Panoramic monitoring and linking control method and system for fire-fighting robot of transformer substation

Abstract

The invention discloses a panoramic monitoring and linking control method and system for a fire-fighting robot of a transformer substation. The panoramic monitoring and linking control method comprises the following steps: acquiring image information of different perspectives of equipment in the station through an unmanned aerial vehicle, and assisting the fire-fighting robot of the transformer substation to establish an in-station three-dimensional model; in a fire-fighting robot operation process, acquiring image information in the transformer substation in real time through the unmanned aerial vehicle, and assisting the robot to determine position coordinates, in the station, of the robot; acquiring ignition equipment image information through the unmanned aerial vehicle, and determining an ignition point position; controlling the robot to perform path planning and spray angle regulating according to the robot position and the ignition point position; in a robot operation process, acquiring ignition point position image in real time through the unmanned aerial vehicle, determining current state information of an ignition point, and transmitting the current state information to the robot, and regulating a fire-extinguishing strategy according to the received current state information of the ignition point through the robot. The panoramic monitoring and linking control methodhas the beneficial effects that: the unmanned aerial vehicle and robot equipment share data and operate in a linked mode, so that more clear field information can be obtained, more correct judgment isfavorably made, and operation effect is improved.

Description

technical field [0001] The invention relates to the technical field of substation fire-fighting robots, in particular to a panoramic monitoring and linkage control method and system for a substation fire-fighting robot. Background technique [0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art. [0003] There are a large number of high-voltage and high-current equipment in substations, which are prone to fires caused by equipment failures and line defects. At present, the fire-fighting facilities of substations mainly include automatic fire alarm system, fire-extinguishing system and fire-proof sealing. However, it is mainly in the important functional partitions that fire detectors are installed and have communication interfaces, which can feed back fire alarm signals to the staff. Although a few extremely important functional areas are equipped with automatic fire extingu...

AI Technical Summary

Problems solved by technology

[0005] Existing robots used in firefighting mostly rely on human remote control through visual inspection at a distance, do not support remote operations, and do not have any auxiliary equipment; Visibility In harsh environments, the robot’s built-in camera and the monitoring camera in the station are used to assist in the operation. Although the impact of harsh environments can be reduced, there will still be situations where the short-term faulty equipment is completely covered. When the equipment is covered, the robot equipped with The images returned by the camera are full of occlusions such as smoke, and there is no effective information for analysis, and the robot will not be able to identify equipment, ignition points, etc.; at this time, all information based on image processing cannot be accurately obtained.

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