Substation fire-fighting robot autonomous operation control method and system

Abstract

The invention discloses a substation fire-fighting robot autonomous operation control method and system, and the method comprises the steps: building a substation three-dimensional data model, arranging wireless AP equipment at a plurality of fire-fighting medium supply points in a substation, and constructing a wireless network in the substation; positioning the fire-fighting robot according to the wireless network; determining the position of the optimal fire-fighting medium supply point, and planning the optimal path from the fire-fighting robot to the abnormal equipment; controlling the fire-fighting robot to automatically run to the position of a fire-fighting medium supply point, and completing automatic butt joint of fire-fighting hoses; and controlling the fire-fighting robot to automatically run near the abnormal equipment, and automatically calculating the optimal spraying angle and spraying flow according to the position of the ignition point. The whole set of closed-loop operation process that the substation fire-fighting robot finds a fire, arrives at a place, is automatically connected with fire-fighting medium supply equipment, selects an optimal operation position and automatically extinguishes fire can be achieved, and the blank in the technical field of automatic fire-fighting operation of the substation robot is filled.

Description

technical field [0001] The invention relates to the technical field of substation fire-fighting robots, in particular to an autonomous operation control method and system for substation fire-fighting robots. 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. In the existing technology, the substation fire-fighting robot is used to monitor the fire accident in the substation. Once a fire occurs, the substation fire-fighting robot can control the fire in the first place, which improves the monitoring and early warning level of the early fire hazard in the substation. [0004] However, the inventor found that most of the unattended substations are located in remote locations. Once a fire bre...

AI Technical Summary

Problems solved by technology

[0005] 1. When a fire accident occurs in a substation, the dense smoke generated by the burning equipment often leads to a very complicated environment in the substation; the existing robot products in the substation mainly rely on laser modeling navigation, visual navigation and other means to realize navigation in the substation , and the fire source and the dense smoke generated in the substation often affect the navigation accuracy of the robot, which in turn affects the reliability of fire-fighting operations

[0006] 2. Most of the current fire-fighting robots use fire trucks for pressurized water supply, which cannot achieve continuous water supply

[0007] 3. The existing technology can only detect whether the connection between the fire robot and the fire hose is successful, but cannot monitor the entire docking process, so automatic connection cannot be realized; at present, the docking process of the fire robot and the fire hose, the connection of the fire hose Unavoidable human involvement in the deployment and retraction process, as well as in the detection of fire hose breakage

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