Power plant fireproof door and robot linkage control system and method

Abstract

The invention discloses a linkage control system and method for a fireproof door and a robot of a power plant, and the control device achieves the effective linkage of the fireproof door and an intelligent device through an electric door motor, and achieves the intelligent linkage of the fireproof door through the seamless connection with an inspection robot and other modern intelligent devices. The fireproof door can be intelligently opened and closed through the state detection module according to the environment and use requirements, the intelligent function enables the equipment to quickly respond in emergency, emergency treatment of emergencies such as fire disasters is ensured, the safety guarantee is remarkably improved, and the safety of the equipment is improved. The design of the double-control switch provides flexibility and convenience for personnel passing and equipment maintenance. No matter whether personnel normally pass or equipment carrying needs, the device can achieve quick opening and closing of the fireproof door through simple operation, and the working efficiency and safety are greatly improved. Through the double-control switch, a person can easily control the fireproof door on any side, and operation inconvenience caused by a single switch is avoided.

Description

Technical Field

[0001] The invention belongs to the technical field of intelligent control of fire doors, and in particular relates to a control system and method for a power plant fire door and robot linkage. Background Art

[0002] In power plants, there are a large number of fire doors between various areas to prevent the spread of fire and smoke. At the same time, fire doors can be used to restrict the passage of people and protect key areas in conjunction with access control systems and magnetic locks. At present, the fire doors of hydropower stations are double-leaf normally closed fire doors. The door body and door frame are filled with refractory materials such as rock wool and glass fiber to reduce heat transfer. Sealing strips are installed around the door to prevent smoke and flames from entering through the door gap. Fire doors are usually closed. When people need to pass through, they are opened manually. After people pass through the protective door, the fire door is automatically closed by the door closer. Although traditional fire doors can prevent the spread of fire to a certain extent, they have obvious deficiencies in intelligence and automation, such as the lack of linkage with modern intelligent equipment, especially the difficulty in linkage with modern intelligent equipment such as inspection robots. Summary of the invention

[0003] The present invention provides a power plant fire door and robot linkage control system and method, which solves the problem of linkage between fire doors and modern intelligent equipment such as inspection robots.

[0004] To achieve the above object, the present invention provides the following technical solutions: A power plant fire door and robot linkage control system, comprising a double-control switch and an electric door machine installed on both sides of the fire door, the electric door machine comprising: Control module: responsible for receiving and processing instructions from dual-control switches and intelligent devices, and controlling the operation of the drive control module, status monitoring module and sound and light module; Communication module: used for communication between smart devices and other modules; Authentication module: used to verify the legitimacy of instructions; Drive control module: used to control the switch of fire door; Status detection module: used to detect the real-time status and surrounding environment of the fire door; Sound and light module: used to display the switch status of the fire door; It also includes a signal mark installed on the fire door, and the signal mark communicates with the smart device to confirm the target fire door through communication.

[0005] Preferably, the control module sets a priority control logic to give priority to the fire alarm signal and emergency door closing command sent by the system. Preferably, the communication module includes a wireless communication module and a wired interface, the wireless communication module includes WiFi, Zigbee or LoRa communication mode, and the wired interface adopts RS485.

[0006] Preferably, the status monitoring module includes a door position sensor and an environmental monitoring sensor. The door position sensor is installed on the fire door body or the fire door frame to monitor the opening and closing status of the fire door in real time and feed back the opening and closing status of the fire door to the control module. The environmental monitoring sensor includes a smoke sensor and a temperature sensor for monitoring fire signals near the door. When the smoke concentration or temperature is detected to exceed the set threshold, the control module controls the fire door to close.

[0007] Preferably, the drive control module adopts a stepper motor, which accurately positions the fire door through a fixed rotation angle in each step to control the opening and closing angle of the fire door. Whenever the stepper motor receives a control signal, it rotates according to a preset number of steps to ensure that the fire door opens to the set angle as required and remains in that position.

[0008] Preferably, the identity authentication module is used to solve the problem of false triggering of the linkage control of the robot when there are multiple fire doors in the area. A unique QR code is affixed to each fire door. Through the QR code recognition technology, the robot confirms the identity of the target door in the area and ensures that only a specific electric door operator responds and performs the door opening or closing operation by sending instructions with identity information.

[0009] A linkage control method for fire doors in a power plant. When the system receives a door opening command, the control module starts the drive control module to open the door to a set angle. After the door opening process is completed, the control module confirms the opening position of the fire door through a status detection module. After the process is completed, a person manually triggers or a robot issues a door closing command, and the drive control module controls the fire door to close smoothly to its original position.

[0010] Preferably, the specific operation of the robot passing through the fire door is: When the robot approaches a fire door, it first scans the surrounding environment with its onboard sensors to identify the fire door. The robot confirms the identity of the target fire door by reading the signal identification. The robot compares the door identification with a preset door identification list to ensure communication with the specific fire door. Once the target fire door is confirmed, the robot will send a door opening request to the control module of the electric door operator. The request contains specific door identification information to ensure that the instruction is for the correct fire door. The identity verification module verifies the request and confirms that the door identification matches the received request; After successful verification, the control module of the electric door operator executes the door opening operation and starts the drive control module to open the door to the set angle. During the door opening process, the control module will monitor the position and status of the door in real time to ensure the safety and accuracy of the door opening process; When the door is successfully opened, the control module of the electric door operator will send a feedback signal to the robot to confirm that the door has been successfully opened. After receiving this signal, the robot will ensure that it only interacts with the specific fire door during the whole process by specifying the fire door; After the robot passes through the fire door, it issues a closing command, and the electric door machine receives the closing command and closes the fire door.

[0011] Preferably, the specific operation of a person passing through a fire door is: When a person approaches the fire door, he first presses the double-control switch in front of the door. After pressing the switch, the control module receives the door opening command and starts the electric door machine. The fire door opens to the set angle. After the fire door opens, the person passes through. After passing through, the person presses the double-control switch behind the door. The control module receives the closing command, and the electric door machine rotates in the opposite direction to automatically close the fire door, ensuring that it returns to the normally closed state. When the door needs to remain normally open, the operator only needs to press any one of the double-control switches, the control module will receive the normally open command, and the fire door will remain open. After completing the equipment handling or maintenance, the operator presses any switch in front of or behind the door again, the control module will receive the closing command, and the electric door machine will automatically close the fire door and return to normal.

[0012] Preferably, the specific manner in which the signal identifier communicates with the robot is: QR code recognition and door identity confirmation: Each fire door is equipped with a unique QR code, which contains the door's identity information. The robot uses the visual sensor or QR code scanner on board to scan the QR code on the fire door, identify and confirm the target fire door, and obtain the target door's identity information through the QR code; After confirming the target fire door, the robot will generate a control instruction based on the door's identity information. This instruction includes the target door's identity information and control instructions. The target door's identity information is the unique ID contained in the parsed QR code. The control instruction content includes door opening and door closing instructions. The robot broadcasts the generated control instructions to all electric door operators within the specified range through wireless signals. All electric doors receive the instructions, and each electric door operator verifies the instructions. The communication module in the electric door operator parses and matches the identity information in the received instructions. If the identity information of the electric door operator matches the identity verification field in the instruction, the electric door operator will perform the corresponding door opening or closing operation. If the identity information of the electric door operator does not match the identity in the instruction, the electric door operator will ignore the instruction to avoid false triggering. When the target electric door operator receives the correct instruction and confirms its identity, it will start the motor through the control module to open or close the door. At the same time, the electric door operator will send the execution status to the robot through the feedback mechanism.

[0013] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a control system for the linkage between fire doors and robots in power plants. The control device realizes the effective linkage between fire doors and intelligent devices through electric door machines. Through seamless connection with modern intelligent devices such as patrol robots, fire doors can be intelligently opened and closed according to the environment and usage requirements through the status detection module. This intelligent function enables the equipment to respond quickly in emergency situations, ensure emergency handling of emergencies such as fires, and significantly improve safety. The design of the double-control switch provides flexibility and convenience for personnel passage and equipment maintenance. Whether it is normal personnel passage or equipment handling needs, the device can realize the rapid opening and closing of fire doors through simple operations, greatly improving work efficiency and safety. Through the double-control switch, personnel can easily control the fire door on either side, avoiding the inconvenience of operation caused by a single switch.

[0014] Furthermore, the use of stepper motors as the driving source makes the opening and closing operation of fire doors more accurate and reliable. The stepper motor can maintain a fixed angle during each rotation, ensuring that the fire door is opened to a specific position according to the set requirements, avoiding the problem of deviation or incomplete closing that may occur in traditional electric door operators. At the same time, its good holding torque characteristics reduce additional energy consumption and improve the energy efficiency of the equipment.

[0015] Furthermore, the electric door operator uses the sound and light module to provide real-time feedback on the door status, ensuring that personnel and robots can obtain the current door open or closed status in a timely manner to avoid misoperation and potential dangers. This transparent processing of information improves the overall user experience and safety of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a diagram of a power plant fire door and robot linkage control system of the present invention; Figure 2 This is the overall structure diagram of the electric door machine of the present invention; Figure 3 This is a flowchart of the method for a robot to pass through a fire door according to the present invention; Figure 4 A flow chart of the method for the inventor to pass through a fire door; Figure 5 Flow chart for passing through fire doors when inspecting or moving equipment; In the figure: 1-electric door machine, 2-main rod, 3-slave rod, 4-connecting base, 5-fire door, 6-door frame, 7-wall, 8-hinge. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0018] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0020] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0021] like Figure 1 and Figure 2 As shown, the present invention provides a power plant fire door and robot linkage control system, characterized in that it includes a double-control switch and an electric door machine installed on both sides of the fire door, and the electric door machine includes: Control module: responsible for receiving and processing instructions from dual-control switches and intelligent devices, and controlling the operation of the drive control module, status monitoring module and sound and light module; Communication module: used for communication between smart devices and other modules; Authentication module: used to verify the legitimacy of instructions; Drive control module: used to control the switch of fire door; Status detection module: used to detect the real-time status and surrounding environment of the fire door; Sound and light module: used to display the switch status of the fire door; It also includes a signal mark installed on the fire door, and the signal mark communicates with the smart device to confirm the target fire door through communication.

[0022] As shown in Figure 1, the present invention is a control device for realizing automatic opening and closing of a double-leaf normally closed fire door in a power plant. The control device includes an electric door machine 1, a main rod 2, a slave rod 3, and a connecting base 4. The main rod 2, the slave rod 3, and the connecting base 4 are used for transmission between the motor and the fire door 5. The main rod 2 is connected to the output shaft of the electric door machine 1 by screws. The slave rod 3 is connected to the connecting base 4 by pins. The connecting base 4 is connected and fixed to the fire door 5 by rivets. The main rod 2 and the slave rod 3 are connected by pins.

[0023] The electric door operator is used as the driving force and is fixed to a suitable position on the wall on one side or above the fire door shaft through expansion bolts to ensure stable power output. The motor shaft is connected to two transmission rods, and the door opening and closing operation is achieved through the rotation of the motor.

[0024] The main rod 2 is connected to the output shaft of the electric door machine 1, and transmits the power of the electric door machine 1 to the slave rod 3. The slave rod 3 pushes the door to open or close after receiving the force. The length and angle of the two rods are precisely designed to ensure the stability of the door when opening and closing.

[0025] When the electric door machine 1 receives a door opening command, the motor shaft rotates and drives the main rod 2 to move, and the main rod 2 drives the slave rod 3 through the joint connection, so that the door leaf opens smoothly outward or inward. Similarly, when the electric door machine 1 receives a door closing command, it rotates in the opposite direction to drive the door leaf to close.

[0026] The overall architecture of the electric door machine is shown in Figure 2, which includes the electric door machine and the signal input part. The electric door machine contains a control module, a communication module, an identity authentication module, a stepper motor, a status detection module, and an audio-visual module. Multiple modules work together to drive the fire door to open and close automatically, and to link with other smart devices.

[0027] The core part of the electric door operator is the control module, which is the central processing unit and is responsible for receiving and processing instructions from the double-control switch and the robot, and controlling the operation of the motor, the status monitoring module, and the sound and light module. The module contains a microcontroller (STM32) to execute the logic and calculation of the switch control, ensuring that the motor can rotate accurately at the set number of steps to achieve the precise opening and closing angle of the fire door. The control module is programmed with a control algorithm that can adjust the rotation direction and speed of the motor according to the real-time status of the door to ensure the smoothness and accuracy of the switch action. In addition, in order to deal with emergencies (such as fire or system abnormalities), the control module is set with priority control logic to ensure that the fire alarm signal and the emergency door closing command can respond in real time, thereby forcing the fire door to close immediately to prevent the spread of fire.

[0028] The communication module contains a wireless communication module (such as WiFi, Zigbee or LoRa) and a wired interface (such as RS485), which can realize multiple functions. The communication module is responsible for processing the request sent by the robot and forwarding it to the authentication module. At the same time, the communication module can directly receive feedback information from the control module and pass it to the robot to ensure smooth information exchange between the two parties.

[0029] The Identity Verification Module ensures the legitimacy of instructions and avoids erroneous operations.

[0030] The signal input part includes two double-control switches and a robot. One of the double-control switches is installed in front of the door (marked as "Front Switch"), and the other is installed behind the door (marked as "Back Switch"). The double-control switch is directly connected to the control module through a signal line to receive the door opening or closing instructions from personnel. The robot (marked as "Robot") can send requests to open and close the door. The communication between the robot and the electric door operator is realized through the communication module ("Communication Module") in the electric door operator.

[0031] The status monitoring module ("Status Monitoring Module") is mainly used to detect the real-time status of the door and the surrounding environment to ensure that the fire door is opened and closed in the appropriate state. The module includes a door position sensor and an environmental monitoring sensor. The door position sensor is installed on the door body or door frame to monitor the opening and closing status of the door in real time. It is realized through photoelectric technology, accurately records the current opening of the door and feeds back to the control module to ensure the accuracy of the door body opening and closing. The environmental monitoring sensor includes smoke and temperature sensors, which are used to monitor fire signals near the door. Once the smoke concentration or temperature exceeds the set threshold, the system will trigger the fire door to automatically close, forming a closed isolation to suppress the spread of fire.

[0032] The drive control part includes an electric motor, which performs the opening and closing actions through a drive mechanism and is supported by a status monitoring module. The electric motor is the power source for driving the opening and closing actions of the fire door. It uses a stepper motor with holding torque to achieve precise opening and closing control of the fire door. The stepper motor can accurately position through a fixed rotation angle at each step, which is suitable for controlling the opening and closing angle of the fire door. Whenever the motor receives a control signal, it can rotate according to the preset number of steps to ensure that the fire door is opened to the set angle as required and remains in that position, avoiding the fire door from being offset or accidentally opened, and ensuring the safety and reliability of passage. At the same time, the stepper motor has a good holding torque characteristic, which can maintain the state of the fire door without additional energy consumption after reaching the specified position. For example, after the fire door is fully opened to the set angle, the motor will maintain this position until it receives a closing command; when the fire door is fully closed, the motor will also remain in the closed state. This design effectively reduces the power consumption of the motor when maintaining the switch position, meeting the use environment of the fire door in the power plant where the opening and closing speed requirements are not high. In addition, the stepper motor has a simple structure, high durability and stability, and is suitable for the complex environment and long-term operation of power plants. Its stable switching action does not require a complex closed-loop control system, simplifies the overall structure, reduces the workload of daily maintenance, and thus improves the reliability and service life of the system.

[0033] The sound and light module is used to implement the warning mechanism and give status prompts to the user, such as "door opening" (corresponding to "green" light) or "door closing" (corresponding to "red" light).

[0034] The specific way the signal identifier communicates with the robot is as follows: QR code recognition and door identity confirmation: Each fire door is equipped with a unique QR code, which contains the door's identity information. The robot uses the visual sensor or QR code scanner on board to scan the QR code on the fire door, identify and confirm the target fire door, and obtain the target door's identity information through the QR code; After confirming the target fire door, the robot will generate a control instruction based on the door's identity information. This instruction includes the target door's identity information and control instructions. The target door's identity information is determined by parsing the unique ID contained in the QR code. The control instruction content includes door opening and door closing instructions.

[0035] The robot broadcasts the generated control instructions to all electric door operators within the specified range through wireless signals. All electric doors receive the instructions, and each electric door operator verifies the instructions. The communication module in the electric door operator parses and matches the identity information in the received instructions. If the identity information of the electric door operator matches the identity verification field in the instruction, the electric door operator will perform the corresponding door opening or closing operation. If the identity information of the electric door operator does not match the identity in the instruction, the electric door operator will ignore the instruction to avoid false triggering. When the target electric door operator receives the correct instruction and confirms its identity, it will start the motor through the control module to open or close the door. At the same time, the electric door operator will send the execution status to the robot through the feedback mechanism.

[0036] The present invention also provides a linkage control method for fire doors in power plants. When the system receives a door opening command (such as manual triggering by personnel or commands issued by robots), the control module starts the stepper motor and opens the door to a set angle according to the set number of steps. After the door opening process is completed, the control module confirms the opening position through the door position sensor to ensure safe passage. After the passage is completed, personnel manually trigger or the robot issues a door closing command, and the stepper motor rotates in the opposite direction, so that the fire door is smoothly closed to its original position. By combining sensor data and communication linkage, this control system realizes intelligent control of fire doors. It has a simple structure and is suitable for long-term operation, effectively improving the intelligence level and safety performance of fire doors in power plants.

[0037] like Figure 3 As shown in the figure, the complete process of robot and fire door linkage: Environmental scanning and fire door identification. When the robot approaches a fire door, it first scans the surrounding environment through the sensors it carries (such as lidar and visual cameras) to identify the fire door. Each fire door is equipped with an RFID tag or QR code, and the robot confirms the identity of the target fire door by reading these tags. The system will compare the door ID with the preset door ID list to ensure communication with the specific fire door.

[0038] Initiate a door opening request. Once the target fire door is identified, the robot will send a door opening request to the control module of the electric door operator. The request contains specific door identification information to ensure that the instruction is for the correct fire door. The authentication module verifies the request and confirms that the door identification matches the received request.

[0039] Command confirmation and door opening execution. After successful verification, the control module of the electric door operator will execute the door opening operation, start the stepper motor and open the door to the set angle. During the door opening process, the control module will monitor the position and status of the door in real time to ensure the safety and accuracy of the door opening process.

[0040] Feedback mechanism. When the door is successfully opened, the control module of the electric door operator will send a feedback signal to the robot to confirm that the door has been successfully opened. After receiving this signal, the robot can proceed with the action of passing safely, ensuring that it only interacts with the specific fire door during the whole process.

[0041] The robot passes through the fire door and the fire door closes automatically. After the robot passes through the fire door, it issues a closing command, and the electric door machine receives the closing command and smoothly closes the fire door. The entire process ensures the precise linkage between the robot and the fire door, avoids mis-linkage with other fire doors, and improves the safety and operational efficiency of the power plant.

[0042] Process for personnel passing through fire doors: In order to achieve convenient control of personnel passing through the fire door, a double-control switch can be used, with a double-control switch installed in front of the door and behind the door. This design effectively meets two usage scenarios: personnel passage and normally open state.

[0043] like Figure 4 As shown in the figure, in the process of personnel passing through, when a person approaches the fire door, he first presses the double-control switch in front of the door. After pressing the switch, the control module receives the door opening command, starts the electric door machine, and the fire door slowly opens to the set angle. After the fire door is opened, the person can pass through safely. After passing, the person presses the double-control switch behind the door, the control module receives the closing command, and the electric door machine will rotate in the opposite direction, automatically closing the fire door to ensure that it returns to the normally closed state.

[0044] like Figure 5 As shown in the figure, when the door needs to be kept open, the personnel only need to press any double-control switch (in front of the door or behind the door), the control module will receive the normally open command, and the fire door will remain open. After completing the equipment handling or maintenance, the personnel press any switch in front of the door or behind the door again, the control module will receive the closing command, and the electric door machine will automatically close the fire door and return to normal.

[0045] This dual-control switch design simplifies the operation process of personnel passing through the fire door, making it easy to open and close the fire door when passing through, and easy to control when it needs to be kept open. The whole process effectively improves the convenience and safety of use.

[0046] Although the embodiments of the present invention are described above in conjunction with the accompanying drawings, the present invention is not limited to the above-mentioned specific embodiments and application fields, and the above-mentioned specific embodiments are only illustrative and instructive, rather than restrictive. Under the guidance of the specification, a person skilled in the art can also make many forms without departing from the scope of protection of the claims of the present invention, all of which belong to the scope of protection of the present invention.

Claims

1. A fire door and robot linkage control system for a power plant, characterized in that: It includes a double-control switch and an electric door machine installed on both sides of the fire door, and the electric door machine includes: Control module: responsible for receiving and processing instructions from dual-control switches and intelligent devices, and controlling the operation of the drive control module, status monitoring module and sound and light module; Communication module: used for communication between smart devices and other modules; Authentication module: used to verify the legitimacy of instructions; Drive control module: used to control the switch of fire door; Status detection module: used to detect the real-time status and surrounding environment of the fire door; Sound and light module: used to display the switch status of the fire door; It also includes a signal mark installed on the fire door, and the signal mark communicates with the smart device to confirm the target fire door through communication.

2. A power plant fire door and robot linkage control system according to claim 1, characterized in that: The control module is provided with a priority control logic to give priority to the fire alarm signal and the emergency door closing instruction sent by the system.

3. A power plant fire door and robot linkage control system according to claim 1, characterized in that: The communication module includes a wireless communication module and a wired interface. The wireless communication module includes WiFi, Zigbee or LoRa communication mode, and the wired interface adopts RS485.

4. A power plant fire door and robot linkage control system according to claim 1, characterized in that: The status monitoring module includes a door position sensor and an environmental monitoring sensor. The door position sensor is installed on the fire door body or the fire door frame to monitor the opening and closing status of the fire door in real time and feed back the opening and closing status of the fire door to the control module. The environmental monitoring sensor includes a smoke sensor and a temperature sensor, which are used to monitor fire signals near the door. When the smoke concentration or temperature is detected to exceed the set threshold, the control module controls the fire door to close.

5. A power plant fire door and robot linkage control system according to claim 1, characterized in that: The drive control module uses a stepper motor, which accurately positions itself through a fixed rotation angle at each step to control the opening and closing angle of the fire door. Whenever the stepper motor receives a control signal, it rotates according to the preset number of steps to ensure that the fire door opens to the set angle as required and remains in that position.

6. A power plant fire door and robot linkage control system according to claim 1, characterized in that: The identity authentication module is used to solve the problem of false triggering of linkage control of the robot when there are multiple fire doors in the area. A unique QR code is affixed to each fire door. Through QR code recognition technology, the robot confirms the identity of the target door in the area and ensures that only specific electric door operators respond and perform door opening or closing operations by sending instructions with identity information.

7. A method for controlling the linkage of fire doors in a power plant, characterized in that: When the system receives a door opening command, the control module starts the drive control module to open the door to the set angle. After the door opening process is completed, the control module confirms the opening position of the fire door through the status detection module. After the process is completed, personnel manually trigger or the robot issues a door closing command, and the drive control module controls the fire door to close smoothly to its original position.

8. A power plant fire door linkage control method according to claim 7, characterized in that: The specific operations of the robot passing through the fire door are: When the robot approaches a fire door, it first scans the surrounding environment with its onboard sensors to identify the fire door. The robot confirms the identity of the target fire door by reading the signal identification. The robot compares the door identification with a preset door identification list to ensure communication with the specific fire door. Once the target fire door is confirmed, the robot will send a door opening request to the control module of the electric door operator. The request contains specific door identification information to ensure that the instruction is for the correct fire door. The identity verification module verifies the request and confirms that the door identification matches the received request; After successful verification, the control module of the electric door operator executes the door opening operation and starts the drive control module to open the door to the set angle. During the door opening process, the control module will monitor the position and status of the door in real time to ensure the safety and accuracy of the door opening process; When the door is successfully opened, the control module of the electric door operator will send a feedback signal to the robot to confirm that the door has been successfully opened. After receiving this signal, the robot will ensure that it only interacts with the specific fire door during the whole process by specifying the fire door; After the robot passes through the fire door, it issues a closing command, and the electric door machine receives the closing command and closes the fire door.

9. A power plant fire door linkage control method according to claim 7, characterized in that: The specific operations for people to pass through fire doors are: When a person approaches the fire door, he first presses the double-control switch in front of the door. After pressing the switch, the control module receives the door opening command and starts the electric door machine. The fire door opens to the set angle. After the fire door opens, the person passes through. After passing through, the person presses the double-control switch behind the door. The control module receives the closing command, and the electric door machine rotates in the opposite direction to automatically close the fire door, ensuring that it returns to the normally closed state. When the door needs to remain normally open, the operator only needs to press any one of the double-control switches, the control module will receive the normally open command, and the fire door will remain open. After completing the equipment handling or maintenance, the operator presses any switch in front of or behind the door again, the control module will receive the closing command, and the electric door machine will automatically close the fire door and return to normal.

10. A power plant fire door linkage control method according to claim 7, characterized in that: The specific way the signal identifier communicates with the robot is as follows: QR code recognition and door identity confirmation: Each fire door is equipped with a unique QR code, which contains the door's identity information. The robot uses the visual sensor or QR code scanner on board to scan the QR code on the fire door, identify and confirm the target fire door, and obtain the target door's identity information through the QR code; After confirming the target fire door, the robot will generate a control instruction based on the door's identity information. This instruction includes the target door's identity information and control instructions. The target door's identity information is the unique ID contained in the parsed QR code. The control instruction content includes door opening and door closing instructions. The robot broadcasts the generated control instructions to all electric door operators within the specified range through wireless signals. All electric doors receive the instructions, and each electric door operator verifies the instructions. The communication module in the electric door operator parses and matches the identity information in the received instructions. If the identity information of the electric door operator matches the identity verification field in the instruction, the electric door operator will perform the corresponding door opening or closing operation. If the identity information of the electric door operator does not match the identity in the instruction, the electric door operator will ignore the instruction to avoid false triggering. When the target electric door operator receives the correct instruction and confirms its identity, it will start the motor through the control module to open or close the door. At the same time, the electric door operator will send the execution status to the robot through the feedback mechanism.

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