Storage battery intelligent inspection fire extinguishing robot and control method thereof

Abstract

The invention discloses a storage battery intelligent inspection fire extinguishing robot and a control method, the storage battery intelligent inspection fire extinguishing robot comprises a robot body, a mechanical arm and a fire extinguishing device, the mechanical arm is installed on the robot body, the fire extinguishing device is installed at the free end of the mechanical arm, and the fire extinguishing device comprises a nozzle; one end of the nozzle is provided with breaking teeth, the other end of the nozzle is connected with a fire extinguishing medium supply device through a supply pipeline, and a collecting cover is further installed on the nozzle and connected with a negative pressure device through a negative pressure pipeline. The nozzle can enter the storage battery pack in an impacting or rotating mode, so that a battery pack in the storage battery pack is extinguished, meanwhile, mixed gas in the storage battery pack can be sucked out through the collecting cover and the negative pressure device, gas in the storage battery pack is replaced, and the fire extinguishing effect is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of energy storage battery inspection, and in particular to a battery intelligent inspection and fire extinguishing robot and a control method thereof. Background Art

[0002] Energy storage battery rooms are commonly equipped with automatic alarm and fire extinguishing systems, which, to a certain extent, play a positive role in preventing and handling battery fires. However, due to the interconnectedness and maintainability of automatic fire extinguishing systems, they may suffer from false alarms, missed alarms, long response times, high maintenance costs, and the need for frequent manual intervention. Automatic fire extinguishing systems, in particular, require regular maintenance and inspections to ensure their reliability, which in turn increases operational costs.

[0003] Current energy storage batteries are generally composed of multiple battery packs, which are installed in a casing to form an energy storage battery pack. The energy storage battery pack is also equipped with a control circuit for controlling the charging and discharging protection of the internal battery packs.

[0004] The unique chemical properties of energy storage battery packs can cause fires due to the use environment, overcharge and discharge, or short circuits, which can easily lead to serious accidents such as combustion and explosion. Therefore, timely detection of battery fire hazards, accurate diagnosis, and rapid disposal are crucial to controlling fires and reducing accident damage.

[0005] Chinese patent document CN103550883A, published (announced) on February 5, 2014, discloses a substation firefighting robot, comprising a patrol robot, a gas detection device, an infrared temperature measurement device, a fire extinguishing device, and a main control computer. The patrol robot is placed within the substation, with a patrol route marked on the floor of its work area, and several radio frequency cards installed at key points on the floor for positioning. Its features include: automatic patrol based on patrol route markings and navigation devices; real-time monitoring of the concentration of gases characteristic of early-stage fires within the substation's production areas using a gas detection device, and graded early warnings for concentration exceeding limits; infrared temperature measurement devices capturing infrared temperature images of production equipment, issuing graded alarms for equipment overheating, and locating fault points; and fire extinguishing devices for rapid extinguishing of sudden fires, controlling the spread of initial fires and buying time for rescue efforts. This strengthens the prevention and firefighting of early fires and more effectively improves the fire safety of substations. However, its disadvantage is that when extinguishing a fire in an energy storage battery pack, since the battery pack is located inside the outer shell, the fire extinguishing medium cannot enter the inner shell when the fire is extinguished directly through the nozzle, resulting in poor fire extinguishing effect. Summary of the Invention

[0006] In order to solve the current technical problems, the main purpose of the present invention is to provide a battery intelligent patrol fire extinguishing robot and its control method to overcome the difficulties existing in the existing technology. The nozzle can enter the interior of the battery pack by impact or rotation, thereby extinguishing the battery group inside the battery pack. It can also simultaneously suck out the mixed gas inside the battery pack through the collection cover and the negative pressure device, thereby replacing the gas inside the battery pack and improving the fire extinguishing effect.

[0007] The technical solution adopted by the present invention is: a battery intelligent patrol fire extinguishing robot, including a robot body, a mechanical arm and a fire extinguishing device, the mechanical arm is installed on the robot body, and the fire extinguishing device is installed at the free end of the mechanical arm, and the fire extinguishing device includes a nozzle; one end of the nozzle is provided with a breaking tooth, and the other end is connected to the fire extinguishing medium supply device through a supply pipe, and a collection cover is also installed on the nozzle, and the collection cover is connected to the negative pressure device through a negative pressure pipe; the nozzle can penetrate into the battery pack by impact or rotation.

[0008] The nozzle is provided with a plurality of cutting edges along the circumferential direction on the outer wall of one end located at the breaking tooth.

[0009] A folding block is provided between adjacent cutting edges.

[0010] The fire extinguishing device also includes a fixed seat and a motor. The nozzle is rotatably connected to the fixed seat through a first bearing. A rotary joint is installed at one end of the nozzle connected to the supply pipe. The supply pipe is connected to the rotary joint, and the nozzle is transmission-connected to the motor. The collection cover is connected to the nozzle through a second bearing, and the negative pressure pipe is fixedly connected to the fixed seat.

[0011] A first gear is installed on the nozzle, and a second gear is installed on the output shaft of the motor. The first gear and the second gear are meshed for transmission.

[0012] The fixing seat and the motor are both mounted on the base, and a supporting seat is also mounted on the base. The supporting seat is used to fix the fixed side of the rotary joint.

[0013] A flexible sealing ring is installed on the side of the collecting cover facing the breaking teeth.

[0014] The robot body includes a walking module, a control module, a radar module, a power module, a communication module and a tracking module. The free end of the robotic arm is also equipped with a monitoring device, which includes a camera, a temperature measurement module and a smoke detection module. The walking module is used to drive the robot body to walk, the radar module is used to detect static obstacles and dynamic obstacles in the environment, the power module is used to supply power to the walking module, the control module, the radar module, the communication module, the tracking module and the monitoring device, the communication module is used to communicate with the monitoring center, the tracking module is used to identify the ground track line and guide the robot body to move and stop according to the ground track line. The control module is electrically connected to the walking module, the radar module, the communication module, the tracking module, the robotic arm and the monitoring device respectively to control the coordinated operation of the fire-fighting robot.

[0015] The fire extinguishing medium supply device includes a storage bottle group and a starting bottle group. The storage bottle group is equipped with a container valve, and the starting bottle group is equipped with a starting valve. The starting valve is electrically connected to the control module, and the starting valve is connected to the container valve pipeline. The storage bottle group stores pressurized fire extinguishing medium.

[0016] The control method of the battery intelligent inspection and fire extinguishing robot is used to inspect and extinguish fires in battery rooms. The control method includes the following steps: Set up a ground track line on the floor of the battery room to form the inspection route of the fire-fighting robot, and set up several inspection points on the ground track line; The patrol fire-fighting robot uses the tracking module to identify ground track lines and patrol points. At each patrol point, it uses monitoring equipment to patrol the batteries on the battery rack. The temperature measurement module measures the temperature of the batteries within the range, and the smoke detection module detects the smoke concentration in real time. When the temperature of one of the battery packs is detected to exceed the set safety threshold, the system will further detect whether the smoke concentration in the battery pack area exceeds the standard. If the smoke concentration exceeds the standard, the data will be uploaded to the back-end monitoring center through the communication module, and real-time monitoring and recording will be carried out through the camera, and the fire situation will be confirmed by the back-end monitoring center. After the fire is confirmed, the camera is used to locate the fire extinguishing perforation area on the battery pack shell. The robot body is moved and the height and angle of the robot arm are adjusted to align the nozzle's broken teeth with the fire extinguishing perforation area. The nozzle penetrates the fire extinguishing perforation area on the battery pack shell by impact or rotation, while the collection cover abuts against the battery pack shell; The fire extinguishing medium supply device is activated, and the fire extinguishing medium enters the nozzle through the supply pipe, and finally enters the battery pack casing from the broken tooth end of the nozzle to extinguish the fire; The negative pressure device extracts the mixed gas inside the battery pack shell through the negative pressure pipe to replace the gas inside the battery pack.

[0017] The present invention has the following beneficial effects: 1. The robot body of the present invention is used to carry the movement of the manipulator arm, the fire extinguishing device, the fire extinguishing medium supply device and the negative pressure device. The manipulator arm is used to carry the fire extinguishing device and control the movement position of the fire extinguishing device. The nozzle is a tubular structure with a breaking tooth provided at one end and the other end connected to the supply pipe. The nozzle can enter the interior of the battery pack by impact or rotation, thereby extinguishing the battery pack inside the battery pack. It can also simultaneously suck out the mixed gas inside the battery pack through the collection cover and the negative pressure device, thereby replacing the gas inside the battery pack, reducing the concentration of internal combustible gas, and improving the fire extinguishing effect. It can also reduce the internal pressure of the outer shell to prevent explosion. As a result, when a battery pack experiences thermal runaway, it will not cause the entire battery shelf or even the entire battery room to burn out of control.

[0018] 2. The fire extinguishing device of the present invention also includes a mounting base and a motor. The nozzle is rotatably connected to the mounting base via a first bearing. A rotary joint is installed at the end where the nozzle connects to the supply pipe. The supply pipe is connected to the rotary joint, and the nozzle is in a transmission connection with the motor. The collection hood is connected to the nozzle via a second bearing, and the negative pressure pipe is fixedly connected to the mounting base. When the motor rotates, it drives the nozzle to rotate, thereby drilling a hole in the battery pack casing. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 This is a schematic structural diagram of the patrol fire-fighting robot of the present invention.

[0021] Figure 2 It is a structural schematic diagram of the fire extinguishing device of the present invention.

[0022] Figure 3 for Figure 2 Schematic diagram of the AA cross-section structure.

[0023] Figure 4 for Figure 2 Schematic diagram of the BB cross-section structure.

[0024] Figure 5 It is a three-dimensional schematic diagram of the patrol fire-fighting robot of the present invention.

[0025] Figure 6 Schematic diagram of the inspection route and points of the inspection robot of the present invention.

[0026] Figure 7 This is a flow chart of the control method of the patrol fire-fighting robot of the present invention.

[0027] Reference numerals: Robot body 10, walking module 11, control module 12, radar module 13, power module 14, communication module 15, tracking module 16; Robotic arm 20; Monitoring equipment 30, camera 31, distance detector 32, temperature measurement module 33, smoke detection module 34; Fire extinguishing device 40, fixing base 41, first bearing 411, nozzle 42, breaking tooth 421, cutting blade 422, folding block 423, first gear 43, motor 44, second gear 441, rotary joint 45, collecting cover 46, flexible sealing ring 461, second bearing 462, sealing ring 463, base 47, support base 471; Fire extinguishing medium supply device 50, supply pipeline 51, storage bottle group 52, starter bottle group 53, container valve 54, starter valve 55; Negative pressure device 60 , negative pressure pipe 61 . DETAILED DESCRIPTION

[0028] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0029] Example 1: See also Figure 1-5 The present invention provides a battery intelligent inspection and fire-fighting robot, including a robot body 10, a robotic arm 20 and a fire-extinguishing device 40. The robotic arm 20 is mounted on the robot body 10, and the fire-extinguishing device 40 is mounted on the free end of the robotic arm 20. The fire-extinguishing device 40 includes a nozzle 42; one end of the nozzle 42 is provided with a breaking tooth 421, and the other end is connected to the fire-extinguishing medium supply device 50 through a supply pipe 51. A collection cover 46 is also installed on the nozzle 42, and the collection cover 46 is connected to the negative pressure device 60 through a negative pressure pipe 61; the nozzle 42 can penetrate into the battery pack by impact or rotation.

[0030] In this embodiment, the robot body 10 is used to carry the movement of the robotic arm 20, the fire extinguishing device 40, the fire extinguishing medium supply device 50, and the negative pressure device 60. The robotic arm 20 is used to carry the fire extinguishing device 40 and control the movement position of the fire extinguishing device 40. The nozzle 42 is a tubular structure, with a breaking tooth 421 provided at one end and the other end connected to the supply pipe 51. The nozzle 42 can enter the interior of the battery pack through impact or rotation, thereby extinguishing the battery pack inside the battery pack. It can also simultaneously suck out the mixed gas inside the battery pack through the collection cover 46 and the negative pressure device 60, thereby replacing the gas inside the battery pack, reducing the concentration of the internal combustible gas and improving the fire extinguishing effect. It can also reduce the pressure inside the shell to prevent explosion.

[0031] In this embodiment, the nozzle 42 penetrates the battery pack by impact. Specifically, the rupture teeth 421 have sharp ends. Under the control and swing of the robotic arm 20, the rupture teeth 421 of the nozzle 42 are capable of piercing the battery pack casing. The gap between the nozzle 42 and the casing allows internal gas to escape and be collected by the collection cover 46.

[0032] In this embodiment, the robot arm 20 adopts a six-axis robot arm system. The negative pressure device 60 can adopt a negative pressure tank or a negative pressure pump to extract the gas in the small space inside the battery pack shell, while all the ventilation facilities in the energy storage battery room are opened.

[0033] For further information, see Figure 4 The nozzle 42 is provided with a plurality of cutting edges 422 along the circumferential direction on the outer wall of the end located at the breaking tooth 421. When the nozzle 42 impacts and penetrates the battery pack casing, the cutting edges 422 separate the outer casing in the circumferential area outside the nozzle 42 into multiple sheet-like structures, further increasing the gap between the nozzle 42 and the casing.

[0034] Furthermore, a folding block 423 is provided between adjacent cutting edges 422. After the plurality of cutting edges 422 divide the outer shell circumferentially outside the nozzle 42 into a plurality of sheet-like structures, the folding block 423 abuts against the sheet-like structures during the downward movement of the nozzle 42, thereby bending the sheet-like structures and further increasing the gap between the nozzle 42 and the shell.

[0035] Example 2: Different from the first embodiment, in this embodiment, the nozzle 42 enters the interior of the battery pack in a rotating manner.

[0036] See also Figure 2 、 3The fire extinguishing device 40 also includes a fixed base 41 and a motor 44. The nozzle 42 is rotatably connected to the fixed base 41 via a first bearing 411. A rotary joint 45 is mounted on the end of the nozzle 42 connected to the supply pipe 51. The supply pipe 51 is connected to the rotary joint 45, and the nozzle 42 is in driving connection with the motor 44. The collection cover 46 is connected to the nozzle 42 via a second bearing 462. The negative pressure pipe 61 is fixedly connected to the fixed base 41. When the motor 44 rotates, it drives the nozzle 42 to rotate, thereby drilling a hole in the battery pack casing. In this method, the breaking teeth 421 of the nozzle 42 serve as a hole opener.

[0037] Specifically, in this embodiment, a first gear 43 is mounted on the nozzle 42, and a second gear 441 is mounted on the output shaft of the motor 44. The first gear 43 and the second gear 441 mesh with each other. When the motor 44 rotates, the second gear 441 rotates, which in turn rotates the first gear 43, thereby rotating the nozzle 42.

[0038] Furthermore, in order to make the structure integrated, the fixing base 41 and the motor 44 are both mounted on a base 47. A support base 471 is also mounted on the base 47. The support base 471 is used to fix the fixed side of the rotary joint 45. During installation, the base 47 is connected to the free end of the robot arm 20.

[0039] Furthermore, to improve the seal between the collection hood 46 and the battery housing, a flexible sealing ring 461 is installed on the side of the collection hood 46 facing the breaking teeth 421. Flexible sealing ring 461 can be made of a high-temperature resistant silicone ring. Specifically, a ring groove is provided on the end surface of the collection hood 46, and flexible sealing ring 461 is adhesively fixed within the ring groove.

[0040] In order to improve the sealing between the collecting cover 46 and the nozzle 42 , a sealing ring 463 is further installed in the collecting cover 46 .

[0041] In this embodiment, the nozzle 42 is also circumferentially provided with multiple cutting edges 422 on the outer wall of the end located near the breaking tooth 421. As the nozzle 42 rotates, the cutting edges 422 expand the hole in the battery housing. When the nozzle 42 stops, negative pressure channels are formed between adjacent cutting edges 422, facilitating gas displacement within the battery pack.

[0042] Example 3: On the basis of Example 1 or Example 2, see Figure 1The robot body 10 includes a walking module 11, a control module 12, a radar module 13, a power module 14, a communication module 15 and a tracking module 16. The free end of the robotic arm 20 is also equipped with a monitoring device 30, and the monitoring device 30 includes a camera 31, a temperature measurement module 33 and a smoke detection module 34; the walking module 11 is used to drive the robot body 10 to walk, the radar module 13 is used to detect static obstacles and dynamic obstacles in the environment, the power module 14 is used to supply power to the walking module 11, the control module 12, the radar module 13, the communication module 15, the tracking module 16 and the monitoring device 30, the communication module 15 is used to communicate with the monitoring center, the tracking module 16 is used to identify the ground track line and guide the robot body 10 to move and stop according to the ground track line. The control module 12 is electrically connected to the walking module 11, the radar module 13, the communication module 15, the tracking module 16, the robotic arm 20 and the monitoring device 30 respectively to control the coordinated operation of the fire-fighting robot.

[0043] In this embodiment, radar module 13 utilizes a 16-line laser radar. Communication module 15 is primarily a wireless transceiver that communicates with the host system or control terminal via the AP network deployed in the battery room. Power module 14 primarily includes a lithium battery and a charging port. The lithium battery provides power to the battery-powered intelligent inspection robot, and the charging port connects to the charging plug in the charging compartment. Control module 12 is the inspection robot's central control center, based on a PLC controller. It primarily handles the processing, analysis, and upload of inspection data, as well as controlling the robot's movement module and the execution of fire extinguishing devices.

[0044] Furthermore, Figure 1 In the example, the fire extinguishing medium supply device 50 includes a storage bottle assembly 52 and a priming bottle assembly 53. A container valve 54 is mounted on the storage bottle assembly 52, and a priming valve 55 is mounted on the priming bottle assembly 53. The priming valve 55 is electrically connected to the control module 12 and connected to the container valve 54 via a pipeline. The storage bottle assembly 52 stores pressurized fire extinguishing medium. HFC-227ea is preferred as the fire extinguishing medium. When the fire extinguishing medium needs to be sprayed, the control module 12 controls the solenoid valve of the priming valve 55 to open, allowing the high-pressure N2 in the priming bottle assembly 53 to enter the container valve 54, thereby opening the container valve 54. The pressurized fire extinguishing medium in the storage bottle assembly 52 enters the nozzle 42 through the supply pipeline 51 and is sprayed into the battery pack.

[0045] Example 4: Based on Example 3, see Figure 6 、 7 A control method for a battery intelligent inspection and fire extinguishing robot is provided, which is used to inspect and extinguish fires in battery rooms. The control method comprises the following steps: Figure 6In the process, a ground track line is set on the floor of the battery room to form an inspection route for the fire-fighting robot, and several inspection points are set on the ground track line.

[0046] The patrol fire-fighting robot identifies the ground track line and patrol points through the tracking module 16, and inspects the batteries on the battery rack through the monitoring equipment 30 at each patrol point. Among them, the temperature measurement module 33 measures the temperature of the batteries within the range, and the smoke detection module 34 detects the smoke concentration in real time.

[0047] When it is detected that the temperature of one of the battery packs exceeds the set safety threshold, the system further detects whether the smoke concentration in the battery pack area exceeds the standard. If the smoke concentration exceeds the standard, the data is uploaded to the back-end monitoring center through the communication module 15, and real-time monitoring and recording is performed through the camera 31, and the fire situation is confirmed by the back-end monitoring center.

[0048] After the fire is confirmed, the fire extinguishing perforation area on the battery pack shell is located by the camera 31, and the robot body 10 is moved and the height and angle of the robot arm 20 are adjusted so that one end of the breaking tooth 421 of the nozzle 42 is aligned with the fire extinguishing perforation area.

[0049] The nozzle 42 penetrates into the fire extinguishing perforated area on the battery pack shell by impact or rotation, while the collecting cover 46 abuts against the battery pack shell.

[0050] The fire extinguishing medium supply device 50 is started, and the fire extinguishing medium enters the nozzle 42 through the supply pipe 51, and finally enters the interior of the battery pack shell from one end of the broken tooth 421 of the nozzle 42 to extinguish the fire.

[0051] The negative pressure device 60 extracts the mixed gas inside the battery pack shell through the negative pressure pipe 61 to replace the gas inside the battery pack.

[0052] It should be noted that, because multiple battery packs are installed within the housing, a fire-extinguishing perforation area is pre-installed on the housing to extinguish fires within the battery packs. A visual marker is provided in the perforation area, which is identified by camera 31 to determine its position. This position ensures that the nozzle 42 will not cause secondary damage to the internal battery packs when it penetrates. Specifically, the perforation area can be a thin, weak area. As the nozzle 42 penetrates, the distance between the nozzle 42 and the housing can also be detected by the distance detector 32 on the monitoring device 30.

Claims

1. A battery intelligent inspection and fire extinguishing robot, comprising a robot body (10), a mechanical arm (20) and a fire extinguishing device (40), wherein the mechanical arm (20) is mounted on the robot body (10), the fire extinguishing device (40) is mounted at the free end of the mechanical arm (20), and the fire extinguishing device (40) comprises a nozzle (42); the characteristics are: One end of the nozzle (42) is provided with a breaking tooth (421), and the other end is connected to the fire extinguishing medium supply device (50) via a supply pipe (51); a collecting hood (46) is also installed on the nozzle (42), and the collecting hood (46) is connected to the negative pressure device (60) via a negative pressure pipe (61); the nozzle (42) can penetrate into the battery pack by impact or rotation.

2. A battery-powered intelligent patrol fire-fighting robot according to claim 1, characterized in that: The nozzle (42) is provided with a plurality of cutting blades (422) along the circumferential direction on an outer wall at one end of the breaking tooth (421).

3. A battery-powered intelligent patrol fire-fighting robot according to claim 2, characterized in that: A folding block (423) is provided between adjacent cutting blades (422).

4. A battery-powered intelligent patrol fire-fighting robot according to claim 1 or 2, characterized in that: The fire extinguishing device (40) further comprises a fixing seat (41) and a motor (44); the nozzle (42) is rotatably connected to the fixing seat (41) via a first bearing (411); a rotating joint (45) is installed at one end of the nozzle (42) connected to the supply pipe (51); the supply pipe (51) is connected to the rotating joint (45); the nozzle (42) is drivingly connected to the motor (44); the collecting hood (46) is connected to the nozzle (42) via a second bearing (462); and the negative pressure pipe (61) is connected and fixed to the fixing seat (41).

5. The battery intelligent patrol fire extinguishing robot according to claim 4, characterized in that: A first gear (43) is mounted on the nozzle (42), a second gear (441) is mounted on the output shaft of the motor (44), and the first gear (43) and the second gear (441) are meshed and driven.

6. The battery-powered intelligent patrol fire-fighting robot according to claim 4, characterized in that: The fixing seat (41) and the motor (44) are both mounted on a base (47). A supporting seat (471) is also mounted on the base (47). The supporting seat (471) is used to fix the fixed side of the rotating joint (45).

7. The battery-powered intelligent patrol fire-fighting robot according to claim 1, characterized in that: A flexible sealing ring (461) is installed on the side of the collecting cover (46) facing the breaking tooth (421).

8. The battery-powered intelligent patrol fire-fighting robot according to claim 1, characterized in that: The robot body (10) comprises a walking module (11), a control module (12), a radar module (13), a power module (14), a communication module (15) and a tracking module (16); the free end of the robot arm (20) is also equipped with a monitoring device (30), the monitoring device (30) comprising a camera (31), a temperature measurement module (33) and a smoke detection module (34); the walking module (11) is used to drive the robot body (10) to walk, the radar module (13) is used to detect static obstacles and dynamic obstacles in the environment, and the power module (14) is used to provide the monitoring device (30) with a temperature measurement module (33) and a smoke detection module (34); The walking module (11), the control module (12), the radar module (13), the communication module (15), the tracking module (16) and the monitoring device (30) are powered; the communication module (15) is used to communicate with the monitoring center; the tracking module (16) is used to identify a ground track line and guide the robot body (10) to move and stop according to the ground track line; the control module (12) is electrically connected to the walking module (11), the radar module (13), the communication module (15), the tracking module (16), the robot arm (20) and the monitoring device (30) respectively, so as to control the coordinated operation of the fire-fighting robot.

9. The battery-powered intelligent patrol fire-fighting robot according to claim 8, characterized in that: The fire extinguishing medium supply device (50) comprises a storage bottle group (52) and a starting bottle group (53); a container valve (54) is installed on the storage bottle group (52); a starting valve (55) is installed on the starting bottle group (53); the starting valve (55) is electrically connected to the control module (12); and the starting valve (55) is connected to the container valve (54) via a pipeline; the storage bottle group (52) stores pressurized fire extinguishing medium.

10. The control method of the battery intelligent patrol fire-fighting robot according to claim 8 is characterized in that: Used to inspect and extinguish the battery room, the control method includes the following steps: A ground track line is set on the floor of the battery room to form an inspection route for the inspection fire-fighting robot, and several inspection points are set on the ground track line; The patrol fire-fighting robot identifies the ground track line and the patrol point through the tracking module (16), and patrols the batteries on the battery rack through the monitoring equipment (30) at each patrol point, wherein the temperature of the batteries within the range is measured through the temperature measurement module (33), and the smoke detection module (34) detects the smoke concentration in real time; When it is detected that the temperature of one of the battery packs exceeds the set safety threshold, it is further detected whether the smoke concentration in the battery pack area exceeds the standard. When the smoke concentration exceeds the standard, the data is uploaded to the back-end monitoring center through the communication module (15), and real-time monitoring and recording is performed through the camera (31), and the back-end monitoring center is waited for confirmation of the fire situation; After the fire is confirmed, the fire extinguishing perforated area on the battery pack shell is located by using a camera (31), and the robot body (10) is moved and the height and angle of the robot arm (20) are adjusted so that one end of the broken tooth (421) of the nozzle (42) is aligned with the fire extinguishing perforated area; The nozzle (42) penetrates into the fire extinguishing perforated area on the battery pack shell by impact or rotation, while the collecting cover (46) abuts against the battery pack shell; The fire extinguishing medium supply device (50) is started, and the fire extinguishing medium enters the nozzle (42) through the supply pipe (51), and finally enters the interior of the battery pack housing from the broken tooth (421) end of the nozzle (42) to extinguish the fire; The negative pressure device (60) extracts mixed gas from the battery pack shell through the negative pressure pipe (61) to replace the gas inside the battery pack.

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