CN212854406U - Rail mounted wisdom fire extinguishing robot system - Google Patents
Rail mounted wisdom fire extinguishing robot system Download PDFInfo
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- CN212854406U CN212854406U CN202021609292.6U CN202021609292U CN212854406U CN 212854406 U CN212854406 U CN 212854406U CN 202021609292 U CN202021609292 U CN 202021609292U CN 212854406 U CN212854406 U CN 212854406U
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Abstract
The utility model discloses a rail mounted wisdom fire-fighting robot system, including the unit system, the unit system include the walking track, can fire-fighting robot and fire control center that move on the walking track, the walking track sets firmly in fire prevention subregion top, fire-fighting robot with fire control center wireless connection, fire-fighting robot is including the detection device that can monitor fire prevention subregion environment and the extinguishing device who is used for putting out the ignition. The utility model provides a rail mounted wisdom fire-fighting robot system, this system installation can discover the ignition fast and in time effectual putting out the fire source in fire prevention subregion top, and possess splendid functional stability.
Description
Technical Field
The utility model relates to a fire extinguishing systems especially relates to rail mounted wisdom fire-fighting robot system.
Background
At present, fire early warning modes are mainly a fire automatic alarm linkage first control system, an automatic spraying system and the like except for people finding and alarming. They respectively serve as a location alarm of the fire point and as a fire extinguishing in the early stages of the fire.
In a large-area fire-proof subarea, once a fire occurs, the fire-catching point of the fire can be found in time and can be put out in time. In the initial stage of fire, under the condition of not too large fire range, the fire can be extinguished as quickly as possible. Once a large area, wide-ranging fire is formed, the difficulty of fire fighting is multiplied, and even if the fire is extinguished, the resulting loss is enormous.
At present, the rapid large-area automatic fire extinguishing mode mainly adopts water professional automatic spraying, and the fire hydrant must be manually operated when a professional arrives (or a large-area water cannon automatic fire extinguishing mode is adopted). From the principle of fire extinguishing action, the fire extinguishing device basically belongs to a passive fire extinguishing mode. The early action of large-area fire extinguishing is an automatic spraying mode, when fire burns to a place, a glass ball of an automatic spraying nozzle bursts at 68 ℃ or above, and water in a pipe is sprayed downwards to extinguish the fire. And when the fire alarm signal is received by the fire control center, the related alarm and linkage mode is immediately started. When the relevant fire professional arrives at a fire scene according to the instruction, operates the fire hydrant and starts the fire hydrant pump, a long time is needed, and in the time period, the fire is likely to quickly form a large fire passing area on the scene due to various factors such as the characteristics of combustion materials, the surrounding conditions, the climate and the like. It is not easy to control the fire once a large area of fire is formed. Moreover, the key elements of on-site fire extinguishing are that a single closed-loop fire extinguishing system is in many sites according to the standard design and construction conditions (such an unfavorable condition exists, in the whole fire extinguishing process, in the links of fire-fighting hydroelectric equipment and smoke prevention and exhaust system, as long as the equipment or line of one link has a problem, the whole system cannot normally operate, and cannot extinguish fire in time). If spraying and fire control pipeline are dirty or corroded for a long time, the generator can not be started normally, or can be started normally after a long time, the water pump is damaged for a long time, and cable connectors and control panel circuits are damaged. In old buildings of 10 years, 20 years or more, if any link of the fire fighting system is not maintained in place, equipment is easily damaged, so that water pipes are not sprayed or the sprayed water amount is insufficient in the case of fire, or a certain link of a power supply is in a problem, and the like, which can happen all the time.
In view of the above, the present inventors have conducted intensive studies on how to quickly find an ignition point and put out the ignition point in time, and have developed the present invention.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a rail mounted wisdom fire-fighting robot system, this system installation can discover the ignition fast and in time effectual fire extinguishing sources in fire prevention subregion top, and possess splendid functional stability.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
rail mounted wisdom fire-fighting robot system, including the unit system, the unit system includes the walking track, can fire-fighting robot and fire control center that move on the walking track, the walking track sets firmly in fire prevention subregion top, fire-fighting robot with fire control center wireless connection, fire-fighting robot is including monitoring the detection device of fire prevention subregion environment and the extinguishing device who is used for putting out the ignition.
Further, still include unit control center, unit control center with fire-fighting robot wireless connection, unit control center with fire control center wireless and/or wired connection.
Further, the unit control center includes a charging device for charging the fire extinguishing robot and an output device for outputting a fire extinguishing material to the fire extinguishing robot.
Further, a plurality of fire extinguishing robots are arranged on the traveling rail, the traveling rails of the unit systems are communicated, and the fire extinguishing robots of the unit systems can move and work in different unit systems.
Further, the fire-fighting robot comprises a first walking device matched with the walking track, a detection device capable of monitoring fire-fighting subarea environment, a first driving device capable of driving the first walking device, a fire-fighting device for extinguishing fire spots, a first power supply device for supplying power to the detection device, the first driving device and the fire-fighting device, and a first control system capable of being in wireless connection with a fire-fighting control center.
Furthermore, the walking track is an I-shaped track or a T-shaped track or a groove-shaped track, and the fire extinguishing robot is mounted on the walking track in a hanging manner; or the walking track is a magnetic track, and the fire-extinguishing robot is adsorbed on the walking track; the walking track is divided into a plurality of areas, and corresponding address codes are formed in the areas.
Furthermore, the detection device comprises an infrared thermal imaging monitoring sensor, an infrared detector or an ultraviolet detector or a red-ultraviolet composite detector and a high-definition camera; the detection device further comprises a human body induction detector, a human face recognition system and a human body temperature measurement system, and the fire extinguishing device is provided with a catching rope and a spraying agent which can trap a human body.
Furthermore, the fire extinguishing device is provided with a rotatable fire nozzle, and the fire nozzle is in transmission connection with the driving device; the first control system includes a central microcomputer system, a broadcast-capable horn, and an alarm light.
Furthermore, the fire extinguishing device is equipped with fire extinguishing materials, still install on the walking track and supply the fire extinguishing device to supply fire extinguishing materials's replenishing device, replenishing device can the walking track is last to be removed.
Furthermore, the supply device is provided with a second walking device matched with the walking track, a second driving device capable of driving the second walking device, a second power supply device for supplying power to the second driving device, and a second control system capable of being in wireless connection with the first control system and the fire control center.
Adopt above-mentioned technical scheme, the utility model discloses rail mounted wisdom fire-fighting robot system because walking track and fire-fighting robot install in fire prevention subregion top, can monitor fire prevention subregion in the eminence. And because the walking track is located the fire prevention subregion top barrier and is few, the space that the walking track was laid can not receive the limitation, and fire-fighting robot can freely remove along the walking track, and then fire-fighting robot can carry out reciprocal circulation removal monitoring, can not receive the interference, so be favorable to detecting device to carry out comprehensive monitoring to the fire prevention subregion to this has improved detecting device's effective monitoring range, makes detecting device can quick monitoring the ignition.
When the detection device detects a fire point, the fire extinguishing robot automatically moves to the fire point through the walking track, and when the fire extinguishing robot moves above the fire point, a fire source can be automatically extinguished through the fire extinguishing device; when the detection device monitors the fire point, the fire extinguishing robot sends the fire information to the fire control center, the fire control center integrally dispatches the fire extinguishing robots near the fire point to participate in fire extinguishing, and the fire control center can dispatch the fire extinguishing robots of corresponding quantity to participate in fire extinguishing through the judgment of the fire, so that the fire source can be effectively extinguished in time.
The fire extinguishing robot is that one can monitor, can be by oneself the analysis judge the condition of a fire and the individual of putting out a fire to the ignition by oneself to the fire prevention subregion, possesses intercommunication's ability between each fire extinguishing robot simultaneously, can be when a fire extinguishing robot discovery ignition, information transmission can be to other fire extinguishing robot between, other fire extinguishing robot that does not participate in putting out a fire can go to participating in after receiving information by oneself and put out a fire.
The instruction at the fire control center is preferably carried out to each fire-fighting robot, when the fire control center breaks down unable dispatch fire-fighting robot, each fire-fighting robot still has the ability of work by oneself, consequently works as the utility model discloses the system still can monitor and in time put out the ignition to the fire prevention subregion when rail mounted wisdom fire-fighting robot system takes place local failure, the utility model discloses rail mounted wisdom fire-fighting robot system functional stability.
Drawings
FIG. 1 is a schematic structural view of the track type intelligent fire-extinguishing robot system
FIG. 2 is a schematic view of a partial structure of the track-type intelligent fire-fighting robot system of the present invention;
FIG. 3 is a schematic view of another partial angle structure of the track-type intelligent fire-fighting robot system of the present invention;
FIG. 4 is an enlarged schematic view of the track type intelligent fire-fighting robot system of the present invention at A in FIG. 1;
FIG. 5 is an enlarged schematic view of the track-type intelligent fire-fighting robot system of the present invention at the position A in FIG. 1;
fig. 6 is a functional block diagram of the track type intelligent fire-fighting robot system of the present invention.
Description of reference numerals:
First traveling device 11 of fire-fighting robot 1
First control system 16 horn 161
Fire control center 3 Unit control center 4
Second traveling device 51 of replenishing device 5
Second drive device 52 second power supply device 53
Second control system 54
Detailed Description
In order to further explain the technical solution of the present invention, the present invention is explained in detail with reference to the accompanying drawings and specific embodiments.
The utility model discloses rail mounted wisdom fire-fighting robot system, as shown in fig. 1 to 6, including unit system 0, unit system 0 is including the walking track, can walk fire-fighting robot and the fire control center 3 that the track moved on, and the walking track sets firmly in fire prevention subregion top, fire-fighting robot and 3 wireless connection of fire control center, and fire-fighting robot is including monitoring the detection device of fire prevention subregion environment and the extinguishing device who is used for putting out the ignition.
The utility model discloses rail mounted wisdom fire-fighting robot system because walking track and fire-fighting robot install in fire prevention subregion top, can monitor fire prevention subregion in the eminence. And because the walking track is located the fire prevention subregion top barrier and is few, the space that the walking track was laid can not receive the limitation, and fire-fighting robot can freely remove along the walking track, and then fire-fighting robot can carry out reciprocal circulation removal monitoring, can not receive the interference, so be favorable to detecting device to carry out comprehensive monitoring to the fire prevention subregion to this has improved detecting device's effective monitoring range, makes detecting device can quick monitoring the ignition.
When detecting device monitors the ignition, the fire extinguishing robot passes through first running gear and moves on the walking track to with condition of a fire information transmission to fire control center 3, fire control center 3 unifies near the fire extinguishing robot of dispatch ignition and participates in putting out a fire, when each fire extinguishing robot moves to the ignition top, put out the fire source through extinguishing device, fire control center 3 in time dispatches the fire extinguishing robot of corresponding quantity through the judgement of condition of a fire and participates in putting out a fire, can in time effectually put out the fire source.
The fire extinguishing robot is that one can monitor, can the analysis judge the condition of a fire by oneself and the individuality of putting out a fire to the ignition by oneself to the fire prevention subregion, possesses intercommunication's ability between each fire extinguishing robot simultaneously, when a fire extinguishing robot discovery ignition, can send information to other fire extinguishing robot, other fire extinguishing robot that does not participate in putting out a fire can go to participating in after receiving information by oneself and put out a fire.
The instruction of the preferred execution fire control center 3 of each fire-fighting robot, when the unable dispatch fire-fighting robot that breaks down in fire control center 3, each fire-fighting robot still has the ability of work by oneself, consequently works as the utility model discloses the track type wisdom fire-fighting robot system still can monitor and in time put out the ignition point to the fire prevention subregion when taking place local failure, the utility model discloses track type wisdom fire-fighting robot system stable in function.
As a preferred embodiment of the present invention:
the unit system 0 further comprises a unit control center 4 connected with the walking track, the unit control center 4 is in wireless connection with the fire-fighting robot, and the unit control center 4 is in wireless and/or wired connection with the fire-fighting control center 3.
Generally, a plurality of unit systems 0 are connected with the same fire control center 3, the distance between the fire control center 3 and the walking track of each unit system 0 is long, and the fire-extinguishing robot is wirelessly connected with the fire control center 3, so that the risk of connection interruption is high.
Because the distance is close, the connection between the unit control center 4 and the fire-fighting robot in the same unit system 0 is stable, the unit control center 4 is connected with the fire-fighting control center 3 through a wireless and/or wired connection mode, and the unit control center 4 is arranged as a transfer station of information so as to ensure that the connection between the fire-fighting control center 3 and each fire-fighting robot is smooth and stable.
Meanwhile, the unit control center 4 can automatically dispatch the fire extinguishing robot of the unit system 0 to monitor fire zones and participate in fire extinguishing under the condition that the connection with the fire control center 3 is interrupted. When fire control center 3 breaks down the utility model discloses rail mounted wisdom fire-fighting robot system still can monitor and participate in to put out a fire to the fire prevention subregion, has improved the utility model discloses rail mounted wisdom fire-fighting robot system functional stability.
The unit control center 4 includes a charging device 41 for charging the fire extinguishing robot and an output device 42 for outputting fire extinguishing material to the fire extinguishing robot. So that the fire-extinguishing robot has the capability of continuous work.
The walking track is provided with a plurality of fire-extinguishing robots, the walking tracks of the unit systems 0 are communicated, and the fire-extinguishing robots of the unit systems 0 can move and work in different unit systems 0. When a large fire is found in the goaf monitored by one unit system 0, the fire extinguishing robots in other unit systems 0 can move to the ignition point to extinguish fire after receiving the information through the communicated walking tracks. Concentrate the utility model discloses rail mounted wisdom fire-fighting robot system's the timely effectual fire source of putting out a fire of resources of putting out a fire.
The fire-fighting robot 1 is installed on the walking track 2, and the fire-fighting robot 1 includes a first walking device 11 matched with the walking track 2, a detection device 12 capable of monitoring fire-fighting zoning environment, a first driving device 13 capable of driving the first walking device 11, a fire-fighting device 14 for putting out a fire point, a first power supply device 15 for providing power to the detection device 12, the first driving device 13 and the fire-fighting device 14, and a first control system 16 capable of being wirelessly connected with a fire-fighting center. The first driving device 13 is in transmission connection with the first walking device 11, the first control system 16 is respectively and electrically connected with the detecting device 12, the first driving device 13, the fire extinguishing device 14 and the first power supply device 15, and the first control system 16 receives priority instruction information of the fire extinguishing center.
When the detection means 12 detects the ignition point, the fire fighting robot 1 moves on the traveling rail 2 by the first traveling means 11, and when the fire fighting robot 1 moves above the ignition point, the fire source is extinguished by the fire fighting device 14.
As a preferred embodiment of the present invention: the walking track 2 is an I-shaped track, a T-shaped track or a groove-shaped track, the fire-extinguishing robot 1 is arranged on the walking track 2 in a hanging mode, and the first walking device 11 is provided with a rotating wheel capable of rotating on the I-shaped track, the T-shaped track or the groove-shaped track. This mode has the advantage that stable in construction and the energy consumption is little. Walking track 2 is fishbone formula structure, including a main road 21 and many auxiliary roads 22, the both sides that auxiliary road 22 is located main road 21 are symmetrical arrangement, the side of main road 21 is interrupted arranges many auxiliary roads 22, main road 21 forms the multistage at the handing-over department disconnection with each auxiliary road 22, be equipped with lane change device 23 between the disconnection department of each auxiliary road 22 and main road 21, lane change device 23 is rotatable to be fixed in fire prevention subregion top, lane change device 23 is including locating a main lane of change 231 at middle part and locating two auxiliary lanes 232 of both sides respectively, main lane 231 can communicate main road 21, two auxiliary lanes 232 can communicate an auxiliary road 22 respectively. The main lane change 231 and the auxiliary lane change 232 are both fixedly connected with a rotating shaft 233, and the rotating shaft 233 is driven by a motor to rotate.
When the fire-fighting robot 1 is going to move from the previous section to the other section of the main road 21, the lane-changing device 23 rotates to the state that the main road 231 communicates with the main road 21, see fig. 4; when the fire fighting robot 1 is to move from the main road 21 to the one-side sub-road 22, the lane-changing device 23 is rotated to a state where the one-side sub-changing road 232 communicates with the one-side sub-road 22, refer to fig. 5.
As another preferred embodiment of the present invention: the walking track 2 is a magnetic track, and the fire-extinguishing robot 1 is adsorbed on the walking track 2. The ceiling of the magnetic track is an iron metal plate road network, and when the fire-fighting robot 1 works, the first walking device 11 generates electromagnetic force, so that the fire-fighting robot 1 is just adsorbed on the surface of the metal ceiling. This has the advantage that the fire fighting robot 1 is free to move within the plane of the magnetic track without space restrictions.
The walking track is divided into a plurality of areas, and corresponding address codes are formed in the areas. When the fire extinguishing robot monitors the fire, the fire position information can be accurately transmitted by receiving and sending the corresponding address codes.
As a preferred mode of the present invention: an electric quantity monitor for monitoring the electric quantity of the first power supply device 15 is arranged in the first power supply device 15, the electric quantity monitor is electrically connected with the first control system 16, and when the first control system 16 monitors that the electric quantity of the first power supply device 15 is smaller than a specific value, the first control system 16 sends an instruction to the first driving device 13, so that the fire-extinguishing robot 1 moves to the charging device 41 and charges.
As a preferred mode of the present invention: the detection device 12 comprises an infrared thermal imaging monitoring sensor, a single-point infrared detector or an ultraviolet detector or a red-ultraviolet composite detector, and when the fire source is approached, the single-point infrared detector or the ultraviolet detector or the red-ultraviolet composite detector can accurately capture the ignition point, so that the fire extinguishing robot 1 can effectively, quickly and accurately extinguish fire. The detection device 12 also includes other fire-fighting related sensors such as a temperature sensor 121 and/or a specific gas monitoring sensor. The utility model discloses do not limit to use the above-mentioned several kinds of sensors of getting of being listed as, the utility model discloses a detection device 12 can install the monitoring product in arbitrary fire control application additional.
The detection device 12 is further provided with a high-definition camera 122, an LED high-beam light 123 is mounted beside the camera 122, and preferably, two cameras capable of automatic circulation monitoring are adopted.
As a preferred mode of the present invention: the detection device 12 further comprises a human body induction detector, a human face recognition system and a human body temperature measurement system, and can realize monitoring and control of specific personnel. The data monitored by the detection device 12 is transmitted to the control center in real time through the first control system 16 and is backed up.
The fire extinguishing device 14 is provided with a catching rope and a propellant capable of trapping a human body. Can be used for auxiliary capture of appointed personnel.
As a preferred mode of the present invention: the first control system 16 includes a central microcomputer system having a self-routing fault monitoring function. The first control system 16 is further provided with a broadcast speaker 161 and an alarm light 162, so that information can be timely broadcast to personnel in the fire-protection subarea.
As a preferred mode of the present invention: the fire extinguishing device 14 is provided with a rotatable fire sprinkler 141, and the fire sprinkler 141 is in transmission connection with a driving device. The fire sprinkler 141 can extinguish a fire source from various angles by rotating, so that fire extinguishing is faster and more accurate.
The fire extinguishing unit 14 contains fire extinguishing material comprising water and/or foam and/or ultra fine dry powder and/or carbon dioxide and other small and lightweight fire extinguishing equipment.
The walking track 2 is also provided with a supply device 5 which can supply fire extinguishing materials to the fire extinguishing device 14. The fire extinguishing device 14 is provided with a small booster pump (or a double booster pump) and a subminiature fire-fighting water tank and/or an atomizing fire-fighting element and/or a foam fire-fighting element and/or an ultrafine dry powder spraying device.
The fire extinguishing unit 14 is equipped with a detector for monitoring the remaining amount of fire extinguishing material (e.g., a level sensor capable of monitoring whether the liquid level is below a specified value).
The supply device 5 is provided with a second running gear 51 engaged with the running rail 2, a second driving device 52 capable of driving the second running gear 51, a second power supply device 53 for supplying power to the second driving device 52, and a second control system 54 capable of wirelessly connecting with the first control system 16 and the cancellation control center. The supply device 5 is provided with a one-way outlet capable of outputting fire extinguishing materials, and the fire extinguishing device 14 is provided with a one-way inlet capable of inputting fire extinguishing materials.
When the detector for monitoring the surplus of the fire extinguishing materials monitors that the fire extinguishing materials in the fire extinguishing device 14 are less than the specified value, the detector for monitoring the surplus of the fire extinguishing materials sends information to the first control system 16, the first control system 16 sends information to the second control system 54, the replenishing device 5 moves to the fire extinguishing robot 1 through the walking track 2, and the fire extinguishing materials in the replenishing device 5 are conveyed into the fire extinguishing robot 1 through the one-way outlet and one-way inlet.
The present invention has been described in detail with reference to the accompanying drawings, but the embodiments of the present invention are not limited to the above embodiments, and those skilled in the art can make various modifications according to the prior art, and all belong to the protection scope of the present invention.
Claims (10)
1. Rail mounted wisdom fire extinguishing robot system, including the unit system, its characterized in that: the unit system includes the walking track, can fire-fighting robot and fire control center that the walking track goes up the removal, the walking track sets firmly in fire prevention subregion top, fire-fighting robot with fire control center wireless connection, fire-fighting robot is including the detection device that can monitor fire prevention subregion environment and the extinguishing device who is used for putting out the ignition.
2. The rail-mounted intelligent fire-extinguishing robot system according to claim 1, characterized in that: still include unit control center, unit control center with fire-fighting robot wireless connection, unit control center with fire control center wireless and/or wired connection.
3. The rail-mounted intelligent fire-extinguishing robot system according to claim 2, characterized in that: the unit control center includes a charging device for charging the fire-extinguishing robot and an output device for outputting a fire-extinguishing material to the fire-extinguishing robot.
4. The rail-mounted intelligent fire-extinguishing robot system according to claim 1, characterized in that: the fire extinguishing system is characterized in that a plurality of fire extinguishing robots are arranged on the walking track, the walking tracks of the unit systems are communicated, and the fire extinguishing robots of the unit systems can move and work in different unit systems.
5. The rail-mounted intelligent fire-extinguishing robot system according to claim 1, characterized in that: the fire-fighting robot comprises a first walking device matched with the walking track, a detection device capable of monitoring fire-fighting subarea environment, a first driving device capable of driving the first walking device, a fire-fighting device for extinguishing fire spots, a first power supply device for supplying power to the detection device, the first driving device and the fire-fighting device, and a first control system capable of being in wireless connection with a fire-fighting control center.
6. The rail-mounted intelligent fire-extinguishing robot system according to claim 1, characterized in that: the fire extinguishing robot is arranged on the walking rail in a hanging mode, and is characterized in that the walking rail is an I-shaped rail, a T-shaped rail or a groove-shaped rail; or the walking track is a magnetic track, and the fire-extinguishing robot is adsorbed on the walking track; the walking track is divided into a plurality of areas, and corresponding address codes are formed in the areas.
7. The rail-mounted intelligent fire-extinguishing robot system according to claim 1, characterized in that: the detection device comprises an infrared thermal imaging monitoring sensor, an infrared detector or an ultraviolet detector or a red-ultraviolet composite detector and a high-definition camera; the detection device further comprises a human body induction detector, a human face recognition system and a human body temperature measurement system, and the fire extinguishing device is provided with a catching rope and a spraying agent which can trap a human body.
8. The rail-mounted intelligent fire-extinguishing robot system according to claim 1, characterized in that: the fire extinguishing device is provided with a rotatable fire-fighting nozzle, and the fire-fighting nozzle is in transmission connection with the driving device; the first control system includes a central microcomputer system, a broadcast-capable horn, and an alarm light.
9. The rail-mounted intelligent fire-extinguishing robot system according to claim 5, characterized in that: the fire extinguishing device is provided with fire extinguishing materials, the walking track is further provided with a supplying device which can supply the fire extinguishing device to supply the fire extinguishing materials, and the supplying device can move on the walking track.
10. The rail-mounted intelligent fire-fighting robot system according to claim 9, characterized in that: the supply device is provided with a second walking device matched with the walking track, a second driving device capable of driving the second walking device, a second power supply device for supplying power to the second driving device, and a second control system capable of being in wireless connection with the first control system and the fire control center.
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| CN202021609292.6U CN212854406U (en) | 2020-08-05 | 2020-08-05 | Rail mounted wisdom fire extinguishing robot system |
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| CN202021609292.6U CN212854406U (en) | 2020-08-05 | 2020-08-05 | Rail mounted wisdom fire extinguishing robot system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113101570A (en) * | 2021-05-10 | 2021-07-13 | 国网山东省电力公司莱芜供电公司 | Automatic tracking fire extinguishing system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113101570A (en) * | 2021-05-10 | 2021-07-13 | 国网山东省电力公司莱芜供电公司 | Automatic tracking fire extinguishing system |
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