A collaborative fire extinguishing system and method suitable for an extra-high voltage substation

Abstract

The application discloses a kind of collaborative fire extinguishing system and method suitable for extra-high voltage substation, system includes: fire monitor, fire monitor control piano table, height robot and interconnection communication module;Fire monitor on the camera, the camera on the height robot and in-station auxiliary monitoring system are formed into multi-path video signal, and the multi-path video signal is coupled, and is transmitted to the fire monitor control piano table and the hand-held control terminal of the height robot by the interconnection communication module is shown and switched together;And the muzzle direction angle control command of fire monitor is accessed in the hand-held control terminal, so that fire scene, by one the hand-held control terminal simultaneously controls height robot, two sets of fire extinguishing system of fire monitor.The application can effectively solve the problems of difficult monitoring of fire situation of extra-high voltage transformer, poor positioning performance of fire monitor spraying, difficult collaborative control of multiple sets of fire extinguishing system, etc., after implementation, improve fire extinguishing efficiency.

Description

Technical Field

[0001] This invention relates to the field of fire protection technology, specifically to a collaborative fire extinguishing system and method applicable to ultra-high voltage substations. Background Technology

[0002] Ultra-high voltage (UHV) substations play a crucial role in modern power systems. UHV transformers, due to their large energy transmission capacity and oil storage, pose a significant fire risk. Currently, UHV substations are generally equipped with key firefighting equipment and facilities such as aerial ladder fire extinguishing robots and fire monitors. For DC converter stations, most have four-pole valve groups, designed and arranged in the order of Pole I High-Pole I Low-Pole II Low-Pole II High. Transformers in the same pole valve group are arranged face-to-face, while two low-end valve groups are arranged back-to-back. Fire monitors are generally located directly above the converter transformers on the eaves. Each converter transformer has at least two corresponding fire monitors above it on the left and right, and fire monitors are also installed on the opposite valve groups.

[0003] For AC substations, transformers are typically arranged in a linear configuration with three phases (A, B, and C) separated by firewalls, and fire monitors are positioned atop these firewalls. Due to the excellent extinguishing properties of compressed air foam for oil fires, most UHV substations currently use compressed air foam as the primary extinguishing medium for their fire monitors. Auxiliary monitoring cameras are also installed around the main transformers to monitor their daily operation. Fire monitors are generally controlled remotely from a control panel in the main control room, while aerial ladder robots are controlled by handheld terminals and can be operated at the fire scene. However, both have limitations in fire situation awareness.

[0004] In the actual operation of handling ultra-high voltage transformer fires, it was found that the camera built into the fire monitor body was easily covered by splashed compressed air foam. In addition, the fire scene was filled with dense smoke after the insulating oil burned, making it difficult for the remote control console of the fire monitor to effectively monitor the fire scene and adjust the direction and angle of the cannon in a timely manner according to the fire situation.

[0005] The elevated robot and transformer-assisted monitoring camera are far from the sprayed foam, allowing them to observe the fire situation. However, they belong to different systems from the fire monitor, which makes it difficult to share fire information and coordinate firefighting tactics. Staff must use walkie-talkies and other communication devices to transmit fire information and operating instructions, which reduces the efficiency of the response, increases the possibility of misoperation, and prevents the equipment from achieving its full effectiveness.

[0006] Therefore, the aforementioned problems hinder the efficient handling of fires at ultra-high voltage transformers, and the collaborative firefighting methods and control strategies involving multiple systems urgently need improvement.

[0007] In the prior art, patent CN115554633A discloses an invention patent, "An Automatic Identification and Control Method and System for Fire Monitor Platforms in UHVDC Converter Stations." This method addresses the problem that after a fire occurs, the camera of the fire monitor is obscured by foam spray, making it impossible to determine the spray position. It sets preset positions for the left and right phases of the valve group, enabling real-time and clear monitoring of the opposite phase after a fire in the valve group on the same level. This allows for accurate determination of the spray position and effect of the opposite fire monitor, and assists in adjusting the fire extinguishing direction and method of the opposite fire monitor to ensure effective fire suppression. However, this method has significant limitations. It is only applicable to UHVDC converter stations. AC station transformers do not have opposite phases, making it impossible to utilize opposite phase video monitoring for monitoring the development and handling of fires. Summary of the Invention

[0008] The technical problem to be solved by this invention is to solve the problem of efficient handling of fires in ultra-high voltage transformers.

[0009] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0010] A collaborative fire extinguishing system suitable for ultra-high voltage substations includes: a fire monitor (100), a fire monitor control console, a raised platform robot (200), and an interconnection communication module; the camera on the fire monitor (100), the camera on the raised platform robot (200), and the station auxiliary monitoring system are combined into multiple video signals, and the multiple video signals are coupled and transmitted through the interconnection communication module to the handheld control terminals of the fire monitor control console and the raised platform robot (200) for joint display and switching; and the muzzle direction angle control command of the fire monitor (100) is connected to the handheld control terminal, so that at the fire scene, one handheld control terminal can simultaneously control the two fire extinguishing systems, the raised platform robot (200) and the fire monitor (100).

[0011] In one embodiment of the present invention, the station auxiliary monitoring system includes a transformer operation auxiliary camera, a faulty phase-switching transformer opposite phase camera, and other cameras installed in other locations that can clearly monitor the fire handling situation.

[0012] In one embodiment of the present invention, the collaborative fire extinguishing system further includes an automatic switching module, and the multi-channel video signal coupling is achieved by the automatic switching module; the automatic switching module presets corresponding multi-channel monitoring signal rules for each phase transformer according to the actual situation, forms a rule list, and writes it into the automatic switching module system program.

[0013] In one embodiment of the present invention, the collaborative fire extinguishing system further includes a transformer fire fault phase location module, which is used to automatically identify the fire and locate the phase to which the transformer belongs, output specific fault phase information, and communicate with the automatic switching module. When the transformer fire fault phase location module outputs fault phase information and it is received by the automatic switching module, the module searches for and determines the corresponding monitoring signal source from the rule list of the automatic switching module and completes the switching output.

[0014] In one embodiment of the present invention, if the transformer phase in which a fire actually occurs in the station is inconsistent with the output phase of the transformer fire fault phase location module, the staff can manually adjust the actual fault phase so that the output screen of the fire monitor control console and the handheld control terminal are synchronously adjusted to the monitoring screen of the fault phase.

[0015] In one embodiment of the present invention, after a transformer fire occurs, the aerial robot (200) is deployed to the site and in position, and sends a signal indicating that it is in position to the interconnected communication module. The interconnected communication module obtains the camera monitoring signal at the front end of the aerial robot's (210) boom and wirelessly transmits it to the fire monitor control console. At the same time, the monitoring signal of the station auxiliary monitoring system and the camera signal on the fire monitor (100) are also transmitted by the interconnected communication module to the handheld control terminal, thereby realizing multi-channel bidirectional synchronous monitoring function.

[0016] In one embodiment of the present invention, the direction and angle control commands of the fire monitor (100) are accessed by the handheld control terminal and implemented by the fire extinguishing control module, which is installed in the handheld control terminal. When a transformer fire occurs, after the aerial robot (200) is deployed to the site and in position, it sends a signal indicating that it is in position to the fire extinguishing control module. The fire extinguishing control module communicates with the control system of the fire monitor (100) to obtain control authority, so that the horizontal and pitch angles of the fire monitor (100) can be adjusted by the handheld control terminal.

[0017] In one embodiment of the present invention, after the fire extinguishing control module communicates with the control system of the fire monitor (100), both the fire monitor control console and the handheld control terminal can control the angle and direction of the fire monitor (100) without conflict; when one party's operation command has not ended, the other party cannot control the fire monitor (100) temporarily.

[0018] This invention also provides a collaborative fire suppression method suitable for ultra-high voltage substations, which utilizes the aforementioned collaborative fire suppression system for ultra-high voltage substations and includes the following steps:

[0019] S100, the transformer fire fault phase location module receives the fire alarm signal, automatically identifies the fire, locates the phase of the transformer, and transmits the transformer fault phase information to the automatic switching module;

[0020] S200, the automatic switching module receives the transformer fault phase information, and automatically switches to the corresponding multi-channel video signal according to the preset rules and phase information, and outputs the all-round, multi-angle fire monitoring video to the fire monitor control console.

[0021] Upon receiving the fire alarm signal, the S300 fire monitor and aerial robot, guided by staff, initiated the emergency procedures and prepared to begin firefighting operations.

[0022] S400, according to the faulty phase of the transformer, the fire monitor rotates to the preset position and begins to spray the extinguishing medium; the aerial robot travels to the predetermined fire extinguishing position of the faulty phase transformer, completes the connection of the fire hose, the lifting of the aerial robot's boom, the rough positioning of the fire source direction, and sends a signal that it is in position.

[0023] S500, the interconnected communication module receives the positioning signal and acquires the camera monitoring signal on the high robot, and wirelessly transmits it to the fire monitor control console in the main control room. At the same time, the signal of the station auxiliary monitoring system is transmitted by the interconnected communication module to the handheld control terminal, thereby realizing the multi-channel bidirectional synchronous monitoring function.

[0024] S600, after the aerial robot is in place, the fire extinguishing control module inside the aerial robot communicates with the control system of the fire monitor to obtain control authority, so that the horizontal and pitch angles of the fire monitor can be changed by the handheld control terminal, and the fire monitor can be activated for bidirectional synchronous control.

[0025] S700, on the fire monitor control console and the handheld control terminal, carries out coordinated firefighting based on multi-angle, all-round fire monitoring video, fire monitors, aerial ladder robots and station auxiliary monitoring systems.

[0026] In one embodiment of the present invention, the working process of the transformer fire fault phase location module includes:

[0027] S110, the fire alarm system and fire monitor camera fire identification system in the station are connected to the input side of the transformer fire fault phase location module to monitor the transformer operation and output signals;

[0028] S120, A transformer fire has occurred, and the transformer fire fault phase location module has received a fire alarm signal;

[0029] S130, determine whether it matches the actual fire situation in the station; if it matches, the transformer fire fault phase location module outputs the fault phase information; if it does not match, the staff manually modify the actual fault phase information.

[0030] S140, the transformer fire fault phase location module outputs fault phase information to the automatic switching module to complete the next step of the collaborative fire extinguishing system function.

[0031] In one embodiment of the present invention, the coordinated fire extinguishing process in step S700 includes three stages: preset positioning, synchronous adjustment, and full-coverage spraying;

[0032] Preset positioning: The control system of the fire monitor (100) is equipped with a preset position function. Based on the experience of previous fires, the angle and direction of high-risk positions such as transformer grid side bushing, neutral point bushing, and oil tank are preset, so that the fire monitor can be positioned in the above positions with one click in the event of a fire. The first stage of coordinated fire extinguishing is preset positioning. Based on the fire monitoring screen, the fire location is determined, and the fire monitor (100) is adjusted to the preset position closest to the fire source using the one-click positioning function, and the compressed air foam and other fire extinguishing media are sprayed.

[0033] Synchronous adjustment, the aerial robot (200) is deployed and in place, the camera images on the aerial robot (200) are synchronously transmitted and shared, and the handheld control terminal obtains control authority of the fire monitor (100); according to the fire situation monitoring images of multiple video signals, the severity of the fire points is sorted and the order of fire extinguishing is arranged; the fire extinguishing strategy is formulated according to the size of the flame area, the largest flame is ranked first, the smaller flames are ranked in order, and when the areas are the same, the nearest fire point of the fire monitor (100) is given priority; the fire source location is comprehensively analyzed, with the transformer grid side bushing as the primary hazard source, and the tap changer, orifice, and transformer body are analyzed in order; the angle of the cannon muzzle is adjusted in two-way synchronously using the local robot control terminal and the remote Qintai to accurately strike the fire source.

[0034] After determining the order of fire suppression and the location of high-risk fire sources, the aerial ladder robot (200) and fire monitor (100) will conduct coordinated fire suppression, using multi-angle, full-coverage spraying to strike the fire source. For fire sources such as grid-side bushings and disconnect switches, the fire monitor spraying mode should be adjusted to direct current spray, focusing the spray on the burning bushing and orifice. For overflow fires caused by transformer body tears, before confirming the location of the body tear, the fire monitor spraying mode should be adjusted to mist mode to fully cover the overflow fire.

[0035] Compared with the prior art, the beneficial effects of the present invention are:

[0036] This invention addresses the problem of poor transparency in handling fires at ultra-high voltage transformer sites. It improves upon existing fire monitor control consoles by introducing multiple video monitoring sources, including cameras on the fire monitors, auxiliary monitoring cameras for transformer operation, and cameras on the aerial robot. These multiple video signals are connected to an automatic switching module, which automatically switches the fire scene view based on the phase of the faulty transformer. The images are simultaneously displayed and switched on both the fire monitor control console and the handheld control terminal of the aerial robot (200). The multiple video signals allow for multi-angle, all-round observation of the fire's development, providing strong decision-making support for adjusting the direction of the fire monitors and deploying firefighting tactics.

[0037] This invention proposes a collaborative control method and firefighting strategy for elevated robots and fire monitors in ultra-high voltage substations. By integrating the direction and angle control commands of the fire monitors into the handheld control terminal, a single handheld control terminal can simultaneously control both the elevated robot and the fire monitor at a fire scene, effectively improving fire response efficiency. Two-way control of the fire monitors and multi-channel, two-way synchronous display of fire scene monitoring images are achieved on both sides of the fire monitor control console and the handheld control terminal, greatly enhancing the fire information sharing and collaborative response capabilities of fire-fighting equipment belonging to different systems. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of a collaborative fire suppression system applicable to ultra-high voltage substations according to an embodiment of the present invention.

[0039] Figure 2 This is a flowchart illustrating a collaborative fire extinguishing method applicable to ultra-high voltage substations, as an embodiment of the present invention.

[0040] Figure 3 This is a flowchart illustrating the operation of the transformer fire fault phase location module according to an embodiment of the present invention. Detailed Implementation

[0041] To facilitate understanding of the technical solution of the present invention by those skilled in the art, the technical solution of the present invention will now be further described in conjunction with the accompanying drawings.

[0042] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0043] Example 1

[0044] Please see Figure 1As shown, this invention provides a collaborative fire suppression system suitable for ultra-high voltage substations, comprising: a fire monitor 100, a fire monitor control console, an aerial robot 200, and an interconnection communication module. The system integrates cameras on the fire monitor 100 and the aerial robot 200 with the substation's auxiliary monitoring system to form multiple video signals. These multiple video signals are coupled and transmitted via the interconnection communication module to the handheld control terminals of the fire monitor control console and the aerial robot 200 for simultaneous display and switching. This allows for multi-angle monitoring of the fire situation, with the monitoring images from multiple video signals simultaneously displayed and switched on both the fire monitor control console and the handheld control terminal, providing decision support for personnel to adjust the muzzle angle and deploy fire suppression tactics. Furthermore, the muzzle angle control commands of the fire monitor 100 are integrated into the handheld control terminal, enabling a single handheld control terminal to simultaneously control both the aerial robot 200 and the fire monitor 100 at the fire scene.

[0045] For an illustration of the locations of the fire monitor 100, the fire monitor control platform, and the aerial work robot 200, please refer to [link / reference needed]. Figure 1 As shown, in this embodiment, firewalls 310 are provided on both sides of the transformer 300. A fire monitor 100 is positioned at the top of the firewalls 310, with its muzzle facing the transformer 300. A boom robot 200 is located on the opposite side of the transformer 300. The boom 210 of the boom robot 200 is extendable, and the boom fire monitor 220 on the boom 200 is located at the extendable end of the boom 210. A camera is installed at the front end of the boom 210, facing the transformer 300, meaning that in the event of a fire, the boom robot 200 is at the first point of contact with the fire. The fire monitor control console is located in the main control room, away from the transformer 300. The control system of the fire monitor 100 and the station's auxiliary monitoring system are both connected to the fire monitor control console, but the fire monitor control console and the handheld control terminal use different control systems.

[0046] In one embodiment of the present invention, the station auxiliary monitoring system includes a transformer operation auxiliary camera, a faulty phase-switching transformer opposite-side camera (applicable to UHVDC stations), and other cameras installed in other locations capable of clearly monitoring fire handling. An interconnection communication module is installed in the fire monitor control console and the handheld control terminal, enabling communication between them. When a transformer fire occurs, the aerial work platform robot 200, after being deployed and in position, sends a "in position" signal to the interconnection communication module. The interconnection communication module acquires the monitoring signal from the camera at the front end of the aerial work platform robot 200's boom 210 and wirelessly transmits it to the fire monitor control console. Simultaneously, the monitoring signals from the station auxiliary monitoring system and the camera signals from the fire monitor 100 are also transmitted by the interconnection communication module to the handheld control terminal, thereby achieving multi-channel bidirectional synchronous monitoring.

[0047] In one embodiment of the present invention, the direction and angle control commands of the fire monitor 100 are implemented by the fire extinguishing control module, which is installed in the handheld control terminal. When a transformer fire occurs, the aerial work platform robot 200, after being deployed and positioned, sends a signal of being in position to the fire extinguishing control module. The fire extinguishing control module communicates with the control system of the fire monitor 100 to obtain control authority, enabling the horizontal and pitch angles of the fire monitor 100 to be adjusted by the handheld control terminal. After the fire extinguishing control module communicates with the control system of the fire monitor 100, both the fire monitor control console and the handheld control terminal can control the angle and direction of the fire monitor 100 without conflict. When one operation command is not completed, the other cannot temporarily control the fire monitor 100. The handheld control terminal can only adjust the direction and angle of the fire monitor 100, such as horizontal and pitch angles; other advanced functions such as spray flow rate, spray medium, and operating mode can only be controlled by the fire monitor control console.

[0048] In one embodiment of the present invention, the collaborative fire extinguishing system further includes an automatic switching module and a transformer fire fault phase location module. Multi-channel video signal coupling is achieved by the automatic switching module. For each phase transformer, the automatic switching module pre-sets corresponding multi-channel monitoring signal rules based on actual conditions, forms a rule list, and writes it into the automatic switching module system program.

[0049] The transformer fire fault phase location module is used to automatically identify the fire and locate the phase of the transformer, output specific fault phase information, and communicate with the automatic switching module. When the fault phase information output by the transformer fire fault phase location module is received by the automatic switching module, the module searches its rule list to determine the corresponding monitoring signal source and completes the switching output.

[0050] If the transformer phase that actually caught fire in the station is inconsistent with the output phase of the transformer fire fault phase location module, the staff can manually adjust the actual fault phase so that the output screen of the fire monitor control console and the handheld control terminal are synchronously adjusted to the monitoring screen of the fault phase.

[0051] The transformer fire fault phase location module receives fire alarm signals, and the input sources of the fire alarm signals include, but are not limited to, the fire alarm system in the station and the fire monitor camera fire identification system. The input sources of the fire alarm signals are also communicatively connected to the control system of the fire monitor 100 and the handheld control terminal.

[0052] Please see Figure 2 As shown, the present invention also provides a collaborative fire extinguishing method applicable to ultra-high voltage substations, comprising the following steps:

[0053] S100, the transformer fire fault phase location module receives the fire alarm signal, automatically identifies the fire, locates the phase to which the transformer belongs, and transmits the transformer fault phase information to the automatic switching module.

[0054] Please see Figure 2 and Figure 3 As shown, in this embodiment, the workflow of the transformer fire fault phase location module includes:

[0055] S110, the fire alarm system and fire monitor camera fire identification system in the station are connected to the input side of the transformer fire fault phase location module to monitor the transformer operation and output signals.

[0056] S120, A transformer fire has occurred, and the transformer fire fault phase location module has received a fire alarm signal.

[0057] S130: Determine if it matches the actual fire situation within the station; if it matches, the transformer fire fault phase location module outputs the fault phase information; if it does not match, the staff manually modify the actual fault phase information.

[0058] S140, the transformer fire fault phase location module outputs fault phase information to the automatic switching module to complete the next step of the collaborative fire extinguishing system function.

[0059] More specifically, the fire alarm system in S110 is a mandatory device in ultra-high voltage substations. The source of the transformer fire alarm signal can be a cable-type heat-sensing cable, infrared beam detector, ultraviolet flame detector or other detectors installed on the transformer body.

[0060] In the S110 fire detection system, visible light cameras are installed on the fire monitors, and some fire monitors are also equipped with infrared cameras. The fire detection system has a large number of built-in infrared image features of smoke and fire characteristics at the fire scene. It acquires video of transformer operation conditions through cameras, uses image target recognition and deep learning algorithms to detect and analyze smoke and fire targets within the monitoring range, extracts infrared features such as temperature distribution, and uses computer vision recognition algorithms to compare the image differences between 30 frames before and after the monitoring video to determine the fire situation and issue an alarm at the first time.

[0061] In S110, the fire alarm system and the fire monitor camera fire identification system within the station operate on different fire detection principles and are used in parallel without substitution. The fire alarm signal input interface of the fire fault phase location module described in S110 has an expansion backup design, which can be used to connect to new fire monitoring and alarm equipment systems based on the long-term deployment and related technical upgrades of the substation's relevant equipment.

[0062] S200, the automatic switching module receives the transformer fault phase information, and automatically switches to the corresponding multi-channel video signal according to the preset rules and phase information, outputting the all-round, multi-angle fire monitoring video to the fire monitor control console.

[0063] In one embodiment of the present invention, the automatic switching module is crucial for ensuring the correct switching and display of transformer fire video signals. Specifically, the automatic switching module connects to monitoring screens of multiple video signals and controls the output of fire response footage. Each transformer phase has pre-set rules for corresponding multi-channel monitoring signal sources based on the actual conditions within the substation, forming a rule list. The transformer fire fault phase location module outputs fault phase information, which is received by the automatic switching module. The module then searches the rule list to determine the corresponding monitoring signal source and automatically completes the switching output.

[0064] The automatic switching module completes the switching and display process of multiple fire-related video signals completely automatically, without human intervention. Furthermore, the automatic switching module is designed with long-term expansion and error redundancy functions. The long-term expansion function means that the accessed video signals can be updated according to future upgrades and renovations of the UHV substation. The error redundancy function means that if a program malfunction causes an error or failure in the screen switching, staff can specify the transformer phase to complete the switching.

[0065] Upon receiving the fire alarm signal, the S300 fire monitor and aerial ladder robot, guided by staff, initiated emergency procedures and prepared to begin firefighting operations.

[0066] S400: Based on the faulty phase of the transformer, the fire monitor rotates to the preset position and begins to spray the extinguishing medium; the aerial robot travels to the predetermined extinguishing position of the faulty phase transformer, completes the connection of the fire hose, the lifting of the aerial robot's boom, the rough positioning of the fire source, and sends a signal that it is in position.

[0067] S500, the interconnected communication module receives the positioning signal and acquires the camera monitoring signal on the high robot, which is wirelessly transmitted to the fire monitor control console in the main control room. At the same time, the signal of the station auxiliary monitoring system is transmitted by the interconnected communication module to the handheld control terminal, thereby realizing the multi-channel two-way synchronous monitoring function.

[0068] In one embodiment of the present invention, the interconnection communication module plays a communication interconnection role between the aerial work platform 200, the fire monitor control console, and the station auxiliary monitoring system. After receiving the positioning signal of the aerial work platform 200, the interconnection communication module acquires the monitoring signal from the front-end camera of the aerial work platform 210 and wirelessly transmits it to the remote fire monitor control console. At the same time, the camera signal from the opposite side of the fault-switching transformer and the transformer operation auxiliary camera signal can also be transmitted by the interconnection communication module to the handheld control terminal.

[0069] S600 After the aerial robot is in place, the fire extinguishing control module inside the aerial robot communicates with the control system of the fire monitor to obtain control authority, so that the horizontal and pitch angles of the fire monitor can be changed by the handheld control terminal, and the fire monitor can be activated for bidirectional synchronous control.

[0070] In one embodiment of the present invention, the fire extinguishing control module receives the positioning signal. Specifically, after the aerial work robot 200 travels to the predetermined fire extinguishing position of the faulty phase transformer and completes preparations such as lifting the aerial work boom 210, adjusting its direction, and connecting the water hose, the interconnection communication module transmits and displays multiple video signals bidirectionally and synchronously. After the multiple video signals are transmitted stably, the collaborative fire extinguishing system sends a monitoring positioning signal to the fire extinguishing control module. The fire extinguishing control module communicates with the control system of the fire monitor 100 to obtain control authority over the angle and orientation.

[0071] The functions of the interconnection and communication module and the fire extinguishing control module are executed in a strict order, with the interconnection and communication module executing first and the fire extinguishing control module executing later.

[0072] S700, on the fire monitor control console and the handheld control terminal, carries out coordinated firefighting based on multi-angle, all-round fire monitoring video, fire monitors, aerial ladder robots and station auxiliary monitoring systems.

[0073] In one embodiment of the present invention, the coordinated fire extinguishing process includes three stages: preset positioning, synchronous adjustment, and full-coverage spraying;

[0074] Pre-positioning: The control system of the fire monitor 100 has a pre-positioning function. Based on past fire experience, the angles and directions of high-risk locations such as transformer grid-side bushings, neutral point bushings, and oil conservators are pre-set, allowing for one-click positioning during a fire. The first stage of coordinated firefighting is pre-positioning. Based on the fire monitoring screen, the location of the fire is determined, and the one-click positioning function is used to adjust the fire monitor 100 to the pre-positioned position closest to the fire source, activating the spraying of extinguishing media such as compressed air foam.

[0075] Synchronous adjustment and deployment of the aerial work platform robot 200: the camera footage on the aerial work platform robot 200 is transmitted and shared synchronously, and the handheld control terminal obtains control of the fire monitor 100; based on the fire situation monitoring images from multiple video signals, the severity of the fire points is ranked, and the order of fire suppression is arranged; a fire suppression strategy is formulated based on the size of the flames, prioritizing the largest flames, followed by smaller flames, and in the case of flames of the same size, prioritizing the closest fire point to the fire monitor 100; a comprehensive analysis of the fire source location is conducted, with the transformer grid side bushing as the primary hazard source, followed by analysis of tap changers, orifices, and transformer bodies, and the angle of the fire monitor is adjusted synchronously in both directions using the local robot control terminal and the remote control platform to accurately strike the fire source.

[0076] After determining the order of fire suppression and the location of high-risk fire sources, the aerial ladder robot 200 and fire monitor 100 will coordinate to extinguish the fire, using multi-angle, full-coverage spray to strike the fire source. For fire sources such as grid-side bushings and disconnect switches, the fire monitor spray mode should be adjusted to direct current spray, focusing the spray on the burning bushing and orifice. For overflow fires caused by transformer body tears, the fire monitor spray mode should be adjusted to mist mode to fully cover the overflow fire until the location of the tear is confirmed.

[0077] Please see Figure 1 and Figure 2 As shown, in one embodiment of the present invention, the fire monitor 100 is the main device for handling transformer fires, and the aerial robot 200 is an auxiliary fire extinguishing device. The fire monitor control console has higher control authority over the fire monitor than the handheld control terminal. The fire extinguishing medium of the fire monitor 100 is provided by a compressed air foam extinguishing system. Key system functions such as spray flow rate, operating mode, and emergency shutdown can only be controlled by the fire monitor control console. The handheld control terminal can only adjust the horizontal and vertical angles of the fire monitor to meet the requirements of precise fire extinguishing.

[0078] It should be noted that in an ultra-high voltage substation, each transformer typically has two corresponding fire monitors 100 responsible for fire suppression. The horizontal and vertical angles of the fire monitors 100 are adjusted by a motor in the monitor's fixing mechanism, which drives related mechanical components. The horizontal angle adjustment range is 0–180°, and the vertical angle adjustment range is +90°–-89°. In this embodiment, the fire suppression control module communicates directly with the control system of the fire monitors 100, enabling the handheld control terminal to obtain control permissions for multiple corresponding fire monitors 100. Furthermore, the operable permissions of the fire monitors 100 are consistent with the selected monitoring screen, and the fire monitoring screen is always coordinated with the operator's operating direction. For example, the control terminal can only control the left-side fire monitor when it selects the monitoring screen of the fire monitor on the left side of the transformer with the fire fault.

[0079] In one embodiment of the present invention, the handheld control terminal includes a display screen, operation buttons, a directional joystick, a communication antenna, and other components. This embodiment is not targeted at a specific fire scenario; the method is applicable not only to UHV AC substations but also to UHV DC converter stations.

[0080] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention, and no reference numerals in the claims should be construed as limiting the scope of the claims.

[0081] The above embodiments are merely examples of implementation methods of the invention. The scope of protection of the present invention is not limited to the above embodiments. For those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all fall within the scope of protection of the present invention.

Claims

1. A collaborative fire suppression system suitable for ultra-high voltage substations, characterized in that, include: Fire monitor (100), fire monitor control console, aerial robot (200), and interconnection communication module; The camera on the fire monitor (100), the camera on the aerial robot (200), and the station auxiliary monitoring system are combined to form multiple video signals. The multiple video signals are coupled and transmitted through the interconnection communication module to the fire monitor control console and the handheld control terminal of the aerial robot (200) for joint display and switching. The muzzle direction and angle control command of the fire monitor (100) is connected to the handheld control terminal, so that at the fire scene, one handheld control terminal can simultaneously control the two fire extinguishing systems, the aerial robot (200) and the fire monitor (100). The direction and angle control commands of the fire monitor (100) are connected to the handheld control terminal and implemented by the fire extinguishing control module, which is installed in the handheld control terminal. When a transformer fire occurs, the aerial robot (200) is deployed to the site and in position, and sends a signal of being in position to the fire extinguishing control module. The fire extinguishing control module communicates with the control system of the fire monitor (100) to obtain control authority, so that the horizontal and pitch angles of the fire monitor (100) can be adjusted by the handheld control terminal. After the fire extinguishing control module communicates with the control system of the fire monitor (100), both the fire monitor control console and the handheld control terminal can control the angle and direction of the fire monitor (100) without conflict. When one party's operation command is not finished, the other party cannot control the fire monitor (100) temporarily. The coordinated firefighting process includes three stages: pre-positioning, synchronous adjustment, and full-coverage spraying. Preset positioning: The control system of the fire monitor (100) has a preset position function. Based on the experience of previous fires, the angle and direction of high-risk positions such as transformer grid side bushing, neutral point bushing, and oil conservator are preset, so that they can be aligned to the above positions with one click in the event of a fire. Synchronous adjustment, the aerial robot (200) is deployed and in place, the camera images on the aerial robot (200) are synchronously transmitted and shared, and the handheld control terminal obtains the control authority of the fire monitor (100); according to the fire situation monitoring images of multiple video signals, the severity of the fire points is sorted and the order of fire extinguishing is arranged; the fire extinguishing strategy is formulated according to the size of the flame area, the largest flame is ranked first, the smaller flames are ranked in order, and when the areas are the same, the nearest fire point of the fire monitor (100) is given priority; the fire source location is comprehensively analyzed, with the transformer grid side bushing as the primary hazard source, and the tap changer, orifice, and transformer body are analyzed in order; After determining the order of fire suppression and the location of high-risk fire sources, the aerial robot (200) and fire monitor (100) carry out coordinated fire suppression, using multi-angle full-coverage spraying media to strike the fire source.

2. The collaborative fire suppression system for ultra-high voltage substations according to claim 1, characterized in that, The collaborative fire suppression system also includes an automatic switching module, which is responsible for coupling the multi-channel video signals. The automatic switching module pre-sets corresponding multi-channel monitoring signal rules for each phase transformer based on the actual situation, forms a rule list, and writes it into the automatic switching module system program.

3. The collaborative fire suppression system for ultra-high voltage substations according to claim 1, characterized in that, The station's auxiliary monitoring system includes transformer operation auxiliary cameras, faulty phase switching transformer opposite phase cameras, and other cameras installed in other locations that can clearly monitor the fire handling situation.

4. The collaborative fire suppression system for ultra-high voltage substations according to claim 1, characterized in that, The collaborative fire suppression system also includes a transformer fire fault phase location module, which is used to automatically identify the fire and locate the phase of the transformer, output specific fault phase information, and communicate with the automatic switching module. When the transformer fire fault phase location module outputs fault phase information and it is received by the automatic switching module, the module searches for the corresponding monitoring signal source from the rule list of the automatic switching module and completes the switching output.

5. The collaborative fire suppression system for ultra-high voltage substations according to claim 4, characterized in that, If the transformer phase that actually caught fire in the station is inconsistent with the output phase of the transformer fire fault phase location module, the staff can manually adjust the actual fault phase so that the output screen of the fire monitor control console and the handheld control terminal are synchronously adjusted to the monitoring screen of the fault phase.

6. The collaborative fire suppression system for ultra-high voltage substations according to claim 1, characterized in that, When a transformer fire occurs, the aerial robot (200) is deployed to the site and in position, and sends a signal indicating that it is in position to the interconnected communication module. The interconnected communication module obtains the camera monitoring signal at the front end of the aerial robot's (210) boom and wirelessly transmits it to the fire monitor control console. At the same time, the monitoring signal of the station auxiliary monitoring system and the camera signal on the fire monitor (100) are also transmitted by the interconnected communication module to the handheld control terminal.

7. A collaborative fire extinguishing method applicable to ultra-high voltage substations, characterized in that, The application of the collaborative fire suppression system for ultra-high voltage substations according to any one of claims 1-6 includes the following steps: S100, the transformer fire fault phase location module receives the fire alarm signal, automatically identifies the fire, locates the phase of the transformer, and transmits the transformer fault phase information to the automatic switching module; S200, the automatic switching module receives the transformer fault phase information, and automatically switches to the corresponding multi-channel video signal according to the preset rules and phase information, and outputs the all-round, multi-angle fire monitoring video to the fire monitor control console. Upon receiving the fire alarm signal, the S300 fire monitor and aerial robot, guided by staff, initiated the emergency procedures and prepared to begin firefighting operations. S400, according to the faulty phase of the transformer, the fire monitor rotates to the preset position and begins to spray the extinguishing medium; the aerial robot travels to the predetermined fire extinguishing position of the faulty phase transformer, completes the connection of the fire hose, the lifting of the aerial robot's boom, the rough positioning of the fire source direction, and sends a signal that it is in position. S500, the interconnected communication module receives the positioning signal and acquires the camera monitoring signal on the high robot, and wirelessly transmits it to the fire monitor control console in the main control room. At the same time, the signal of the station auxiliary monitoring system is transmitted by the interconnected communication module to the handheld control terminal. S600, after the aerial robot is in place, the fire extinguishing control module inside the aerial robot communicates with the control system of the fire monitor to obtain control authority, so that the horizontal and pitch angles of the fire monitor can be changed by the handheld control terminal, and the fire monitor can be activated for bidirectional synchronous control. S700, on the fire monitor control console and the handheld control terminal, carries out coordinated firefighting based on multi-angle, all-round fire monitoring video, fire monitors, aerial ladder robots and station auxiliary monitoring systems.

8. The collaborative fire extinguishing method applicable to UHV substations according to claim 7, characterized in that, The workflow of the transformer fire fault phase location module includes: S110, the fire alarm system and fire monitor camera fire identification system in the station are connected to the input side of the transformer fire fault phase location module to monitor the transformer operation and output signals; S120, A transformer fire has occurred, and the transformer fire fault phase location module has received a fire alarm signal; S130, determine whether it matches the actual fire situation in the station; if it matches, the transformer fire fault phase location module outputs the fault phase information; if it does not match, the staff manually modify the actual fault phase information. S140, the transformer fire fault phase location module outputs fault phase information to the automatic switching module to complete the next step of the collaborative fire extinguishing system function.

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