A heat dissipation system and control method for a smoke extraction robot

Abstract

This invention provides a heat dissipation system and control method for a smoke extraction robot, belonging to the technical field of smoke extraction robot technology. It solves the technical problem that existing smoke extraction robot heat dissipation systems are overly complex and cannot differentiate heat dissipation modes according to actual working conditions. The technical solution is as follows: a coolant circulation pump is connected sequentially through pipelines to an electrically controlled three-way valve one, an air-cooled radiator, an electrically controlled three-way valve two, and a fan motor, according to the coolant flow direction. The output end of the fan motor is connected to the input end of the coolant circulation pump, forming a circulation. A plate radiator one is connected in parallel with the air-cooled radiator, and a plate radiator two is connected in parallel with the fan motor. Beneficial effects: This invention uses a parallel heat dissipation system, which, compared to a traditional series heat dissipation system, results in lower pressure loss and higher cooling power in the coolant circulation system. Simultaneously, it can automatically identify working conditions and match the heat dissipation mode according to the actual working conditions.

Description

Technical Field

[0001] This invention relates to the field of smoke extraction robot technology, and in particular to a heat dissipation system and control method for a smoke extraction robot. Background Technology

[0002] With rapid economic and social development, more and more underground structures have appeared in cities, mainly including subways, tunnels, transportation facilities, and densely populated places such as large commercial complexes and underground shopping malls. However, underground spaces have relatively poor ventilation and are relatively enclosed environments; once a fire breaks out, the smoke is dense and lingers due to the concealed ignition point, posing great difficulties for rescuing trapped people and fighting the fire. Currently, the main device for underground smoke extraction is the smoke extraction robot, which can enter the fire scene filled with dense fog under the remote control of firefighters to spray water mist, suck up smoke, or supply air to remove smoke, effectively reducing the smoke concentration in enclosed fire scenes and speeding up rescue efforts.

[0003] Both the electrical and hydraulic systems of smoke extraction robots require cooling, but the cooling methods differ depending on whether the fire scene is at the fire site or in the surrounding area. Currently, vehicle motor cooling and hydraulic oil cooling are mostly separate systems, making the vehicle's cooling system quite complex. Furthermore, existing technologies often employ inefficient heat management, resulting in wasted power for the drive components that handle heat dissipation.

[0004] Specifically, the following defects exist:

[0005] 1. The heat dissipation medium for motors is coolant, while the conventional cooling methods for hydraulic oil are air cooling or water cooling. In existing common technologies, due to the different cooling media, motor heat dissipation and hydraulic oil heat dissipation are mostly independent heat dissipation systems, making the vehicle heat dissipation system quite complicated.

[0006] 2. Existing technologies have crude heat dissipation management systems. Different ambient temperatures and operating conditions are not differentiated in terms of heat dissipation matching, resulting in wasted power of the heat dissipation components. At the same time, it cannot be guaranteed that the heat-dissipated components are always operating within a reasonable temperature range.

[0007] Therefore, there is an urgent need for a heat dissipation system and heat dissipation control method for smoke extraction robots to solve the above technical problems. Summary of the Invention

[0008] The purpose of this invention is to overcome the problems in the prior art and provide a heat dissipation system and control method for a smoke extraction robot that facilitates the simplification of the heat dissipation system and the automatic identification of working conditions and matching of heat dissipation modes.

[0009] To achieve the above-mentioned objectives, the present invention adopts the following technical solution: a heat dissipation system for a smoke extraction robot, comprising a controller, wherein the control input terminal of the controller is connected to a detection module, and the control output terminal of the controller is respectively connected to an electrically controlled three-way valve one, an electrically controlled three-way valve two, a spray electric water pump, a spray water circuit solenoid ball valve, a coolant circulation pump, an air-cooled radiator, a walking hydraulic system, and a fan motor controller. The electrically controlled three-way valve one, the electrically controlled three-way valve two, the spray electric water pump, the spray water circuit solenoid ball valve, the coolant circulation pump, the air-cooled radiator, the walking hydraulic system, and the fan motor controller are all controlled by the controller. The walking control valve is connected to the control terminal of the walking hydraulic system and is controlled by the walking hydraulic system. The fan motor is connected to the control terminal of the fan motor controller and is controlled by the fan motor controller.

[0010] The coolant circulation pump is connected sequentially to an electrically controlled three-way valve one, an air-cooled radiator, an electrically controlled three-way valve two, and a fan motor through pipelines according to the coolant flow direction. The output end of the fan motor is connected to the input end of the coolant circulation pump to form a circulation. The output end of the electrically controlled three-way valve one is also connected to a plate radiator one, which is set in parallel with the air-cooled radiator. The output end of the electrically controlled three-way valve two is also connected to a plate radiator two, which is set in parallel with the fan motor, thereby forming multiple heat dissipation paths according to specific operating conditions.

[0011] Furthermore, the electric water pump for spraying and the electromagnetic ball valve for spraying water circuit are connected to the first plate radiator through pipelines, and the return oil of the walking hydraulic system flows through the second plate radiator and returns to the hydraulic oil tank.

[0012] Furthermore, both the electrically controlled three-way valve one and the electrically controlled three-way valve two are used to control the flow direction of the coolant.

[0013] Furthermore, the system can form four heat dissipation paths based on the heat dissipation conditions, namely:

[0014] Located in the outer area of ​​the fire, when the fan motor needs to dissipate heat, the first and second electrically controlled three-way valves are de-energized. The coolant flow path is: coolant circulation pump, first electrically controlled three-way valve, air-cooled radiator, second electrically controlled three-way valve, fan motor, and finally back to the coolant circulation pump. During this process, the air-cooled radiator absorbs natural air to cool the coolant, and then the coolant flows through the internal cooling pipes of the fan motor to dissipate heat from the fan motor.

[0015] Located in the outer area of ​​the fire, when the hydraulic system needs to dissipate heat, the first electrically controlled three-way valve is de-energized and the second electrically controlled three-way valve is energized. The coolant flow path is: coolant circulation pump, first electrically controlled three-way valve, air-cooled radiator, second electrically controlled three-way valve, second plate radiator, and finally back to the coolant circulation pump. During this process, the air-cooled radiator absorbs natural air to cool the coolant, and then the coolant cools the hydraulic oil flowing through the second plate radiator at the same time.

[0016] When the fan motor needs to dissipate heat in the fire area, the first electrically controlled three-way valve is energized while the second electrically controlled three-way valve is de-energized. The coolant flow path is: coolant circulation pump, first electrically controlled three-way valve, first plate radiator, second electrically controlled three-way valve, fan motor, and finally back to the coolant circulation pump. During this process, the coolant is cooled by the cooling water that flows through the first plate radiator at the same time. Then the coolant flows through the internal cooling pipes of the fan motor to dissipate heat from the fan motor.

[0017] When the hydraulic system needs to dissipate heat in the fire area, the first and second electrically controlled three-way valves are energized. The coolant flow path is: coolant circulation pump, first electrically controlled three-way valve, first plate radiator, second electrically controlled three-way valve, second plate radiator, and finally back to the coolant circulation pump. During this process, the coolant is cooled by the cooling water flowing through the first plate radiator, and then the coolant cools the hydraulic oil flowing through the second plate radiator.

[0018] Furthermore, the detection module includes a hydraulic oil temperature sensor, a coolant temperature sensor, and an ambient temperature sensor. The hydraulic oil temperature sensor is installed on the hydraulic oil tank, and the coolant temperature sensor is installed at the inlet of the electrically controlled three-way valve.

[0019] Furthermore, the fan speed of the air-cooled radiator is set to 4 levels, with the speed ratio of each level being: level 1 < level 2 < level 3 < level 4.

[0020] A heat dissipation control method for a smoke extraction robot's heat dissipation system, comprising a walking heat dissipation control method and a motor heat dissipation control method; the walking heat dissipation control method includes the following steps:

[0021] S1: The remote control issues a walking command and proceeds to step 2;

[0022] S2: Determine if the hydraulic oil temperature is higher than 50℃. If yes, proceed to step 3. If no, no further instruction is output and heat dissipation is not performed.

[0023] S3: Determine if the hydraulic oil temperature is higher than 90℃. If not, proceed to step 4. If yes, stop operation and force cooling.

[0024] S4: Determine if the ambient temperature is higher than 10℃. If yes, proceed to step 5. If no, enter the winter cooling mode, i.e., the coolant circulation pump is powered, the cooling fan is at speed 1 and the electronically controlled three-way valve is powered.

[0025] S5: Determine if the ambient temperature is higher than 50℃. If yes, proceed to step 6. If no, enter the summer walking heat dissipation mode, that is, the coolant circulation pump is energized, the cooling fan is at speed 2 and the two-way electronic control valves are energized.

[0026] S6: Enter the fire scene walking and heat dissipation mode, that is, the sprinkler electric water pump is energized, the sprinkler water circuit solenoid ball valve is energized, the coolant circulation pump is energized, the electric three-way ball valve one is energized, and the electric three-way ball valve two is energized.

[0027] Furthermore, the motor heat dissipation control method includes the following steps:

[0028] S1: The remote control issues a smoke extraction command and proceeds to step 2;

[0029] S2: Determine if the coolant temperature is higher than 50℃. If yes, proceed to step 3. If no, no further instructions are output and heat dissipation is not performed.

[0030] S3: Determine if the coolant temperature is higher than 80℃. If not, proceed to step 4. If yes, stop operation and force heat dissipation.

[0031] S4: Determine if the ambient temperature is higher than 10℃. If yes, proceed to step 5. If no, enter the winter motor cooling mode, i.e., the coolant circulation pump is powered on and the cooling fan is at speed 3.

[0032] S5: Determine if the ambient temperature is higher than 50℃. If yes, proceed to step 6. If no, enter the summer motor cooling mode, i.e., the coolant circulation pump is powered on and the cooling fan is at speed 4.

[0033] S6: Enter the fire scene motor cooling mode, that is, the sprinkler electric water pump is energized, the sprinkler water circuit solenoid ball valve is energized, the coolant circulation pump is energized, and the electric control three-way ball valve is energized.

[0034] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0035] 1. The present invention adopts a parallel heat dissipation system. Compared with the traditional series heat dissipation system, the coolant circulation system has less pressure loss and greater cooling power. At the same time, the fan motor heat dissipation and hydraulic walking heat dissipation share a set of heat dissipation elements, thus reusing the heat dissipation system. Therefore, the heat dissipation system is greatly simplified, and the heat dissipation elements are also used efficiently.

[0036] 2. The heat dissipation control system in this invention can automatically identify the operating conditions and match the heat dissipation mode according to the actual operating conditions, thereby making the heat dissipation control system more intelligent. At the same time, the use of multi-mode heat dissipation system matching greatly reduces the driving power of vehicle heat dissipation actuators, which is conducive to energy saving and consumption reduction.

[0037] 3. By configuring different heat dissipation methods in and around the fire site, the heat dissipation effect of vehicles can be effectively guaranteed, while also greatly saving energy consumption. Attached Figure Description

[0038] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof.

[0039] Figure 1 This is a block diagram of the heat dissipation system of the present invention.

[0040] Figure 2 This is a schematic diagram of the heat dissipation control system of the present invention.

[0041] Figure 3 This is a flowchart of the walking heat dissipation control system of the present invention.

[0042] Figure 4 This is a flowchart of the motor heat dissipation control system of the present invention. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. Of course, the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0044] This smoke extraction robot mainly includes a smoke extraction fan, a walking mechanism, an auxiliary motion mechanism, and a control system.

[0045] The exhaust fan is driven by an electric motor, which requires cooling. In this invention, the fan motor is cooled by coolant. The walking mechanism and auxiliary action mechanism of the exhaust robot are both hydraulically driven. The auxiliary action mechanism includes fan lifting, fan rotation, and hose reel winding, all of which are short-term actions and do not require cooling of the hydraulic oil. The walking mechanism, however, operates continuously for extended periods and requires cooling of the hydraulic oil. Based on the above description, the exhaust robot of this invention requires cooling for the fan motor and the hydraulic walking mechanism.

[0046] In actual operation, the smoke extraction robot operates at a fixed point, meaning there is no situation where the fan smoke extraction and hydraulic walking are operating simultaneously.

[0047] The smoke extraction robot can perform positive pressure ventilation for smoke extraction at the entrance of the basement, or it can enter the basement to perform negative pressure suction for smoke extraction and internal fire suppression. Therefore, the smoke extraction robot has two operating modes: far from the fire scene and near the fire scene. This invention's smoke extraction robot is equipped with both air cooling and water cooling methods. When the smoke extraction robot is operating in the outer area of ​​the fire scene, it is cooled by an air-cooled radiator, avoiding the large amount of water accumulation on the ground caused by water cooling. When the robot is in the fire scene, due to the high ambient temperature, air cooling cannot be used. In this case, cooling water flows through a plate radiator to cool the system. After passing through the plate radiator 1, the cooling water enters the robot's self-protection spray system to spray and cool the robot for protection. The water cooling method effectively utilizes the vehicle's water resources.

[0048] Example 1: As Figure 1 As shown, this embodiment provides a heat dissipation system for a smoke extraction robot, including a heat dissipation medium, a coolant circulation pump, an actuating heat dissipation element, and a heat-receiving element.

[0049] In this embodiment, the main heat dissipation medium of the heat dissipation system is coolant. The coolant flows through the heat dissipation element to cool it down, then flows into the system being cooled to dissipate heat, and then flows back to the cooling circulation pump to form a closed cooling system loop. The coolant circulation pump is configured to pressurize the coolant to ensure that the coolant maintains a certain pressure to form a circulation loop. The coolant circulation pump is configured to have functions such as soft start protection, fault feedback protection, overcurrent and undercurrent protection, and stall protection.

[0050] The heat dissipation components include an electrically controlled three-way valve, an air-cooled radiator, and a plate-type radiator, which are connected in parallel within the system. The electrically controlled three-way valve controls the flow of coolant; when de-energized, the coolant flows to the air-cooled radiator, and when energized, it flows to the plate-type radiator. When the system is located in the outer perimeter of a fire zone, the air-cooled radiator provides cooling, and the electrically controlled three-way valve is de-energized, allowing coolant to enter the air-cooled radiator through the valve. The air-cooled radiator then uses natural airflow to cool the coolant. When the system is located in the fire zone, the plate-type radiator provides cooling, and the electrically controlled three-way valve is energized, allowing coolant to enter the plate-type radiator through the valve, where cooling water provides cooling.

[0051] The main components to be cooled include the electrically controlled three-way valve II, the fan motor, and the plate radiator II. The fan motor and the plate radiator II are connected in parallel in the system. The electrically controlled three-way valve II controls the flow of coolant; when power is off, the coolant flows to the fan motor, and when power is on, it flows to the plate radiator II. When the smoke extraction robot is in smoke extraction mode, the cooling system cools the fan motor, the electrically controlled three-way valve II is de-energized, and the coolant enters the fan motor pipeline through the three-way valve II and finally returns to the coolant system.

[0052]

[0053] Circulating pump; when the robot is in walking mode, the cooling system cools the hydraulic system. When the two electrically controlled three-way valves are energized, the coolant enters the plate cooler two through the two electrically controlled three-way valves. The plate cooler two acts as a cooling element to cool the hydraulic oil.

[0054] The coolant circulation paths for the four heat dissipation conditions are shown in the table below.

[0055] Compared to series cooling systems, parallel cooling systems have lower pressure loss and higher cooling power in the coolant circulation system. At the same time, the cooling of the fan motor and the hydraulic travel system share a set of cooling elements, which reuses and simplifies the cooling system while making efficient use of the cooling elements.

[0056] The heat dissipation control system in this embodiment is as follows: Figure 2 As shown, the smoke extraction robot in this embodiment is equipped with an ambient temperature detection sensor, a hydraulic oil temperature sensor located in the hydraulic oil tank, and a coolant temperature sensor located at the inlet of the electrically controlled three-way valve.

[0057] When the remote control issues a movement or fan exhaust command, the temperature sensor detects the hydraulic oil, coolant and ambient temperature in real time. The controller adapts and matches the heat dissipation mode according to the remote control's action command and temperature feedback data. Under different heat dissipation modes, the energization status of the electric three-way valve 1, electric three-way valve 2, spray electric water pump, spray water circuit solenoid ball valve and coolant circulation pump are different, and the speed of the air-cooled radiator fan is different.

[0058] Due to the low ambient temperature in winter, heat dissipation efficiency is high. In winter mode, the cooling fan can ensure heat dissipation power at a lower speed. At the same time, since the heat dissipation power is different between hydraulic walking and fan exhaust, the speed of the air-cooled radiator fan configured for the two working conditions is different in this embodiment. The air-cooled radiator fan speed is set to 4 levels, and the relationship between the speeds of each level is: level 1 < level 2 < level 3 < level 4. The fan speeds 1, 2, 3 and 4 correspond to the heat dissipation modes of winter walking heat dissipation, summer walking heat dissipation, winter motor heat dissipation and summer motor heat dissipation, respectively.

[0059] The control logic of the hydraulic walking cooling system is as follows: Figure 3 As shown, when the remote control issues a travel command, the controller first determines whether the hydraulic oil temperature is too high or too low based on the temperature data fed back by the hydraulic oil temperature sensor. If the hydraulic oil temperature is too low, the system does not need to dissipate heat, while if the temperature is too high, the vehicle operation is prohibited, and forced cooling is performed until the temperature is suitable before operation can resume.

[0060] Furthermore, the controller receives temperature data from the ambient temperature detection sensor and issues corresponding walking heat dissipation mode commands based on the ambient temperature.

[0061] In winter and summer walking cooling modes, the air-cooled radiator provides heat dissipation. The electric three-way valve 2, coolant circulation pump, and air-cooled radiator are powered. The air-cooled radiator provides heat dissipation at speed levels 1 and 2, respectively. In fire scene walking cooling mode, the plate radiator 1 and plate radiator 2 provide heat dissipation. The sprinkler electric water pump, sprinkler water circuit solenoid ball valve, coolant circulation pump, electric three-way valve 1 and electric three-way valve 2 are powered.

[0062] Motor cooling system control logic as follows Figure 4 As shown, when the remote control issues the fan exhaust command, the controller first determines whether the coolant temperature is too high or too low based on the temperature data fed back by the coolant temperature sensor. If the coolant temperature is too low, the system does not need to dissipate heat, while if the temperature is too high, operation is prohibited, and forced cooling is performed until the temperature is suitable before operation can resume.

[0063] Furthermore, the controller receives temperature data from the ambient temperature detection sensor and issues corresponding motor cooling mode commands based on the ambient temperature.

[0064] In winter and summer motor cooling modes, the coolant circulation pump and air-cooled radiator are powered, and the air-cooled radiator cools at speeds 3 and 4 respectively. In fire scene motor cooling mode, the plate radiator is used for cooling, and the sprinkler electric water pump, sprinkler water circuit solenoid ball valve, coolant circulation pump and electric three-way valve are powered.

[0065] The heat dissipation control system of this invention automatically identifies the operating conditions and matches the heat dissipation mode, making the system more intelligent. At the same time, the matching of multiple modes of the heat dissipation system reduces the driving power of the vehicle's heat dissipation actuators, thus saving energy and reducing consumption.

[0066] Example 2: The plate radiator in Example 1 can be replaced by other types of water-cooled radiators. At the same time, the heat dissipation system circuit in Example 1 can be changed, such as the arrangement order of the coolant circulation pump, the heat dissipation element and the heat-receiving element in the system.

[0067] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A heat dissipation system for a smoke extraction robot, characterized in that, The system includes a controller. The controller's control input is connected to a detection module. The controller's control output is connected to an electrically controlled three-way valve (first), an electrically controlled three-way valve (second), a spray pump, a spray water circuit solenoid ball valve, a coolant circulation pump, an air-cooled radiator, a walking hydraulic system, and a fan motor controller. The electrically controlled three-way valve (first), electrically controlled three-way valve (second), spray pump, spray water circuit solenoid ball valve, coolant circulation pump, air-cooled radiator, walking hydraulic system, and fan motor controller are all controlled by the controller. The walking control valve is connected to and controlled by the walking hydraulic system. The fan motor is connected to and controlled by the fan motor controller. The coolant circulation pump is connected in sequence through pipelines to an electrically controlled three-way valve one, an air-cooled radiator, an electrically controlled three-way valve two, and a fan motor, according to the flow direction of the coolant. The output end of the fan motor is connected to the input end of the coolant circulation pump to form a circulation. The output end of the electrically controlled three-way valve one is also connected to a plate radiator one, which is set in parallel with the air-cooled radiator. The output end of the electrically controlled three-way valve two is also connected to a plate radiator two, which is set in parallel with the fan motor, thereby forming multiple heat dissipation paths according to specific operating conditions. The electric water pump for spraying and the electromagnetic ball valve for spraying water circuit are connected to the first plate radiator through pipelines, and the return oil of the walking hydraulic system flows through the second plate radiator and returns to the hydraulic oil tank. Both the electrically controlled three-way valve one and the electrically controlled three-way valve two are used to control the flow direction of the coolant. The system can form four heat dissipation paths based on the heat dissipation conditions, namely: Located in the outer area of ​​the fire, when the fan motor needs to dissipate heat, the first and second electrically controlled three-way valves are de-energized. The coolant flow path is: coolant circulation pump, first electrically controlled three-way valve, air-cooled radiator, second electrically controlled three-way valve, fan motor, and finally back to the coolant circulation pump. During this process, the air-cooled radiator absorbs natural air to cool the coolant, and then the coolant flows through the internal cooling pipes of the fan motor to dissipate heat from the fan motor. Located in the outer area of ​​the fire, when the hydraulic system needs to dissipate heat, the first electrically controlled three-way valve is de-energized and the second electrically controlled three-way valve is energized. The coolant flow path is: coolant circulation pump, first electrically controlled three-way valve, air-cooled radiator, second electrically controlled three-way valve, second plate radiator, and finally back to the coolant circulation pump. During this process, the air-cooled radiator absorbs natural air to cool the coolant, and then the coolant cools the hydraulic oil flowing through the second plate radiator at the same time. When the fan motor needs to dissipate heat in the fire area, the first electrically controlled three-way valve is energized while the second electrically controlled three-way valve is de-energized. The coolant flow path is: coolant circulation pump, first electrically controlled three-way valve, first plate radiator, second electrically controlled three-way valve, fan motor, and finally back to the coolant circulation pump. During this process, the coolant is cooled by the cooling water that flows through the first plate radiator at the same time. Then the coolant flows through the internal cooling pipes of the fan motor to dissipate heat from the fan motor. When the hydraulic system needs to dissipate heat in the fire area, the first and second electrically controlled three-way valves are energized. The coolant flow path is: coolant circulation pump, first electrically controlled three-way valve, first plate radiator, second electrically controlled three-way valve, second plate radiator, and finally back to the coolant circulation pump. During this process, the coolant is cooled by the cooling water flowing through the first plate radiator, and then the coolant cools the hydraulic oil flowing through the second plate radiator.

2. The heat dissipation system for a smoke extraction robot according to claim 1, characterized in that, The detection module includes a hydraulic oil temperature sensor, a coolant temperature sensor, and an ambient temperature sensor. The hydraulic oil temperature sensor is located on the hydraulic oil tank, and the coolant temperature sensor is located at the inlet of the electrically controlled three-way valve.

3. The heat dissipation system for a smoke extraction robot according to claim 1, characterized in that, The fan speed of the air-cooled radiator is set to 4 levels, and the relationship between the speed levels is: level 1 < level 2 < level 3 < level 4.

4. A heat dissipation control method for a smoke extraction robot's heat dissipation system, characterized in that, This heat dissipation control method is based on the heat dissipation system of the smoke extraction robot according to any one of claims 1-3. The heat dissipation control method includes a walking heat dissipation control method and a motor heat dissipation control method; the walking heat dissipation control method includes the following steps: S1: The remote control issues a walking command and proceeds to step 2; S2: Determine if the hydraulic oil temperature is higher than 50℃. If yes, proceed to step 3. If no, no further instruction is output and heat dissipation is not performed. S3: Determine if the hydraulic oil temperature is higher than 90℃. If not, proceed to step 4. If yes, stop operation and force cooling. S4: Determine if the ambient temperature is higher than 10℃. If yes, proceed to step 5. If no, enter the winter cooling mode, i.e., the coolant circulation pump is powered, the cooling fan is at speed 1 and the electronically controlled three-way valve is powered. S5: Determine if the ambient temperature is higher than 50℃. If yes, proceed to step 6. If no, enter the summer walking heat dissipation mode, that is, the coolant circulation pump is energized, the cooling fan is at speed 2 and the two-way electronic control valves are energized. S6: Enter the fire scene walking and heat dissipation mode, that is, the sprinkler electric water pump is energized, the sprinkler water circuit solenoid ball valve is energized, the coolant circulation pump is energized, the electric three-way valve one is energized, and the electric three-way valve two is energized.

5. The heat dissipation control method for the heat dissipation system of a smoke extraction robot according to claim 4, characterized in that, The motor heat dissipation control method includes the following steps: S1: The remote control issues a smoke extraction command and proceeds to step 2; S2: Determine if the coolant temperature is higher than 50℃. If yes, proceed to step 3. If no, no further instructions are output and heat dissipation is not performed. S3: Determine if the coolant temperature is higher than 80℃. If not, proceed to step 4. If yes, stop operation and force heat dissipation. S4: Determine if the ambient temperature is higher than 10℃. If yes, proceed to step 5. If no, enter the winter motor cooling mode, i.e., the coolant circulation pump is powered on and the cooling fan is at speed 3. S5: Determine if the ambient temperature is higher than 50℃. If yes, proceed to step 6. If no, enter the summer motor cooling mode, i.e. the coolant circulation pump is powered on and the cooling fan is at speed 4. S6: Enter the fire scene motor cooling mode, that is, the sprinkler electric water pump is energized, the sprinkler water circuit solenoid ball valve is energized, the coolant circulation pump is energized, and the first electrically controlled three-way valve is energized.

Images