A remote control fire control operation system and a remote control fire control operation method

Abstract

The present invention provides a remote control fire control operation system and a remote control fire control operation method, which relate to the field of nuclear safety protection technology, in order to solve the technical problem of insufficient safety protection of fire control operators in radiation areas under nuclear accident emergency conditions in the prior art. The system includes a self-propelled platform and a remote terminal for controlling the self-propelled platform. The self-propelled platform includes a platform structure, an environmental identification and detection system, a fire control operation system and a control system. The fire control operation system includes a feeding system, a remote spraying system and a ground spreading system respectively connected to the feeding system. The fire control functional materials in the feeding system are sprayed out through the ground spreading system or the remote spraying system. The system can directly remotely control the self-propelled platform to participate in the fire control operation in the radiation area, thereby improving the safety of the operators.

Description

Technical Field

[0001] The present invention relates to the technical field of nuclear safety protection, and in particular to a remote control fire control operation system and a remote control fire control operation method. Background Art

[0002] It is well known that nuclear leakage accidents may still occur during the production, manufacturing, assembly, transportation, operation, and testing of nuclear facilities or nuclear fuels, although strict protective measures are taken, although the probability is small and the accidental nature is high. For example, in the Fukushima nuclear power plant leakage accident in Japan in 2011, the pressure vessel decompression, nuclear reactor explosion, cooling water leakage and other processes led to the release of radioactive pollutants into the environment. At the same time, radioactive substances in the air will spread with the movement of airflow, polluting a larger area; radioactive pollution leaked into the water body will also spread and pollute with factors such as the movement of ocean currents. The diffusion of radioactive substances in the atmosphere is affected by rainfall, wind strength and wind direction, and eventually falls to the surface through dry and wet deposition, greatly harming the terrestrial environment.

[0003] From the background of emergency disposal of nuclear power plant accident consequences, there are many conditions for accident consequence disposal, such as explosion splashing, continuous release of high temperature and high pressure smoke column, radioactive cloud or smoke plume dispersion at normal temperature, surface radioactive fallout, etc. According to different emergency conditions and surface characteristics of contaminated media, fire control methods and means suitable for the characteristics of the accident should be adopted. However, the above methods all require personnel to directly participate in the operation in the contaminated area, and insufficient protection can easily cause greater harm to the participants. Summary of the invention

[0004] The purpose of the present invention is to provide a remote control fire control operation system and a remote control fire control operation method to solve the technical problem that the fire control operation in the nuclear contaminated area requires direct participation of personnel in the prior art, and insufficient protection can easily cause great harm to the participating personnel. The preferred technical solution among the many technical solutions provided by the present invention can produce many technical effects (simple structure, low cost, easy to use) as described below.

[0005] The present invention provides a remote control operation method for eliminating the radiation consequences of a nuclear accident, comprising the following steps:

[0006] S1: The remote terminal controls the self-propelled platform carrying the membrane-based fire control functional materials to enter the high-temperature, high-toxicity and high-radiation operation area;

[0007] S2: The environment recognition and detection system of the self-propelled platform detects the work area information and transmits the work area information to the control system of the self-propelled platform. The control system of the self-propelled platform transmits the work area information to the remote terminal through wireless communication. The remote terminal analyzes the work area information and controls the movement of the self-propelled platform.

[0008] S3: Repeat S2 until the pollution source is determined;

[0009] S4: The remote terminal determines the pollution source treatment method based on the information sent back by the environmental identification and detection system. The remote terminal controls the fire control operation system installed on the self-propelled platform to adjust the operating posture and implement suppression or decontamination operations on radioactive dust and aerosols in the near-surface air and radioactive contaminants on the surface of the ground medium.

[0010] Preferably, after the fire control system is completed, the remote terminal controls the start-up of the high-pressure purge system of the self-propelled platform to purge and clean the fire control system and dry the pipelines to prevent blockage of the pipelines in the fire control system.

[0011] Preferably, the fire control operation system includes a feeding system, a remote spraying system and a ground spreading system. In step S4, the control system starts the feeding system and the remote spraying system or the feeding system and the ground spreading system according to the instructions of the remote terminal. When the feeding system and the remote spraying system are started, the working posture of the remote spraying system is adjusted and the membrane-based fire control functional materials are sprayed to the target source. The pan-tilt camera of the remote spraying system always records the operation status and transmits it back to the control system in real time to analyze the suppression effect. When the feeding system and the ground spreading system are started, the remote terminal controls the self-propelled platform to travel in a straight line toward the target source at a constant speed, and at the same time controls the ground spreading system to spray the fire control functional materials to achieve quantitative and uniform spreading and suppression of the ground. The first camera of the environmental identification and detection system always records the operation status and transmits it back to the control system in real time to analyze the suppression effect.

[0012] Preferably, in step S2, the ultrasonic probe of the environment recognition and detection system detects close-range obstacles and transmits the information back to the control system. When the distance between the self-propelled platform and the obstacle is lower than the minimum limit distance, the control system controls the self-propelled platform to stop moving forward, and the remote terminal corrects the speed and direction of the self-propelled platform according to the values ​​detected by the environment recognition and detection system.

[0013] The present invention provides a remote-controlled fire control operation system, which includes a self-propelled platform and a remote terminal that communicates wirelessly with the self-propelled platform. The self-propelled platform includes a platform structure, an environmental identification and detection system installed on the platform structure, a fire control operation system and a control system. The platform structure, the environmental identification and detection system and the fire control operation system are all electrically connected to the control system. The control system communicates wirelessly with the remote terminal. The fire control operation system includes a feeding system, a remote spraying system and a ground spreading system. The ground spreading system and the remote spraying system are respectively connected to the feeding system. The fire control functional materials in the feeding system are sprayed to the area requiring fire control through the ground spreading system and / or the remote spraying system.

[0014] The feeding system includes a premixing system and a dynamic mixer. The premixing system includes a premixer, a material box, and a delivery pump. The front end of the premixer is connected to the material box and the feeding port respectively through a first three-way valve, the rear end of the premixer is connected to the delivery pump, and the delivery pump is connected to the dynamic mixer and the material box respectively through a second three-way valve, and the dynamic mixer is connected to the remote injection system and the ground spreading system respectively through a third three-way valve.

[0015] Preferably, two premixing systems are provided, and the two premixing systems are connected in parallel and then connected in series with the dynamic mixer.

[0016] Preferably, a working chamber for accommodating a remote injection system is provided on the top of the platform structure. The remote injection system includes a pan-tilt camera, a suppression gun for injecting materials, and a lifting platform installed in the working chamber. The pan-tilt camera and the suppression gun are both installed on the lifting platform.

[0017] Preferably, the environment identification and detection system includes an ultrasonic probe for detecting obstacles, a temperature and humidity sensor for detecting ambient temperature and humidity, a detector for detecting radiation dose, and a first camera for providing a panoramic image of the scene. The ultrasonic probe, temperature and humidity sensor, detector and first camera are all electrically connected to the control system.

[0018] Preferably, it also includes a high-pressure purge system, which is electrically connected to the control system and coordinated with the fire control operation system so that the control system can control the high-pressure purge system to clean the fire control operation system.

[0019] The remote control fire control operation system provided by the present invention is different from the prior art in that the self-propelled platform includes a platform structure capable of self-propelled movement, an environmental identification and detection system, a fire control operation system and a control system installed on the platform structure, the environmental identification and detection system, the fire control operation system and the platform structure are electrically connected to the control system, the control system communicates wirelessly with the remote terminal, the control system and the remote terminal can bidirectionally transmit signals, so that the remote terminal can analyze the signals transmitted by the control system and control the platform structure, the environmental identification and detection system and the fire control operation system through the control system, and the fire control operation system includes a ground spreading system and a remote injection system to respectively deal with nuclear contaminated blocks under different working conditions. The system has a simple structure and good fire control operation effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 The figure is a schematic diagram of the overall structure of the self-propelled platform;

[0022] Figure 2 It is a schematic diagram of the remote injection system structure;

[0023] Figure 3 It is a structural diagram of the high-pressure purge system;

[0024] Figure 4 This is the control relationship diagram of the remote control fire control system.

[0025] In the figure: 1. Platform structure; 2. Temperature and humidity sensor; 3. Detector; 4. First camera; 5. PTZ camera; 6. High-pressure purge system; 7. Material box; 8. Ground spreading system; 9. Suppression gun; 10. Lifting platform; 11. Dynamic mixer; 12. Premixer; 13. DC drive motor; 14. Delivery pump; 15. Reducer; 16. Horizontal rotation motor; 17. Pitch motor; 18. Telescopic push rod. DETAILED DESCRIPTION

[0026] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0027] Embodiment 1

[0028] The present invention provides a remote control fire control system. Figure 1-4 As shown, the remote control fire control operation system includes a remote terminal and a self-propelled platform. The remote terminal and the self-propelled platform communicate wirelessly. A wireless video operating system matching the tower system in the self-propelled platform is set up in the remote terminal. The operator can be located outside the contaminated area and receive the detection information of the self-propelled platform through the remote terminal and control the work of the self-propelled platform. The self-propelled platform includes a platform structure 1 that can walk by itself, and an environmental identification and detection system for detecting environmental information installed on the platform structure 1, a fire control operation system for suppressing or decontaminating nuclear pollutants, and a control system for controlling the work of the above systems and receiving and transmitting information. The platform structure 1, the environmental identification and detection system, and the fire control operation system are all connected to the control system signal. A wireless communication module is set in the control system, and the control system communicates wirelessly with the remote terminal. The self-propelled platform is powered by a lithium battery, and the platform structure 1, the environmental identification and detection system, the fire control operation system, and the control system are all electrically connected to the lithium battery. The remote terminal can be set as a remote control, a PC, a handheld device equipped with a system matching the control system, etc. The remote terminal has a display screen to display images and data information.

[0029] The fire control operation system includes a feeding system, a remote spraying system and a ground spreading system 8. The ground spreading system 8 and the remote spraying system are respectively connected to the feeding system. The fire control functional materials in the feeding system are sprayed out of the self-propelled platform through the ground spreading system 8 and / or the remote spraying system. The bottom spreading system is located below the remote spraying system. Preferably, the ground spreading system 8 is located at the bottom of the platform structure 1 and the remote spraying system is located at the top of the platform structure 1. The ground spreading system 8 corresponds to the ground and near-surface space. The remote spraying system can be used to deal with places, walls, grooves, etc. that the platform structure 1 cannot reach. The sprayed fire control functional materials and the near-surface and ground radioactive dust or aerosols form a copolymer film that adsorbs, embeds, links, and fixes radioactive pollutants to prevent the migration and diffusion of radioactive pollutants. The remote spraying system and the ground spreading system 8 are respectively installed at the top and bottom of the platform structure 1.

[0030] The feeding system includes a premixing system and a dynamic mixer 11. The premixing system includes a premixer 12, a material box 7, and a delivery pump 14. The front end of the premixer is connected to the material box 7 and the feeding port respectively through a first three-way electric control valve, and the rear end of the premixer 12 is connected to the inlet of the delivery pump 14, wherein the delivery pump 14 is driven to work by a DC motor and a reducer 15. The delivery pump 14 is connected to the dynamic mixer 11 and the material box 7 respectively through a second three-way electric control valve, and the dynamic mixer 11 is connected to the remote injection system and the ground spreading system respectively through a third three-way electric control valve. When the first three-way electric control valve selects the feeding port and the second three-way electric control valve selects the material box 7, the system executes the feeding operation mode; when the first three-way electric control valve selects the material box 7 and the second three-way electric control valve selects the dynamic mixer 11, the system executes the spraying operation mode (remote injection or ground spreading).

[0031] The fire control functional material mainly uses a working medium of a water-soluble pressed pre-detergent, a water-based fire control agent or a reactive pressed pre-detergent, which is a publicly available fire control functional material.

[0032] The water-based fire control agent is a single liquid, the water-soluble pressed pre-detergent is a powder and liquid mixture, the water-soluble pressed pre-detergent is used in a ratio of 1:49, and when used, it is added to the same container outside the machine in proportion, and the mixed material is injected into the material box 7 through the premixer 12 by the feeding pump. It is evenly modulated in the process of flowing through the premixer 12 to achieve the energy efficiency requirements of pressed fire control. When the fire control functional material is a water-soluble pressed pre-detergent or a water-based fire control agent, a premixing system can be used.

[0033] The reactive pressed pre-detergent is a liquid-liquid mixing type, and the usage ratio is 1:1. When the fire control functional material is a reactive pressed pre-detergent, two sets of premixing systems are used. When in use, the two groups of liquids are respectively injected into different material boxes 7 through different premixers 12. When the fire control operation is implemented, the two groups of liquids flow evenly into the dynamic online mixer 11 in a 1:1 ratio, and are evenly mixed, and then released to the fire control target area through the dynamic online mixer 11, so as to achieve the fire control energy efficiency requirements.

[0034] Preferably, in order to facilitate the use of any fire control functional materials and reduce equipment costs, the device adopts two pre-mixing systems, which are connected in parallel and then connected in series with the dynamic mixer 11.

[0035] The top of the platform structure 1 is provided with a working chamber for accommodating the remote injection system. The remote injection system includes a lifting platform 10, a suppression gun 9 and a pan-tilt camera 5. The lifting platform 10 is installed in the working chamber. When the lifting platform 10 is raised or lowered, the suppression gun 9 and the pan-tilt camera 5 are lifted to the top of the platform structure 1. The lifting platform 10 is driven by a DC motor and is lifted or lowered by an optical axis and a linear bearing guide. The lifting platform 10 is connected to the control system signal. When in use, it is lifted from the initial position (in the working chamber) to the working position (above the top of the platform structure 1) through remote terminal control, and the posture and spraying state of the suppression gun 9 are adjusted according to the position of the target area. The posture of the suppression gun 9 can be achieved by adjusting the angle of the platform structure 1.

[0036] Optionally, a horizontal rotation motor 16 for controlling horizontal rotation and a pitch motor 17 for controlling pitch can be used to drive the worm gear transmission assembly to drive the suppression gun 9, so as to realize the horizontal rotation and pitch of the suppression gun 9 at a fixed angle. The suppression gun 9 has the functions of columnar spraying and atomizing spraying, and can switch between columnar spraying and atomizing spraying by contracting the muzzle telescopic push rod 18. During the working process of the fire control operation system, when the remote spraying system works after the environmental identification and detection system, the control system and the remote terminal cooperate to determine the pollution source, the control system adjusts the lifting of the lifting platform 10, the pan-tilt camera 5 detects the pollution source, and the control system adjusts the posture of the suppression gun 9 to aim at the pollution source, and starts the suppression gun 9 to spray and suppress the pollution source. The pan-tilt camera 5 always records the operation status and transmits it back to the remote terminal in real time to analyze the suppression effect. Alternatively, the ground spraying system 8 is started to spray and suppress the pollution source target.

[0037] A wireless communication module is provided in the control system, and the control system communicates wirelessly with the remote terminal. The wireless communication module includes one or more combinations of WiFi modules, 3G modules, and 4G modules, and the control system is a microprocessor.

[0038] As an optional implementation, the environmental identification and detection system includes an ultrasonic probe for detecting obstacles, a temperature and humidity sensor 2 for detecting environmental temperature and humidity, a detector 3 for detecting radiation dose, and a first camera 4 for providing a panoramic image of the scene. The ultrasonic probe, temperature and humidity sensor 2, detector 3, and first camera 4 are all located on the platform structure 1.

[0039] Furthermore, there are four first cameras 4, which are arranged in four directions (front end, rear end, left side and right side) of the self-propelled platform, and are used to provide panoramic images of the scene during forward, backward, turning and fire control operations. There are four ultrasonic probes, which are arranged at the four top corners of the self-propelled platform, and are used to detect obstacles around during the process of traveling to prevent the platform structure from colliding with obstacles. The temperature and humidity sensor 2 and the detector 3 are fixed at the front end of the self-propelled platform to monitor the changes in environmental temperature and humidity and radiation dose; the ultrasonic probe, temperature and humidity sensor 2, detector 3 and first camera 4 are all electrically connected to the control system. The four first cameras 4 in different directions are used to provide panoramic images of the route of travel, and guide the self-propelled platform to travel through information interaction between the control system and the remote terminal.

[0040] After the fire control system is finished working, the fire control functional materials are easy to condense in the pipe and block the pipeline and nozzle. In order to solve the above problems, the remote control fire control system also includes a high-pressure purge system 6, which is electrically connected to the control system. The high-pressure purge system 6 is connected with the fire control system so that the control system can control the high-pressure purge system 6 to clean the fire control system. The high-pressure purge system 6 is connected and connected by threads in sequence by a high-pressure gas cylinder, a high-pressure valve (bottle head valve), a pressure reducing valve, a solenoid valve, a metal gas pipe and a one-way valve. The high-pressure purge system 6 is connected to the outlet of the delivery pump 14. In the pre-operation state, high-pressure gas is stored in the high-pressure gas cylinder, and the high-pressure valve and the pressure reducing valve are in an open state. After the fire control operation is completed, the electric control valve on the pipeline of the delivery pump 14 and the solenoid valve of the high-pressure purge system 6 are opened through the remote terminal, and high-pressure gas is released to continuously purge the pipeline until no liquid is ejected from the pipeline, completing the high-pressure purge. The one-way valve is used to prevent the fire control functional materials from rushing back into the solenoid valve.

[0041] The present invention provides a remote control fire control operation method, which automatically identifies or video identifies and locates the fire control object, adjusts the operation posture, and carries out the suppression or decontamination of radioactive dust or aerosol in the air near the surface and radioactive contaminants on the surface of the ground medium. Specifically, it includes the following steps:

[0042] S1: The remote terminal controls the self-propelled platform carrying the membrane-based fire control functional materials to enter the high-temperature, high-toxicity and high-radiation operation area;

[0043] S2: The environment recognition and detection system of the self-propelled platform detects the work area information and transmits the work area information to the control system of the self-propelled platform. The control system of the self-propelled platform transmits the work area information to the remote terminal through wireless communication. The remote terminal analyzes the work area information and controls the movement of the self-propelled platform.

[0044] S3: Repeat S2 until the pollution source is determined;

[0045] S4: The remote terminal determines the pollution source treatment method based on the information sent back by the environmental identification and detection system. The remote terminal controls the fire control operation system installed on the self-propelled platform to adjust the operating posture, and suppresses, covers or settles the radioactive dust and aerosols in the near-surface air and the radioactive contaminants on the surface of the ground medium.

[0046] Preferably, after the fire control system is completed, the remote terminal controls the start-up of the high-pressure purge system of the self-propelled platform to purge and clean the fire control system and dry the pipelines to prevent blockage of the pipelines in the fire control system.

[0047] Preferably, in step S4, the control system starts the feeding system and the remote injection system or the feeding system and the ground spreading system according to the instruction of the remote terminal.

[0048] When the feeding system and the remote injection system are started, the working posture of the remote injection system is adjusted, that is, the lifting platform 10 is raised and lowered, and the suppression gun 9 and the pan-tilt camera 5 are lifted to the top of the platform structure 1. After the suppression gun is rotated and adjusted to face the target source, the membrane-based fire control functional material is sprayed to the target source. The pan-tilt camera of the remote injection system always records the operating status and transmits it back to the control system in real time to analyze the suppression effect.

[0049] When the feeding system and the ground spreading system are started, the control system controls the platform structure to move in a straight line at a constant speed to achieve quantitative and uniform spreading and suppression of the ground. The first camera of the environmental recognition and detection system always records the operating status and transmits it back to the control system in real time to analyze the suppression effect.

[0050] Preferably, in step S2, the images acquired by the environment recognition and detection system arranged on the self-propelled platform are preprocessed to acquire images around the vehicle, and the images around the vehicle are sent to a remote terminal so that the remote terminal sends control instructions to the platform structure according to the received remote control request and the acquired images around the vehicle, and the control system receives the sent control instructions to realize remote control of the platform structure according to the control instructions.

[0051] Preferably, in step S2, the ultrasonic probe detects obstacles at close range, and the ultrasonic probe transmits information to the control system. The control system controls the platform structure 1 to automatically stop moving when the relative distance is less than 1m, so as to avoid collision damage caused by visual blind spots or video transmission delays; the temperature and humidity sensor 2 is used to detect whether the on-site temperature and humidity meet the operating temperature zone, and the detector 3 is used to detect the on-site radiation dose concentration to assist in determining the target area and detecting the operation effect. The video image and the detection value are transmitted back to the control terminal via wireless communication, and the control terminal corrects the forward speed and direction of the self-propelled platform according to the obtained on-site image and radiation dose concentration value. Correction of forward speed and direction is: if the on-site image shows that there is no obstacle in front of the platform structure 1, then accelerate forward along the original direction of travel; if the on-site image shows that there is an obstacle in front of the platform structure 1, remotely control the platform structure 1 to slow down and change the forward direction to bypass the obstacle; during the remote operation process, if it is found that the indication value detected by the detector 3 increases, the platform structure 1 has entered the contaminated area and continues to move forward along the original forward direction; if the instrument indication decreases, the platform structure 1 is operated to change the forward direction and move forward along the changed forward direction until the instrument indication begins to increase, and then move forward in the direction of increase until the pollution source is found. The control system includes a controller and a signal transceiver electrically connected to the controller, and the signal transceiver can transmit signals to the remote terminal and receive signals transmitted by the remote terminal.

[0052] 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 remote control fire control system, characterized in that: The invention comprises a self-propelled platform and a remote terminal for wireless communication with the self-propelled platform. The self-propelled platform comprises a platform structure, an environment identification and detection system installed on the platform structure, a fire control operation system and a control system. The platform structure, the environment identification and detection system and the fire control operation system are all connected with the control system signal. The control system communicates wirelessly with the remote terminal. The fire control operation system comprises a feeding system, a remote injection system and a ground spreading system. The ground spreading system and the remote injection system are respectively connected with the feeding system. The fire control functional material in the feeding system is sprayed to the area to be controlled by the ground spreading system and / or the remote injection system. The feeding system comprises a premixing system and a dynamic mixer. The premixing system comprises a premixer, a material box and a conveying pump. The front end of the premixer is respectively connected with the material box and the feeding port through a first three-way valve. The rear end of the premixer is connected with the conveying pump and the conveying pump is respectively connected with the dynamic mixer and the material box through a second three-way valve. The dynamic mixer is respectively connected with the remote injection system and the ground spreading system through a third three-way valve.

2. A remote control fire control system according to claim 1, characterized in that: Two premixing systems are provided, and the two premixing systems are connected in parallel and then connected in series with the dynamic mixer.

3. A remote control fire control system according to claim 2, characterized in that: A working chamber for accommodating a remote injection system is provided on the top of the platform structure. The remote injection system includes a pan-tilt camera, a suppression gun for injecting materials, and a lifting platform installed in the working chamber. The pan-tilt camera and the suppression gun are both installed on the lifting platform.

4. A remote control fire control system according to claim 3, characterized in that: The environment recognition and detection system includes an ultrasonic probe for detecting obstacles, a temperature and humidity sensor for detecting environmental temperature and humidity, a detector for detecting radiation dose, and a first camera for providing a panoramic image of the scene. The ultrasonic probe, temperature and humidity sensor, detector and first camera are all electrically connected to the control system.

5. A remote control fire control system according to claim 4, characterized in that: It also includes a high-pressure purge system, which is electrically connected to the control system and coordinated with the fire control operation system so that the control system can control the high-pressure purge system to clean the fire control operation system.

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