Rapid fire extinguishing method for electric vehicle battery fire in limited space and fire extinguishing robot

Abstract

The invention belongs to the technical field of new energy electric vehicle fire extinguishing, and discloses a method for rapidly extinguishing a fire by an electric vehicle battery in a limited space and a fire extinguishing robot, and the method comprises the following steps: generating an advancing path of the fire extinguishing robot by receiving or identifying vehicle information and limited space information; acquiring a thermal runaway position of the battery by utilizing a thermal imaging technology, and determining a fire extinguishing operation site in combination with vehicle information; and an injection hole is formed in the operation site, and after a preset depth is reached, a fire extinguishing medium is directly injected into the battery pack. The problems that the fire extinguishing difficulty of the battery of the electric vehicle in the limited space is large and the effect of a conventional fire extinguishing method is poor are effectively solved, and the method has the outstanding characteristics of safety, reliability, rapidness and high efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of fire fighting for new energy electric vehicles, and particularly relates to a method for quickly extinguishing a fire of an electric vehicle battery in a confined space and a fire extinguishing robot. Background Art

[0002] The "New Energy Vehicle Industry Development Plan (2021 - 2035)" clearly states that: Developing new energy vehicles is the only way for China to move from a major automotive country to a powerful automotive country, and it is also a strategic measure to address climate change and promote the development of green energy. China has achieved great success in the development of the new energy vehicle industry and has become one of the important forces in the transformation of the world's automotive industry. As of the end of 2024, the national ownership of new energy vehicles has reached 31.4 million, of which the ownership of pure electric vehicles is 22.09 million, accounting for 70.34% of the ownership of new energy vehicles. With the rapid increase in the ownership of new energy electric vehicles and the continuous extension of their service life, especially the fire problems of electric vehicles in confined spaces such as underground garages and tunnels have attracted extensive attention from all sectors of society. On August 1, 2024, a Mercedes - Benz pure electric vehicle caught fire and burned in the underground parking lot of an apartment building in Cheongna - dong, Incheon City, South Korea, causing a fire that lasted for 8 hours before being extinguished, resulting in damage to more than 140 vehicles, 23 people being injured and hospitalized, and more than 700 residents being urgently evacuated.

[0003] The fire of the power battery pack is one of the most common fires of electric vehicles, with characteristics such as fast ignition, intense combustion, rapid spread of the fire, great destructiveness to the surroundings, easy generation of a large amount of flammable, explosive, toxic and harmful smoke, etc. Since the power battery pack is installed at the position of the vehicle chassis and the outside of the battery pack is equipped with a housing, the existing ordinary fire - fighting guns, cannons and other fire - fighting equipment and conventional automatic sprinkler systems are limited by the vehicle body and the shielding of the battery pack housing, and cannot accurately apply the fire - extinguishing medium to the lithium - ion battery part, resulting in prominent problems such as low fire - extinguishing efficiency, long disposal time, great harm and impact. Coupled with the fact that heat accumulates quickly, the fire spreads rapidly and smoke exhaust is difficult in confined spaces such as underground garages and tunnels, it is easy to cause "domino" chain car fires, accumulation of flammable, explosive and toxic and harmful gases, bringing great difficulties to fire fighting and rescue. Therefore, the rapid extinguishment of electric vehicle fires in confined spaces such as underground garages and tunnels has become a worldwide problem faced by the fire - fighting and rescue industry.

[0004] Existing ultra-high pressure fine water mist piercing spray guns (water jets), fire axes and other piercing or demolition technologies require firefighters to operate in close proximity, which is highly dangerous and not suitable for use in confined spaces with flammable, explosive, toxic or harmful gases. Moreover, it is very difficult to penetrate the battery pack located under the vehicle chassis. Other ordinary piercing methods have limited effect on electric vehicles with protective lithium-ion battery armor installed on the chassis, and it is very difficult to penetrate both the protective armor and the battery pack shell simultaneously. Using violent impact piercing such as pneumatic or hydraulic methods is also likely to cause the battery to catch fire and explode. Therefore, there is an urgent need for safe and efficient fire extinguishing technical methods and equipment applicable to actual combat in high-risk confined spaces. Summary of the Invention

[0005] Aiming at the deficiencies of the above-mentioned existing technologies, the purpose of the present invention is to provide a method for quickly extinguishing fires in electric vehicle batteries in confined spaces and a fire extinguishing robot.

[0006] According to the implementation scheme of the present invention, the first scheme is as follows:

[0007] A method for quickly extinguishing fires in electric vehicle batteries in confined spaces, comprising the following steps:

[0008] Identification and positioning: Receive or identify vehicle information, receive or detect confined space information, and generate a travel path;

[0009] Opening position confirmation: After entering under the vehicle chassis, obtain the thermal runaway position through thermal imaging, and determine the operation site for fire extinguishing operations in combination with vehicle information;

[0010] Opening operation: At the operation site, open an injection hole at the operation site on the battery chassis to reach a preset depth.

[0011] The preset depth is calculated from the preset vehicle model data and the operation site;

[0012] Cooling and extinguishing: Inject the fire extinguishing medium directly into the battery pack.

[0013] Furthermore, in the identification and positioning, the specific method is as follows:

[0014] The receiving operations include:

[0015] Receive vehicle information and confined space information provided by the operator or the vehicle manufacturing enterprise and the property manager of the confined space;

[0016] The vehicle information includes the vehicle model, and at least the battery capacity, the installation position and form of the battery pack, the material and thickness of the lower box body of the battery pack shell, the arrangement mode of the battery modules inside the battery pack, and the information on the openable areas of the chassis and the battery pack are retrieved by matching the pre-stored vehicle information database;

[0017] The acquisition operations include:

[0018] The robot detects and identifies vehicle information, location information, and confined space information through an image acquisition device and an ultrasonic radar;

[0019] Scans the vehicle chassis contour with a lidar and matches the pre-stored vehicle model database to determine the location of the battery pack;

[0020] Plans a reasonable travel path to ensure that the fire extinguishing robot can enter under the vehicle chassis and ensure the stable water supply of the water source connected to the robot.

[0021] Furthermore, in the opening hole positioning and confirmation stage,

[0022] Detects the surface temperature distribution of the battery chassis or the battery pack through an infrared thermal imager to identify the thermal runaway area;

[0023] Retrieves the openable area map corresponding to the vehicle model;

[0024] If the thermal runaway area does not overlap with the openable area map, an opening hole operation is performed in the openable area closest to the thermal runaway area,

[0025] If the thermal runaway area overlaps with the openable area map, an opening hole is made in the thermal runaway area.

[0026] Furthermore, the power source for opening the hole is a fire water source or electric drive;

[0027] The fire water source is a fixed fire hydrant or a fire truck;

[0028] Drives the water power device of the fire extinguishing robot through the water supply of the fire water source to drive the drill bit to perform an opening hole operation on the vehicle;

[0029] The electric drive is a motor carried by the robot, which drives the drill bit to perform an opening hole operation on the vehicle.

[0030] Furthermore, a fire extinguishing robot is used to implement the fire extinguishing operation. During the whole process of the fire extinguishing operation, the fire extinguishing robot continuously sprays water mist around the robot,

[0031] The water mist particle size is 100 - 600 μm;

[0032] The water mist spray intensity within 0.5 m around the robot is not less than 1 L / (min·m 2 )

[0033] The spray intensity is 1.5 - 5 L / (min·m²);

[0034] A surfactant with a concentration of 0.5% - 1.5% is added to the water mist to adsorb and neutralize toxic gases.

[0035] Furthermore, in the cooling and extinguishing step,

[0036] Monitor the temperature of the vehicle chassis or battery pack in real time through an infrared thermal imager. After injecting the fire extinguishing medium, continue to cool until the battery surface temperature ≤ 50°C, and then stop the fire extinguishing operation;

[0037] Monitor the concentration of H 2 and CO in real time through a gas detection device. When the concentration of H 2 ≥ 4%VOL or the concentration of CO ≥ 50 ppm, automatically evacuate to a safe area.

[0038] Furthermore, the fire extinguishing medium is one or more of perfluoromethylhexanone, water, total immersion coolant, liquid nitrogen or carbon dioxide. The water flow rate is not less than 5 L / s, and the flow rate of other fire extinguishing media is not less than 1 kg / s.

[0039] According to the implementation scheme of the present invention, using the method for quickly extinguishing an electric vehicle battery fire in a confined space provided in the first scheme of the present invention, the second scheme is as follows:

[0040] A fire extinguishing robot for quickly extinguishing an electric vehicle battery fire in a confined space

[0041] The overall structure of the robot is a blade-shaped flat structure, which can enter under the chassis of a new energy vehicle and has the functions of opening holes in the vehicle chassis and injecting fire extinguishing medium into the battery pack;

[0042] The robot includes a chassis assembly, a drilling and injection device, a water mist release device arranged on the chassis assembly, and a remote controller for controlling the robot;

[0043] The chassis assembly is a loading and integration platform for each functional module, carrying a power device, a control device, an image and thermal imaging acquisition and recognition device, remotely controlling or self-planning and generating a travel path, capable of receiving or identifying vehicle information, retrieving detailed parameter information of the battery pack, obtaining the temperature field, determining the best hole opening position, performing the hole opening operation and injecting the fire extinguishing medium; obtaining the supply of various types of fire extinguishing agents through a pipeline connected to a fire hose;

[0044] The drilling and injection device uses hydraulic or electric drive for hole opening and piercing and demolition operations, quickly penetrates the vehicle chassis, guard plate, lower box body of the battery pack until the inside of the battery pack, and injects the fire extinguishing medium into the battery pack;

[0045] The water mist release device releases water mist to achieve the cooling and protection of itself and multiple sensors, and cools the chassis of the accident vehicle;

[0046] The remote controller has a display function and a real-time communication function.

[0047] Furthermore, the outside of the chassis assembly is the robot body shell, and the lower part is the traveling mechanism. A water hose connection pipe is arranged on the side of the shell, and a data acquisition system is arranged on the top of the shell to complete image acquisition and recognition and thermal imaging analysis, so as to realize vehicle information recognition and temperature field acquisition;

[0048] A partition is arranged inside the chassis assembly, and the internal space is divided into multiple cavities for installing a power system and a control system;

[0049] The power system includes a motor and a battery, which provide a power source for the robot to walk and perform hole-opening operations; the control system completes functions such as retrieving the vehicle information database, obtaining battery parameters, determining the hole-opening position, and controlling the hole-opening injection operation;

[0050] The center of the upper surface of the robot body shell on the outside of the chassis assembly is provided with a mounting hole, and four protruding limit blocks are arranged inside the mounting hole;

[0051] The drilling and injection device is installed at the center position of the upper half of the chassis assembly and includes a drill bit. The drill bit is integrally a hollow cylinder, and the inside is a water inlet flow channel. A cross-shaped limit pin is arranged at the lower part;

[0052] The drill bit is connected with a follower. The follower is a hollow cylinder, and a clamping groove is arranged at the upper part thereof. The clamping groove is connected and matched with the drill bit limit pin. A spring fixing device is arranged on the inner side of the lower part of the follower, and a driven wheel is arranged on the outer side;

[0053] The follower is connected with a main shaft. A driving wheel is arranged at the upper part of the main shaft, and the lower part is connected with the power system;

[0054] One end of the spring is connected with the spring fixing device, and the other end of the spring is connected with the limit pin;

[0055] The drill bit is arranged in the central mounting hole of the chassis assembly, and the limit pin is connected and matched with the clamping groove of the follower.

[0056] Furthermore, a water mist releasing device is installed on the top of the chassis assembly. The water mist releasing device includes a spray head and a waterway control valve. The spray head realizes water mist release, and the waterway control valve selects an electromagnetic valve to realize the control of the spray head;

[0057] The control system of the chassis assembly controls the opening and switching of the water mist spray head waterway and the drilling and injection waterway;

[0058] The remote controller has a display function, can observe the temperature distribution of the thermal imaging device in real time, the remote control distance is ≥150m, and communicates with the control system in real time.

[0059] Compared with the prior art, the beneficial effects of the technical solution provided by this application.

[0060] 1. Aiming at the problems that electric vehicle battery fires in confined spaces such as underground garages and tunnels have high fire risks, it is difficult for personnel to approach, the fire extinguishing is difficult, and conventional fire extinguishing methods cannot quickly extinguish the fire, a phased safe, efficient and rapid fire extinguishing method and a blade-type hole-opening fire extinguishing robot that can adopt this fire extinguishing method are creatively proposed. It can prevent firefighters from entering dangerous areas, and can realize remote control or the robot can autonomously complete all fire extinguishing operations, avoiding casualties.

[0061] 2. The blade-type hole-opening fire extinguishing robot accurately enters directly below the battery pack of the vehicle on fire, safely and quickly opens a hole under the protection of high-intensity water spray, directly injects fire extinguishing medium into the thermal runaway battery pack of the electric vehicle, and quickly extinguishes the battery open fire and thoroughly cools down in a large-flow full-immersion manner, reducing the possibility of battery combustion and explosion and reducing the occurrence of secondary fires. It also includes the water mist supply method, particle size, intensity, as well as the hole-opening method, hole diameter and depth, and has the outstanding characteristics of being safe, reliable, fast and efficient in fire extinguishing. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0063] Among them:

[0064] Figure 1 It is a flowchart of a method for quickly extinguishing an electric vehicle battery fire in a confined space in one embodiment;

[0065] Figure 2 It is an implementation schematic diagram of a method for quickly extinguishing an electric vehicle battery fire in a confined space in one embodiment;

[0066] Figure 3 It is an overall structural schematic diagram of a fire extinguishing robot for quickly extinguishing an electric vehicle battery fire in a confined space in one embodiment;

[0067] Figure 4 It is a sectional structure and principle schematic diagram of a fire extinguishing robot for quickly extinguishing an electric vehicle battery fire in a confined space in one embodiment;

[0068] Figure 5 It is an internal structural schematic diagram of a drilling and injection device of a fire extinguishing robot for quickly extinguishing an electric vehicle battery fire in a confined space in one embodiment;

[0069] Figure 6It is a detailed operation step diagram for a fire extinguishing robot to quickly extinguish the fire of an electric vehicle battery in a confined space described in an embodiment.

[0070] Reference numerals:

[0071] 1. Chassis assembly, 1-1. Robot body shell, 1-2. Traveling mechanism, 1-3. Hose connection pipe, 1-4. Data acquisition system, 1-5 Power system, 1-6. Control system, 2. Drilling and injection device, 2-1. Drill bit, 2-11. Water inlet channel, 2-12. Limit pin, 2-2. Slave movement, 2-21. Card slot, 2-22. Spring fixing device, 2-23. Driven wheel, 2-3. Driving shaft, 2-31. Driving wheel, 2-4. Spring, 3. Water mist release device, 3-1. Nozzle, 3-2. Solenoid valve, 4. Remote controller. Specific implementation manners

[0072] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0073] Aiming at the deficiencies of the above-mentioned existing technologies, the present invention provides a method for quickly extinguishing the fire of an electric vehicle battery in a confined space and a fire extinguishing robot. The specific implementation manners of this solution will be introduced in detail below.

[0074] A fire extinguishing robot for quickly extinguishing the fire of an electric vehicle battery in a confined space includes the following functional units:

[0075] Chassis assembly, a loading and integration platform for each functional module, carrying a power device, a control device, an image and thermal imaging acquisition and recognition device, which can be remotely controlled or can plan and generate a traveling path by itself, can receive or identify vehicle information, retrieve detailed parameter information of the battery pack, obtain the temperature field, determine the best opening position, perform the opening operation and inject the fire extinguishing medium; it can obtain the supply of various types of fire extinguishing agents by connecting a fire hose through a pipe.

[0076] Drilling and injection device, using hydraulic or electric drive to perform opening and piercing and demolition operations, quickly penetrating the vehicle chassis, guard plate, lower box body of the battery pack until the inside of the battery pack, and injecting the fire extinguishing medium into the inside of the battery pack;

[0077] The opening and injection module is modularly designed and supports quick replacement of drill bits and piercing needles.

[0078] A water mist release device that releases water mist to achieve cooling protection for itself and multiple sensors, and cools the chassis of the accident vehicle;

[0079] A remote controller, preferably a remote control device with a display function and real-time communication.

[0080] Specifically, it is a blade-type drilling and spraying fire extinguishing robot, as Figure 3 and 4 shown, which shows the main structure and connection relationship.

[0081] It includes: a chassis assembly 1, a drilling and injection device 2, a water mist release device 3, and a remote controller 4.

[0082] The outside of the chassis assembly 1 is the robot body shell 1-1, the lower part is the traveling mechanism 1-2, the side of the shell is provided with a water hose connection pipe 1-3, and the top of the shell is provided with a data acquisition system 1-4 such as image acquisition and recognition, and thermal imaging analysis, which is used to complete functions such as vehicle information recognition and temperature field acquisition;

[0083] The inside of the chassis assembly 1 is provided with partitions, and the internal space is divided into multiple cavities for installing a power system 1-5 and a control system 1-6;

[0084] The power system 1-5 includes a motor and a battery, which provides a power source for the robot to walk and perform hole-opening operations; the control system 1-6 completes functions such as retrieving the vehicle information database, obtaining battery parameters, determining the hole-opening position, and controlling the hole-opening injection operation.

[0085] The center of the upper surface of the robot body shell 1-1 on the outside of the chassis assembly 1 is provided with a mounting hole 1-11, and four protruding limit blocks 1-12 are provided inside the mounting hole.

[0086] As Figure 3 、 4 、5 shown, which shows the positional relationship and functional components of the chassis assembly, the drilling and injection device, and the water mist release device.

[0087] The drilling and injection device 2 is installed at the center position of the upper half of the chassis assembly 1, and can rely on electric drive to complete drilling the lower box body of the battery pack and injecting the fire extinguishing agent.

[0088] The drilling and injection device 2 mainly includes a drill bit 2-1. The drill bit is integrally a hollow cylinder, with an inlet water flow channel 2-11 inside, and a limit pin 2-12 with a cross structure is provided at the lower part;

[0089] The drill bit 2-1 is connected with a follower 2-2. The follower is a hollow cylinder, with a clamping groove 2-21 provided at its upper part. The clamping groove 2-21 is connected with the limit clamping pin 2-12 in a matching way. A spring fixing device 2-22 is arranged inside the lower part of the follower, and a driven wheel 2-23 is arranged outside.

[0090] The follower 2-2 is connected with the driving shaft 2-3. A driving wheel 2-31 is arranged at the upper part of the driving shaft 2-3, and the lower part is connected with the power system 1-5.

[0091] One end of the spring 2-4 is connected with the spring fixing device 2-22, and the other end of the spring 2-4 is connected to the limit clamping pin 2-12 of the drill bit 2-1.

[0092] The drill bit 2 is installed in the central mounting hole 1-11 of the chassis assembly 1. The limit clamping pin 2-12 is connected and matched with the slave clamping groove 2-21, transmitting the rotational torque to the drill bit and forcing the drill bit to longitudinally move relatively only within the range of the clamping groove of the follower 2-2.

[0093] In the initial state, the limit clamping pin 2-12 of the drill bit is stuck below the four protruding limit blocks 1-12 of the robot body, and the potential energy of the spring 2-4 is compressed to the maximum.

[0094] In the working state, the electric drive device provides power, the driving shaft 2-3 rotates, transmits the torque to the follower through the driving wheel 2-31, and the follower transmits the torque to the drill bit through the clamping groove and the limit clamping pin, forcing the drill bit to rotate and providing the tangential cutting force for drilling.

[0095] The rotation of the drill bit drives the limit clamping pin 2-12 to disengage from the four protruding limit blocks 1-12 of the robot body, releasing the potential energy of the spring and providing the longitudinal feeding force for the drill bit.

[0096] The water mist release device 3 is installed at the top of the chassis assembly 1. The water mist release device 3 mainly includes a spray head 3-1 and a water path control valve 3-2. The spray head 3-1 mainly completes the release of water mist, and the water path control valve 3-2 is an electromagnetic valve.

[0097] The control system 1-6 of the chassis assembly 1 can control the opening, closing and switching of the water path of the water mist spray head and the water path for drilling injection. After the drilling stops, the water path of the water mist spray head is automatically closed, and the water path for drilling injection is opened.

[0098] The remote controller 4, with a display function, can observe the temperature distribution of the thermal imaging device in real time, the remote control distance ≥ 150m, and communicates with the control system 1-6 in real time.

[0099] A method for quickly extinguishing an electric vehicle battery fire in a confined space, as Figure 1 、 2 shown, mainly includes three stages.

[0100] In the first stage, identify vehicle information and enter under the chassis of the accident vehicle.

[0101] 1. After the fire-fighting robot arrives at the accident scene, it first obtains vehicle information. It can obtain the model of the accident vehicle through methods such as input from the operator's remote control terminal and image recognition, and match the pre-stored vehicle information database to retrieve at least key information including battery capacity, installation location and form of the battery pack, material and thickness of the lower box body of the battery pack shell, arrangement of battery modules inside the battery pack, and the openable areas of the chassis and battery pack. At the same time, detect or receive confined space information, where the confined space information includes the space information between the vehicle chassis and the ground where the vehicle is located and the space information where the vehicle is located. The space information where the vehicle is located includes the location information of the space where the vehicle is located, fire-fighting equipment information, and information about other vehicles, personnel, equipment, and building space structures in the space.

[0102] 2. The fire-fighting robot is locally connected to a fire hydrant, a mobile fire truck, or other fire-fighting medium sources through a water hose. First, the water mist protection is turned on, and then it travels into directly under the chassis of the accident vehicle through methods such as path planning by remote control of personnel or image recognition. The water mist starts to cool down the vehicle chassis and also provides self-protection and cooling for the robot.

[0103] The water mist particle size is 100μm - 600μm. The water mist spray intensity within 0.5m around the robot is not less than 1L / (min·m2), the water mist spray intensity is 1.5 - 5 L / (min·m2), and the pressure does not exceed 1.2MPa.

[0104] The water mist can be fire water or fire water containing additives with the function of absorbing toxic, harmful, flammable, and explosive gases. For example, adding a sodium hydroxide solution with a concentration of 0.5% - 1.5% to absorb toxic gases such as HF released by the battery.

[0105] In the second stage, determine the opening operation point and open the battery pack shell.

[0106] 1. Confirm the opening operation point.

[0107] The robot has entered under the vehicle chassis.

[0108] First, obtain the temperature distribution field of the accident vehicle's battery pack through the carried thermal imaging device and identify the thermal runaway area.

[0109] Furthermore, determine the relatively safe openable area based on the previously retrieved arrangement of battery modules inside the battery pack.

[0110] Finally, determine the opening operation point according to the set logic.

[0111] The determination logic is as follows: If the identified thermal runaway area overlaps with the determined openable area, an opening is made in the thermal runaway area; if the identified runaway area does not overlap with the openable area, an opening is made in the openable area closest to the thermal runaway area.

[0112] Manual operation is also available, and the opening operation point is selected according to the on-site fire situation.

[0113] 2. Perform the opening operation.

[0114] Any one of hydraulic, electric drive, etc. can be used for the opening operation. Under the water mist protection, an opening is made from the opening operation point to the preset depth;

[0115] The preset depth is adjustable, preferably passing through the lower box body of the battery pack shell by 20 mm to 100 mm, and the specific value is determined by the obtained accident vehicle information and the final opening position.

[0116] In the third stage, a fire extinguishing agent is injected into the battery pack to submerge, extinguish the fire and cool down.

[0117] The fire extinguishing medium is quickly injected into the battery pack through the opening position, and the battery open fire is quickly extinguished in a large-flow full-immersion manner to reduce the amount of flue gas generated;

[0118] Continuous injection is carried out to achieve cooling. The thermal runaway energy of the battery is completely consumed, so that the battery fire is completely extinguished and thoroughly cooled. The temperature of the vehicle chassis and the battery pack is monitored in real time through a thermal imaging device. After the fire extinguishing medium is injected, it is continuously cooled until the battery surface temperature ≤ 50 °C, and the fire extinguishing operation is stopped;

[0119] Furthermore, the fire extinguishing medium injected into the battery pack can be water, and the flow rate of water is not less than 5 L / s; it can also be perfluoromethylhexanone, full-immersion coolant, liquid nitrogen or carbon dioxide, and the flow rate of the fire extinguishing medium is not less than 1 kg / s.

[0120] Combined with the embodiments, the working process of the fire extinguishing method and the fire extinguishing robot of the present invention will be described.

[0121] Embodiment: Fire fighting of lithium-ion batteries in an underground garage.

[0122] Fire scene: The battery of an electric vehicle in an underground garage is on fire due to thermal runaway.

[0123] Fire extinguishing steps:

[0124] On-site, the operator determines the vehicle model according to the information provided by the vehicle owner, remotely controls the input of vehicle signals through the remote controller 4. The blade-type drilling and spraying fire-fighting robot receives that the vehicle model is XXX, retrieves the pre-stored database, determines that the size of the battery pack is 1.8m×1.2m, the thickness is 20cm, the center position of the vehicle chassis is fixed, the material of the lower box body is cemented carbide, the thickness is 10mm, the internal battery pack modules are arranged evenly, and there are relatively large through gaps at 0.6m and 1.2m due to the layout of the lines, which are safe drillable areas;

[0125] 2. The water mist release device turns on the water mist protection, and the operator remotely controls the blade-type drilling and spraying fire-fighting robot to enter the chassis of the accident vehicle;

[0126] 3. The carried image and thermal imaging acquisition and recognition device obtains the temperature field distribution of the chassis battery pack, determines that the main thermal runaway area is the battery module at 1.0m in the length direction of the battery pack. Comparing with the previously determined safe drillable area, the two do not overlap. Then, the 1.2m length closest to the thermal runaway part in the safe drillable area is selected as the best opening area, and the drilling depth is selected as 100mm according to the thickness of the battery pack;

[0127] 4. The chassis assembly 1 automatically plans the path, and the blade-type drilling and spraying fire-fighting robot travels to the determined operation point, and relies on the electric drive drill injection device 2 to perform the drilling operation;

[0128] 5. Stop drilling, open the waterway of the drilling injection device, and the fire-fighting water is injected into the battery pack through the internal flow channel of the drill bit at a flow rate of 5L / s to achieve submerged coverage. It takes about 4 minutes to extinguish the open fire, and the smoke is greatly reduced;

[0129] 6. Continuously inject the fire extinguishing medium for cooling at the current flow rate, and monitor the temperature field distribution of the battery pack in real time through the thermal imaging device. The maximum temperature drops below 50°C in about 19 minutes, and the fire extinguishing ends. The fire is extinguished successfully and does not reignite. The whole operation is remotely controlled.

[0130] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as the combinations of these technical features do not conflict, they should be considered as the scope recorded in this specification.

[0131] The above-described embodiments only represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the present application.

Claims

1. A method for quickly extinguishing a battery fire in an electric vehicle in a confined space, characterized in that: The steps include: Identification and positioning: receiving or identifying vehicle information, receiving or detecting confined space information, and generating a travel path; Opening location confirmation: After entering under the vehicle chassis, obtain the thermal runaway position through thermal imaging, and determine the operation point for fire extinguishing operation in combination with vehicle information; Opening operation: Open an injection hole at the operating position of the battery chassis to the preset depth. The preset depth is calculated based on the preset vehicle model data and operation position; Cooling extinguishing: Inject the fire extinguishing medium directly into the battery pack.

2. The method for rapidly extinguishing a battery fire in an electric vehicle in a confined space according to claim 1, characterized in that: In identification and positioning, the specific methods are: The receiving operation includes: Receive vehicle information and confined space information provided by operators or vehicle manufacturers and confined space property managers; The vehicle information includes the vehicle model, and the pre-stored vehicle information database is matched to retrieve at least the battery capacity, the battery pack installation position and installation form, the box material and thickness under the battery pack shell, the arrangement of the battery modules inside the battery pack, and the chassis and battery pack opening area information; The collection operations include: The robot detects and identifies vehicle information, location information, and confined space information through image acquisition equipment and ultrasonic radar; Scan the vehicle chassis contour through LiDAR and match it with the pre-stored vehicle model database to determine the battery pack location; Plan a reasonable travel path to ensure that the fire-fighting robot can enter under the vehicle chassis and ensure that the water supply to the water source connected to the robot is stable.

3. The method for rapidly extinguishing a battery fire in an electric vehicle in a confined space according to claim 2, characterized in that: During the hole positioning confirmation stage, Use a thermal imager to detect the temperature distribution on the battery chassis or battery pack surface and identify the thermal runaway area; Retrieve the hole-opening area map corresponding to the vehicle model; If the thermal runaway area does not overlap with the perforated area map, the perforation operation is performed in the perforated area closest to the thermal runaway area. If the thermal runaway region overlaps with the perforated region map, perforations are made in the thermal runaway region.

4. The method for rapidly extinguishing a battery fire in an electric vehicle in a confined space according to claim 1, characterized in that: The power source used for opening the hole is fire water source or electric drive; The fire water source is a fixed fire hydrant or a fire truck; The water source supplies water to drive the water power device of the fire-fighting robot, which drives the drill to drill holes in the vehicle; The electric drive is an electric motor carried by the robot, which drives the drill to perform hole drilling operations on the vehicle.

5. The method for rapidly extinguishing a battery fire in an electric vehicle in a confined space according to any one of claims 1 to 4, characterized in that: Firefighting robots are used to carry out firefighting operations. During the whole process of firefighting operations, the firefighting robots continuously spray water mist around the robots. The particle size of water mist is 100-600μm; The water mist spray intensity within 0.5m around the robot is not less than 1 L / (min·m 2 ) The spray intensity is 1.5-5 L / (min·m²); A surfactant with a concentration of 0.5% to 1.5% is added to the water mist to adsorb and neutralize toxic gases.

6. The method for rapidly extinguishing a battery fire in an electric vehicle in a confined space according to claim 1, characterized in that: During the cooling and extinguishing step, Use an infrared thermal imager to monitor the temperature of the vehicle chassis or battery pack in real time. After the fire extinguishing medium is injected, continue to cool until the battery surface temperature is ≤50°C, and then stop the fire extinguishing operation; The H2 concentration and CO concentration are monitored in real time through the gas detection device. When the H2 concentration is ≥4%VOL or the CO concentration is ≥50ppm, the system will automatically evacuate to a safe area.

7. The method for rapidly extinguishing a battery fire in an electric vehicle in a confined space according to claim 1, characterized in that: The fire extinguishing medium is one or more of perfluorohexanone, water, full immersion coolant, liquid nitrogen or carbon dioxide. The water flow rate shall not be less than 5L / s, and the flow rate of other fire extinguishing media shall not be less than 1kg / s.

8. A robot for rapidly extinguishing fires in electric vehicle batteries in confined spaces, characterized in that: The robot has a blade-like flat structure and can enter under the chassis of new energy vehicles. It has the functions of opening holes in the vehicle chassis and injecting fire extinguishing media into the battery pack. The robot includes a chassis assembly, a drilling injection device and a water mist release device arranged on the chassis assembly, and a remote controller for controlling the robot; The chassis assembly is a carrier and integration platform for various functional modules. It is equipped with a power unit, a control unit, an image and thermal imaging acquisition and recognition device. It can remotely control or plan and generate a travel path by itself. It can receive or identify vehicle information, retrieve detailed parameter information of the battery pack, obtain the temperature field, determine the best opening position, perform the opening operation and inject the fire extinguishing medium; it can connect the fire hose through a pipeline to obtain the supply of multiple types of fire extinguishing agents; The drilling and injection device uses hydraulic or electric drive to perform hole opening and puncture demolition operations, quickly penetrates the vehicle chassis, guard plate, battery pack lower box to the inside of the battery pack, and injects the fire extinguishing medium into the battery pack; Water mist release device, which releases water mist to achieve temperature reduction protection for itself and multiple sensors, and cool the chassis of the accident vehicle; Remote controller with display and real-time communication function.

9. The robot for rapidly extinguishing fires in electric vehicle batteries in confined spaces according to claim 8 is characterized in that: The chassis assembly is externally provided with the robot body shell, the lower part is the walking mechanism, the side of the shell is provided with a water hose connection pipe, and the top of the shell is provided with a data acquisition system, which completes image acquisition and recognition and thermal imaging analysis, realizes vehicle information recognition, and temperature field acquisition; The chassis assembly is provided with a partition inside, dividing the internal space into a plurality of cavities for installing a power system and a control system; The power system includes motors and batteries, which provide power for the robot to walk and drill holes; The control system completes the functions of retrieving vehicle information database, acquiring battery parameters, determining the opening position, and controlling the opening injection operation; The outside of the chassis assembly is a mounting hole at the center of the upper surface of the robot body shell, and four raised limit blocks are arranged inside the mounting hole; The drilling and injection device is installed at the center of the upper half of the chassis assembly, and includes a drill bit, which is a hollow cylinder with a water inlet channel inside and a cross-shaped limit pin at the bottom; The drill bit is connected with a follower, which is a hollow cylinder with a slot on the upper part thereof, which is connected with the drill bit limit pin in cooperation, a spring fixing device is arranged on the inner side of the lower part of the follower, and a driven wheel is arranged on the outer side; The driven member is connected to the driving shaft, a driving wheel is arranged on the upper part of the driving shaft, and a power system is connected to the lower part; The spring fixing device is connected to one end of the spring, and the other end of the spring is connected to the limit pin; The drill bit is arranged in the central mounting hole of the chassis assembly, and the limit pin is connected and matched with the follower slot.

10. The robot for rapidly extinguishing fires in electric vehicle batteries in confined spaces according to claim 9 is characterized in that: The water mist release device is installed on the top of the chassis assembly. The water mist release device includes a nozzle and a water circuit control valve. The nozzle realizes water mist release. The water circuit control valve uses a solenoid valve to realize the control of the nozzle. The control system of the chassis assembly controls the opening and switching of the water mist nozzle waterway and the drilling injection waterway; The remote controller has a display function, which can observe the temperature distribution of the thermal imaging device in real time. The remote control distance is ≥150m and can communicate with the control system in real time.

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