Movable fire extinguishing equipment, automatic liquid supplementing fire extinguishing method and fire extinguishing system

Abstract

The invention discloses movable fire extinguishing equipment, an automatic liquid supplementing fire extinguishing method and a fire extinguishing system, and belongs to the technical field of fire safety. The method comprises the steps that through a preset network environment, the position number of an energy storage cabinet of which a fire signal is triggered is obtained; autonomously navigating to a fire extinguishing point preset at the position of the energy storage cabinet corresponding to the position number through a laser slam navigation mode; the position of a fire point is locked through a double-spectrum camera containing thermal imaging, and the mechanical arm is sequentially guided to adjust the fire extinguishing posture and open the valve to conduct jet fire extinguishing. The problems that the fire of the lithium battery energy storage cabinet is difficult to control and easy to spread are effectively solved, the fire safety level is improved, and remarkable economic benefits and social benefits are achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of fire safety, and in particular relates to a mobile fire extinguishing equipment, an automatic liquid replenishing fire extinguishing method and a fire extinguishing system. Background Art

[0002] Fire safety is of great significance. It is a protective barrier for life, which can help people escape in case of fire, and is especially important in crowded places. It is the protector of property, which can prevent huge economic losses caused by fire damage to families, enterprises and public facilities. It is the cornerstone of social stability, which can effectively control fires to stabilize people's hearts and promote economic development. A good fire safety environment is conducive to attracting investment. It is also a guarantee of public safety, involving many aspects of social governance. Public places and transportation fields need to pay great attention to it. At the same time, it is also related to environmental protection. In short, fire safety plays an indispensable and key role in protecting life, property, social stability and public safety.

[0003] Fire safety in energy storage systems is still a problem. For example, in energy storage cabinets, the batteries inside, especially lithium batteries, are difficult to extinguish in a closed environment. Moreover, the chemical substances inside these batteries can burn and spread quickly, which can easily cause larger fires. Therefore, there is still much room for improvement in existing mobile fire extinguishing methods and devices. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the disadvantages of the above-mentioned prior art and provide a mobile fire extinguishing equipment, an automatic liquid replenishing fire extinguishing method and a fire fighting system.

[0005] The technical solution adopted to solve the above technical problems is: a mobile fire extinguishing equipment automatic liquid replenishment fire extinguishing method, the method is used for energy storage cabinet fire extinguishing, comprising: Obtain the location number of the energy storage cabinet where the fire signal is triggered through the preset network environment; Autonomously navigate to the preset fire extinguishing point at the energy storage cabinet position corresponding to the position number by means of laser slam navigation; Through a dual-spectrum camera that includes thermal imaging, the location of the fire point is locked, and the robotic arm is guided in sequence to adjust the fire-fighting posture, open the valve, and carry out spray fire extinguishing.

[0006] Furthermore, obtaining the location number of the energy storage cabinet where the fire signal is triggered through a preset network environment includes: Monitor the fire warning status of the energy storage cabinet through the preset IoT or Wi-Fi environment; When the energy storage cabinet triggers a fire signal, the corresponding energy storage cabinet position number is obtained.

[0007] Furthermore, the autonomous navigation by laser slam to the preset fire extinguishing point at the energy storage cabinet position corresponding to the position number includes: Continuously detect the relative position and angular resolution of the energy storage cabinet through the laser radar as the perception data, perform preliminary processing on the collected perception data, remove noise and outliers, and obtain preliminary data; Determine the position and posture of the robot in the environment through the preliminary data and the preset model, and construct an environment map based on the position and posture information; According to the environmental map and the location of the energy storage cabinet, an optimal path is planned, and the robot is controlled to travel along the planned path to the preset fire extinguishing point of the energy storage cabinet.

[0008] Furthermore, the dual-spectrum camera including thermal imaging is used to lock the location of the fire point, and the mechanical arm is guided to adjust the fire extinguishing posture, open the valve, and perform spray fire extinguishing, including: Acquire infrared thermal imaging images of the energy storage cabinet through a thermal imaging camera; Convert the pseudo color or black and white brightness of infrared thermal imaging images into corresponding temperature information; When the temperature information is determined to be on fire or has reached the ignition point temperature, the corresponding energy storage cabinet position number is locked through a conventional camera; According to the location number of the energy storage cabinet, guide the robotic arm to adjust the fire-fighting posture, open the valve, and carry out spray fire extinguishing.

[0009] Further, the method of connecting the robot to a first liquid replenishing port preset in the energy storage cabinet to replenish the fire extinguishing agent in the energy storage cabinet until the fire extinguishing agent stored in the robot is completely released includes: The position number of the energy storage cabinet is obtained through a visual camera, and the laser slam is used to navigate to the preset first liquid filling port position of the energy storage cabinet; Identify a switch or a preset mark point mark set at the first fluid infusion port position through a visual camera; Connecting the second fluid inlet switch to the first fluid inlet by a manipulator, wherein the second fluid inlet is located on the robot; The robot moves to a preset distance from the energy storage cabinet or to a preset position, opens a valve and starts to replenish liquid until the fire extinguishing agent stored in the robot is completely released.

[0010] Furthermore, the step of identifying a switch or a preset mark point disposed at the first fluid infusion port position by a visual camera includes: Capture and identify images of the surrounding environment through visual cameras; The camera uses an image recognition algorithm to identify the specific shape, color, texture and other features of the switch to determine whether it is the switch of the first fluid inlet or a preset mark point, and determines the exact position of the first fluid inlet based on the relative position in the image.

[0011] Further, the connecting the second fluid inlet switch to the first fluid inlet by a manipulator includes: When the visual camera successfully identifies the switch or mark at the position of the first fluid infusion port, the manipulator adjusts its position and posture according to the position information provided by the visual camera to ensure that the second fluid infusion port can accurately reach and dock with the first fluid infusion port; The manipulator connects the second fluid filling port switch on the robot to the first fluid filling port on the energy storage cabinet and turns on the switch.

[0012] Furthermore, the robot moves to a preset distance from the energy storage cabinet or moves to a preset position, opens a valve and starts to replenish liquid until the fire extinguishing agent stored in the robot is completely released, including: The robot moves to a distance of 15-20m from the energy storage cabinet or to a preset position, opens the valve and starts to replenish liquid until the fire extinguishing agent stored in the robot is completely released.

[0013] A mobile fire-fighting equipment, comprising: A main body, with a crawler track at the lower end and a mechanical arm, a second fluid infusion port, a dual-spectrum camera and a laser radar at the front end; The mechanical arm is provided with a mechanical hand adapted to the second fluid infusion port and a visual camera; The dual-spectrum camera is located above the mechanical arm, and the laser radar is located at the upper end of the dual-spectrum camera; A networkable control unit is also provided in the main body, and the control unit is electrically connected to the visual camera, the dual-spectrum camera, the laser radar, and the drive unit for driving the crawler and the robotic arm.

[0014] A fire fighting system, which is applied to an energy storage environment and comprises an energy storage cabinet and a mobile fire fighting equipment; the fire fighting system implements the above-mentioned mobile fire fighting equipment automatic liquid replenishment fire fighting method; The energy storage cabinet provides a first fluid replenishment port for connecting to the second fluid replenishment port; a fire extinguishing point is arranged at a position preset distance from the energy storage cabinet.

[0015] The beneficial effects of the present invention are as follows: Through the preset network environment, the position number of the energy storage cabinet that triggered the fire signal is obtained; through the laser slam navigation method, it autonomously navigates to the preset fire extinguishing point corresponding to the energy storage cabinet position of the position number; through the dual-spectrum camera including thermal imaging, the position of the fire point is locked, and the robot arm is guided to adjust the fire extinguishing posture, open the valve, and spray fire extinguishing in turn. It effectively solves the problem of disaster control and easy spread of lithium battery energy storage cabinet fire, improves the level of fire safety, and has significant economic and social benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a flowchart of the steps of a method for automatic liquid replenishment fire extinguishing of mobile fire extinguishing equipment provided by one embodiment of the present invention; Figure 2 It is a structural schematic diagram of a mobile fire-fighting equipment provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0018] It should be noted that, in any embodiment of the present application, the liquid replenishment is to add the fire extinguishing agent to the fire source location, which is part of the fire extinguishing process.

[0019] Reference Figure 1 , showing a flow chart of the steps of a mobile fire extinguishing equipment automatic liquid replenishment fire extinguishing method of this embodiment, which includes: Step S100: obtaining the location number of the energy storage cabinet where the fire signal is triggered through a preset network environment; Step S200: autonomously navigate to a preset fire extinguishing point at the energy storage cabinet position corresponding to the position number by means of laser slam navigation; Step S300: Use a dual-spectrum camera with thermal imaging to lock the location of the fire point, and guide the robotic arm to adjust the fire-fighting posture, open the valve, and perform spraying to extinguish the fire.

[0020] The method also includes connecting the robot to a first liquid replenishing port preset in the energy storage cabinet to replenish the fire extinguishing agent in the energy storage cabinet until the fire extinguishing agent stored in the robot is completely released.

[0021] In this embodiment, the position number of the energy storage cabinet that triggers the fire signal is obtained through a preset network environment, and the fire position can be determined as soon as the fire occurs in the energy storage cabinet, which greatly shortens the response time compared to the traditional method of relying on manual fire detection. The laser SLAM navigation method is used to autonomously navigate to the preset fire extinguishing point at the position of the energy storage cabinet with the corresponding position number. This navigation method has high precision and high reliability, which can ensure that the fire-fighting robot reaches the fire location quickly and accurately, avoids wasting time in finding the fire location, and improves the fire-fighting efficiency. The position of the fire point is locked by using a dual-spectrum camera including thermal imaging. Thermal imaging technology can quickly and accurately identify high-temperature areas, i.e., fire points, in complex environments. Then, the robotic arm is guided in turn to adjust the fire-fighting posture and open the valve for spraying fire extinguishing, which can achieve accurate strikes on the fire point, avoiding the waste of large-scale spraying of fire extinguishing agents in traditional fire-fighting methods and the impact on non-fired areas.

[0022] Through the above-mentioned steps of rapid response to fire signals, precise navigation, and locking the fire point for fire extinguishing, the fire can be controlled in the shortest time and the losses caused by the fire can be reduced. Compared with traditional fire extinguishing methods, the fire extinguishing efficiency is greatly improved, providing a strong guarantee for protecting the energy storage system and the surrounding environment. Since the fire point can be extinguished quickly and accurately, the possibility of fire spread is reduced. Especially for energy storage systems such as lithium batteries, the internal chemical substances are prone to rapid combustion and spread. Through this application, the expansion of the fire can be effectively curbed, reducing the risk of a larger fire. Mobile fire extinguishing equipment can automatically complete the fire extinguishing process, reducing the need for manual intervention. In dangerous environments such as energy storage cabinets, manual fire extinguishing poses a great safety risk, and this technical solution can reduce the possibility of casualties, while also improving the reliability and stability of fire extinguishing. Accurate fire extinguishing can minimize damage to the energy storage system. In traditional fire extinguishing methods, the energy storage system may suffer greater losses due to untimely fire extinguishing or improper fire extinguishing methods. The technical solution of this application can effectively protect the energy storage system and reduce maintenance and replacement costs.

[0023] In one embodiment of the present application, the obtaining of the position number of the energy storage cabinet where the fire signal is triggered through a preset network environment includes: monitoring the fire warning status of the energy storage cabinet through a preset Internet of Things or Wi-Fi environment, on the one hand, obtaining the status of the energy storage cabinet through a temperature sensor and / or a smoke sensor in the energy storage cabinet to monitor whether an abnormality occurs therein, and on the other hand, through a dual-spectrum camera arranged on a robot, an ordinary camera can use an image in conjunction with a deep learning algorithm and a thermal imaging camera can use infrared thermal imaging image recognition; when the energy storage cabinet triggers a fire signal, the signal is sent to the robot through the network, and the robot receives and obtains the corresponding energy storage cabinet position number.

[0024] In one embodiment of the present application, autonomously navigating to a preset fire extinguishing point at the energy storage cabinet position corresponding to the position number by means of laser slam navigation includes: The relative position and angular resolution of the energy storage cabinet are continuously detected by the laser radar as the perception data. The collected perception data is preliminarily processed to remove noise and outliers to obtain preliminary data; specifically, the environment is scanned at a preset period by the laser radar, and the scanning period determines the number of times the laser radar scans the surrounding environment per unit time. A higher scanning frequency can provide more real-time environmental information, but it also increases the burden of data processing. For example, a scanning frequency of 10Hz means that the laser radar scans the surrounding environment 10 times per second. The angular resolution of the scan determines the laser radar's ability to resolve the environment in the horizontal and vertical directions. The higher the angular resolution, the more environmental details that can be detected, but it also increases the amount of data. For example, an angular resolution of 0.5 degrees means that the laser radar collects a data point every 0.5 degrees in the horizontal direction.

[0025] The collected perception data is preliminarily processed to remove noise and outliers and improve data quality; if the difference between a data point and the surrounding data points exceeds the noise threshold, it will be considered as noise and removed. The setting of the noise threshold needs to be adjusted according to the specific lidar performance and environmental conditions. For example, in a relatively quiet indoor environment, the noise threshold can be set lower; while in an outdoor environment with more interference, the noise threshold may need to be set higher. For example, statistical methods can determine outliers by calculating the mean and standard deviation of the data, which is suitable for situations where the data distribution is close to the normal distribution; distance-based methods can determine outliers by calculating the distance between the data point and the surrounding data points, which is suitable for situations where the data distribution is more complex.

[0026] The position and posture of the robot in the environment are determined through the preliminary data and the preset model, and the environment map is constructed according to the posture information; specifically, during the movement of the mobile robot, the preliminary posture information is obtained through the internal sensors carried by the mobile robot (such as encoders, inertial measurement units IMU, etc.), and then the posture of the robot is accurately corrected using a specific algorithm in combination with the environmental information obtained by the lidar, so as to determine the accurate position and posture of the robot in the environment (including position coordinates, direction angles, etc.); at the beginning of navigation, an initial position and posture estimate needs to be given. This initial posture can be obtained by manual specification, GPS positioning, etc. The motion law of the robot in different motion states is described by motion model parameters. For example, for a robot, the motion model parameters may include the circumference of the track, etc.; these parameters will affect the accuracy of the posture estimation and need to be accurately measured and set according to the specific robot type.

[0027] According to the environmental map and the location of the energy storage cabinet, the optimal path is planned, and the robot is controlled to drive along the planned path to the preset fire extinguishing point of the energy storage cabinet. The robot position and posture are determined by the processed data and the preset model, and the environmental map is constructed, so that the robot can clearly understand its position in the environment and the surrounding environment, so as to accurately plan the optimal path to reach the fire extinguishing point. This precise navigation method can ensure that the robot can quickly and accurately reach the designated location in a complex energy storage environment, improve the efficiency of fire extinguishing, and reduce the risk of time waste and possible collisions caused by inaccurate paths.

[0028] After obtaining accurate location information and environmental data, a map of the environment is constructed. The map can be represented in the form of a grid map, a topological map, etc., where the grid map divides the environment into small grids, and each grid indicates whether the area is occupied by obstacles and other information; while the topological map focuses more on representing the connection relationship between different locations in the environment; when constructing an environmental map with laser data and location information, a higher resolution and higher frequency scan can be used, so that the map resolution is relatively high, which determines the degree of refinement of the map to the environment. A higher resolution can provide more detailed map information, but it will also increase the storage and processing costs of the map. For example, in the energy storage cabinet environment of the present application, as a relatively closed environment, the map resolution can be set to a few centimeters or even higher; wherein the map type can be one of a grid map, a point cloud map, a topological map, etc. Different map types are suitable for different application scenarios and need to be selected according to actual needs. For example, a grid map is suitable for path planning and obstacle avoidance; a point cloud map is suitable for environmental modeling and three-dimensional visualization; a topological map is suitable for navigation in large-scale environments. According to the constructed map and target location, the optimal path is planned, and the robot is controlled to drive along the planned path; different path planning algorithms have different parameter settings. For example, the heuristic function parameters in the A* algorithm, the weight parameters in the Dijkstra algorithm, etc. These parameters will affect the efficiency and quality of path planning and need to be adjusted according to the specific application scenario.

[0029] In one embodiment of the present application, the dual-spectrum camera including thermal imaging is used to lock the position of the fire point, and the robotic arm is guided in sequence to adjust the fire extinguishing posture, open the valve, and perform spray fire extinguishing, including: obtaining an infrared thermal imaging image of the energy storage cabinet through a thermal imaging camera; converting the pseudo-color or black and white brightness of the infrared thermal imaging image into corresponding temperature information; when the temperature information is determined to be a fire or has reached the fire point temperature, the corresponding energy storage cabinet position number is locked through a conventional camera; according to the energy storage cabinet position number, the robotic arm is guided to adjust the fire extinguishing posture, open the valve, and perform spray fire extinguishing.

[0030] By using a thermal imaging camera to obtain infrared thermal imaging images and convert them into temperature information, the temperature change at the fire point can be accurately detected; it is not affected by environmental factors such as light, and can work reliably in various complex environments such as energy storage cabinets, and timely discover fire hazards; when the temperature information determines that the temperature of the fire point has reached the fire point, the corresponding energy storage cabinet position number is locked by a conventional camera, and the advantages of thermal imaging and conventional cameras are combined to achieve accurate positioning of the fire point. Thermal imaging is used to detect temperature anomalies, and conventional cameras are used to accurately determine the position number. The two work together to improve the accuracy of fire detection and positioning, and ensure that the robotic arm can accurately adjust the fire extinguishing posture to extinguish the fire. Accurate positioning of the fire point makes the fire extinguishing operation more accurate. The robotic arm can quickly adjust the fire extinguishing posture according to the accurate position information, open the valve to spray fire, reduce the blindness in the fire extinguishing process, improve the fire extinguishing efficiency, and at the same time more effectively control the fire and reduce the damage of the fire to the energy storage cabinet.

[0031] In one embodiment of the present application, the step of connecting the robot to a first liquid replenishing port preset in the energy storage cabinet to replenish the fire extinguishing agent in the energy storage cabinet until the fire extinguishing agent stored in the robot is completely released includes: The position number of the energy storage cabinet is obtained through a visual camera, and the laser slam is used to navigate to the preset first liquid filling port position of the energy storage cabinet; Identify a switch or a preset mark point mark set at the first fluid infusion port position through a visual camera; Connecting the second fluid inlet switch to the first fluid inlet by a manipulator, wherein the second fluid inlet is located on the robot; The robot moves to a preset distance from the energy storage cabinet or to a preset position, opens a valve and starts to replenish liquid until the fire extinguishing agent stored in the robot is completely released.

[0032] After completing the jet extinguishing, the energy storage cabinet position number is obtained through the visual camera and navigated to the preset first refilling port position for refilling, ensuring that the fire extinguishing agent can be replenished in time after a fire extinguishing process, providing continuous fire extinguishing capability support for possible subsequent fire fighting. This is very important for situations where there may be a risk of re-ignition in the energy storage cabinet or a large fire requires a large amount of fire extinguishing agent. It extends the effective working time of the fire extinguishing robot and improves the durability of the overall fire extinguishing effect. The entire process from fire extinguishing to refilling realizes automated and coherent operation, reducing the need for manual intervention and improving the efficiency and reliability of fire extinguishing operations. The robot can autonomously complete a series of actions from fire detection, fire extinguishing to refilling, reducing the possibility of human operating errors, while also improving the timeliness and consistency of fire response and ensuring the safety of the energy storage system.

[0033] In one embodiment of the present application, the step of identifying a switch or a preset mark point disposed at the first fluid infusion port position by a visual camera includes: Capture and identify images of the surrounding environment through visual cameras; The camera uses an image recognition algorithm to identify the specific shape, color, texture and other features of the switch to determine whether it is the switch of the first fluid inlet or a preset mark point, and determines the exact position of the first fluid inlet based on the relative position in the image.

[0034] The robot can accurately identify the location of the refilling port, which can reduce the time wasted and misoperation of the robot in the process of finding the refilling port, so that the manipulator can quickly and accurately connect the second refilling port with the first refilling port, improve the efficiency and success rate of the refilling operation, and ensure that the robot can replenish the fire extinguishing agent for the energy storage cabinet in time to ensure that the fire source in the energy storage cabinet is extinguished. In addition, during the fire extinguishing process, the robot does not need to intervene manually in the environment of the energy storage system to prevent harmful gases from causing harm to the human body.

[0035] The method of connecting the second fluid inlet switch to the first fluid inlet by a manipulator includes: When the visual camera successfully identifies the switch or mark at the position of the first fluid infusion port, the manipulator adjusts its position and posture according to the position information provided by the visual camera to ensure that the second fluid infusion port can accurately reach and dock with the first fluid infusion port; The manipulator connects the second fluid filling port switch on the robot to the first fluid filling port on the energy storage cabinet and turns on the switch.

[0036] When the visual camera identifies the position of the first refilling port, the manipulator adjusts its own position and posture according to the position information provided by the camera, and can accurately connect the second refilling port with the first refilling port to ensure the smooth progress of the refilling process, avoid the leakage of fire extinguishing agent or the failure of normal refilling due to inaccurate interface docking, and improve the reliability and safety of refilling. The entire connection process is completed automatically by the manipulator without manual intervention, further improving the automation and work efficiency of the fire-fighting robot. In an emergency, the connection operation of the refilling port can be completed quickly and accurately, reducing delays and errors that may be caused by manual operation, and enhancing the reliability and practicality of the fire-fighting robot in actual applications.

[0037] It should be noted that the laser slam navigation in the above-mentioned liquid replenishment process is the same as the navigation process during fire extinguishing, which will not be described in detail here. When a fire occurs in the energy storage cabinet, it may occur that one robot cannot completely extinguish the fire. The fire extinguishing agent can be further added to the energy storage cabinet through the first liquid replenishment port of the above-mentioned energy storage cabinet and the second liquid replenishment port of the robot until the fire extinguishing agent (such as more than 200 kg) stored in the liquid storage bottle in the robot is released. If the fire is not extinguished, continue the above-mentioned liquid extinguishing. Since the internal space of the energy storage cabinet is relatively closed, when the fire extinguishing agent completely covers the fire source and reduces its temperature, the possibility of another fire can be effectively prevented.

[0038] In one embodiment of the present application, the robot moves to a preset distance from the energy storage cabinet or moves to a preset position, opens a valve to start refilling until the fire extinguishing agent stored in the robot is completely released, including: the robot moves to a distance of 15-20m from the energy storage cabinet or moves to a preset position, opens a valve to start refilling until the fire extinguishing agent stored in the robot is completely released. By moving the robot to a distance of 15-20m from the energy storage cabinet or to a preset position for refilling, this distance range not only ensures the safety of the robot during the refilling process, avoids the direct impact of the fire or possible explosion due to the close distance, but also ensures that the fire extinguishing agent can be effectively delivered to the energy storage cabinet. At the same time, the setting of the preset position also increases the flexibility and adaptability of the operation, and can be reasonably adjusted according to different energy storage cabinet layouts and actual on-site conditions, thereby improving the safety and effectiveness of the refilling operation.

[0039] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0040] In one embodiment of the present application, Figure 2 As shown, a mobile fire-fighting equipment is also disclosed, which can be used to execute the above method, including: a main body 101, a crawler 105 is provided at the lower end of which, and a mechanical arm 102, a second fluid infusion port 103, a dual-spectrum camera 104 and a laser radar 106 are provided at the front end thereof; the mechanical arm 102 is provided with a manipulator matched with the second fluid infusion port 103 and a visual camera 107; the dual-spectrum camera 104 is located above the mechanical arm 102, and the laser radar 106 is located at the upper end of the dual-spectrum camera 104; a networkable control unit is also provided in the main body 101, and the control unit is electrically connected to the visual camera 107, the dual-spectrum camera 104, the laser radar 106, and is electrically connected to a drive unit for driving the crawler 105 and the mechanical arm 102.

[0041] In one embodiment of the present application, based on the same concept, a fire fighting system is also disclosed, which is applied to an energy storage environment, and includes an energy storage cabinet and the above-mentioned mobile fire extinguishing equipment; the fire fighting system implements the above-mentioned mobile fire extinguishing equipment automatic fluid replenishment fire extinguishing method; the energy storage cabinet provides a first fluid replenishment port for connecting to the second fluid replenishment port 103; and a fire extinguishing point is set at a preset distance from the energy storage cabinet.

[0042] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0043] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0044] The mobile fire-fighting equipment, automatic liquid replenishment fire-fighting method and fire-fighting system provided by the present invention are introduced in detail above. The principles and implementation methods of the present invention are explained in this article by using specific examples. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A mobile fire extinguishing equipment automatic liquid replenishment fire extinguishing method, characterized in that: The method is used for extinguishing fire in an energy storage cabinet, comprising: Obtain the location number of the energy storage cabinet where the fire signal is triggered through the preset network environment; Autonomously navigate to the preset fire extinguishing point at the energy storage cabinet position corresponding to the position number by means of laser slam navigation; The dual-spectrum camera with thermal imaging can be used to locate the fire point, and the robot arm can be guided to adjust the fire-fighting posture, open the valve, and spray the fire. The robot is connected to the first liquid replenishing port position preset in the energy storage cabinet to replenish the fire extinguishing agent in the energy storage cabinet until the fire extinguishing agent stored in the robot is completely released.

2. The method according to claim 1, characterized in that The method of obtaining the location number of the energy storage cabinet where the fire signal is triggered by a preset network environment includes: Monitor the fire warning status of the energy storage cabinet through the preset IoT or Wi-Fi environment; When the energy storage cabinet triggers a fire signal, the corresponding energy storage cabinet position number is obtained.

3. The method according to claim 1, characterized in that The autonomous navigation by laser slam to the preset fire extinguishing point at the energy storage cabinet position corresponding to the position number includes: Continuously detect the relative position and angular resolution of the energy storage cabinet through the laser radar as the perception data, perform preliminary processing on the collected perception data, remove noise and outliers, and obtain preliminary data; Determine the position and posture of the robot in the environment through the preliminary data and the preset model, and construct an environment map based on the position and posture information; According to the environmental map and the location of the energy storage cabinet, an optimal path is planned, and the robot is controlled to travel along the planned path to the preset fire extinguishing point of the energy storage cabinet.

4. The method according to claim 1, characterized in that The dual-spectrum camera including thermal imaging is used to lock the fire point, and the robot arm is guided to adjust the fire extinguishing posture, open the valve, and spray the fire, including: Acquire infrared thermal imaging images of the energy storage cabinet through a thermal imaging camera; Convert the pseudo color or black and white brightness of infrared thermal imaging images into corresponding temperature information; When the temperature information is determined to be on fire or has reached the ignition point temperature, the corresponding energy storage cabinet position number is locked through a conventional camera; According to the location number of the energy storage cabinet, guide the robotic arm to adjust the fire-fighting posture, open the valve, and carry out spray fire extinguishing.

5. The method according to claim 1, characterized in that: The method of connecting the robot to a first liquid replenishing port preset in the energy storage cabinet to replenish the fire extinguishing agent in the energy storage cabinet until the fire extinguishing agent stored in the robot is completely released includes: The position number of the energy storage cabinet is obtained through a visual camera, and the laser slam is used to navigate to the preset first liquid filling port position of the energy storage cabinet; Identify a switch or a preset mark point mark set at the first fluid infusion port position through a visual camera; Connecting the second fluid inlet switch to the first fluid inlet by a manipulator, wherein the second fluid inlet is located on the robot; The robot moves to a preset distance from the energy storage cabinet or to a preset position, opens a valve and starts to replenish liquid until the fire extinguishing agent stored in the robot is completely released.

6. The method according to claim 5, characterized in that The method of identifying a switch or a preset mark point mark set at the position of the first fluid infusion port by a visual camera includes: Capture and identify images of the surrounding environment through visual cameras; The camera uses an image recognition algorithm to identify the specific shape, color, texture and other features of the switch to determine whether it is the switch of the first fluid inlet or a preset mark point, and determines the exact position of the first fluid inlet based on the relative position in the image.

7. The method according to claim 5, characterized in that The method of connecting the second fluid inlet switch to the first fluid inlet by a manipulator includes: When the visual camera successfully identifies the switch or mark at the position of the first fluid infusion port, the manipulator adjusts its position and posture according to the position information provided by the visual camera to ensure that the second fluid infusion port can accurately reach and dock with the first fluid infusion port; The manipulator connects the second fluid filling port switch on the robot to the first fluid filling port on the energy storage cabinet and turns on the switch.

8. The method according to claim 5, characterized in that The robot moves to a preset distance from the energy storage cabinet or to a preset position, opens a valve and starts to replenish liquid until the fire extinguishing agent stored in the robot is completely released, including: The robot moves to a distance of 15-20m from the energy storage cabinet or to a preset position, opens the valve and starts to replenish liquid until the fire extinguishing agent stored in the robot is completely released.

9. A mobile fire-fighting equipment, characterized in that: include: A main body, with a crawler track at the lower end and a mechanical arm, a second fluid infusion port, a dual-spectrum camera and a laser radar at the front end; The mechanical arm is provided with a mechanical hand adapted to the second fluid infusion port and a visual camera; The dual-spectrum camera is located above the mechanical arm, and the laser radar is located at the upper end of the dual-spectrum camera; A networkable control unit is also provided in the main body, and the control unit is electrically connected to the visual camera, the dual-spectrum camera, the laser radar, and the drive unit for driving the crawler and the robotic arm.

10. A fire fighting system, characterized in that: The fire fighting system is applied to an energy storage environment, and comprises an energy storage cabinet and a mobile fire fighting equipment as described in claim 9; the fire fighting system implements the method described in any one of claims 1 to 8 above; The energy storage cabinet provides a first fluid replenishment port for connecting to a second fluid replenishment port; a fire extinguishing point is arranged at a preset distance from the energy storage cabinet.

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