Automatic jet fire extinguishing and cleaning system and method special for roof photovoltaic system

Abstract

The invention discloses an automatic jet fire extinguishing and cleaning system and method special for a roof photovoltaic system, and belongs to the technical field of automatic jet fire extinguishing and cleaning. The system comprises a fire detection positioner, a fire monitor control terminal, a field controller and a background integrated control terminal; the fire detection positioner completes on-site fire detection and video monitoring based on visual image type flame detection. A photovoltaic module water jet fire extinguishing and cleaning system is built, the jet direction and force parameters are adjusted in real time, and a control instruction sequence is generated and transmitted to an execution mechanism; through visual feedback and dynamic optimization, a target area can be accurately covered, and the cleaning or fire extinguishing task of the photovoltaic panel is effectively completed; according to the system, intelligent and automatic maintenance of the roof photovoltaic panel in a complex environment is achieved, the cleaning and fire extinguishing efficiency is improved, the service life of the photovoltaic panel is prolonged, and safe and stable operation of the photovoltaic system is guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of automatic jet fire extinguishing and cleaning, and in particular relates to an automatic jet fire extinguishing and cleaning system and method dedicated to a rooftop photovoltaic system. Background Art

[0002] As a crucial component of the new energy sector, rooftop photovoltaic systems play an irreplaceable role in promoting green energy development and reducing carbon emissions. Their widespread use on building rooftops not only improves energy efficiency but also provides crucial support for sustainable urban development. However, with the large-scale deployment of photovoltaic systems, safety management and routine maintenance are becoming increasingly prominent, particularly in fire prevention and control, as well as surface cleaning. Innovative technologies are urgently needed to ensure stable operation and long-term profitability.

[0003] Currently, firefighting and cleaning of rooftop photovoltaic systems mostly rely on manual labor or simple mechanical equipment, which often proves inadequate in complex environments. Existing solutions struggle to quickly adapt to the complex and ever-changing layout of photovoltaic panels, especially during sudden fires or when large-scale cleaning is required. The lack of precise targeting often leads to wasted resources and even inability to effectively control fires or complete cleaning tasks. This limitation not only increases maintenance costs but also poses a potential threat to the safety and lifespan of the system.

[0004] Against this backdrop, automated management of rooftop photovoltaic systems faces significant technical challenges. A key issue lies in precisely identifying and controlling the specific areas of photovoltaic panels. Because photovoltaic panels are typically installed on rooftops at varying heights and angles, their spatial distribution is highly heterogeneous. This makes traditional fixed or single-use operation methods difficult to adapt to diverse practical needs. This complexity in spatial distribution further necessitates real-time dynamic adjustment capabilities. Without precise control based on the specific panel position and tilt angle, fire extinguishing or cleaning effectiveness will be significantly compromised, further impacting the safety and efficiency of the overall system.

[0005] Therefore, how to achieve multi-point precise positioning of photovoltaic panels in complex rooftop environments and dynamically adjust the jet direction and intensity based on real-time spatial data has become a key issue in improving the efficiency of automatic fire extinguishing and cleaning systems. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide an automatic jet fire extinguishing and cleaning system and method dedicated to a rooftop photovoltaic system in response to the deficiencies in the background technology.

[0007] The present invention adopts the following technical solutions to solve the above technical problems: An automatic jet fire extinguishing and cleaning system dedicated to rooftop photovoltaic systems, including a fire detection locator, a fire monitor control terminal, a field controller, and a background integrated control terminal; The fire detection locator is based on visual image-based flame detection to complete on-site fire detection and video monitoring; it contains infrared CCD and color CCD to achieve dual-channel on-site video acquisition, fire analysis, fire alarm, fault alarm and video transmission functions; The fire monitor control terminal includes a fire water tank, a fire water pump, a solenoid valve, and a fire monitor with an adjustable lifting angle; the fire water tank is connected to the fire monitor with an adjustable lifting angle through the fire water pump and the solenoid valve; The background integrated control terminal includes a touch screen, a host computer, a switch controller, an input module, a storage module, a PLC, an alarm device, a water jet device, a diagnostic emergency module, a mode selection module, and a perception auxiliary module; the perception auxiliary module is connected to the PLC through the mode selection module, the water jet device is connected to the PLC through the diagnostic emergency module, the water jet device is connected to the PLC, and the touch screen, host computer, switch controller, input module, and storage module are respectively connected to the PLC.

[0008] As a further description of the above technical solution: The fire monitor with adjustable lifting angle comprises a column, a movable plate is provided on the front side of the outer wall of the column, an angle adjustment mechanism is provided on the top of the movable plate, a driving mechanism is provided on the inner wall of the movable plate, and a detection mechanism is provided on the top of the angle adjustment mechanism; The angle adjustment mechanism includes a vertical plate, which is rotatably connected to the top of the movable plate, and two rotating seats are fixedly connected to the right side of the outer wall of the vertical plate, and a fire monitor head is rotatably connected between the two adjacent rotating seats, and the front side of the outer wall of the fire monitor head is fixedly connected to gear 1, and the right side of the outer wall of the vertical plate is slidably connected to a tooth plate, and the front end of the right side of the outer wall of the vertical plate is fixedly connected to a telescopic rod, the top of the telescopic rod is fixedly connected to the tooth plate, and the tooth plate is meshed with the gear 1, and a rotating assembly is provided at the bottom of the vertical plate.

[0009] As a further description of the above technical solution: The driving mechanism includes a rotating rod, the outer wall of the rotating rod is rotatably connected to the inner wall of the movable plate, the front and rear sides of the outer wall of the rotating rod are fixedly connected to gear four, the front side of the outer wall of the movable plate is fixedly connected to motor two, the output end of motor two is fixedly connected to the gear four on the front side, the front and rear sides of the right end of the outer wall of the column are provided with tooth grooves, the two gears four are respectively engaged with the corresponding tooth grooves, and a limiting component is provided on the outer wall of the movable plate.

[0010] As a further description of the above technical solution: The rotating assembly includes gear 2, the top of which is fixedly connected to the bottom of the vertical plate, the inner wall of the movable plate is fixedly connected to motor 1, the output end of motor 1 is fixedly connected to gear 3, and gear 3 is meshed with gear 2.

[0011] As a further description of the above technical solution: The limiting assembly includes two limiting blocks, and the adjacent sides of the two limiting blocks are respectively fixedly connected to the front and rear sides of the outer wall of the movable plate. The front and rear sides of the outer wall of the column are both provided with limiting grooves, and the two limiting blocks are respectively slidably connected to the corresponding limiting grooves.

[0012] As a further description of the above technical solution: The detection mechanism includes a mounting plate, the bottom of which is fixedly connected to the top of the vertical plate, a plurality of mounting holes are provided on the outer wall of the mounting plate, an environmental sensor is provided on the front right end of the outer wall of the mounting plate, and a controller is provided on the rear right end of the outer wall of the mounting plate.

[0013] As a further description of the above technical solution: The environmental sensor and the left side of the outer wall of the controller are both fixedly connected with two bolts, and the left ends of the plurality of bolts respectively pass through the corresponding mounting holes and are threadedly connected with nuts.

[0014] As a further description of the above technical solution: The front and rear sides of the bottom of the vertical plate are fixedly connected with arc-shaped plates, the top of the movable plate is provided with a circular sliding groove, and the two arc-shaped plates are slidably connected to the circular sliding groove.

[0015] As a further description of the above technical solution: The left side of the outer wall of the tooth plate is fixedly connected with a T-shaped block, the right side of the outer wall of the vertical plate is provided with a T-shaped slot, and the T-shaped block is slidably connected to the T-shaped slot. A control method for an automatic jet fire extinguishing and cleaning system dedicated to a rooftop photovoltaic system specifically comprises the following steps: Step 1: Obtain spatial distribution data of rooftop photovoltaic panels, use 3D laser scanning technology to generate point cloud data, and obtain an initial 3D model of the photovoltaic panel position, angle, and height; Step 2: Extract the surface features of the photovoltaic panel from the initial 3D model. If the density of feature points is lower than a preset threshold, interpolation algorithm is used to supplement the missing data and determine the multi-point coordinate set of the photovoltaic panel. Step 3: Calculate the spatial tilt angle and relative position of each photovoltaic panel based on the multi-point coordinate set to obtain the panel angle change matrix; Step 4: Based on the plate angle change matrix, a motion planning algorithm is used to generate a dynamic adjustment path for the jet device and determine the real-time adjustment parameters of the jet direction; Step 5: Obtain environmental sensor data and determine the environmental complexity factor. If the wind speed or obstacle density is higher than a preset threshold, adjust the jet force through weighted calculation to obtain the force control parameter. Step 6: Generate a control instruction sequence from the jet direction parameters and force control parameters, and transmit it to the jet actuator using a real-time communication protocol to complete the fire extinguishing or cleaning task; Step 7: Obtain actuator feedback data. If uncovered areas are detected, update the multi-point coordinate set, recalculate the jet parameters, and obtain a dynamically adjusted instruction sequence. Step 8: The target area status image is collected through vision-based image flame detection to determine whether the fire extinguishing or cleaning target has been achieved. If the target area status does not meet the preset standard, the jet parameters are repeatedly adjusted to obtain the optimized execution instructions.

[0016] Compared with the prior art, the present invention adopts the above technical solution and has the following technical effects: 1. The present invention provides an automatic jet fire extinguishing and cleaning system and method specifically for rooftop photovoltaic systems. It uses visual image-based flame detection to perform on-site fire detection and video monitoring. It acquires spatial distribution data of photovoltaic panels, generates an initial three-dimensional model, and extracts surface features. It calculates the panel angle change matrix based on a multi-point coordinate set and uses a motion planning algorithm to generate a dynamic adjustment path for the jet device. Combined with environmental sensor data, the system adjusts the jet direction and force parameters in real time, generates a control instruction sequence, and transmits it to the actuator. Through visual feedback and dynamic optimization, the system can accurately cover the target area and effectively complete photovoltaic panel cleaning or fire extinguishing tasks. The system implements intelligent and automated maintenance of rooftop photovoltaic panels in complex environments, improving cleaning and fire extinguishing efficiency, extending the service life of photovoltaic panels, and ensuring the safe and stable operation of the photovoltaic system. 2. The fire monitor with adjustable lifting angle of the present invention can quickly receive instructions, and the controller controls motor 1 to drive gear 3 to engage and rotate with gear 2, so as to rotate the vertical plate and preliminarily adjust the direction of the fire monitor head. The controller then starts the telescopic rod to drive the tooth plate to engage and transmit with gear 1, and accurately adjust the spray angle of the fire monitor head. This whole set of structures cooperates to realize the function of automatically and quickly adjusting the spray angle of the fire monitor, thereby improving the fire extinguishing efficiency.

[0017] 3. The present invention realizes the height adjustment of the movable plate through the cooperation of motor 2, rotating rod, gear 4 and tooth groove. Motor 2 drives front gear 4, which drives rear gear 4 through rotating rod to engage with the tooth groove on the column, causing the movable plate to have a lifting trend. At the same time, the limit block in the limit assembly is slidably connected to the limit groove to limit the moving direction of the movable plate, avoid deviation and shaking, and ensure its stable lifting. This structural design can accurately adjust the height of the movable plate to meet the diverse requirements of fire monitor height in different fire extinguishing scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the overall structure of an automatic jet fire extinguishing and cleaning system dedicated to a rooftop photovoltaic system of the present invention; Figure 2 It is a schematic diagram of the background integrated control terminal of the present invention; Figure 3 A perspective view of the fire monitor with adjustable lifting angle according to the present invention; Figure 4 This is a front view of the fire monitor with adjustable lifting angle according to the present invention; Figure 5 This is a partial structural diagram of the fire monitor with adjustable lifting angle according to the present invention; Figure 6 Schematic diagram of the T-slot of the fire monitor with adjustable lifting angle according to the present invention; Figure 7 Schematic diagram of the rotating assembly of the fire monitor with adjustable lifting angle according to the present invention; Figure 8 Schematic diagram of the driving mechanism of the fire monitor with adjustable lifting angle according to the present invention; Figure 9 A schematic diagram of a nut of a fire monitor with adjustable lifting angle according to the present invention; Figure 10 This is a flow chart of the overall method of an automatic jet fire extinguishing and cleaning system dedicated to a rooftop photovoltaic system of the present invention; Figure 11 A schematic diagram of an overall method of an automatic jet fire extinguishing and cleaning system dedicated to a rooftop photovoltaic system according to the present invention; Figure 12 This is a schematic diagram of the overall method of the automatic jet fire extinguishing and cleaning system dedicated to the roof photovoltaic system of the present invention. Figure 2 .

[0019] Legend: 1. Column; 2. Angle adjustment mechanism; 201. Vertical plate; 202. Rotating seat; 203. Fire monitor head; 204. Gear 1; 205. Tooth plate; 206. Telescopic rod; 207. Rotating assembly; 2071. Gear 2; 2072. Gear 3; 2073. Motor 1; 3. Driving mechanism; 301. Rotating rod; 302. Gear 4; 303. Motor 2; 304. Tooth groove; 305. Limiting assembly; 3051. Limiting block; 3052. Limiting slot; 4. Moving plate; 5. Detection mechanism; 501. Mounting plate; 502. Mounting hole; 503. Environmental sensor; 504. Controller; 6. Bolt; 7. Nut; 8. Arc plate; 9. Circular slide; 10. T-block; 11. T-slot. DETAILED DESCRIPTION

[0020] The technical solution of the present invention is further described in detail below with reference to the accompanying drawings: The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. The present invention is described in detail below based on the drawings and preferred embodiments. The purpose and effect of the present invention will become more clear. It should be understood that the specific embodiments described here are only used to explain the present invention and are not used to limit the present invention.

[0021] An automatic jet fire extinguishing and cleaning system dedicated to rooftop photovoltaic systems, such as Figure 1 As shown, it includes fire detection locator, fire monitor control terminal, field controller, and background integrated control terminal; The fire detection locator is based on visual image-based flame detection to complete on-site fire detection and video monitoring; it contains infrared CCD and color CCD to achieve dual-channel on-site video acquisition, fire analysis, fire alarm, fault alarm and video transmission functions; The fire monitor control terminal includes a fire water tank, a fire water pump, a solenoid valve, and a fire monitor with an adjustable lifting angle; the fire water tank is connected to the fire monitor with an adjustable lifting angle through the fire water pump and the solenoid valve; The background integrated control terminal includes a touch screen, a host computer, a switch controller, an input module, a storage module, a PLC, an alarm device, a water jet device, a diagnostic emergency module, a mode selection module, and a perception auxiliary module; the perception auxiliary module is connected to the PLC through the mode selection module, the water jet device is connected to the PLC through the diagnostic emergency module, the water jet device is connected to the PLC, and the touch screen, host computer, switch controller, input module, and storage module are respectively connected to the PLC.

[0022] Reference Figure 5 、 Figure 6 and Figure 7 , an embodiment provided by the present invention: a fire monitor with adjustable lifting and angle, including a column 1, which serves as the supporting structure of the entire fire monitor, and its function is to provide a stable installation foundation and support for subsequent components, ensuring that the fire monitor remains stable during operation. A movable plate 4 is provided on the front side of the outer wall of the column 1, which is used to carry the angle adjustment mechanism 2 and the driving mechanism 3. The top of the movable plate 4 is provided with an angle adjustment mechanism 2 to achieve angle adjustment of the fire monitor head 203. The inner wall of the movable plate 4 is provided with a driving mechanism 3 to provide power for the lifting of the movable plate 4, so that the movable plate 4 can move stably up and down on the outer wall of the column 1 to achieve adjustment of the height of the fire monitor. A detection mechanism 5 is provided on the top of the angle adjustment mechanism 2; The angle adjustment mechanism 2 includes a vertical plate 201, which, through a rotational connection with the movable plate 4, provides a rotatable platform for the fire monitor head 203, allowing the fire monitor head 203 to be adjusted horizontally. The vertical plate 201 is rotatably connected to the top of the movable plate 4. Two rotating seats 202 are fixedly connected to the right side of the outer wall of the vertical plate 201, providing rotational support for the fire monitor head 203. Their function is to enable the fire monitor head 203 to rotate vertically, thereby achieving different spray angles. The fire monitor head 203 is rotatably connected between the two rotating seats 202. A gear 1 204 is fixedly connected to the front side of the outer wall of the fire monitor head 203. A toothed plate 205 is slidably connected to the right side of the outer wall of the vertical plate 201. Gear 1 204 cooperates with the toothed plate 205 to achieve precise angle adjustment of the fire monitor head 203. Driven by the toothed plate 205, the fire monitor head 203 rotates vertically through a gear transmission, thereby precisely adjusting the spray angle. A telescopic rod 206 is fixedly connected to the front end of the right side of the outer wall of the vertical plate 201. The top of the telescopic rod 206 is fixedly connected to the toothed plate 205 to provide power for the movement of the toothed plate 205. The toothed plate 205 is meshed with the gear 1 204. A rotating assembly 207 is provided at the bottom of the vertical plate 201. Rotating assembly 207 includes gear 2071, which, driven by gear 3 2072, enables vertical plate 201 to rotate about its connection point with movable plate 4, thereby adjusting the horizontal angle of fire monitor head 203. The top of gear 2071 is fixedly connected to the bottom of vertical plate 201. Motor 1 2073 is fixedly connected to the inner wall of movable plate 4. The output end of motor 1 2073 is fixedly connected to gear 3 2072. Gear 3 2072 transmits power from motor 1 2073 to gear 2 2071, meshing with gear 2 2071. Driven by motor 1 2073, gear 2071 rotates, with gear 3 2072 meshing with gear 2 2071. Specifically, the column 1 serves as the basic support structure, providing a stable support for the entire fire monitor. The movable plate 4 is arranged on the front side of the outer wall of the column 1, carrying the angle adjustment mechanism 2 and the driving mechanism 3. By cooperating with other components, it can adjust the fire monitor to different heights and angles. In the angle adjustment mechanism 2, the vertical plate 201 is rotatably connected to the top of the movable plate 4 and can rotate about the connection point, providing a rotation base for the fire monitor head 203. Two rotating seats 202 are fixed to the right side of the outer wall of the vertical plate 201 and are rotatably connected to the fire monitor head 203, allowing the fire monitor head 203 to rotate relative to the vertical plate 201. Gear 1 204 is fixed to the front side of the outer wall of the fire monitor head 203 and meshes with the tooth plate 205. When the tooth plate 205 moves, it drives the fire monitor head 203 to rotate, thereby achieving fine-tuning of its spray angle. The tooth plate 205 is slidably connected to the right side of the outer wall of the vertical plate 201 and is driven up and down by the telescopic rod 206, thereby driving gear 1 204. Telescopic rod 206 is fixed to the front right edge of the outer wall of vertical plate 201, with its top connected to toothed plate 205, allowing it to be extended and retracted to adjust its position. Rotating assembly 207 controls the rotation of vertical plate 201. Gear 2 2071, with its top fixed to the bottom of vertical plate 201, and motor 1 2073, fixed to the inner wall of movable plate 4, has its output connected to gear 3 2072. Gear 3 2072 meshes with gear 2 2071. When motor 1 2073 is activated, it rotates gear 3 2072, which in turn rotates vertical plate 201, adjusting the approximate spray direction of fire monitor head 203. A detection mechanism 5 is located on top of angle adjustment mechanism 2. While its internal structure is not detailed, it can be inferred that it provides data support for angle adjustment, such as detecting the location of the ignition point, and providing feedback to relevant components for automatic angle adjustment.

[0023] Reference Figure 3 、 Figure 4 and Figure 8The driving mechanism 3 includes a rotating rod 301, which serves as a connection and transmission. The outer wall of the rotating rod 301 is rotatably connected to the inner wall of the movable plate 4. The front and rear sides of the outer wall of the rotating rod 301 are fixedly connected to a gear 4 302, which is used to cooperate with the tooth groove 304 on the column 1 to achieve the lifting and lowering of the movable plate 4. The front side of the outer wall of the movable plate 4 is fixedly connected to a motor 2 303. The output end of the motor 2 303 is fixedly connected to the front side gear 4 302, so that the power of the motor 2 303 can be directly transmitted to the front side gear 4 302, driving it to rotate, thereby triggering a series of subsequent transmissions to achieve the lifting and lowering of the movable plate 4. The front and rear sides of the outer wall of the right end of the column 1 are provided with tooth grooves 304, which mesh with the gear 4 302. Its function is to cooperate with the gear 4 302 to convert the rotation of the gear 4 302 into the up and down movement of the movable plate 4 along the outer wall of the column 1, thereby achieving the height adjustment of the fire monitor. The two gears 302 are respectively engaged with the corresponding tooth grooves 304. The outer wall of the movable plate 4 is provided with a limit assembly 305 for limiting the moving direction of the movable plate 4, ensuring that it can only move up and down along the column 1, preventing deviation during the movement process, and ensuring the stability and accuracy of the height adjustment of the fire monitor; The limiting assembly 305 includes two limiting blocks 3051, which cooperate with the limiting slots 3052 on the column 1 to limit the movement of the movable plate 4. The adjacent sides of the two limiting blocks 3051 are respectively fixedly connected to the front and rear sides of the outer wall of the movable plate 4, so that the limiting blocks 3051 can move together with the movable plate 4 and play a limiting role during the movement. Limiting slots 3052 are provided on the front and rear sides of the outer wall of the column 1 to provide sliding tracks for the limiting blocks 3051, which cooperate with the limiting blocks 3051 to limit the moving direction of the movable plate 4 so that it can only slide up and down along the outer wall of the column 1. The two limiting blocks 3051 are slidably connected to the corresponding limiting slots 3052 respectively; Specifically, the driving mechanism 3 cooperates with the limiting assembly 305 to achieve height adjustment and stable movement of the movable plate 4. The outer wall of the rotating rod 301 is rotatably connected to the inner wall of the movable plate 4, and the gear four 302 fixed on its front and rear sides rotates under the drive of the motor 2 303. The motor 2 303 is fixed to the front side of the outer wall of the movable plate 4, and the output end is connected to the front side gear four 302, which drives the gear to rotate after startup. The tooth grooves 304 on the front and rear sides of the right end of the outer wall of the column 1 are respectively engaged with the two gear fours 302, so that the movable plate 4 has a tendency to move up and down along the outer wall of the column 1 due to the rotation of the gears. The limiting assembly 305 plays a guiding and stabilizing role. The two limiting blocks 3051 are respectively fixed to the front and rear sides of the outer wall of the movable plate 4, and are slidably connected to the limiting grooves 3052 opened on the front and rear sides of the outer wall of the column 1. This limits the moving direction of the movable plate 4, ensuring that it can only slide up and down along the column 1, preventing deviation and shaking, and allowing the movable plate 4 to stably adjust the height on the outer wall of the column 1 under the action of the driving mechanism 3, providing support for the fire monitor to achieve fire extinguishing operations at different heights.

[0024] Reference Figure 3 、 Figure 5 and Figure 9 , the detection mechanism 5 includes a mounting plate 501 to ensure that each component has stable support during operation. The bottom of the mounting plate 501 is fixedly connected to the top of the vertical plate 201, and the outer wall of the mounting plate 501 is provided with a plurality of mounting holes 502 for cooperating with bolts 6 and nuts 7 to fix other components. An environmental sensor 503 is provided on the front right side of the outer wall of the mounting plate 501 for real-time monitoring of the occurrence of fire. Its function is to detect the fire in time and send out detection information by sensing the smoke and temperature signals generated by the fire, providing a basis for the automatic control of the fire cannon. A controller 504 is provided on the rear right side of the outer wall of the mounting plate 501 to receive the detection information from the environmental sensor 503, and according to the preset program and algorithm, send control instructions to the angle adjustment mechanism 2 and the driving mechanism 3 of the fire cannon to realize the automatic operation of the fire cannon; Two bolts 6 are fixedly connected to the left side of the outer wall of the environmental sensor 503 and the controller 504. The left ends of the multiple bolts 6 pass through the corresponding mounting holes 502 and are threadedly connected with nuts 7. The bolts 6 play a connecting and fixing role. Their function is to pass through the mounting holes 502 on the mounting plate 501 and cooperate with the nuts 7 to firmly fix the environmental sensor 503 and the controller 504 on the mounting plate 501; Specifically, the various components of the detection mechanism 5 work together to detect and control fires. The bottom of the mounting plate 501 is fixed to the top of the vertical plate 201, providing a mounting base for other components. Multiple mounting holes 502 on its outer wall, used with bolts 6 and nuts 7, are used to secure the environmental sensor 503 and controller 504. The environmental sensor 503 is responsible for detecting fire conditions and, upon detecting a fire point, transmits a signal to the controller 504. After receiving the signal, the controller 504, according to a preset program, issues commands to the fire monitor's angle adjustment mechanism 2 and other related components, enabling the monitor to automatically align with the fire point and complete angle adjustment, thereby improving the speed and accuracy of fire extinguishing response.

[0025] Reference Figure 3 、 Figure 6 and Figure 8 The front and rear sides of the bottom of the vertical plate 201 are fixedly connected with an arc-shaped plate 8, and a circular slide groove 9 is opened on the top of the movable plate 4. The two arc-shaped plates 8 are slidably connected to the circular slide groove 9; the left side of the outer wall of the tooth plate 205 is fixedly connected with a T-shaped block 10, and the right side of the outer wall of the vertical plate 201 is opened with a T-shaped slot 11, and the T-shaped block 10 is slidably connected to the T-shaped slot 11.

[0026] Specifically, the curved plates 8 on the front and rear sides of the bottom of the vertical plate 201 are slidably connected to the circular grooves 9 on the top of the movable plate 4, allowing the vertical plate 201 to rotate stably around the axis to adjust the direction of the fire monitor head 203. The T-shaped block 10 of the tooth plate 205 is slidably connected to the T-shaped slot 11 of the vertical plate 201, ensuring the smooth movement of the tooth plate 205 and accurately adjusting the spray angle of the fire monitor head 203.

[0027] Working principle: When working, first connect the external water supply pipe to the fire monitor head 203 to provide water source for fire extinguishing. When a fire occurs, the environmental sensor 503, although this component is not described in detail in the previous article, can be inferred from the subsequent work process that it is a part of the detection mechanism 5 to first detect the fire point. Then, the controller 504 in the detection mechanism 5 receives the signal from the environmental sensor 503 and controls the motor 1 2073 to start. The motor 1 2073 serves as the power source of the rotating component 207, and its output end drives the gear 3 2072 to rotate. Since the gear 3 2072 is meshed with the gear 2 2071, the gear 2 2071 rotates together with the drive of the gear 3 2072, and the top of the gear 2 2071 is fixedly connected to the vertical plate 20 1 bottom, thereby driving the vertical plate 201 to rotate around the rotating connection with the movable plate 4, thereby preliminarily adjusting the spray direction of the fire monitor head 203 so that it is roughly aligned with the direction of the fire point. Subsequently, the controller 504 starts the telescopic rod 206. The top of the telescopic rod 206 is fixed to the tooth plate 205. When it is extended and retracted, it drives the tooth plate 205 to move up and down on the right side of the outer wall of the vertical plate 201. The tooth plate 205 is engaged with the gear 1 204. During the movement of the tooth plate 205, the gear 1 204 is driven to rotate through the meshing transmission. Because the gear 1 204 is fixedly connected to the fire monitor head 203, the rotation of the gear 1 204 will drive the fire monitor head 203 to rotate synchronously, thereby achieving precise adjustment of the spray angle of the fire monitor head 203 and ensuring that it can be accurately aligned with the fire point; And when the height of the movable plate 4 needs to be adjusted, the motor 2 303 is started, and the output end of the motor 2 303 drives the front gear 4 302 to rotate. Since the outer wall of the rotating rod 301 is rotatably connected to the inner wall of the movable plate 4, and the front and rear sides of its outer wall are fixedly connected to the gear 4 302, during the rotation of the front gear 4 302, the rear gear 4 302 will be driven to rotate synchronously through the rotating rod 301. Tooth grooves 304 are provided on the front and rear sides of the right end of the outer wall of the column 1, and the two gears 4 302 are respectively meshed with the corresponding tooth grooves 304. When the gear 4 302 rotates, its meshing relationship with the tooth groove 304 causes the movable plate 4 to move upward or downward. The moving plate 4 is moved in a direction of rotation, and at the same time, the limiting component 305 comes into play. The limiting component 305 includes two limiting blocks 3051, which are respectively fixed on the front and rear sides of the outer wall of the moving plate 4, and the front and rear sides of the outer wall of the column 1 are provided with limiting grooves 3052. The two limiting blocks 3051 are respectively slidably connected with the corresponding limiting grooves 3052. This structural design limits the moving direction of the moving plate 4 so that it can only slide up and down along the outer wall of the column 1, avoiding the moving plate 4 from deflecting or shaking during the movement, and ensuring that the moving plate 4 slides stably up and down on the outer wall of the column 1, thereby accurately adjusting the height of the moving plate 4 to meet the requirements for the height of the fire monitor in different fire extinguishing scenarios.

[0028] like Figures 10 to 12 As shown, a control method for an automatic jet fire extinguishing and cleaning system dedicated to a rooftop photovoltaic system specifically includes the following steps: S101. Obtain spatial distribution data of rooftop photovoltaic panels, generate point cloud data using 3D laser scanning technology, and obtain an initial 3D model of the position, angle, and height of the photovoltaic panels.

[0029] 3D laser scanning technology is used to collect data on the roof and generate high-precision point cloud data. The point cloud data is processed using a point cloud segmentation algorithm to extract the photovoltaic panel area and obtain a photovoltaic panel point cloud subset. Based on the photovoltaic panel point cloud subset, the least squares method is used to fit the plane to determine the tilt angle of the photovoltaic panel. If the angle between the normal vector of the photovoltaic panel plane and the horizontal plane exceeds the preset threshold, the point cloud subset boundary is adjusted and refitted to obtain the precise tilt angle. The center of mass coordinates are calculated from the photovoltaic panel point cloud subset, and the position information and height data of the photovoltaic panel are determined in combination with the roof reference plane. The position information, tilt angle, and height data are obtained to generate a 3D initial model of the photovoltaic panel. The 3D initial model is optimized using a stereo geometry algorithm to obtain a fine-tuned photovoltaic panel spatial distribution model.

[0030] S102: Extracting surface features of the photovoltaic panel from the initial three-dimensional model. If the density of feature points is lower than a preset threshold, interpolation algorithm is used to supplement the missing data to determine a multi-point coordinate set of the photovoltaic panel.

[0031] By extracting the surface features of the photovoltaic panel surface from the initial model, the data distribution of the feature point set is obtained to determine whether its distribution density meets the requirements. If the distribution density of the feature point set is lower than the preset threshold, interpolation methods are used to fill in the missing data to obtain supplemented multi-point coordinate data. Based on the supplemented multi-point coordinate data, a complete coordinate set is constructed to determine the detailed location information of the photovoltaic panel surface. The coordinate set is used to correct the surface features in the initial model to obtain more accurate feature point distribution data. Based on the corrected feature point distribution data, a structured mesh of the photovoltaic panel surface is generated using a geometric mapping method to obtain a structured surface description. Key boundary information is extracted from the structured surface description to determine the complete spatial form of the photovoltaic panel surface. Based on the complete spatial form, a multi-dimensional data record of the photovoltaic panel surface is generated to improve the detailed expression of the initial model.

[0032] S103. Calculate the spatial tilt angle and relative position of each photovoltaic panel based on the multi-point coordinate set to obtain a panel angle change matrix.

[0033] The spatial distribution characteristics of photovoltaic panels are analyzed using multi-point coordinate data. Geometric analysis tools are used to process the distances and directions between coordinate points to obtain a preliminary distribution description of each panel. Based on this preliminary distribution description, the tilt angle of each photovoltaic panel is calculated. Vector analysis methods are used to determine the angle between the panel and the reference plane, generating angle change data. Based on this angle change data, the relative positional relationships between the photovoltaic panels are analyzed. If the angle change of a panel exceeds a preset threshold, the coordinate adjustment tool is used to recalibrate its position, generating calibrated positional relationship data. Based on this calibrated positional relationship data, a spatial characteristic model between the panels is constructed. Data mapping methods are used to associate the multi-point coordinates with the positional relationships to obtain a spatial characteristic description. Based on this spatial characteristic description, the distribution analysis results for each photovoltaic panel are extracted. If the distribution analysis indicates uneven panel characteristics in a certain area, data smoothing tools are used to perform local optimization to obtain optimized distribution characteristics. Using this optimized distribution characteristic, a comprehensive matrix of angle change and positional relationships is generated. Matrix operation tools are used to integrate the tilt angle and spatial distribution information to determine the final panel angle change matrix. Starting from the final panel angle change matrix, the overall spatial characteristics of the photovoltaic panel are analyzed. The data of abnormal points in the matrix are corrected through regression analysis to obtain a complete spatial distribution and angle description.

[0034] S104: Based on the plate surface angle change matrix, a motion planning algorithm is used to generate a dynamic adjustment path of the jet device and determine the real-time adjustment parameters of the jet direction.

[0035] Using the panel angle data, key distribution information from the change matrix is ​​captured. Data extraction tools are used to isolate the angular characteristics of each region, yielding a preliminary angular distribution description. Based on this preliminary angular distribution description, a motion planning algorithm is employed to map the angular characteristics to spatial positions, generating an adjustment path framework for the fluidic device and determining an initial path planning solution. Based on this initial path planning solution, the real-time change requirements for the jet direction are analyzed. If the angular characteristics of a particular region exceed a preset threshold, the path framework is adjusted using a data calibration tool to obtain calibrated path data. Based on this calibrated path data, a dynamic adjustment model for the fluidic device is constructed. Vector analysis methods are used to calculate the directional parameters of each path segment, generating a set of parameters for real-time adjustment. Based on this set of parameters, the execution requirements for device control are analyzed. If the directional deviation within a parameter set exceeds a preset range, the information processing module recalculates the adjustment range and determines the final control instructions. Based on the final control instructions, a dynamic operation sequence for the fluidic device is generated. Data synchronization tools are used to match the instructions with the path data to obtain a complete execution solution. Through a complete execution plan, the matching degree between the plate angle and the jet direction is analyzed. If the matching degree does not meet the preset standard, the parameter set is adjusted through the feedback processing module to obtain an optimized operation sequence.

[0036] S105: Acquire environmental sensor data and determine the environmental complexity factor. If the wind speed or obstacle density is higher than a preset threshold, adjust the jet force through weighted calculation to obtain a force control parameter.

[0037] Real-time data collected by environmental sensors is captured, and preliminary analysis is performed on wind speed information and obstacle density. Key indicators are isolated through the data processing module to generate a preliminary description of environmental complexity. Based on this preliminary description, the distribution characteristics of wind speed information and obstacle density are analyzed. If any indicator exceeds a preset threshold, the information processing unit prioritizes these indicators and determines the preferred adjustment direction. Based on the adjustment priority, a weighted calculation method is used to perform a preliminary calibration of the jet force. The corresponding force parameters are generated using a data mapping tool to obtain an initial control scheme. Based on this initial control scheme, the force parameters are analyzed for their suitability under different environmental analysis scenarios. If the parameters do not match the environmental complexity description, secondary adjustments are performed using the data correction module to obtain an optimized parameter set. Based on this optimized parameter set, a control instruction framework for the jet device is constructed. A vector decomposition method is used to calculate the force distribution ratio for each area, determining the final execution parameters. For these final execution parameters, a data synchronization tool is used to match the parameters with the real-time data collected by the environmental sensors, generating a dynamic adjustment sequence and providing complete operational instructions. According to the complete operating instructions, the correspondence between the environmental analysis results and the jet force is analyzed. If there is a deviation in the correspondence, the parameter generation logic is fine-tuned through the feedback processing module to obtain the adjusted execution plan.

[0038] S106 , generating a control instruction sequence from the jet direction parameters and the force control parameters, and transmitting the sequence to the jet actuator using a real-time communication protocol to complete the fire extinguishing or cleaning task.

[0039] Initial parameter data is obtained from the jet direction and force control. The parameter extraction process is categorized and processed. Pre-established mapping rules are used to convert different types of parameter data into a standardized format, resulting in a pre-organized parameter set. Based on this pre-organized parameter set, a corresponding control instruction sequence is generated. A data conversion tool is used to map the parameter set to the specific contents of the instruction sequence, determining the basic structure and execution order of each instruction set. The generated control instruction sequence undergoes format verification and logic validation. If the structure or sequence of the instruction sequence does not meet a preset threshold, the information processing unit performs corrections to obtain an optimized instruction sequence. This optimized instruction sequence is then encapsulated using a real-time communication protocol. A communication interface tool is used to convert the instruction sequence into a transmittable data packet. The integrity of the data packet is then verified to obtain transmittable instruction data. The transmittable instruction data is then sent to the jet actuator via a communication protocol channel, obtaining status feedback during the transmission process. If the status feedback indicates a transmission interruption, the instruction sequence is resent through the information processing module to confirm the completion of the transmission. Based on the completed transmission status, the response data from the fluidic actuator is obtained and parsed to determine whether the execution complies with the instruction sequence requirements. If not, a correction instruction is generated through the data adjustment tool to obtain final execution confirmation. For this final execution confirmation, the relevant logs for task completion are recorded, and the key data and instruction sequence during the execution process are archived through the data storage module to obtain a complete task execution record.

[0040] S107: Obtain actuator feedback data. If an uncovered area is detected, update the multi-point coordinate set, recalculate the jet parameters, and obtain a dynamically adjusted instruction sequence.

[0041] Feedback data is obtained from the actuator and initially parsed to determine whether any uncovered areas exist, generating an area detection result. Based on the area detection result, if uncovered areas are found, the coordinate processing tool updates the multi-point coordinates to determine a new coordinate set. Based on the new coordinate set, the calculation module recalculates the jet parameters, obtaining adjusted parameter data and dynamically updating the jet parameters. Based on the dynamically updated jet parameters, a corresponding instruction sequence is generated. Pre-established mapping rules are used to convert the parameters into instructions, determining the content of the new instruction sequence. The new instruction sequence undergoes a structural check. If the logical order of the instruction sequence does not meet a preset threshold, the information processing unit performs corrections to obtain an optimized instruction sequence. The optimized instruction sequence is then converted into a transmittable data unit using a data encapsulation tool. The integrity of the data unit is then verified to obtain transmittable instruction data. The transmittable instruction data is then sent to the actuator via a communication channel, obtaining status feedback during the transmission process. If the status feedback indicates an interruption, the instruction data is resent through the information processing module to confirm the completion of the transmission.

[0042] S108. The target area status image is collected through the visual sensor to determine whether the fire extinguishing or cleaning target is achieved. If the target area status does not meet the preset standard, the jet parameters are repeatedly adjusted to obtain the optimized execution instructions.

[0043] A visual sensor monitors the target area in real time, capturing raw image data reflecting the area's status and generating a current state image of the target area. Image processing tools are used to perform noise reduction and feature extraction on the acquired state image, generating clear processed image data and determining detailed state information for the target area. This processed image data is then compared against a preset threshold for state assessment. If the area's status does not meet the threshold, an information processing unit generates an adjustment request signal to determine whether jet parameters need to be adjusted. Based on the generated adjustment request signal, the current jet parameter data is retrieved and recalculated using pre-established mapping rules to obtain the adjusted jet parameter content. Based on the adjusted jet parameter content, an instruction generation tool is used to convert it into executable optimized instructions, determining the final execution instruction sequence. The determined execution instruction sequence is converted into transmittable data units by a data encapsulation module, generating integrity-verified instruction data. This verified instruction data is then transmitted to the actuator via a communication channel. Status feedback is monitored in real time during transmission. If feedback indicates a transmission interruption, the information processing module reorganizes the data and transmits it to confirm the completion of the transmission.

[0044] Those skilled in the art will understand that the above descriptions are merely preferred embodiments of the invention and are not intended to limit the invention. Although the invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will still be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the invention shall be included within the scope of protection of the invention. All technical features in this embodiment may be freely combined according to actual needs.

[0045] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An automatic jet fire extinguishing and cleaning system dedicated to rooftop photovoltaic systems, characterized by: Includes fire detection locator, fire monitor control terminal, field controller, and background integrated control terminal; The fire detection locator is based on visual image-based flame detection to complete on-site fire detection and video monitoring; it contains infrared CCD and color CCD to achieve dual-channel on-site video acquisition, fire analysis, fire alarm, fault alarm and video transmission functions; The fire monitor control terminal includes a fire water tank, a fire water pump, a solenoid valve, and a fire monitor with an adjustable lifting angle; the fire water tank is connected to the fire monitor with an adjustable lifting angle through the fire water pump and the solenoid valve; The background integrated control terminal includes a touch screen, a host computer, a switch controller, an input module, a storage module, a PLC, an alarm device, a water jet device, a diagnostic emergency module, a mode selection module, and a perception auxiliary module; the perception auxiliary module is connected to the PLC through the mode selection module, the water jet device is connected to the PLC through the diagnostic emergency module, the water jet device is connected to the PLC, and the touch screen, host computer, switch controller, input module, and storage module are respectively connected to the PLC.

2. The automatic jet fire extinguishing and cleaning system for a rooftop photovoltaic system according to claim 1, characterized in that: The fire monitor with adjustable lifting and angle comprises a column (1), a movable plate (4) is provided on the front side of the outer wall of the column (1), an angle adjustment mechanism (2) is provided on the top of the movable plate (4), a driving mechanism (3) is provided on the inner wall of the movable plate (4), and a detection mechanism (5) is provided on the top of the angle adjustment mechanism (2); The angle adjustment mechanism (2) comprises a vertical plate (201), the vertical plate (201) is rotatably connected to the top of the movable plate (4), two rotating seats (202) are fixedly connected to the right side of the outer wall of the vertical plate (201), a fire monitor head (203) is rotatably connected between the two adjacent rotating seats (202), a gear 1 (204) is fixedly connected to the front side of the outer wall of the fire monitor head (203), a tooth plate (205) is slidably connected to the right side of the outer wall of the vertical plate (201), a telescopic rod (206) is fixedly connected to the front end of the right side of the outer wall of the vertical plate (201), the top of the telescopic rod (206) is fixedly connected to the tooth plate (205), the tooth plate (205) is meshed with the gear 1 (204), and a rotating assembly (207) is provided at the bottom of the vertical plate (201).

3. The automatic jet fire extinguishing and cleaning system for a rooftop photovoltaic system according to claim 2, characterized in that: The driving mechanism (3) comprises a rotating rod (301), the outer wall of the rotating rod (301) is rotatably connected to the inner wall of the movable plate (4), the front and rear sides of the outer wall of the rotating rod (301) are fixedly connected to gear four (302), the front side of the outer wall of the movable plate (4) is fixedly connected to motor two (303), the output end of motor two (303) is fixedly connected to the front gear four (302), the front and rear sides of the right end of the outer wall of the column (1) are provided with tooth grooves (304), the two gear fours (302) are respectively engaged with the corresponding tooth grooves (304), and the outer wall of the movable plate (4) is provided with a limiting component (305).

4. The automatic jet fire extinguishing and cleaning system for a rooftop photovoltaic system according to claim 2, characterized in that: The rotating assembly (207) includes a second gear (2071), the top of the second gear (2071) is fixedly connected to the bottom of the vertical plate (201), the inner wall of the movable plate (4) is fixedly connected to a first motor (2073), the output end of the first motor (2073) is fixedly connected to a third gear (2072), and the third gear (2072) is meshed with the second gear (2071).

5. The automatic jet fire extinguishing and cleaning system for a rooftop photovoltaic system according to claim 3, characterized in that: The limiting assembly (305) comprises two limiting blocks (3051), and adjacent sides of the two limiting blocks (3051) are respectively fixedly connected to the front and rear sides of the outer wall of the movable plate (4). The front and rear sides of the outer wall of the column (1) are both provided with limiting grooves (3052), and the two limiting blocks (3051) are respectively slidably connected to the corresponding limiting grooves (3052).

6. The automatic jet fire extinguishing and cleaning system for a rooftop photovoltaic system according to claim 2, characterized in that: The detection mechanism (5) comprises a mounting plate (501), the bottom of the mounting plate (501) is fixedly connected to the top of the vertical plate (201), a plurality of mounting holes (502) are provided on the outer wall of the mounting plate (501), an environmental sensor (503) is provided on the front side of the right end of the outer wall of the mounting plate (501), and a controller (504) is provided on the rear side of the right end of the outer wall of the mounting plate (501).

7. The automatic jet fire extinguishing and cleaning system for a rooftop photovoltaic system according to claim 6, characterized in that: Two bolts (6) are fixedly connected to the left sides of the outer walls of the environmental sensor (503) and the controller (504), and the left ends of the plurality of bolts (6) respectively pass through the corresponding mounting holes (502) and are threadedly connected with nuts (7).

8. The automatic jet fire extinguishing and cleaning system for a rooftop photovoltaic system according to claim 1, characterized in that: The front and rear sides of the bottom of the vertical plate (201) are fixedly connected with arc-shaped plates (8), the top of the movable plate (4) is provided with a circular sliding groove (9), and the two arc-shaped plates (8) are slidably connected to the circular sliding groove (9).

9. The automatic jet fire extinguishing and cleaning system for a rooftop photovoltaic system according to claim 1, characterized in that: A T-shaped block (10) is fixedly connected to the left side of the outer wall of the tooth plate (205), a T-shaped slot (11) is opened on the right side of the outer wall of the vertical plate (201), and the T-shaped block (10) is slidably connected to the T-shaped slot (11).

10. A control method for an automatic jet fire extinguishing and cleaning system dedicated to a rooftop photovoltaic system according to any one of claims 1 to 9, characterized in that: The specific steps include: Step 1: Obtain spatial distribution data of rooftop photovoltaic panels, use 3D laser scanning technology to generate point cloud data, and obtain an initial 3D model of the photovoltaic panel position, angle, and height; Step 2: Extract the surface features of the photovoltaic panel from the initial 3D model. If the density of feature points is lower than a preset threshold, interpolation algorithm is used to supplement the missing data and determine the multi-point coordinate set of the photovoltaic panel. Step 3: Calculate the spatial tilt angle and relative position of each photovoltaic panel based on the multi-point coordinate set to obtain the panel angle change matrix; Step 4: Based on the plate angle change matrix, a motion planning algorithm is used to generate a dynamic adjustment path for the jet device and determine the real-time adjustment parameters of the jet direction; Step 5: Obtain environmental sensor data and determine the environmental complexity factor. If the wind speed or obstacle density is higher than a preset threshold, adjust the jet force through weighted calculation to obtain the force control parameter. Step 6: Generate a control instruction sequence from the jet direction parameters and force control parameters, and transmit it to the jet actuator using a real-time communication protocol to complete the fire extinguishing or cleaning task; Step 7: Obtain actuator feedback data. If uncovered areas are detected, update the multi-point coordinate set, recalculate the jet parameters, and obtain a dynamically adjusted instruction sequence. Step 8: The target area status image is collected through vision-based image flame detection to determine whether the fire extinguishing or cleaning target has been achieved. If the target area status does not meet the preset standard, the jet parameters are repeatedly adjusted to obtain the optimized execution instructions.

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