Fire fighting device joint control system and method

By adding pressure sensors and valves in the firefighting devices of ultra-high voltage substations or converter stations, automatic linkage control between premixed foam firefighting equipment and current mixed foam firefighting equipment is achieved, which solves the problem of waste of fire extinguishing time caused by manual operations and improves fire handling speed and safety.

CN111589019BActive Publication Date: 2025-03-21UHV CO OF STATE GRID NINGXIA ELECTRIC POWER CO LTD
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Patent Information

Application Number
CN202010388075.7
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2020-05-09
Publication Date
2025-03-21
Estimated Expiration
2040-05-09

AI Technical Summary

Technical Problem

In the prior art, premixed foam firefighting equipment and current mixed foam firefighting equipment cannot achieve automatic joint control, resulting in manual operation in the event of a sudden fire, wasting fire extinguishing time.

Method used

A fire-fighting device joint control system is designed to achieve automatic linkage control by adding pressure sensors, valves and other components between the premixed foam fire-fighting components and the current mixed foam fire-fighting components.

Benefits of technology

It realizes that after the synthetic foam liquid is sprayed in the premixed foam fire protection component, the valve is automatically switched, and the current mixed foam fire protection component is activated to improve the fire handling speed and avoid the risks caused by artificial errors and leakage.

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Abstract

The present invention discloses a fire fighting device joint control system and method. The joint control system includes: a premixed foam fire fighting component, a ready-mixed foam fire fighting component, a nozzle and a controller; the premixed foam fire fighting component includes: a synthetic foam tank and a driving part, the outlet of the synthetic foam tank is connected to the inlet of the nozzle through a first pipe; the ready-mixed foam fire fighting component includes: a water fire fighting pipe network, a water pump, a foam stock tank and a foam pump, the outlet of the water fire fighting pipe network is connected to the inlet of the water pump through a second pipe, and the outlet of the water pump is connected to the first pipe through a third pipe; the first pipe is provided with a first pressure sensor, a normally open valve and a partition valve in sequence according to the flow direction; the second pipe is provided with a second pressure sensor and a first electric valve in sequence according to the flow direction; the third pipe is provided with a third pressure sensor, a second electric valve and a normally closed valve in sequence according to the flow direction. The present invention can realize valve switching in time, automatically start the ready-mixed foam fire fighting component, and improve the fire handling speed.
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Description

Technical Field

[0001] The present invention relates to the technical field of fire safety of ultra-high voltage transformer substations / converter stations, and in particular to a fire protection device joint control system and method. Background Art

[0002] UHV substations and converter stations mostly use PWZ / SP synthetic foam spray fire extinguishing equipment (i.e. premixed foam) as fire prevention and control equipment. In order to increase the continuous spraying time of foam, ready-mixed foam fire fighting equipment is introduced on the basis of premixed foam fire fighting equipment, so as to improve the fire fighting capacity of UHV substations and converter stations. However, the premixed foam fire fighting equipment and ready-mixed foam fire fighting equipment in the prior art are independent of each other, resulting in the inability to achieve automatic joint control of the two sets of equipment, which can only be manually stepped by operators. In the event of a sudden fire, the operator manually steps to operate the fire extinguishing device, which greatly wastes the time for handling power grid and equipment accidents and the initial effective fire extinguishing time. Summary of the invention

[0003] The embodiment of the present invention provides a fire fighting device joint control system and method to solve the problem of wasting effective fire fighting time by manually controlling premixed foam fire fighting equipment and ready-mixed foam fire fighting equipment in the prior art.

[0004] In a first aspect, a fire-fighting device joint control system is provided, which is used in a UHV substation or a converter station, and the fire-fighting device joint control system includes: a premixed foam fire-fighting component, a ready-mixed foam fire-fighting component, a sprinkler and a controller;

[0005] The premixed foam firefighting assembly comprises: a synthetic foam tank and a driving part for driving the foam in the synthetic foam tank to spray out, wherein the outlet of the synthetic foam tank is connected to the inlet of the nozzle through a first pipe;

[0006] The ready-mix foam firefighting assembly comprises: a water firefighting pipe network, a water pump, a foam stock liquid tank and a foam pump, wherein the outlet of the water firefighting pipe network is connected to the inlet of the water pump through a second pipe, the outlet of the water pump is connected to the first pipe through a third pipe, the outlet of the foam stock liquid tank is connected to the inlet of the foam pump through a fourth pipe, the outlet of the foam pump is connected to the third pipe through a fifth pipe, and a liquid level sensor is provided at the bottom of the foam stock liquid tank;

[0007] The first pipeline is provided with a first pressure sensor, a normally open valve and a partition valve in sequence according to the flow direction, the normally open valve is located upstream of the communication port between the first pipeline and the third pipeline, and the partition valve is located downstream of the communication port between the first pipeline and the third pipeline; the second pipeline is provided with a second pressure sensor and a first electric valve in sequence according to the flow direction; the third pipeline is provided with a third pressure sensor, a second electric valve and a normally closed valve in sequence according to the flow direction, the second electric valve is located upstream of the communication port between the third pipeline and the fourth pipeline, and the normally closed valve is located downstream of the communication port between the third pipeline and the fourth pipeline;

[0008] The controller is electrically connected to the driving part, the partition valve, the water pump, the foam pump, the first pressure sensor, the second pressure sensor, the third pressure sensor, the first electric valve, the second electric valve, the normally open valve, the normally closed valve and the liquid level sensor, respectively.

[0009] In a second aspect, a fire-fighting device joint control method is provided, which is used in the fire-fighting device joint control system described in the embodiment of the first aspect, and the fire-fighting device joint control method includes:

[0010] When a fire is detected, the controller sequentially opens the driving unit and the partition valve to deliver the synthetic foam liquid in the synthetic foam tank to the nozzle to extinguish the fire using the synthetic foam liquid;

[0011] If the pressure value detected by the first pressure sensor is not greater than a first preset threshold, the controller closes the normally open valve and opens the normally closed valve;

[0012] If the pressure value detected by the second pressure sensor is not less than a second preset threshold value, the controller sequentially turns on the first electric valve and the water pump to deliver water in the water fire fighting pipe network to the sprinkler head so as to use the water for fire extinguishing;

[0013] If the pressure value detected by the third pressure sensor is not less than a third preset threshold value, the controller turns on the foam pump to deliver the foam liquid in the foam liquid tank to the nozzle, so as to extinguish the fire with a mixture of the water and the foam liquid;

[0014] If the liquid level in the foam raw liquid tank detected by the liquid level sensor is lower than a fourth preset threshold, the controller turns off the foam pump to use the water for fire extinguishing.

[0015] In this way, the embodiment of the present invention adds components such as pressure sensors and valves between the premixed foam fire-fighting component and the ready-mixed foam fire-fighting component to achieve automatic linkage control. After the synthetic foam liquid premixed in the premixed foam fire-fighting component is sprayed, the valve switching can be timely achieved to automatically start the ready-mixed foam fire-fighting component, thereby improving the fire handling speed and avoiding the risks caused by human errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0017] Figure 1 Schematic diagram of the overall structure of the fire protection device joint control system according to an embodiment of the present invention;

[0018] Figure 2 Schematic diagram of the connection structure of the first battery, the second battery and the controller of the fire protection device joint control system according to an embodiment of the present invention;

[0019] Figure 3 It is a flow chart of the fire fighting device joint control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] The embodiment of the present invention discloses a fire fighting device joint control system. The joint control system is used in a UHV substation or a converter station. Figure 1 As shown, the fire-fighting device joint control system includes: a premixed foam fire-fighting component, a ready-mixed foam fire-fighting component, a sprinkler 1 and a controller 2.

[0022] Among them, the premixed foam fire-fighting component can adopt the existing PWZ / SP synthetic foam spray fire-fighting equipment. The premixed foam fire-fighting component includes: a synthetic foam tank 3 and a driving unit for driving the foam in the synthetic foam tank 3 to spray out. The driving unit is specifically composed of a control panel 4, a driving device 5 and a power bottle group 6. The control panel 4 is connected to the driving device 5, and the driving device 5 is connected to the power bottle group 6. The power bottle group 6 is connected to the inlet of the synthetic foam tank 3. The outlet of the synthetic foam tank 3 is connected to the inlet of the nozzle 1 through the first pipe 7.

[0023] The ready-mix foam firefighting assembly includes: a water firefighting pipe network 8, a water pump 9, a foam liquid tank 10 and a foam pump 11. The outlet of the water firefighting pipe network 8 is connected to the inlet of the water pump 9 through a second pipe 12. The outlet of the water pump 9 is connected to the first pipe 7 through a third pipe 13. The outlet of the foam liquid tank 10 is connected to the inlet of the foam pump 11 through a fourth pipe 14. The outlet of the foam pump 11 is connected to the third pipe 13 through a fifth pipe 15. A liquid level sensor 16 is provided at the bottom of the foam liquid tank 10.

[0024] The first pipeline 7 is provided with a first pressure sensor 17, a normally open valve 18 and a partition valve 19 in sequence according to the flow direction. The normally open valve 18 is located upstream of the connection port between the first pipeline 7 and the third pipeline 13. The partition valve 19 is located downstream of the connection port between the first pipeline 7 and the third pipeline 13. The second pipeline 12 is provided with a second pressure sensor 20 and a first electric valve 21 in sequence according to the flow direction. The third pipeline 13 is provided with a third pressure sensor 22, a second electric valve 23 and a normally closed valve 24 in sequence according to the flow direction. The second electric valve 23 is located upstream of the connection port between the third pipeline 13 and the fourth pipeline 14. The normally closed valve 24 is located downstream of the connection port between the third pipeline 13 and the fourth pipeline 14.

[0025] The controller 2 is electrically connected to the driving part, the partition valve 19, the water pump 9, the foam pump 11, the first pressure sensor 17, the second pressure sensor 20, the third pressure sensor 22, the first electric valve 21, the second electric valve 23, the normally open valve 18, the normally closed valve 24 and the liquid level sensor 16 respectively. The controller 2 may include: a PLC sub-controller, a water pump sub-controller, a foam pump sub-controller and a solenoid valve sub-controller. The water pump 9 is electrically connected to the water pump sub-controller, the foam pump 11 is electrically connected to the foam pump sub-controller, the first electric valve 21, the second electric valve 23, the normally open valve 18 and the normally closed valve 24 are electrically connected to the solenoid valve sub-controller, and the driving part, the partition valve 19, the first pressure sensor 17, the second pressure sensor 20, the third pressure sensor 22 and the liquid level sensor 16 are electrically connected to the PLC sub-controller.

[0026] Preferably, in order to avoid the situation where a water pump 9 fails and joint fire extinguishing cannot be achieved, the number of water pumps 9 and first electric valves 21 in the embodiment of the present invention is two, so that one of the water pumps 9 and the first electric valve 21 can be used as a backup. The second pipeline 12 includes: a first main road and two first branches connected to the first main road. The inlet of the first main road is connected to the outlet of the water fire fighting pipe network 8. The outlet of each first branch is connected to the inlet of each water pump 9. The second pressure sensor 20 is arranged on the first main road. Each first electric valve 21 is arranged on each first branch.

[0027] Preferably, in order to cooperate with the two water pumps 9, the third pipeline 13 includes: a second main road and two second branches connected to the second main road. The inlet of each second branch is connected to the outlet of each water pump 9. The outlet of the second main road is connected to the first pipeline 7. A check valve 25 is arranged on each second branch to prevent water from flowing back. The third pressure sensor 22, the second electric valve 23 and the normally closed valve 24 are all arranged on the second main road. The fourth pipeline 14 is connected to the second main road.

[0028] In this way, when extinguishing a fire through the water fire fighting pipe network 8, one water pump 9 can be turned on to extinguish the fire. When one water pump 9 or the first electric valve 21 fails, another water pump 9 and the first electric valve 21 can be turned on in time.

[0029] Specifically, Figure 2 As shown, the fire fighting device joint control system also includes: a first battery V1 and a second battery V2. The first battery V1 and the second battery V2 are both electrically connected to the controller 2, and are used to supply power to the controller 2 so that the controller 2 can work normally. Generally, one of the first battery V1 and the second battery V2 is used as a main battery to supply power to the controller 2, and the other battery is used as a backup battery. When the power of the main battery is low, the backup battery can be switched to supply power to the controller 2 to prevent the controller 2 from failing to work normally.

[0030] Specifically, the negative electrode of the first battery V1 is electrically connected to the drain of the first field effect transistor (MOSFET) M1, and the source of the first field effect transistor M1 is electrically connected to the drain of the second field effect transistor M2. The negative electrode of the second battery V2 is electrically connected to the drain of the third field effect transistor M3, and the source of the third field effect transistor M3 is electrically connected to the drain of the fourth field effect transistor M4. One end of the controller 2 is electrically connected to the source of the second field effect transistor M2 and the source of the fourth field effect transistor M4, respectively. The other end of the controller 2 is electrically connected to the positive electrode of the first battery V1 and the positive electrode of the second battery V2. The positive electrode of the first battery V1 is electrically connected to the positive electrode of the second battery V2. When the first battery V1 is required to work, the first field effect transistor M1 and the second field effect transistor M2 are turned on, while the third field effect transistor M3 and the fourth field effect transistor M4 are turned off. When the controller 2 detects that the power of the first battery V1 is too low, for example, only 10% of the power remains, the controller 2 controls the second field effect tube M2 to turn off. At this time, the second field effect tube M2 is equivalent to a diode, and the first battery V1 continues to supply power. The third field effect tube M3 is turned on, so that the first battery V1 and the second battery V2 supply power together. The first field effect tube M1 is turned off, and the first battery V1 no longer supplies power to the controller 2. The second battery V2 continues to supply power. The third field effect tube M3 is equivalent to a diode, and the fourth field effect tube M4 is turned on, and the power of the second battery V2 reaches the maximum value. Similarly, if the second battery V2 supplies power first and the first battery V1 supplies power later, the third field effect tube M3 and the fourth field effect tube M4 are turned on, the first field effect tube M1 and the second field effect tube M2 are turned off, and then the fourth field effect tube M4 is turned off first, the first field effect tube M1 is turned on, and then the third field effect tube M3 is turned off, and the second field effect tube M2 is turned on. Through the above structure, smooth switching of batteries is achieved without the risk of battery power failure and short circuit, and the field effect tube is safe and not easy to burn out; the problem of battery reverse charging is solved without the need to add an additional parallel controller, thereby reducing costs.

[0031] In summary, the fire-fighting device joint control system of the embodiment of the present invention adds components such as pressure sensors and valves between the premixed foam fire-fighting component and the ready-mixed foam fire-fighting component to achieve automatic linkage control. After the synthetic foam liquid premixed in the premixed foam fire-fighting component is sprayed, the valve switching can be achieved in time to automatically start the ready-mixed foam fire-fighting component, thereby improving the fire handling speed and avoiding the risks caused by human errors.

[0032] Based on the fire fighting device joint control system of the above embodiment, the embodiment of the present invention further discloses a fire fighting device joint control method. The joint control method is used in the fire fighting device joint control system of the above embodiment. Specifically, Figure 3 As shown, the fire protection device joint control method includes the following steps:

[0033] Step S301: When a fire is detected, the controller opens the driving part and the partition valve in sequence to deliver the synthetic foam liquid in the synthetic foam tank to the nozzle to extinguish the fire with the synthetic foam liquid.

[0034] Specifically, the fire situation can be monitored through the control panel of the drive unit. After the fire situation is detected, the premixed foam fire-fighting assembly is first used to extinguish the fire. After the drive unit is turned on, if the partition valve is not opened, the power bottle group is opened to allow nitrogen to be filled into the synthetic foam tank, and the pressure of the synthetic foam liquid increases. The pressure value detected by the first pressure sensor increases from 0. For PWZ / SP synthetic foam spray fire extinguishing equipment, it generally increases to 0.5MPa, that is, the stable spray condition pressure is reached, so that after the partition valve is opened, the synthetic foam liquid in the synthetic foam tank is used for spray extinguishing. During the fire extinguishing process, as the synthetic foam liquid in the synthetic foam tank decreases, the pressure value detected by the first pressure sensor gradually decreases from 0.5MPa.

[0035] Step S302: If the pressure value detected by the first pressure sensor is not greater than the first preset threshold, the controller closes the normally open valve and opens the normally closed valve.

[0036] According to repeated tests, the first preset threshold value of the preferred embodiment of the present invention is determined to be 0.1 MPa. When the pressure value detected by the first pressure sensor drops to the first preset threshold value, it indicates that the synthetic foam liquid in the synthetic foam tank has been basically sprayed, and the premixed foam firefighting assembly can no longer play the role of extinguishing fire. Therefore, the normally open valve is closed and the normally closed valve is opened to switch to the ready-mixed foam firefighting assembly, and the ready-mixed foam firefighting assembly is used to extinguish the fire.

[0037] Step S303: If the pressure value detected by the second pressure sensor is not less than the second preset threshold, the controller turns on the first electric valve and the water pump in sequence to transport water in the water fire fighting network to the sprinkler to extinguish the fire with water.

[0038] According to repeated tests, the second preset threshold value of the preferred embodiment of the present invention is determined to be 0.4 MPa. If the pressure value detected by the second pressure sensor rises to the second preset threshold value, the condition for starting the ready-mix foam fire-fighting assembly to extinguish the fire is met, and the first electric valve and the water pump can be opened in sequence, and water can be delivered by the water fire-fighting pipe network to extinguish the fire.

[0039] Step S304: If the pressure value detected by the third pressure sensor is not less than the third preset threshold, the controller turns on the foam pump to deliver the foam liquid in the foam liquid tank to the nozzle to extinguish the fire with a mixture of water and foam liquid.

[0040] According to repeated tests, the third preset threshold value of the preferred embodiment of the present invention is determined to be 0.4 MPa to avoid insufficient flow leading to protection action and failure to extinguish the fire. If the pressure value detected by the third pressure sensor rises to the third preset threshold value, the foam pump can be turned on to output the foam stock solution in the foam stock solution tank, and the foam stock solution is mixed with water in the pipeline and used as a fire extinguishing medium to perform fire extinguishing operations.

[0041] Step S305: If the liquid level in the foam liquid tank detected by the liquid level sensor is lower than a fourth preset threshold, the controller turns off the foam pump to use water to extinguish the fire.

[0042] The fourth threshold value can be determined through experiments according to the size and shape of the foam liquid tank. If the liquid level sensor detects that the liquid level in the foam liquid tank is lower than the fourth preset threshold value, it indicates that the foam liquid in the foam liquid tank has been consumed and can no longer be provided. Therefore, the foam pump can be turned off and only water can be used as the fire extinguishing medium to extinguish the fire.

[0043] Preferably, the fire fighting device joint control method further includes:

[0044] If the pressure value detected by the second pressure sensor is not greater than the fifth preset threshold, the controller turns off the water pump and the foam pump.

[0045] According to repeated tests, the fifth preset threshold of the preferred embodiment of the present invention is determined to be 0.2MPa. If the pressure value detected by the second pressure sensor is not greater than the fifth preset threshold, it indicates that the flow rate is insufficient, and the water pump and the foam pump should be turned off to avoid damage to the water pump and the foam pump.

[0046] In summary, the fire-fighting device joint control method of the embodiment of the present invention can realize valve switching in time after the premixed synthetic foam liquid in the premixed foam fire-fighting component is sprayed, automatically start the ready-mixed foam fire-fighting component, improve the fire handling speed, and also avoid the risks caused by human errors.

[0047] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A fire protection device joint control system, used in a UHV substation or converter station, characterized in that: The fire-fighting device joint control system comprises: a premixed foam fire-fighting component, a ready-mixed foam fire-fighting component, a sprinkler, a controller, a first battery and a second battery; The premixed foam firefighting assembly comprises: a synthetic foam tank and a driving part for driving the foam in the synthetic foam tank to spray out, wherein the outlet of the synthetic foam tank is connected to the inlet of the spray head through a first pipe; The ready-mix foam firefighting assembly comprises: a water firefighting pipe network, a water pump, a foam stock liquid tank and a foam pump, wherein the outlet of the water firefighting pipe network is connected to the inlet of the water pump through a second pipe, the outlet of the water pump is connected to the first pipe through a third pipe, the outlet of the foam stock liquid tank is connected to the inlet of the foam pump through a fourth pipe, the outlet of the foam pump is connected to the third pipe through a fifth pipe, and a liquid level sensor is provided at the bottom of the foam stock liquid tank; The first pipeline is provided with a first pressure sensor, a normally open valve and a partition valve in sequence according to the flow direction, the normally open valve is located upstream of the communication port between the first pipeline and the third pipeline, and the partition valve is located downstream of the communication port between the first pipeline and the third pipeline; the second pipeline is provided with a second pressure sensor and a first electric valve in sequence according to the flow direction; the third pipeline is provided with a third pressure sensor, a second electric valve and a normally closed valve in sequence according to the flow direction, the second electric valve is located upstream of the communication port between the third pipeline and the fourth pipeline, and the normally closed valve is located downstream of the communication port between the third pipeline and the fourth pipeline; The controller is electrically connected to the driving part, the partition valve, the water pump, the foam pump, the first pressure sensor, the second pressure sensor, the third pressure sensor, the first electric valve, the second electric valve, the normally open valve, the normally closed valve and the liquid level sensor respectively; The first battery and the second battery are both electrically connected to the controller; There are two water pumps and two first electric valves, and the second pipeline includes: a first main road and two first branches connected to the first main road, the inlet of the first main road is connected to the outlet of the water fire fighting pipe network, and the outlet of each first branch is connected to the inlet of each water pump, the second pressure sensor is arranged on the first main road, and each first electric valve is arranged on each first branch.

2. The fire fighting device joint control system according to claim 1, characterized in that: The third pipeline includes: a second main road and two second branches connected to the second main road, the inlet of each of the second branches is connected to the outlet of each of the water pumps, the outlet of the second main road is connected to the first pipeline, a check valve is arranged on each of the second branches, the third pressure sensor, the second electric valve and the normally closed valve are all arranged on the second main road, and the fourth pipeline is connected to the second main road.

3. A fire protection device joint control method, characterized in that: For the fire-fighting device joint control system according to claim 2, the fire-fighting device joint control method comprises: When a fire is detected, the controller sequentially opens the driving unit and the partition valve to deliver the synthetic foam liquid in the synthetic foam tank to the nozzle to extinguish the fire using the synthetic foam liquid; If the pressure value detected by the first pressure sensor is not greater than a first preset threshold, the controller closes the normally open valve and opens the normally closed valve; If the pressure value detected by the second pressure sensor is not less than a second preset threshold value, the controller sequentially turns on the first electric valve and the water pump to deliver water in the water fire fighting pipe network to the sprinkler head so as to use the water for fire extinguishing; If the pressure value detected by the third pressure sensor is not less than a third preset threshold value, the controller turns on the foam pump to deliver the foam liquid in the foam liquid tank to the nozzle, so as to extinguish the fire with a mixture of the water and the foam liquid; If the liquid level in the foam raw liquid tank detected by the liquid level sensor is lower than a fourth preset threshold, the controller turns off the foam pump to use the water for fire extinguishing.

4. The fire fighting device joint control method according to claim 3, characterized in that: Also includes: If the pressure value detected by the second pressure sensor is not greater than a fifth preset threshold, the controller turns off the water pump and the foam pump.

5. The fire fighting device joint control method according to claim 3, characterized in that: The first preset threshold is 0.1 MPa.

6. The fire fighting device joint control method according to claim 3, characterized in that: The second preset threshold is 0.4 MPa.

7. The fire fighting device joint control method according to claim 3, characterized in that: The third preset threshold is 0.4 MPa.

8. The fire fighting device joint control method according to claim 4, characterized in that: The fifth preset threshold is 0.2 MPa.

Citation Information

Patent Citations

  • Fire-fighting device joint control system

    CN212416737U