| CN113202019A (en) * | 2021-04-06 | 2021-08-03 | 贵州省质安交通工程监控检测中心有限责任公司 | Walking trolley capable of self-adapting to change of space between narrow walls |
| CN113459722A (en) * | 2021-07-07 | 2021-10-01 | 南京航空航天大学 | Non-inflatable wheel capable of switching motion forms and changing shapes and changing method thereof |
| CN113926105A (en) * | 2021-10-18 | 2022-01-14 | 特斯联科技集团有限公司 | Fire-fighting robot for forest grassland |
| CN113926105B (en) * | 2021-10-18 | 2022-04-26 | 特斯联科技集团有限公司 | Fire-fighting robot for forest grassland |
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