A method and system for autonomous operation control of a substation fire-fighting robot

Abstract

The invention discloses a substation fire-fighting robot autonomous operation control method and system, comprising: establishing a three-dimensional data model of a substation, arranging wireless AP devices at multiple fire-fighting medium supply points in the substation, and constructing a wireless network in the substation; according to the wireless network Position the fire-fighting robot; determine the optimal location of the fire-fighting medium supply point, and plan the optimal path for the fire-fighting robot to reach the abnormal equipment; control the fire-fighting robot to automatically run to the location of the fire-fighting medium supply point, and complete the automatic docking of the fire hose; Control the fire-fighting robot to automatically run to the vicinity of abnormal equipment, and automatically calculate the best spray angle and spray flow according to the position of the ignition point. The invention can realize the whole set of closed-loop operation process of the substation fire-fighting robot discovering the fire, rushing to the location, automatically connecting the fire-fighting medium supply equipment, selecting the best working position and automatically extinguishing the fire, filling the gap in the technical field of automatic fire-fighting operation of the substation robot.

Description

technical field [0001] The invention relates to the technical field of fire-fighting robots in substations, in particular to a method and a system for controlling the autonomous operation of fire-fighting robots in substations. 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 easy to cause fires due to equipment failures, line defects and other problems. In the prior art, substation fire-fighting robots are used to monitor fire accidents in substations. Once a fire occurs, substation fire-fighting robots can immediately control the fire, which improves the monitoring and early warning level of early fire hazards in substations. [0004] However, the inventor found that most of the unattended substations are located in remote locations. Once a fire...

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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