Fire extinguishing robot system capable of continuously and accurately measuring temperature of coal pile and use method of fire extinguishing robot system

Abstract

The invention provides a continuous and accurate temperature measurement and fire extinguishing robot system for a coal pile and a using method of the continuous and accurate temperature measurement and fire extinguishing robot system. The continuous and accurate temperature measurement and fire extinguishing robot system comprises an unmanned aerial vehicle infrared temperature measurement imager, the unmanned aerial vehicle infrared temperature measurement imager, the crawler-type intelligent mobile robot and the insertion type temperature measurement fire extinguishing rod are connected with the coal yard stacking spontaneous combustion prevention temperature monitoring and alarming system, and continuous and accurate monitoring, automatic early warning and rapid fire extinguishing treatment of the surface temperature and the deep layer temperature of a coal pile can be achieved. A three-dimensional model is formed by scanning a coal pile through an unmanned aerial vehicle; the temperature-measuring fire-extinguishing rod controls the insertion depth of the screw according to temperature sensing; the temperature-measuring fire-extinguishing rod releases liquid nitrogen according to an instruction issued by the system; the coal yard spontaneous combustion prevention temperature monitoring and alarming system is constructed, and the functions of accurate and rapid temperature measurement of a coal pile, remote monitoring of the temperature of the coal pile, overtemperature release of liquid nitrogen for cooling and the like are achieved. Compared with traditional on-site temperature measurement, coal pile safety management work is better facilitated, and potential safety hazard checking is enhanced.

Description

Technical Field

[0001] The invention relates to the technical field of coal pile temperature measurement and fire extinguishing, and in particular to a coal pile continuous and accurate temperature measurement and fire extinguishing robot system and a use method thereof. Background Art

[0002] The coal yard is an indoor closed coal storage site with the advantages of small footprint, large coal storage per unit area, high degree of automation, safe and reliable operation, no influence of external weather, low environmental pollution, and good landscape. For environmental protection and energy saving considerations, the application of coal yards in large domestic thermal power plants has increased year by year. The accumulated coal will emit heat during the oxidation process. When the heat emitted is greater than the heat dissipated, the heat will accumulate and the temperature will rise. Once the ignition point of the coal is reached, it will spontaneously combust, causing a large amount of coal to be burned in vain. The smoldering coal is sent to the conveying and grinding equipment, causing combustion and explosion accidents. Therefore, it is necessary to monitor the temperature of the coal yard in real time, discover fire hazards at the first time and deal with them as soon as possible.

[0003] The traditional coal pile temperature measurement technology is to detect the temperature of the coal pile through a manual handheld infrared thermal imager. Manual temperature measurement has the following problems: limited by the measuring instrument, the coal yard area is large, the amount of coal stored in the coal yard is large, and the coal pile is high, many detection points are required, and manual detection is not comprehensive. In particular, the temperature rise in the early stage of spontaneous combustion of the coal pile is highly concealed. Detection relies on manual naked eye and olfactory observation, and the monitoring points are randomly selected, which has limitations. In addition, the harmful gases such as CO and SO2 produced by spontaneous combustion and oxidation of coal will threaten the health of operators. Summary of the invention

[0004] The purpose of the present invention is to provide a coal pile continuous and accurate temperature measurement fire extinguishing robot system and a use method thereof, which are used to solve the temperature tracking and subsequent fire extinguishing problems before the spontaneous combustion of the coal pile.

[0005] The present invention provides a coal pile continuous and accurate temperature measurement and fire extinguishing robot system, comprising an unmanned aerial vehicle infrared temperature measurement imager, a crawler-type intelligent mobile robot, an inserted temperature measurement and fire extinguishing rod and a coal yard stack anti-spontaneous combustion temperature monitoring and alarm system. The inserted temperature measurement and fire extinguishing rod is installed on the crawler-type intelligent mobile robot, and the unmanned aerial vehicle infrared temperature measurement imager, the crawler-type intelligent mobile robot and the inserted temperature measurement and fire extinguishing rod are respectively connected to the coal yard stack anti-spontaneous combustion temperature monitoring and alarm system, which can realize continuous and accurate monitoring of the surface and deep layer temperatures of the coal pile, automatic early warning and rapid fire extinguishing processing.

[0006] Furthermore, the drone infrared temperature imaging device can perform regular three-dimensional scanning of the coal pile, generate a surface temperature distribution model of the coal pile, mark abnormal temperature areas in real time, and provide positioning guidance for subsequent robot operations.

[0007] Furthermore, the crawler-type intelligent mobile robot adopts a sealed crawler chain made of high-strength alloy steel, has strong obstacle-crossing capability and high stability, and can realize autonomous navigation and operation in an uneven coal yard environment.

[0008] Furthermore, the crawler-type intelligent mobile robot is equipped with a mechanical arm and a clamping mechanical claw, which can clamp, lift and spirally insert the insertable temperature measuring fire extinguishing rod into the coal pile, and has temperature data collection and liquid nitrogen fire extinguishing functions.

[0009] Furthermore, the insertable temperature measuring fire extinguishing rod is made of a high-strength stainless steel tube with a thickened tube wall. The hollow design facilitates the removal of coal blocks, and the head is designed as a spiral structure, which is suitable for insertion operations in coal piles of different depths.

[0010] Furthermore, the exterior of the insertable temperature measuring fire extinguishing rod is coated with a wear-resistant reflective material to facilitate identification at night.

[0011] Furthermore, the insertable temperature measuring fire extinguishing rod is equipped with a liquid nitrogen release device, which can quickly respond to the over-temperature area and reduce the local temperature of the coal pile by liquid nitrogen injection to avoid the risk of spontaneous combustion.

[0012] Furthermore, the coal yard stack anti-spontaneous combustion temperature monitoring and alarm system can receive temperature data collected by drones and temperature measuring fire extinguishing rods in real time, draw temperature distribution models and curve graphs, and realize over-temperature warnings and alarm prompts.

[0013] Furthermore, the coal yard stack anti-spontaneous combustion temperature monitoring and alarm system supports the query and export of historical temperature data. Users can view temperature changes by year, month, day and real-time data, and also supports the generation of data files in EXCEL format.

[0014] The method for using the above-mentioned coal pile continuous accurate temperature measurement fire extinguishing robot system comprises the following steps:

[0015] S1. Use the drone's infrared temperature imaging device to perform three-dimensional scanning of the coal yard to monitor the overall surface temperature of the coal pile. If the temperature in a certain area exceeds the preset value, the system will issue a command to the crawler-type intelligent mobile robot to move to that area.

[0016] S2, the mobile robot inserts the inserted temperature measuring fire extinguishing rod it carries into the area, and the insertion depth is determined based on the maximum temperature value of the area;

[0017] S3. After comprehensive analysis, it is confirmed that the temperature rise in this area is quite obvious and the data is uploaded to the coal yard stacking anti-spontaneous combustion temperature monitoring and alarm system. The coal yard stacking anti-spontaneous combustion temperature monitoring and alarm system numbers the temperature measuring and fire extinguishing poles as key tracking areas, and further accurately collects the internal temperature data and position coordinates of the coal pile in this area in real time to provide a basis for fire extinguishing and cooling.

[0018] S4. After the fire extinguishing conditions are met, the mobile robot releases liquid nitrogen through the temperature measuring fire extinguishing rod to cool down the coal yard, realizing the informatization, intelligence and scientific decision-making of the coal yard's spontaneous combustion prevention management.

[0019] The technical solution of the present invention forms a three-dimensional model by scanning the coal pile by drone; the surface and deep layer temperature of the coal pile are collected and compared in real time; the crawler-type intelligent mobile robot realizes the mobile operation of the uneven site of the coal pile; the temperature measuring fire extinguishing rod controls the spiral insertion depth according to the temperature perception; the temperature measuring fire extinguishing rod releases liquid nitrogen according to the instructions issued by the system; and a coal yard anti-spontaneous combustion temperature monitoring and alarm system is constructed to realize the functions of accurate and rapid temperature measurement of the coal pile, remote monitoring of the coal pile temperature, and release of liquid nitrogen for cooling when the temperature is too high. Compared with the traditional on-site temperature measurement, it is more conducive to the safety management of the coal pile and strengthens the investigation of safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a structural schematic diagram of an embodiment of the present invention; DETAILED DESCRIPTION

[0022] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. 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.

[0023] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0024] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined. In addition, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0025] like Figure 1 As shown, a coal pile continuous and accurate temperature measurement and fire extinguishing robot system includes a drone infrared temperature measurement imager, a crawler-type intelligent mobile robot, an insertable temperature measurement and fire extinguishing rod, and a coal yard stacking anti-spontaneous combustion temperature monitoring and alarm system, wherein:

[0026] The drone's infrared temperature imaging device periodically scans the coal yard in three dimensions to monitor the overall surface temperature of the coal pile.

[0027] The crawler-type intelligent mobile robot comprises a walking mechanism at the lower part and an operating arm at the upper part. Specifically, the crawler-type intelligent mobile robot comprises a walking track, an operating platform, a pump station oil tank, anti-overturning legs and a clamping mechanical arm.

[0028] An insertable temperature measuring fire extinguishing rod is installed on the crawler-type intelligent mobile robot. The crawler-type intelligent mobile robot has the functions of receiving instructions to clamp, lift, insert, etc. the insertable temperature measuring fire extinguishing rod.

[0029] Among them, the tracked intelligent mobile robot adopts a combined sealed track chain made of high-strength alloy steel to realize mobile operations on uneven coal piles; the tracked intelligent mobile robot adopts multi-sensor fusion technology to improve the accuracy and stability of autonomous navigation in unknown environments and adapt to complex and changing environments; the tracked intelligent mobile robot adopts a grasping system composed of a robotic arm and a mechanical gripper.

[0030] The tracked intelligent mobile robot adopts a modular design concept, uses DC servo control with high load capacity and high motion accuracy, and is equipped with infrared, visual, compass, ultrasonic and other sensors. It can be subsequently upgraded and optimized through the system.

[0031] In this embodiment, the insertable temperature measuring fire extinguishing rod is made of a high-strength stainless steel tube with a thickened tube wall. The hollow structure facilitates the removal of coal blocks. The head has a spiral structure, which has a good drilling effect. The outside is coated with wear-resistant reflective material for easy identification at night. The length is divided into three specifications, 1m, 3m and 5m, covering the top temperature, middle temperature and bottom temperature of the coal pile for easy measurement.

[0032] The on-site inserted temperature measuring fire extinguishing rod collects the temperature of the area in real time, and the insertion depth of the temperature measuring rod is determined by the highest temperature value in the area to achieve accurate and rapid temperature measurement of the coal pile and remote monitoring of the coal pile temperature. When the set temperature is exceeded, liquid nitrogen is released to cool down.

[0033] The coal yard stacking anti-spontaneous combustion temperature monitoring and alarm system can automatically generate a daily temperature curve, with time as the X coordinate and temperature as the Y coordinate, draw the real-time temperature curve of each monitoring point on the day, and realize temperature data curve chart and list analysis.

[0034] The coal yard stack anti-spontaneous combustion temperature monitoring and alarm system has an over-temperature alarm function and has a two-level early warning and alarm standard. The early warning and alarm limits are set by the user. When the set values ​​are reached, a prompt message pops up.

[0035] The main interface of the coal yard stack anti-spontaneous combustion temperature monitoring and alarm system displays the location, temperature, and alarm information of each point, and the system refreshes the temperature data of the point regularly (such as 1 to 30 minutes).

[0036] The coal yard stack anti-spontaneous combustion temperature monitoring and alarm system has a historical data query function. You can choose the type of historical data to query, namely historical curve, historical value, and maximum temperature. At the same time, you can query the temperature data of any temperature measuring point on site, as well as the year, month and day of the query, and it is convenient to export to EXCEL tables.

[0037] The fire-fighting robot system for continuous and accurate temperature measurement of coal piles of the present invention can share data with the fuel management system, provide the temperature of the coal pile in the coal yard to the coal yard management module of the fuel management system, realize linkage operation, and build an information communication and sharing platform between the systems, which is convenient for connection with the existing automation system.

[0038] The method for using the above-mentioned coal pile continuous accurate temperature measurement fire extinguishing robot system comprises the following steps:

[0039] S1. Use the drone's infrared temperature imaging device to perform three-dimensional scanning of the coal yard to monitor the overall surface temperature of the coal pile. If the temperature in a certain area exceeds the preset value, the system will issue a command to the crawler-type intelligent mobile robot to move to that area.

[0040] S2, the mobile robot inserts the inserted temperature measuring fire extinguishing rod it carries into the area, and the insertion depth is determined based on the maximum temperature value of the area;

[0041] S3. After comprehensive analysis, it is confirmed that the temperature rise in this area is quite obvious and the data is uploaded to the coal yard stacking anti-spontaneous combustion temperature monitoring and alarm system. The coal yard stacking anti-spontaneous combustion temperature monitoring and alarm system numbers the temperature measuring and fire extinguishing poles as key tracking areas, and further accurately collects the internal temperature data and position coordinates of the coal pile in this area in real time to provide a basis for fire extinguishing and cooling.

[0042] S4. After the fire extinguishing conditions are met, the mobile robot releases liquid nitrogen through the temperature measuring fire extinguishing rod to cool down the coal yard, realizing the informatization, intelligence and scientific decision-making of the coal yard's spontaneous combustion prevention management.

[0043] The invention forms a three-dimensional model by scanning the coal pile by drone; the surface and deep layer temperature of the coal pile are collected and compared in real time; the crawler-type intelligent mobile robot realizes the mobile operation of the uneven coal pile site; the temperature measuring fire extinguishing rod controls the spiral insertion depth according to the temperature perception; the temperature measuring fire extinguishing rod releases liquid nitrogen according to the instructions issued by the system; and the coal yard anti-spontaneous combustion temperature monitoring and alarm system is constructed to realize the functions of accurate and rapid temperature measurement of the coal pile, remote monitoring of the coal pile temperature, and release of liquid nitrogen for cooling in case of over-temperature. Compared with the traditional on-site temperature measurement, it is more conducive to the safety management of the coal pile and strengthens the investigation of safety hazards.

[0044] The system of the present invention can carry out 7x24h long-term monitoring of the temperature of the coal yard, and inject nitrogen to cool down the areas with higher temperature rise, which can effectively prevent the oxidation of the coal pile, greatly reduce the safety hazard of spontaneous combustion of the coal pile, effectively control the calorific value loss of the coal yard, and greatly improve the safety management level of the coal temperature in the coal yard.

[0045] The coal yard staff on duty can check the temperature of the overdue coal pile through the coal yard's anti-spontaneous combustion temperature monitoring and alarm system. They can take measures in advance to prevent the risk of spontaneous combustion of the over-temperature coal pile, greatly reducing the safety hazard of spontaneous combustion of the coal pile and eliminating the time difference in manual patrols to discover spontaneous combustion.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A fire-fighting robot system for continuous and accurate temperature measurement of coal piles, characterized in that: It includes an unmanned aerial vehicle infrared temperature measuring imager, a tracked intelligent mobile robot, an insertable temperature measuring fire extinguishing rod and a coal yard stack anti-spontaneous combustion temperature monitoring and alarm system. The insertable temperature measuring fire extinguishing rod is installed on the tracked intelligent mobile robot. The unmanned aerial vehicle infrared temperature measuring imager, the tracked intelligent mobile robot and the insertable temperature measuring fire extinguishing rod are respectively connected to the coal yard stack anti-spontaneous combustion temperature monitoring and alarm system, which can realize continuous and accurate monitoring of the surface and deep layer temperatures of the coal pile, automatic early warning and rapid fire extinguishing.

2. The coal pile continuous and accurate temperature measurement and fire extinguishing robot system according to claim 1 is characterized in that: The drone infrared temperature imaging device can perform regular three-dimensional scanning of the coal pile, generate a surface temperature distribution model of the coal pile, mark abnormal temperature areas in real time, and provide positioning guidance for subsequent robot operations.

3. The coal pile continuous and accurate temperature measurement and fire extinguishing robot system according to claim 1 is characterized in that: The crawler-type intelligent mobile robot adopts a sealed crawler chain made of high-strength alloy steel, has strong obstacle-crossing capability and high stability, and can realize autonomous navigation and operation in an uneven coal yard environment.

4. The continuous and accurate temperature measurement and fire extinguishing robot system for coal piles according to claim 1 is characterized in that: The crawler-type intelligent mobile robot is equipped with a mechanical arm and a clamping mechanical claw, which can clamp, lift and spirally insert the insertable temperature measuring fire extinguishing rod into the coal pile, and also has the functions of temperature data collection and liquid nitrogen fire extinguishing.

5. The coal pile continuous and accurate temperature measurement and fire extinguishing robot system according to claim 1 is characterized in that: The insertable temperature measuring fire extinguishing rod is made of a high-strength stainless steel tube with a thickened tube wall. The hollow design facilitates the removal of coal blocks. The head is designed as a spiral structure and is suitable for insertion operations in coal piles of different depths.

6. The coal pile continuous and accurate temperature measurement and fire extinguishing robot system according to claim 1 is characterized in that: The exterior of the insertable temperature measuring fire extinguishing rod is coated with wear-resistant reflective material to facilitate identification at night.

7. The coal pile continuous and accurate temperature measurement and fire extinguishing robot system according to claim 1 is characterized in that: The insertable temperature measuring fire extinguishing rod is equipped with a liquid nitrogen release device, which can quickly respond to over-temperature areas and reduce the local temperature of the coal pile by liquid nitrogen injection to avoid the risk of spontaneous combustion.

8. The coal pile continuous and accurate temperature measurement and fire extinguishing robot system according to claim 1 is characterized in that: The coal yard stack anti-spontaneous combustion temperature monitoring and alarm system can receive temperature data collected by drones and temperature measuring fire extinguishing rods in real time, draw temperature distribution models and curve graphs, and realize over-temperature warnings and alarm prompts.

9. The coal pile continuous and accurate temperature measurement and fire extinguishing robot system according to claim 1 is characterized in that: The coal yard stack anti-spontaneous combustion temperature monitoring and alarm system supports the query and export of historical temperature data. Users can view temperature changes by year, month, day and real-time data, and also supports the generation of data files in EXCEL format.

10. The method for using the coal pile continuous and accurate temperature measurement and fire extinguishing robot system according to claim 1, characterized in that: The steps include: S1. Use the drone's infrared temperature imaging device to perform three-dimensional scanning of the coal yard to monitor the overall surface temperature of the coal pile. If the temperature in a certain area exceeds the preset value, the system will issue a command to the crawler-type intelligent mobile robot to move to that area. S2, the mobile robot inserts the inserted temperature measuring fire extinguishing rod it carries into the area, and the insertion depth is determined based on the maximum temperature value of the area; S3. After comprehensive analysis, it is confirmed that the temperature rise in this area is quite obvious and the data is uploaded to the coal yard stacking anti-spontaneous combustion temperature monitoring and alarm system. The coal yard stacking anti-spontaneous combustion temperature monitoring and alarm system numbers the temperature measuring and fire extinguishing poles as key tracking areas, and further accurately collects the internal temperature data and position coordinates of the coal pile in this area in real time to provide a basis for fire extinguishing and cooling. S4. After the fire extinguishing conditions are met, the mobile robot releases liquid nitrogen through the temperature measuring fire extinguishing rod to cool down the coal yard, realizing the informatization, intelligence and scientific decision-making of the coal yard's spontaneous combustion prevention management.

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