Aerial fire suppression systems, methods, and control systems applicable to various fire scenarios in substations

Abstract

This invention relates to a raised platform fire suppression system, method, and control system applicable to multiple fire scenarios in substations. The raised platform fire suppression system for multiple fire scenarios in substations includes a first compressed air foam generating module, a raised platform spraying robot, and a cable trench spraying robot configured in an operational mechanical state. The first compressed air foam generating module is connected to the cable trench spraying robot and / or the raised platform spraying robot, and the spraying path of the raised platform spraying robot forms a composite jet field in three-dimensional space. A fire monitor assembly and a second compressed air foam generating module are connected to the fire monitor assembly, and a third compressed air foam generating module is connected to the sprinkler assembly to perform multi-angle, multi-height, and three-dimensional spraying operations. The beneficial effects of this invention are: selecting appropriate fire suppression structures based on different fire extinguishing locations and heights; and eliminating three-dimensional fires by combining the spraying path of the raised platform spraying robot to form a composite jet field in three-dimensional space.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a raised fire-fighting system, method, and control system applicable to multiple fire scenarios in substations. Background Technology

[0002] As a core node in the power system, the form and technology of substations have continuously evolved along with the demand for electricity and the evolution of technology. Substations are characterized by complex equipment, concentrated cable distribution, and a sensitive surrounding environment. Fire hazards and risks are mainly manifested in the following aspects: First, substations contain numerous high-voltage electrical devices, including transformers, dry-type reactors, and current transformers. Faults in these devices may generate electric arcs, high temperatures, and sudden pressure changes, potentially leading to fires. Second, substations contain a large number of flammable materials such as cables and wires. Short circuits and overloads can cause fires. Third, the presence of flammable substances such as transformer oil in substations can ignite and cause fires when exposed to electric arcs or high temperatures. Fourth, substations are often surrounded by numerous people and buildings. A fire in this area directly endangers surrounding people and the environment, and firefighting efficiency is low, posing significant risks to the personal safety of rescue personnel.

[0003] Currently, substation fire suppression methods mainly include fire extinguishers, fire hydrants, oil-immersed transformer oil draining and nitrogen injection fire suppression equipment, water mist fire suppression systems, and conventional foam spray fire suppression systems. Among these, fire extinguishers, fire hydrants, and oil draining and nitrogen injection fire suppression systems have limited applicability, low extinguishing capacity, and low automation, making them suitable only for small, localized fires. Water mist fire suppression systems and conventional foam spray fire suppression systems are relatively simple to maintain, requiring only periodic checks of nozzles, pipes, and pumps. However, their disadvantages include high equipment requirements, necessitating specialized pump sets and nozzles, and susceptibility to environmental factors. In cold or frigid regions, they are prone to freezing and becoming unusable; furthermore, damaged nozzles can lead to overall pressure loss and system failure.

[0004] Moreover, the aforementioned fire extinguishing equipment or systems are all single-function devices and cannot fully meet the fire suppression needs of various scenarios within a substation. Substations have complex environments, and the following scenarios may occur individually or simultaneously: Scenario 1: A transformer catches fire and explodes, easily causing burning transformer oil to enter the cable trenches within the substation, allowing the fire to continue spreading. Scenario 2: Substations contain high-altitude equipment such as oil-immersed current transformers. In the event of a fire, the ignition point can be approximately 10 meters above the ground. Current transformers typically have an oil conservator on top; a fire could easily blow open the upper half of the conservator, exposing the coils and the transformer oil stored in the lower cover, creating a three-dimensional fire with a solid fire in the center of the oil pool and liquid fires on all sides. Looking upwards from the bottom of the current transformer, only the lower half of the oil conservator is visible. General fire extinguishing equipment or fixed equipment cannot quickly spray the extinguishing agent to the fire location. This necessitates the use of aerial work platforms to spray the extinguishing agent from above, ensuring a comprehensive, three-dimensional fire. Scenario 3: High-altitude equipment includes dry-type reactors. Outdoor dry-type reactors are generally hollow structures. In cross-section, combustible materials are distributed in a ring-shaped band within the outer diameter, and the top is usually completely covered by a protective cover. If a dry-type reactor catches fire, it's difficult to spray extinguishing agents onto its top surface without breaking the bird shield. Scenario 4: Fixed sprinkler systems can only adjust the spray angle to a certain extent. However, equipment in substations generally has complex structures, such as transformers, whose outer surfaces have various angles and directions of concavity and convexity. In some special circumstances, fixed equipment cannot directly spray extinguishing agents onto the fire source. Scenario 5: Existing mobile fire extinguishing equipment is all independent equipment, requiring operators to be on-site to extinguish fires, posing significant personal risks to rescue personnel.

[0005] Clearly, a fire in a substation is rarely an isolated incident involving a single piece of equipment. As the fire spreads, the various devices interact and can even trigger a chain reaction, exacerbating the severity of the fire and increasing the difficulty of extinguishing it. Existing firefighting equipment and systems are mostly limited to single-mode fire suppression, making it difficult to cope with the diverse and complex fire situations within modern substations. Therefore, traditional firefighting methods are no longer sufficient to meet the multi-dimensional fire safety protection needs of modern substations.

[0006] The information disclosed in this background section is intended only to enhance the understanding of the overall background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0007] The technical problem to be solved by this invention is to address the low efficiency of emergency response in multiple fire scenarios in substations.

[0008] The present invention solves the above-mentioned technical problems through the following technical means:

[0009] This invention claims protection for a raised platform fire-fighting system applicable to multiple fire scenarios in substations, used for substation fire protection, including a first compressed air foam generating module, a raised platform spraying robot, a cable trench spraying robot, a second compressed air foam generating module, a fire monitor assembly, a third compressed air foam generating module, and a sprinkler assembly;

[0010] The first compressed air foam generating module, the elevated spraying robot, and the cable trench spraying robot are configured to operate in a mechanical state. The first compressed air foam generating module is connected to the cable trench spraying robot and / or the elevated spraying robot. The spraying path of the elevated spraying robot forms a composite jet field in three-dimensional space. The fire monitor assembly and the second compressed air foam generating module are connected to the fire monitor assembly, and the third compressed air foam generating module is connected to the spraying assembly to perform multi-angle, multi-height, and three-dimensional spraying operations.

[0011] The fire-fighting system for multiple fire scenarios in substations claimed by this invention is first divided into two categories of fire-fighting components based on the mechanical state of the components within the substation.

[0012] The first category consists of fixed components, namely sprinkler systems, third compressed air foam generating modules, fire monitor systems, and second compressed air foam generating modules, all fixed within the substation. The sprinkler systems and fire monitor systems are installed at locations requiring key protection.

[0013] Fixed firefighting equipment is divided into two parts based on the location and height of the firefighting operation.

[0014] The first part is the fire monitor assembly, which is installed on the top of the fire station's firewall and uses compressed air foam provided by the third compressed air foam generating module to spray and extinguish the fire.

[0015] The second part is the sprinkler assembly, which is located in the middle of the fire station's firewall. It is supplied with compressed air foam by the second compressed air foam generating module for spraying and extinguishing fires.

[0016] The second category consists of mobile components, namely, water supply modules that move within substations, first compressed air foam generating modules, elevated spraying robots, and cable trench spraying robots.

[0017] Mobile firefighting vehicles are divided into two types based on their firefighting location and firefighting height.

[0018] The first type is a high-altitude spraying robot for high-level fire suppression. When the fire suppression height exceeds a predetermined value, the high-altitude spraying robot uses compressed air foam generated by the first compressed air foam generation module to spray and extinguish the fire.

[0019] The second type is a cable trench spraying robot, used for low-level fire suppression. When the fire extinguishing height is less than or equal to a predetermined value, the cable trench spraying robot uses compressed air foam supplied by the first compressed air foam generating module to spray and extinguish the fire.

[0020] Secondly, with the help of the compressed air foam generation module, the system can quickly prepare compressed air foam and provide a continuous and stable fire extinguishing medium for the fire extinguishing robot, ensuring that it can carry out high-volume and high-coverage spraying operations in a timely manner.

[0021] Then, the water supply module provides external water to the compressed air foam generation module, so that it can form a continuous source of fire extinguishing.

[0022] Finally, by combining the spray path of the elevated jetting robot with the formation of a composite jet field in three-dimensional space, the three-dimensional fire can be eliminated.

[0023] Preferably, the elevated jetting robot includes a jetting mechanism located at the top, which has at least three nozzles. The jetting paths of the nozzles have different inclination angles in three-dimensional space, forming a composite jet field.

[0024] By varying the tilt angle of the nozzle's spray path, a composite jet field is constructed in three-dimensional space, enabling directional and efficient coverage and suppression of three-dimensional fire sources in space.

[0025] Preferably, the injection mechanism includes a nozzle assembly, at least one first nozzle, and at least one second nozzle;

[0026] At least one first nozzle is provided at both ends of the nozzle assembly, and at least one second nozzle is provided in the middle section of the nozzle assembly. One end of the first nozzle and the second nozzle are connected to the nozzle assembly, and the other end of the first nozzle and the second nozzle form a nozzle opening.

[0027] The first nozzle is configured with a combination of axial inclination and radial tilt, while the second nozzle is tilted downwards. The downward tilt angle of the second nozzle is different from the radial tilt angle of the first nozzle.

[0028] In this way, the jetting mechanism, through the downward converging jet formed by the first nozzles at both ends, works in conjunction with the upward jet generated by the second nozzle in the middle to construct a composite jet field in three-dimensional space, achieving directional and efficient coverage and suppression of three-dimensional fire sources in space.

[0029] Preferably, the downward tilt angle of the second nozzle is α, where α is the angle formed by the axis of the second nozzle and the horizontal plane, and α satisfies the following formula;

[0030] α = arctan(h / s) × K

[0031] Where h is the vertical distance between the second nozzle and the burning section of the object to be extinguished along the Z-axis; s is the distance between the second nozzle at the permissible extinguishing position and the center of the object to be extinguished; and K is the downward tilt angle correction coefficient of the second nozzle.

[0032] Further verification of the downward tilt angle of the second nozzle was conducted, and a specific numerical formula was used to combine the tilt angle with the size and position of the object to be extinguished to achieve a better fire extinguishing effect.

[0033] Preferably, the radial tilt angle of the first nozzle is β, where β is the angle formed by the axis of the first nozzle and the horizontal plane, and β satisfies the following formula;

[0034] β=α+4°

[0035] Where α is the downward tilt angle of the second nozzle.

[0036] In fact, it is precisely because the first and second nozzles are tilted downwards at different angles that they can cover the fire extinguishing area in the longitudinal direction. By combining the tilt angle with the size and position of the object to be extinguished through specific numerical formulas, a better fire extinguishing effect can be obtained. Further verification of the downward tilt angle of the second nozzle, by combining the tilt angle with the size and position of the object to be extinguished through specific numerical formulas, a better fire extinguishing effect can be obtained.

[0037] Preferably, the axial inclination angle of the first nozzle is Γ, where Γ is the angle formed by the axis of the first nozzle and the horizontal line, and Γ satisfies the following formula;

[0038] Γ = arctan(L / 2s)

[0039] Where L is the spacing between the first nozzles; s is the distance between the second nozzle at the permitted extinguishing position and the center of the object to be extinguished.

[0040] Further verification of the axial inclination angle of the second nozzle revealed that, through the synergistic effect of the three nozzles' tilting, a composite jet field is constructed in three-dimensional space, achieving directional and efficient coverage and suppression of fire from a three-dimensional fire source. Furthermore, specific numerical formulas were used to combine the tilt angle with the size and location of the object to be extinguished, resulting in even better fire suppression effects.

[0041] Preferably, the elevated jetting robot also includes a tracked chassis mechanism, a telescopic outrigger mechanism, and a height adjustment mechanism;

[0042] The tracked chassis mechanism is equipped with a telescopic outrigger mechanism at the bottom, a lifting adjustment mechanism on the tracked chassis mechanism, and a spray mechanism on the top of the lifting adjustment mechanism.

[0043] The tracked chassis mechanism is used to adjust the movement of the entire lifting and jetting robot and serves as the support platform for the lifting adjustment mechanism; the telescopic outrigger mechanism is used to adjust the stopping support of the tracked chassis mechanism.

[0044] Preferably, the tracked chassis mechanism includes a frame body, rolling components, rubber tracks, a second motor, a control box, a battery, a cover plate, and a housing;

[0045] Rolling components are installed on both sides of the bottom of the chassis body. The outer side of the rolling component on the adjacent side is wrapped with a rubber track. The second motor, control box and battery are arranged sequentially along the length of the chassis body. The battery is configured to power the control box and the second motor. The control box is electrically connected to the second motor. The drive shaft of the second motor is connected to the input end of the rolling component through a coupling.

[0046] A cover plate is installed on the upper middle part of the frame body, which covers the second motor, control box and battery; the upper sides of the frame body are covered with shells, which cover the rubber tracks and are spliced ​​with the cover plate.

[0047] The control box and the second motor are powered by a battery, and the tracked chassis mechanism moves in conjunction with the rolling components and rubber tracks.

[0048] Preferably, the telescopic outrigger mechanism includes a telescopic arm frame, a movable frame, an electric actuator, a third motor, a telescopic tube, and an electric outrigger;

[0049] The telescopic boom frame has a U-shaped cross-section. Along the direction of movement of the tracked chassis mechanism, the longitudinal beam of the telescopic boom frame is fixed to the front of the vehicle frame body, and the two ends of the longitudinal beam of the telescopic boom frame extend and are fixed along the length direction.

[0050] An electric actuator is installed on the frame body, and the output end of the electric actuator is parallel to the length direction of the frame body.

[0051] The telescopic boom frame crossbeam has a tubular structure, and the two ends of the movable frame are respectively inserted into the two ends of the telescopic boom frame. The movable frame has a U-shaped frame structure. The movable frame crossbeam is inserted into the telescopic boom frame crossbeam. The movable frame longitudinal beam is connected to the output end of the electric push rod.

[0052] The movable frame longitudinal beam has a tubular structure, with both ends extending along the length direction. A third motor is installed in the middle of the movable frame longitudinal beam, and the two output ends of the third motor are connected to lead screws. The lead screws are engaged with lead screw nuts, which are respectively connected to the ends of telescopic tubes inserted at both ends of the movable frame longitudinal beam. Electric outriggers are installed at both ends of the movable frame longitudinal beam and the telescopic arm frame longitudinal beam.

[0053] The movable frame is moved by an electric actuator until it unfolds along the telescopic arm frame; then the third motor is started to extend the telescopic tube from inside the movable frame and support the tracked chassis mechanism through electric outriggers.

[0054] Preferably, the lifting adjustment mechanism includes a third adjustment component, a second adjustment component, and a first adjustment component; the third adjustment component, the second adjustment component, the first adjustment component, and the injection mechanism are connected sequentially from bottom to top.

[0055] The lifting adjustment mechanism, through the combined action of the first adjustment component, the second adjustment component, and the third adjustment component, can adjust the spray height, spray angle, and extension / retraction of the spray mechanism during operation.

[0056] Preferably, the third adjustment component includes a pin, a bearing, a first base, and a tilting electric cylinder. The first base is provided on the cover plate, and the first base is connected to the bottom of the second adjustment component via the pin. The tilting electric cylinder drives the second adjustment component to flip.

[0057] The second adjustment component is flipped by the inverted electric cylinder, causing it to rotate around the pin shaft, thus achieving the retraction and extension.

[0058] Preferably, the second adjustment component includes a lifting rod, a second fixing frame, a first motor, and a mounting plate. The mounting plate is connected to the first base via a pin. The first motor and the second fixing frame are mounted on the mounting plate. The bottom end of the lifting rod is mounted on the second fixing frame, and the top end of the lifting rod is the output end of the lifting rod. The first motor is configured to provide power to the lifting rod.

[0059] Power is provided by the first motor, which enables the lifting rod to extend and retract to adjust its height.

[0060] Preferably, the first adjustment assembly includes a rotating gimbal, a rotary joint, and a first fixed frame. The first fixed frame is provided at the output end of the lifting rod, and the rotating gimbal is mounted on the first fixed frame. The rotating gimbal is connected to the spraying mechanism via the rotary joint.

[0061] By adjusting the horizontal rotation of the rotating gimbal, and combining the rotating gimbal with the rotary joint, the spraying mechanism can be rotated horizontally relative to the first fixed frame without affecting the pipeline connection of the spraying mechanism.

[0062] Preferably, the cable trench spraying robot includes a compressed air foam fire extinguishing robot, a second electric three-way selector valve, and an external foam inlet pipe; the output end of the compressed air foam fire extinguishing robot is connected to the external foam inlet pipe through the second electric three-way selector valve.

[0063] Preferably, the first compressed air foam generating module includes an electric chassis assembly, an upper structure assembly, a liquid tank assembly, a water supply assembly, a foam liquid supply assembly, an air supply assembly, and a gas-liquid mixing assembly;

[0064] The electric chassis assembly is equipped with an upper structure assembly, which together with the electric chassis assembly form a space. A liquid tank assembly is installed in the space. The liquid tank assembly has a first output end and a second output end. The first output end is connected to the input end of the water supply assembly, and the second output end is connected to the input end of the foam liquid supply assembly. The output ends of the water supply assembly, the foam liquid supply assembly, and the air supply assembly are connected to the input end of the gas-liquid mixing assembly.

[0065] Compressed air foam is formed by liquid tank assembly, water supply assembly, foam liquid supply assembly, air supply assembly and gas-liquid mixing assembly. Then, in conjunction with electric chassis assembly, the formed compressed air foam is moved to the vicinity of the lifting and spraying robot to provide compressed air foam for the lifting and spraying robot.

[0066] Preferably, the electric chassis assembly includes a first frame platform, a steering unit, a drive unit, a power module, and a braking unit;

[0067] Along the direction of movement of the electric chassis assembly, a steering unit and a drive unit are installed sequentially from front to back on the bottom of the first frame platform. A brake unit is installed on the bottom of the first frame platform on one side of the drive unit, and a steering unit is installed on the front side of the first frame platform. A power module is installed on the first frame platform, and the power module is configured to supply power to the electric chassis assembly, water supply assembly, foam liquid supply assembly, air supply assembly, and the first control module.

[0068] The brake unit is the part of the braking system responsible for generating braking force. The brake unit is welded to the bottom of the first frame platform, and the connecting rod of the brake unit is connected to the brake lever of the drive unit.

[0069] Preferably, the upper assembly includes a front cover, a middle cover, and a rear cover. Along the conveying direction of the electric chassis assembly, the front cover, the middle cover, and the rear cover are sequentially covered on the electric chassis assembly to form a space.

[0070] The space is used to protect the liquid tank assembly.

[0071] Preferably, the liquid tank assembly includes a water tank, a water inlet, a water outlet, a first breather valve, a foam liquid tank, a liquid inlet, a foam liquid outlet pipe, a second breather valve, a first liquid level sensor, a second liquid level sensor, and a liquid level display.

[0072] The water tank is equipped with an inlet and an outlet; a foam liquid tank is installed on one side of the water tank, the foam liquid tank is equipped with an inlet, the foam liquid tank is connected to a foam liquid outlet pipe on one side, and the foam liquid tank is equipped with a second breather valve.

[0073] The water tank is equipped with a first liquid level sensor and a liquid level display, and the foam liquid tank is equipped with a second liquid level sensor. Both the second liquid level sensor and the first liquid level sensor are electrically connected to the liquid level display.

[0074] Foam solution is supplied through a foam solution tank, and water is supplied through a water tank. The liquid level display is a digital instrument used to display the liquid level height. The liquid level display receives the liquid level signal by connecting to a liquid level sensor and converts it into digital form for display on the screen.

[0075] Preferably, the water supply components include a first inlet pipe, a first electric three-way selector valve, a fire pump set, an outlet pipe, a first check valve, a second inlet pipe, a filter, a third inlet pipe, and a first fire quick connector;

[0076] The first output end is connected to one end of the first water inlet pipe, and the other end of the first water inlet pipe is connected to the first inlet end of the first electric three-way selector valve; the outlet end of the first electric three-way selector valve is connected to one end of the water outlet pipe. Along the water delivery direction, a fire pump set and a first check valve are sequentially installed on the water outlet pipe. The other end of the water outlet pipe is connected to the first check valve, and the first check valve is connected to the gas-liquid mixing assembly; the second inlet end of the first electric three-way selector valve is connected to one end of the second water inlet pipe, and the other end of the second water inlet pipe is connected to the filter outlet end. The filter inlet end is connected to one end of the third water inlet pipe, and the other end of the third water inlet pipe is connected to the first fire quick connector.

[0077] The water supply component has two supply routes. One route is to transport water from the water tank to the gas-liquid mixing component. Specifically, the fire pump unit is started, and the water from the water tank enters the gas-liquid mixing component through the outlet pipe.

[0078] Another approach is to supply water from an external source to the gas-liquid mixing component. Specifically, the first fire-fighting quick connector can be connected to the water supply module via a suction pipe, allowing water from the water supply module to enter the gas-liquid mixing component sequentially through the third inlet pipe, the second inlet pipe, and the outlet pipe.

[0079] Preferably, the foam liquid supply assembly includes a foam liquid pipeline, a self-priming foam liquid pump, and a second check valve; the foam liquid outlet pipe is connected to the gas-liquid mixing assembly through the foam liquid pipeline, and the self-priming foam liquid pump and the second check valve are sequentially installed along the foam liquid conveying direction.

[0080] The foam in the foam liquid tank is transported to the gas-liquid mixing component through the foam liquid pipeline.

[0081] Preferably, the air supply assembly includes a piston air compressor, a valve block, a safety valve, a third check valve, a flow sensor, and an air delivery pipeline;

[0082] The reciprocating air compressor is connected to the gas-liquid mixing assembly through an air delivery pipeline. Along the gas delivery direction, the air delivery pipeline is sequentially equipped with a valve block, a third check valve, and a flow sensor; a safety valve is installed on the valve block.

[0083] The compressed air generated by the piston air compressor is regulated by the safety valve on the valve block, and then measured by the flow sensor before being safely delivered to the gas-liquid mixing component through the air delivery pipeline.

[0084] Preferably, the gas-liquid mixing assembly includes a non-turbulent fourth water inlet pipe, a tee connector, a foam liquid inlet pipe, a mixing chamber, a high-pressure air inlet pipe, a compressed air foam outlet pipe, and a second fire-fighting quick connector;

[0085] The first one-way valve is connected to one end of the fourth water inlet pipe, and the other end of the fourth water inlet pipe is connected to a tee connector. The lower interface of the tee connector is connected to the foam liquid pipeline, and the left interface of the tee connector is connected to the mixing chamber. The mixing chamber is connected to the air supply pipeline through a high-pressure air inlet pipe. The outlet of the mixing chamber is connected to one end of the compressed air foam output pipe. The first control module is installed on the compressed air foam output pipe, and the other end of the compressed air foam output pipe is connected to the second fire quick connector.

[0086] The gas-liquid mixing assembly is used to mix compressed air, foam liquid, and water. Water enters the tee joint through the fourth water inlet pipe, and foam liquid enters the tee joint through the foam liquid pipe. The foam liquid and water are mixed and enter the mixing chamber. Compressed air enters the mixing chamber sequentially through the air supply pipe and the high-pressure air inlet pipe. The three are mixed to form compressed air foam, and the compressed air foam reaches the second fire quick connector through the compressed air foam outlet pipe.

[0087] Preferably, the elevated fire-fighting system applicable to multiple fire scenarios in substations also includes a water supply module, which is connected to the first compressed air foam generating module.

[0088] The water supply module is used to supply water to the external environment of the first compressed air foam generating module.

[0089] Preferably, the water supply module includes an electric forklift, a fire water module, and a suction pipe. The water supply module is installed on the electric forklift, and the suction pipe is installed on the water supply module.

[0090] When the first compressed air foam generating module requires external water supply, the electric forklift is started and moved to the corresponding position, and connected to the external water supply input terminal of the first compressed air foam generating module through the water suction pipe to supply water to the first compressed air foam generating module.

[0091] Preferably, a fire monitor assembly is installed on the top of the substation firewall. The fire monitor assembly includes a first main pipe, a first automatic air vent valve, a first end test water device, a first branch pipe, a maintenance valve, an electric butterfly valve, a water flow indicator, and a second fire monitor body.

[0092] Part of the first main pipe is embedded in the firewall. The longitudinal section of the first main pipe is inverted L-shaped, and the horizontal pipe section of the first main pipe is located at the top of the firewall. The first automatic exhaust valve is installed at the highest point of the first main pipe. One end of the first main pipe is connected to the output end of the second compressed air foam generating module, and the other end of the first main pipe is equipped with a first end test water device.

[0093] The first main horizontal pipe section is equipped with at least two first branch pipes. The first branch pipe has an L-shaped horizontal cross section. Along the direction of compressed air foam delivery, the first branch pipe horizontal pipe section is equipped with a maintenance valve, an electric butterfly valve, a water flow indicator, and the body of the second fire monitor in sequence.

[0094] When the electric butterfly valve is opened, the compressed air foam in the output end of the second compressed air foam generating module enters the second fire monitor body in sequence through the first main pipe and the first branch pipe, and the second fire monitor body sprays to extinguish the fire.

[0095] Preferably, a sprinkler assembly is installed in the middle of the substation firewall. The sprinkler assembly includes a second main pipe, a second branch pipe, a second automatic air vent valve, and a second end test water device.

[0096] Part of the second main pipe is embedded in the firewall. The longitudinal section of the second main pipe is a horizontal "T" shape. The second automatic exhaust valve is installed at the highest position of the second main pipe. The bottom end of the second main pipe is connected to the output end of the third compressed air foam generating module. The side end of the second main pipe is connected to the second end test water device. The top end of the second main pipe is connected to the second branch pipe. The second branch pipe is located in the middle of the firewall and is arranged along the length of the firewall. The spray branch pipe is equipped with one or more nozzles.

[0097] The compressed air foam in the output of the third compressed air foam generating module enters the nozzle sequentially through the second main pipe and the second branch pipe, and the nozzle sprays out to extinguish the fire.

[0098] This invention also claims a method for using a raised platform fire suppression system applicable to multiple fire scenarios in substations, comprising the following steps:

[0099] Confirm the location and height of the fire.

[0100] Based on the fire location and fire height, at least one of the following should be selected: aerial spray robot, cable trench spray robot, fire monitor assembly, and sprinkler assembly.

[0101] When using a high-rise spraying robot for fire suppression, the first compressed air foam generating module and the high-rise spraying robot are connected; the first compressed air foam generating module is driven and the high-rise spraying robot is controlled to move to the permitted fire suppression position, aim at the fire suppression position, and spray fire suppression;

[0102] When using a cable trench spraying robot for fire extinguishing, the first compressed air foam generating module of the cable trench spraying robot is activated; the first compressed air foam generating module and the control cable trench spraying robot are driven to move to the permitted fire extinguishing position, aim at the fire extinguishing position, and spray fire extinguishing.

[0103] When fire monitor components are selected for fire suppression, the fire monitor components are controlled to spray fire extinguishing through the second compressed air foam generation module.

[0104] When using a sprinkler system for fire suppression, the sprinkler system is controlled by a third compressed air foam generating module to extinguish the fire.

[0105] This method enables remote control of aerial spraying robots, cable trench spraying robots, fire monitor components, and sprinkler components within substations for fire suppression, thereby improving fire safety.

[0106] Preferably, confirming the fire extinguishing location and fire extinguishing height includes:

[0107] Surveillance cameras are installed at various locations in the substation and near important equipment. These cameras are used to capture fire situations at various locations in the substation.

[0108] The camera outputs the captured information to the monitoring host.

[0109] The monitoring host transmits the captured information to the display.

[0110] The camera verifies the captured information and then transmits it to a monitor for easy viewing and remote operation by the operator.

[0111] This invention also claims protection for a control system employing a raised platform firefighting method applicable to multiple fire scenarios in substations, comprising:

[0112] The image monitoring unit is used to confirm the location and height of the fire.

[0113] Based on the fire location and fire height, at least one of the following units should be selected: aerial spray robot, cable trench spray robot, fire monitor assembly, and sprinkler assembly.

[0114] The control unit is used to control the aerial spraying robot to move to the permitted fire extinguishing position, aim at the fire extinguishing position, and spray fire extinguishing when the aerial spraying robot is selected for fire extinguishing.

[0115] When using a cable trench spraying robot for fire suppression, this is used to control the cable trench spraying robot to move to the permitted fire suppression position, aim at the fire suppression position, and spray fire extinguishing agent.

[0116] When the fire monitor assembly is selected for fire suppression, it is used to control the fire monitor assembly to spray fire suppression through the second compressed air foam generation module.

[0117] When a spray assembly is selected for fire extinguishing, it is used to control the spray assembly to extinguish the fire via a third compressed air foam generating module.

[0118] The system allows operators to remotely control the aerial spraying robot, cable trench spraying robot, fire monitor assembly, and sprinkler assembly for fire extinguishing, thereby improving fire safety.

[0119] Preferably, the image monitoring unit includes a monitoring camera, a monitoring host, and a monitor;

[0120] The substation's control host is equipped with a monitoring host, which is electrically connected to the monitoring camera. The substation management center is equipped with a monitor, which is connected to the monitoring host via a network.

[0121] Fire conditions are captured by surveillance cameras and transmitted to a monitor via a monitoring host, facilitating remote operation by personnel.

[0122] Preferably, the control unit includes an operation button, an operation lever, an emergency stop button, a first controller, a second controller, a first transmitter, a second transmitter, a first handheld transmitter, a second handheld transmitter, a first fire cabinet, and a second fire cabinet;

[0123] The substation management center is equipped with operation buttons, operating levers, emergency stop buttons, and a first controller. Remote control is performed based on the content displayed on the monitor. The operation buttons, operating levers, and emergency stop buttons are electrically connected to the first controller.

[0124] The substation's control host is equipped with a second controller, a first transmitter, a second transmitter, a first handheld transmitter, a second handheld transmitter, a first fire cabinet, and a second fire cabinet. The first controller and the second controller are network-connected, and the second controller is electrically connected to the first transmitter, the second transmitter, the first fire cabinet, and the second fire cabinet.

[0125] The first fire cabinet is electrically connected to the second compressed air foam generating module, and the second fire cabinet is electrically connected to the third compressed air foam generating module.

[0126] The first transmitter and the first handheld transmitter are both microwave controlled by the first receiver of the aerial spraying robot, and the second transmitter and the second handheld transmitter are both microwave controlled by the second receiver of the cable trench spraying robot.

[0127] The aerial spraying robot, cable trench spraying robot, fire monitor assembly, and sprinkler assembly can be remotely operated via operation buttons, control levers, and emergency stop buttons. This can be combined with the first controller, second controller, first launcher, second launcher, first handheld launcher, second handheld launcher, first fire cabinet, and second fire cabinet to achieve manual remote operation.

[0128] The beneficial effects of this invention are as follows:

[0129] First, the present invention claims a raised fire-fighting system applicable to multiple fire scenarios in substations. This raised fire-fighting system, in view of the complex distribution of equipment in substations, divides fire-fighting components into two main categories: fixed and mobile. Fixed components are deployed at key protected equipment to achieve precise fire-fighting; mobile components can move flexibly within the station to reach the permitted fire-fighting position to carry out spraying operations.

[0130] Regarding the adaptation of fire extinguishing location and height, the system can utilize at least one of the following components to perform fire extinguishing tasks: elevated spray robot, cable trench spray robot, fire monitor assembly, and sprinkler assembly. These components can operate independently or work together to achieve complete coverage of the fire source surface, significantly improving fire extinguishing efficiency.

[0131] The first compressed air foam generating module used in this elevated fire suppression system can generate highly expanded, uniform, and fine compressed air foam that effectively adheres to the surface of burning materials, rapidly cooling them and isolating them from oxygen. This foam suffocates epoxy resin fires in no more than 30 seconds, far faster than traditional water spraying; moreover, it is highly stable, with a water separation time of more than 5 minutes, enabling it to cover burning materials for an extended period and prevent reignition.

[0132] To address the issue of foam loss due to wind loads, this invention utilizes a high-lift spraying robot to construct a composite jet field in three-dimensional space. This is particularly suitable for three-dimensional fire scenarios. The spraying path of the high-lift spraying robot forms a composite jet field in three-dimensional space, especially in situations where the cover of the current transformer's oil and gas chamber has exploded. This allows for high- and low-pressure combined spraying for fire extinguishing, solving the problem that a single jetting device cannot directly spray compressed air foam behind obstacles. This enables the sprayed compressed air foam to cover the exterior of the fire extinguishing location, creating a three-dimensional protective layer and significantly enhancing the fire extinguishing effect.

[0133] Ultimately, the elevated fire suppression system provided by this invention, applicable to multiple fire scenarios in substations, can address the problem of multiple fires in various complex electrical equipment in substations by achieving multi-angle, multi-height, and three-dimensional spraying. It is fully adaptable to various fire situations of high-voltage electrical equipment in substations and ensures sufficient fire suppression capabilities for each type of fire.

[0134] In summary, the elevated fire suppression system provided by this invention possesses multi-angle, multi-height, and three-dimensional spraying capabilities, comprehensively addressing fire scenarios caused by various complex electrical equipment within substations and providing reliable fire suppression guarantees for all types of fires. Furthermore, this invention also encompasses corresponding fire suppression methods and control systems, supporting remote operation and targeted fire suppression, effectively avoiding close-range risks to personnel, and enhancing the overall safety and adaptability of fire suppression operations. Attached Figure Description

[0135] Figure 1 This is a structural schematic diagram of the elevated fire-fighting system applicable to multiple fire scenarios in substations in Embodiment 1 of the present invention;

[0136] Figure 2 This is a schematic diagram of the water supply module in Embodiment 1 of the present invention;

[0137] Figure 3 This is a top view of the compressed air foam generating module in Embodiment 1 of the present invention with the upper assembly removed;

[0138] Figure 4 This is a front view of the compressed air foam generating module in Embodiment 1 of the present invention;

[0139] Figure 5 This is a schematic diagram of the electric chassis assembly in Embodiment 1 of the present invention;

[0140] Figure 6 This is a schematic diagram of the steering unit in Embodiment 1 of the present invention;

[0141] Figure 7 This is a schematic diagram of the liquid tank assembly in Embodiment 1 of the present invention;

[0142] Figure 8 This is a schematic diagram of the water supply component in Embodiment 1 of the present invention;

[0143] Figure 9 This is a schematic diagram of the foam liquid supply assembly in Embodiment 1 of the present invention;

[0144] Figure 10 This is a schematic diagram of the gas supply component in Embodiment 1 of the present invention;

[0145] Figure 11 This is a schematic diagram of the gas-liquid mixing component in Embodiment 1 of the present invention;

[0146] Figure 12 This is a schematic diagram of the extended structure of the second adjustment component of the high-lifting jet robot in Embodiment 1 of the present invention;

[0147] Figure 13 This is a schematic diagram of the retraction of the second adjustment component of the high-lifting jet robot in Embodiment 1 of the present invention;

[0148] Figure 14 This is a schematic diagram of the tracked chassis mechanism in Embodiment 1 of the present invention with the cover plate and outer shell removed;

[0149] Figure 15 This is a schematic diagram of the tracked chassis mechanism in Embodiment 1 of the present invention;

[0150] Figure 16 This is a schematic diagram of the lifting adjustment mechanism in Embodiment 1 of the present invention;

[0151] Figure 17 This is a schematic diagram of the structure of the first adjustment component and the injection mechanism in Embodiment 1 of the present invention;

[0152] Figure 18 This is a schematic diagram of the spraying mechanism in Embodiment 1 of the present invention;

[0153] Figure 19 This is a side view of the coordinate system established by the injection mechanism in Embodiment 1 of the present invention;

[0154] Figure 20 This is a top view of the coordinate system established by the injection mechanism in Embodiment 1 of the present invention;

[0155] Figure 21 This is a side view of the coordinate system established by the injection mechanism in Embodiment 1 of the present invention;

[0156] Figure 22 This is a schematic diagram of the demolition mechanism in Embodiment 1 of the present invention;

[0157] Figure 23 This is a schematic diagram of the cable trench spraying robot in Embodiment 1 of the present invention;

[0158] Figure 24 This is a schematic diagram of the structure of the cable trench spraying robot in Embodiment 1 of the present invention for removing the integrated cover sheet metal and gripping components;

[0159] Figure 25 yes Figure 24 A top-down view diagram;

[0160] Figure 26 This is a schematic diagram of the fire monitor assembly in Embodiment 1 of the present invention;

[0161] Figure 27 This is a schematic diagram of the spray assembly in Embodiment 1 of the present invention;

[0162] Figure 28 This is a schematic diagram of the structure of the elevated fire control system applicable to multiple fire scenarios in substations in Embodiment 4 of the present invention;

[0163] Figure 29 This is a schematic diagram of the control unit in Embodiment 4 of the present invention;

[0164] 100. Transformer; 101. Firewall; 102. Current transformer; 103. Dry-type reactor;

[0165] 1. Water supply module; 10. Electric forklift; 11. Fire water module; 12. Suction pipe;

[0166] 2. First compressed air foam generating module;

[0167] 201. First chassis platform;

[0168] 202. Steering unit; 2020. Steering axle assembly; 2021. Steering column; 2022. Steering handle;

[0169] 203. Drive unit; 204. Power supply module; 205. Braking unit;

[0170] 210. Front cover; 211. Middle cover; 212. Rear cover;

[0171] 22. Liquid tank assembly; 220. Water tank; 221. Water inlet; 222. Water outlet; 223. First breather valve; 224. Foam liquid tank; 225. Liquid inlet; 226. Foam liquid outlet pipe; 227. Second breather valve; 228. First liquid level sensor; 229. Second liquid level sensor;

[0172] 23. Water supply components; 230. First inlet pipe; 231. First electric three-way selector valve; 232. Fire pump set; 233. Outlet pipe; 234. First check valve; 235. Second inlet pipe; 236. Filter; 237. Third inlet pipe; 238. First fire quick connector;

[0173] 24. Foam liquid supply assembly; 240. Foam liquid pipeline; 241. Self-priming foam liquid pump; 242. Second check valve;

[0174] 25. Air supply assembly; 250. Piston air compressor; 251. Valve block; 252. Safety valve; 253. Third check valve; 254. Flow sensor; 255. Air delivery pipeline;

[0175] 26. Gas-liquid mixing assembly; 260. Unobstructed fourth water inlet pipe; 261. T-joint; 262. Foam inlet pipe; 263. Mixing chamber; 264. High-pressure air inlet pipe; 265. Compressed air foam outlet pipe; 266. Second fire-fighting quick connector;

[0176] 3. Aerial spraying robot;

[0177] 301. Chassis body; 302. Rolling assembly; 303. Rubber track; 304. Second motor; 305. Control box; 306. Battery; 307. Cover plate; 308. Outer shell;

[0178] 310. Telescopic boom frame; 311. Movable frame; 312. Electric actuator; 313. Third motor; 314. Telescopic tube; 315. Electric outrigger;

[0179] 3201, Pin; 3202, Bearing; 3203, First base; 3204, Reversing electric cylinder;

[0180] 3210. Lifting boom; 3211. Second fixing frame; 3212. First motor; 3213. Mounting plate;

[0181] 3220. Rotary gimbal; 3221. Rotary joint; 3222. First fixed frame;

[0182] 330. Nozzle assembly; 331. First nozzle; 332. Second nozzle;

[0183] 340. Second base; 341. Guide fixing cylinder; 342. Guide body; 343. Impact motor; 344. Hole opener;

[0184] 4. Cable trench spraying robot;

[0185] 401. Walking unit; 402. Second frame platform; 403. Integrated sheet metal casing; 404. Fire extinguishing assembly; 4040. Mixing liquid tank; 4041. CAFS mixer; 4042. First fire monitor body; 405. Grabbing assembly; 406. Vacuum assembly; 407. Monitoring system; 409. Second control module;

[0186] 41. Second electric three-way selector valve; 42. External foam inlet pipe;

[0187] 5. Second compressed air foam generating module;

[0188] 6. Fire monitor assembly; 60. First main pipe; 61. First automatic air vent valve; 62. First end test device; 63. First branch pipe; 64. Inspection valve; 65. Electric butterfly valve; 66. Water flow indicator; 67. Second fire monitor body;

[0189] 7. Third compressed air foam generation module;

[0190] 8. Sprinkler assembly; 80. Second main pipe; 81. Second branch pipe; 82. Second automatic air vent valve; 83. Second end test water device;

[0191] 9a. Image monitoring unit;

[0192] 9b. Select unit;

[0193] 9c, Control unit; 90c, Operating button; 91c, Operating lever; 92c, Emergency stop button; 93c, First controller; 94c, Second controller; 95c, First transmitter; 96c, Second transmitter; 97c, First handheld transmitter; 98c, Second handheld transmitter; 99c, First fire cabinet; 100c, Second fire cabinet. Detailed Implementation

[0194] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0195] Example 1

[0196] See Figure 1 This embodiment requires protection for a raised platform fire suppression system applicable to multiple fire scenarios in substations. It is used for fire suppression in substations and is designed to target complex equipment within the substation, based on the location and height of the fire suppression system.

[0197] The elevated fire suppression system applicable to multiple fire scenarios in substations includes a water supply module 1, a first compressed air foam generating module 2, an elevated spraying robot 3, a cable trench spraying robot 4, and a second compressed air foam generating module 5. Figure 1 Not shown in the image), fire monitor assembly 6, third compressed air foam generating module 7 (not shown in the image), fire monitor assembly 6, third compressed air foam generating module 7 Figure 1 (Not shown in the image) and spray assembly 8.

[0198] Based on the mechanical state of the components within the substation, the aforementioned components are divided into two main categories of fire extinguishing components;

[0199] The first category consists of fixed components, namely the second compressed air foam generating module 5, the fire monitor assembly 6, the third compressed air foam generating module 7, and the sprinkler assembly 8, which are fixedly installed within the substation. The sprinkler assembly 8 and the fire monitor assembly 6 are located near key equipment requiring protection within the substation, such as near the transformer 100.

[0200] Fixed fire extinguishing systems are divided into two parts based on different extinguishing heights;

[0201] The first part is the fire monitor assembly 6, which is installed on the top of the fire station firewall and is sprayed with compressed air foam provided by the second compressed air foam generating module 5 for fire extinguishing.

[0202] The second part is the sprinkler assembly 8, which is located in the middle of the fire station's firewall and is sprayed with compressed air foam provided by the third compressed air foam generating module 7 for fire extinguishing.

[0203] The second category consists of mobile components, namely, the water supply module 1, the first compressed air foam generating module 2, the elevated spraying robot 3, and the cable trench spraying robot 4, which are mobile within the substation.

[0204] Mobile fire extinguishers are divided into two types based on their extinguishing height;

[0205] The first method involves a high-altitude spraying robot 3 for high-level fire suppression. When the fire suppression height exceeds a predetermined value, the high-altitude spraying robot 3 uses compressed air foam supplied by the first compressed air foam generating module 2 to spray and extinguish the fire.

[0206] The second type is the cable trench spraying robot 4, which performs low-level fire suppression. When the fire suppression height is less than or equal to a predetermined value, the cable trench spraying robot 4 uses compressed air foam provided by the first compressed air foam generating module 2 to spray and extinguish the fire.

[0207] The water supply module 1 provides external water supply to the first compressed air foam generating module 2 to prevent insufficient water supply to the first compressed air foam generating module 2 itself.

[0208] See Figure 2 The water supply module 1 includes an electric forklift 10, a fire water module 11, and a suction pipe 12. The electric forklift 10 is an electrically driven forklift, typically using a battery as its power source, used to move the water supply module 1. The water supply module 1 is mounted on the electric forklift 10. The water supply module 1 refers to a system or equipment used for acquiring, processing, and distributing water resources; this is existing technology and will not be described further. The fire water module 11 is equipped with a suction pipe 12, which is a piping tool used for drawing or transporting liquids.

[0209] The water supply module 1 is used to provide external water supply to the first compressed air foam generating module 2. The process is as follows:

[0210] When the first compressed air foam generating module 2 requires external water supply, the electric forklift 10 is started and moved to an acceptable fire extinguishing position, and connected to the external water supply input terminal of the first compressed air foam generating module 2 through the water suction pipe 12 to supply water to the first compressed air foam generating module 2.

[0211] See Figure 1 and Figure 3 and Figure 4 The first compressed air foam generating module 2 is used to generate compressed air foam. Specifically, the first compressed air foam generating module 2 includes an electric chassis assembly, an upper structure assembly, a liquid tank assembly 22, a water supply assembly 23, a foam liquid supply assembly 24, an air supply assembly 25, and a gas-liquid mixing assembly 26.

[0212] The electric chassis assembly includes an upper structure component, which together with the electric chassis assembly forms a space. Specifically, the upper structure component includes a front cover 210, a middle cover 211, and a rear cover 212. The front cover 210, middle cover 211, and rear cover 212 are sequentially bolted onto the electric chassis assembly, and together with the electric chassis assembly, they form a space.

[0213] A liquid tank assembly 22 is installed on the left side of the space. The liquid tank assembly 22 is riveted to the electric chassis assembly. Around the liquid tank assembly 22, a first control module, a foam liquid supply assembly 24, a gas-liquid mixing assembly 26, a water supply assembly 23, and a gas supply assembly 25 are arranged sequentially. The upper assembly, water supply assembly 23, foam liquid supply assembly 24, gas supply assembly 25, and the first control module are all bolted to the electric chassis assembly. The gas-liquid mixing assembly 26 is fixed to the electric chassis assembly by pipe clamps. The water supply assembly 23, foam liquid supply assembly 24, and gas supply assembly 25 are all connected to the input end of the gas-liquid mixing assembly 26. The first control module is located at the output end of the gas-liquid mixing assembly 26. The first control module is a key device for precisely adjusting the liquid flow rate, pressure, and direction, and is widely used in industrial automation, laboratory equipment, water treatment, and other fields; it is existing technology and will not be described further.

[0214] See Figure 4 and Figure 5 The electric chassis assembly is used to drive the first compressed air foam generating module 2 to move. Specifically, the electric chassis assembly includes a first frame platform 201, a steering unit 202, a drive unit 203, a power module 204, and a braking unit 205.

[0215] The first frame platform 201 serves as the main structure of the electric chassis assembly and is used to install other components. Along the direction of movement of the electric chassis assembly, the steering unit 202 and the drive unit 203 are installed sequentially from front to back on the bottom of the first frame platform 201 by bolts.

[0216] The drive unit 203 refers to the arrangement of the vehicle engine and the number and position of the vehicle drive wheels, which are existing technologies and will not be described in detail here.

[0217] See Figure 6 A steering unit 202 is installed at the front of the first frame platform 201. The steering unit 202 is a dedicated mechanism on a vehicle used to change the direction of travel. Specifically, the steering unit 202 includes a steering axle assembly 2020, a steering column 2021, and a steering handle 2022. The steering axle assembly 2020 is bolted to the bottom of the first frame platform 201. The steering axle assembly 2020 is a steering axle consisting of a front axle, kingpin, steering knuckle, and wheel hub, which is existing technology and will not be described in detail. The input end of the steering axle assembly 2020 is connected to the bottom end of the steering column 2021, and the top end of the steering column 2021 is bolted to the steering handle 2022. In use, by driving the steering handle 2022, the steering column 2021 drives the steering axle assembly 2020 to turn, ultimately achieving steering of the first frame platform 201. This is existing technology and will not be described in detail.

[0218] A power module 204 is installed on the first chassis platform 201. The power module 204 is an independent power conversion device used to supply power to the entire electric chassis assembly, water supply assembly 23, foam liquid supply assembly 24, air supply assembly 25 and the first control module.

[0219] Braking unit 205 refers to the part of the braking system responsible for generating braking force. Braking unit 205 is welded to the bottom of the first frame platform 201. The connecting rod of braking unit 205 is connected to the brake lever of drive unit 203. This is existing technology and will not be described in detail.

[0220] The process by which the electric chassis assembly drives the first compressed air foam generating module 2 to move is as follows: under the power supply of the power module 204, the electric chassis assembly drives the wheels through the drive unit 203 to move the first frame platform 201. Steering control is achieved by driving the steering handle 2022 through the steering column 2021 to drive the steering axle assembly 2020. Braking is achieved by using the brake unit 205 connected to the brake lever of the drive unit 203 through the linkage, thereby driving the first compressed air foam generating module 2 to move. This is existing technology and will not be described in detail here.

[0221] See Figure 3 and Figure 7 The liquid tank assembly 22 is used to store water and foam liquid. Specifically, the liquid tank assembly 22 includes a water tank 220, a water inlet 221, a water outlet 222, a first breather valve 223, a foam liquid tank 224, a liquid inlet 225, a foam liquid outlet pipe 226, a second breather valve 227, a first liquid level sensor 228, a second liquid level sensor 229, and a liquid level display.

[0222] The water tank 220 is used to store water. The water tank 220 is equipped with a water inlet 221 and a water outlet 222 on the right side. In order to ensure the stability of water storage in the water tank 220, the water tank 220 is equipped with a first breather valve 223.

[0223] A foam liquid tank 224 is welded to the rear side of the water tank 220. The foam liquid tank 224 is used to store foam liquid. An injection port 225 is provided on the foam liquid tank 224, and a foam liquid outlet pipe 226 is connected to the right side of the foam liquid tank 224. In order to ensure the stability of the foam liquid stored in the foam liquid tank 224, a second breather valve 227 is provided in the foam liquid tank 224.

[0224] Among them, the breather valve is a type of valve that can both connect to the atmosphere when the pressure exceeds or falls below a certain range, and also ensure that the storage tank space is isolated from the atmosphere within a certain pressure range. It is existing technology and will not be described in detail here.

[0225] Furthermore, in order to verify the liquid levels of the water tank 220 and the foam liquid tank 224, it is preferable that the water tank 220 is equipped with a first liquid level sensor 228 and a liquid level display, and the foam liquid tank 224 is equipped with a second liquid level sensor 229. The liquid level sensor is a device used to measure the liquid level. After measurement, the liquid level is displayed by the liquid level display. Specifically, the liquid level display is a digital instrument used to display the liquid level height. The liquid level display receives the liquid level signal by connecting to the liquid level sensor and converts it into digital form to be displayed on the screen. This is existing technology and will not be described in detail here.

[0226] See Figure 3 and Figure 8 The water supply component 23 delivers water from the water tank 220 or the water supply module 1 to the gas-liquid mixing component 26. Specifically, the water supply component 23 includes a first inlet pipe 230, a first electric three-way selector valve 231, a fire pump set 232, an outlet pipe 233, a first check valve 234, a second inlet pipe 235, a filter 236, a third inlet pipe 237, and a first fire quick connector 238. The outlet 222 is connected to one end of the first inlet pipe 230, and the other end of the first inlet pipe 230 is connected to the first inlet end of the first electric three-way selector valve 231. The first electric three-way selector valve 231 is a device that controls the valve opening and closing state through an electric actuator and has a total of three ports.

[0227] The outlet end of the first electric three-way selector valve 231 is connected to one end of the water outlet pipe 233. Along the water delivery direction, the water outlet pipe 233 is sequentially equipped with a fire pump set 232 and a first check valve 234. The fire pump set 232 refers to a fire pump with a power source. The other end of the water outlet pipe 233 is connected to the first check valve 234. The first check valve 234 is connected to the gas-liquid mixing component 26.

[0228] The second inlet end of the first electric three-way selector valve 231 is connected to one end of the second water inlet pipe 235, the other end of the second water inlet pipe 235 is connected to the outlet end of the filter 236, the inlet end of the filter 236 is connected to one end of the third water inlet pipe 237, and the other end of the third water inlet pipe 237 is connected to the first fire quick connector 238.

[0229] The water supply component 23 supplies water in two ways. One way is to transport the water in the water tank 220 to the gas-liquid mixing component 26. Specifically, the fire pump 232 is started, and the water in the water tank 220 enters the gas-liquid mixing component 26 through the outlet pipe 233.

[0230] Another approach is to supply water from the outside to the gas-liquid mixing component 26. Specifically, the first fire-fighting quick connector 238 can be connected to the water supply module 1 through the water suction pipe 12, so that the water in the water supply module 1 enters the gas-liquid mixing component 26 through the third water inlet pipe 237, the second water inlet pipe 235 and the water outlet pipe 233 in sequence.

[0231] See Figure 3 and Figure 9 The foam liquid supply assembly 24 is used to transport the foam liquid tank 224 in the foam liquid tank 224 to the gas-liquid mixing assembly 26. Specifically, the foam liquid supply assembly 24 includes a foam liquid pipeline 240, a self-priming foam liquid pump 241, and a second check valve 242. The foam liquid outlet pipe 226 is connected to the gas-liquid mixing assembly 26 through the foam liquid pipeline 240. Along the foam liquid conveying direction, the foam liquid pipeline 240 is sequentially equipped with a self-priming foam liquid pump 241 and a second check valve 242.

[0232] See Figure 3 and Figure 10 The air supply assembly 25 is used to deliver compressed air to the gas-liquid mixing assembly 26. Specifically, the air supply assembly 25 includes a piston air compressor 250, a valve block 251, a safety valve 252, a third check valve 253, a flow sensor 254, and an air delivery pipeline 255. The piston air compressor 250 is connected to the gas-liquid mixing assembly 26 through the air delivery pipeline 255. Along the gas delivery direction, the air delivery pipeline 255 is sequentially equipped with the valve block 251, the third check valve 253, and the flow sensor 254. The flow sensor 254 is a device for measuring the flow velocity, volume, or mass of fluid, and is used to measure the movement velocity, volume, or mass of the gas in the air delivery pipeline 255.

[0233] A safety valve 252 is installed on the valve block 251. The safety valve 252 is a safety protection valve that automatically opens and closes according to the working pressure of the pressure system. It is generally installed on equipment or pipelines in closed systems to protect system safety and is used to protect the safety of gas pipeline 255.

[0234] The process of the air supply component 25 for inputting compressed air into the gas-liquid mixing component 26 is as follows: the compressed air generated by the piston air compressor 250 is regulated by the safety valve 252 on the valve block 251, and then measured by the flow sensor 254 before being safely delivered to the gas-liquid mixing component 26 through the air delivery pipeline 255.

[0235] See Figure 3 and Figure 11The gas-liquid mixing assembly 26 is used to mix compressed air, foam liquid, and water. Specifically, the gas-liquid mixing assembly 26 includes a turbulent fourth water inlet pipe 260, a tee connector 261, a foam liquid inlet pipe 262, a mixing chamber 263, a high-pressure air inlet pipe 264, a compressed air foam outlet pipe 265, and a second fire-fighting quick connector 266. A first one-way valve 234 is connected to one end of the fourth water inlet pipe, and the other end of the fourth water inlet pipe is connected to the tee connector 261. The lower interface of the tee connector 261 is connected to the foam liquid pipeline 240, and the left interface of the tee connector 261 is connected to the mixing chamber 263. The mixing chamber 263 is connected to the air supply pipeline 255 through the high-pressure air inlet pipe 264. The outlet of the mixing chamber 263 is connected to one end of the compressed air foam outlet pipe 265. A first control module is installed on the compressed air foam outlet pipe 265, and the other end of the compressed air foam outlet pipe 265 is connected to the second fire-fighting quick connector 266.

[0236] The gas-liquid mixing assembly 26 is used to mix compressed air, foam liquid, and water to form compressed air foam: water enters the tee joint 261 through the fourth water inlet pipe, foam liquid enters the tee joint 261 through the foam liquid pipe 240, the foam liquid and water are mixed and enter the mixing chamber 263, and compressed air enters the mixing chamber 263 in sequence through the air supply pipe 255 and the high-pressure air inlet pipe 264. The three are mixed to form compressed air foam, and the compressed air foam reaches the second fire quick connector 266 through the compressed air foam outlet pipe 265.

[0237] The first compressed air foam generating module 2 is used to generate compressed air foam in the following process:

[0238] First, the water supply assembly 23 delivers water from the water tank 220 to the gas-liquid mixing assembly 26; specifically, the fire pump assembly 232 is started, and the water from the water tank 220 enters the gas-liquid mixing assembly 26 through the outlet pipe 233.

[0239] Secondly, the foam liquid supply assembly 24 delivers the foam liquid tank 224 in the foam liquid tank 224 to the gas-liquid mixing assembly 26; specifically, the self-priming foam liquid pump 241 is started, and the foam liquid in the foam liquid tank 224 flows out from the foam liquid outlet pipe 226 and enters the gas-liquid mixing assembly 26 through the foam liquid pipeline 240.

[0240] Then, the air supply assembly 25 delivers compressed air to the gas-liquid mixing assembly 26. Specifically, the compressed air generated by the piston air compressor 250 is regulated by the safety valve 252 on the valve block 251, and then measured by the flow sensor 254 before being safely delivered to the gas-liquid mixing assembly 26 through the air delivery pipeline 255.

[0241] Finally, the gas-liquid mixing component 26 mixes to form compressed air foam.

[0242] See 1 and Figure 12The elevated spraying robot 3 is used for high-level spraying fire extinguishing. The elevated spraying robot 3 includes a tracked chassis mechanism, a telescopic outrigger mechanism, a height adjustment mechanism, and a spraying mechanism. The telescopic outrigger mechanism is set at the four corners of the bottom of the tracked chassis mechanism, the height adjustment mechanism is set on the tracked chassis mechanism, and the spraying mechanism is set on the top of the height adjustment mechanism.

[0243] See Figure 1 and Figure 13 and Figure 14 The tracked chassis mechanism is used to adjust the movement of the entire lifting and spraying robot 3, and serves as a support platform for the lifting adjustment mechanism and the spraying mechanism. Specifically, the tracked chassis mechanism includes a frame body 301, a rolling assembly 302, rubber tracks 303, a second motor 304, a control box 305, a battery 306, a cover plate 307, and a shell 308.

[0244] The chassis body 301 serves as the main structure of the tracked chassis mechanism, used for fixing and mounting other components. Rolling components 302 are provided on both sides of the bottom of the chassis body 301, and the outer side of the rolling component 302 on the adjacent side is wrapped by a rubber track 303.

[0245] The second motor 304, the control box 305, and the battery 306 are arranged sequentially along the length of the frame body 301. The battery 306 provides power to the tracked chassis mechanism. Specifically, the battery 306 is electrically connected to the control box 305, the control box 305 is electrically connected to the second motor 304, and the drive shaft of the second motor 304 is connected to the input end of the rolling assembly 302 through a coupling.

[0246] When in use, the battery 306 outputs high-voltage DC power to the control box 305. The control box 305 monitors the state of charge of the battery 306 in real time and dynamically adjusts the output power to prevent overload.

[0247] The core PLC in control box 305 receives motion commands from the host computer, such as speed or direction, and outputs signals to the second motor 304. This is existing technology and will not be described in detail. The second motor 304 drives the shaft to rotate, and the torque is transmitted to the rolling assembly 302 through the coupling. The rotation of the rolling assembly 302 drives the rubber track 303 to move in a circular motion.

[0248] Furthermore, considering the safety and protection of the tracked chassis mechanism, preferably, a cover plate 307 is provided above the middle of the frame body 301. The cover plate 307 covers the second motor 304, control box 305 and battery 306 for waterproof sealing, and a lifting adjustment mechanism is provided on the cover plate 307.

[0249] The upper sides of the chassis body 301 are covered by outer shells 308, which protect the rubber tracks 303. The outer shells 308 and the cover plates 307 are joined together to protect the entire tracked chassis mechanism.

[0250] See Figure 15 The telescopic outrigger mechanism is used to stop and support the adjustable track chassis mechanism. Specifically, the telescopic outrigger mechanism includes a telescopic boom frame 310, a movable frame 311, an electric push rod 312, a third motor 313, a telescopic tube 314, and an electric outrigger 315. The telescopic boom frame 310 has a U-shaped transverse cross-section and is fixed to the periphery of the chassis body 301. Specifically, along the direction of movement of the track chassis mechanism, the longitudinal beam of the telescopic boom frame 310 is fixed to the front of the chassis body 301, and both ends of the longitudinal beam of the telescopic boom frame 310 extend along the length direction.

[0251] The telescopic boom frame 310 crossbeams on both sides of the longitudinal beam extend along the outer contour of the frame body 301 and are fixed to both sides of the frame body 301. An electric actuator 312 is installed on the frame body 301. The electric actuator 312 is a linear drive structure that achieves telescopic movement by being driven by an electric motor. The output end of the electric actuator 312 is parallel to the length direction of the frame body 301.

[0252] The telescopic boom frame 310 has a square tube structure for its crossbeam, and the two ends of the movable frame 311 are inserted into it. The movable frame 311 has a U-shaped frame structure. The crossbeam of the movable frame 311 is inserted into the crossbeam of the telescopic boom frame 310. The longitudinal beam of the movable frame 311 is connected to the output end of the electric push rod 312.

[0253] The longitudinal beam of the movable frame 311 has a square tube structure, and both ends of the longitudinal beam extend along the length direction. A third motor 313 is installed in the middle of the longitudinal beam of the movable frame 311. The third motor 313 is a double-headed motor. A double-headed motor is a motor with two rotors in its motor structure, which can provide simultaneous double-sided rotation. This is existing technology and will not be described in detail. The output ends of the double-headed motor are connected to lead screws, and the lead screws are engaged with lead screw nuts. The lead screw nuts are respectively connected to the ends of the telescopic tubes 314 inserted at both ends of the longitudinal beam of the movable frame 311.

[0254] Both ends of the longitudinal beams of the movable frame 311 and the telescopic boom frame 310 are equipped with electric outriggers 315. The electric outriggers 315 are devices installed on semi-trailers, engineering vehicles and other vehicles, which play a supporting role when the semi-trailer is separated or when the engineering vehicle is in use. This is existing technology and will not be described in detail.

[0255] See Figure 1 and Figure 16 and Figure 17 and Figure 18 The elevation adjustment mechanism is used to adjust the spray height of the spraying mechanism for extinguishing fires in high-altitude fire areas. The elevation adjustment mechanism includes a third adjustment component, a second adjustment component, a first adjustment component, and a spraying mechanism. The third adjustment component is installed on the cover plate 307, and the third adjustment component, the second adjustment component, the first adjustment component, and the spraying mechanism are connected sequentially from bottom to top.

[0256] The third adjustment component is mainly used to adjust the tilting of the entire lifting adjustment mechanism. Specifically, the third adjustment component includes a pin 3201, a bearing 3202, a first base 3203, and a tilting electric cylinder 3204. The first base 3203 is provided on the cover plate 307. The first base 3203 is connected to the second adjustment component through the pin 3201, and the tilting electric cylinder 3204 drives the second adjustment component to tilt.

[0257] The 3204 electric cylinder for falling over refers to a hinged electric actuator. Its working principle is that the linear extension and retraction of the actuator and the rotation of the hinge are achieved by electric drive, so that the load can complete the falling over action from upright to flat. This is existing technology and will not be described in detail.

[0258] Specifically, the first base 3203 has a U-shaped frame structure, and a second adjustment component is installed inside the first base 3203. The components are connected to each other by a pin 3201. A bearing 3202 is installed between the pin 3201 and the first base 3203. A tilting electric cylinder 3204 is installed on the first base 3203, and the output end of the tilting electric cylinder 3204 is connected to the second adjustment component.

[0259] In use, the second adjustment component is tilted down by activating the tilting electric cylinder 3204, thereby realizing the raising and lowering of the lifting adjustment mechanism.

[0260] The second adjustment component is used to adjust the height of the spray mechanism. Specifically, the second adjustment component includes a lifting rod 3210, a second fixing frame 3211, a first motor 3212, and a mounting plate 3213. The mounting plate 3213 is connected to the first base 3203 via a pin 3201. The first motor 3212 and the second fixing frame 3211 are mounted on the mounting plate 3213. The bottom end of the lifting rod 3210 is mounted on the second fixing frame 3211. The top end of the lifting rod 3210 is the output end of the lifting rod 3210. The first motor 3212 provides power to the lifting rod 3210.

[0261] The lifting pole 3210 is preferably a multi-stage telescopic column. Its working principle is that the first motor 3212 provides power to the wire rope traction system, which drives the multi-stage rectangular tube to extend and retract, ultimately achieving lifting. This is existing technology and will not be described in detail here.

[0262] The first adjustment component is used to adjust the horizontal and reverse rotation of the spray mechanism. Specifically, the first adjustment component includes a rotating gimbal 3220, a rotary joint 3221, and a first fixed frame 3222. The first fixed frame 3222 is provided at the output end of the lifting rod 3210, and the rotating gimbal 3220 is mounted on the first fixed frame 3222. The rotating gimbal 3220 is connected to the spray mechanism through the rotary joint 3221. The first fixed frame 3222 has an inverted "U" shape structure, which provides sufficient space for the extension of the rotary joint 3221.

[0263] The rotating gimbal 3220 is a mechanical structure for controlling the angle adjustment of an object. It can support the object and rotate it horizontally. This is existing technology and will not be described in detail. The rotary joint 3221 is a pipe connection device, and the connected pipes can rotate relative to each other. This is also existing technology and will not be described in detail. Therefore, it means that the combination of the rotating gimbal 3220 and the rotary joint 3221 can enable the spraying mechanism to rotate horizontally relative to the first fixed frame 3222, and the pipe connection of the spraying mechanism is not affected.

[0264] See Figure 19 The spraying mechanism includes a nozzle assembly 330, a first nozzle 331, and a second nozzle 332. Specifically, the nozzle assembly 330 is a pipe with a "T"-shaped longitudinal cross-section. The longitudinal section of the nozzle assembly 330 is connected to the rotating gimbal 3220 via a rotary joint 3221. The two ends of the horizontal section of the nozzle assembly 330 are sealed. A row of nozzles is arranged on the horizontal section of the nozzle assembly 330. The nozzles are connected to the nozzle assembly 330. There are three nozzles: the first nozzle 331 located at both ends of the horizontal section of the nozzle assembly 330, and the second nozzle 332 located in the middle of the horizontal section of the nozzle assembly 330.

[0265] The longitudinal section of nozzle assembly 330 refers to the pipe section with a vertical axis, while the transverse section of nozzle assembly 330 refers to the pipe section with a horizontal axis. In actual use, the nozzle is not limited to one row; it can also be two or more rows, depending on the actual situation.

[0266] Similarly, the number of nozzles is not limited to three, but it is necessary to ensure that at least two nozzles are distributed at both ends of the horizontal pipe section of the nozzle assembly 330, and at least one second nozzle 332 is located in the middle of the horizontal pipe section of the nozzle assembly 330.

[0267] Among them, the two first nozzles 331 are configured with axial inclination and radial tilt, and the second nozzle 332 is tilted downward. The radial tilt and downward tilt angles are different. The jet streams of the three converge in space to form a highly concentrated three-dimensional converging jet flow field.

[0268] The coordinated configuration of axial inclination and radial tilt refers to the two first nozzles 331 being close to each other and tilted downwards away from the horizontal pipe section of the nozzle assembly 330.

[0269] Furthermore, in practical applications, the radial tilt angle can be greater than or less than the downward tilt angle, as long as the two angles are different. This embodiment preferably uses a downward tilt angle less than the radial tilt angle.

[0270] Therefore, the jetting mechanism claimed in this embodiment, through the downward converging jet formed by the first nozzles 331 at both ends, and the upward jet generated by the second nozzle 332 in the middle, works together to construct a composite jet field in three-dimensional space. The composite jet field refers to the flow field formed by the combined action of multiple jet sources with different angles, directions and relative positions. These jets interact and superimpose in space to form a complex flow structure, thereby achieving directional and efficient coverage and suppression of fire against three-dimensional fire sources in space.

[0271] The term "upward jet" refers to the jet ejected above the jet ejected from the second nozzle 332 relative to the jet ejected from the first nozzle 331. It does not refer to the direction of the jet. In fact, the jets ejected from the second nozzle 332 and the first nozzle 331 are both downward jets.

[0272] See Figure 19 and Figure 20 and Figure 21 Furthermore, a three-dimensional coordinate system is established with the horizontal pipe section axis of nozzle assembly 330 as the X-axis, the horizontal line perpendicular to the X-axis as the Y-axis, and the longitudinal pipe axis of nozzle assembly 330 as the Z-axis, and the intersection of the lines is the origin O.

[0273] Specifically, the downward tilt angle of the second nozzle 332 is α, where α is the angle formed by the axis of the second nozzle 332 and the Y-axis, and α satisfies the following formula;

[0274] α = arctan(h / s) × K

[0275] Where h is the vertical distance between the second nozzle 332 and the burning section of the object to be extinguished along the Z-axis; s is the distance between the second nozzle 332 at the permissible extinguishing position and the center of the object to be extinguished; and K is the downward tilt angle correction coefficient of the second nozzle 332.

[0276] The downward tilt angle correction coefficient K of the second nozzle 332 is adjusted according to the different sizes of the objects to be extinguished and the different vertical distances h between the second nozzle 332 and the burning section of the objects to be extinguished along the Z-axis. K is preferably 0.85~0.95.

[0277] The first nozzle 331 is tilted downward at an angle of β, where β is the angle formed by the axis of the first nozzle 331 and the Y-axis, and β satisfies the following formula;

[0278] β=α+4°

[0279] Where α is the downward tilt angle of the second nozzle 332.

[0280] The axial inclination angle of the first nozzle 331 is Γ, where Γ is the angle formed by the axis of the first nozzle 331 and the X-axis, and Γ satisfies the following formula;

[0281] Γ = arctan(L / 2s)

[0282] Where L is the distance between the first nozzles 331; s is the distance between the second nozzle 332 at the permissible extinguishing position and the center of the object to be extinguished, and the units of the downward tilt angle of the second nozzle 332, the downward tilt angle of the first nozzle 331, and the axial inclination angle Γ of the first nozzle 331 are all in degrees.

[0283] See Figure 22 In some embodiments, in order to accurately target the fire extinguishing position, it is preferable to set up a demolition mechanism on the first fixed frame 3222 to remove other components that block the fire section of the object to be extinguished. The demolition mechanism includes a second base 340, a guide fixed cylinder 341, a guide body 342, an impact motor 343, and a hole opener 344.

[0284] The second base 340 is bolted to the first fixed frame 3222. The second base 340 is connected to the guide fixed cylinder 341. The axis of the guide fixed cylinder 341 is horizontal and located on the same side of the nozzle. The guide fixed cylinder 341 has a coaxial sliding guide body 342 inside. The guide body 342 is suspended at the end or side of the guide body 342 and an impact motor 343 is provided. The rotating shaft of the impact motor 343 is connected to the hole opener 344.

[0285] The demolition mechanism is used to break through obstructions in the following process:

[0286] The second base 340 provides a stable foundation for the entire demolition mechanism. The guide fixing cylinder 341 and the guide body 342 slide together, which on the one hand ensures that the guide body 342 can make stable and controllable linear movements along the axis of the fixing cylinder; on the other hand, it serves as a support platform for the impact motor 343 and the hole opener 344.

[0287] The impact motor 343 is a type of existing technology that generates instantaneous mechanical impacts due to external or internal factors during the motor's start-up, shutdown, or operation, and will not be described further. Therefore, when demolition is required, the impact motor 343 is activated, driving the hole punch 344 to rotate at high speed and generate high-frequency, high-energy impacts along the rotation axis, thereby damaging the obstruction.

[0288] It is worth mentioning that by connecting the second fire quick connector 266 through the rotary joint 3221, the aerial spraying robot 3 can be connected to the first compressed air foam generating module 2.

[0289] The process of deploying and retrieving the high-pressure jetting robot 3 for high-level firefighting is as follows:

[0290] First, the driven tracked chassis mechanism moves to a position near the fire current transformer 102 where fire extinguishing is permissible. Specifically, the battery 306 outputs high-voltage DC power to the control box 305, and the control box 305 outputs a drive signal to the second motor 304. The second motor 304 drives the shaft to rotate, and the torque is transmitted to the rolling assembly 302 through the coupling. The rotation of the rolling assembly 302 drives the rubber track 303 to move in a ring to this position. This is existing technology and will not be described in detail.

[0291] Next, the telescopic outrigger mechanism is activated to stop supporting the lifting and jetting robot 3. Specifically, the electric push rod 312 is activated, causing the crossbeam of the movable frame 311 to move along the length of the frame within the crossbeam of the telescopic arm frame 310. At this time, the movable frame 311 unfolds relative to the telescopic arm frame 310. The dual-head motor is activated, causing the lead screw to rotate and drive the lead screw nut to engage with the lead screw, causing the telescopic tube 314 to extend out from the longitudinal beam of the movable frame 311. The electric outrigger 315 is activated to support the bottom surface.

[0292] Then, adjust the lifting mechanism; this includes the following stages;

[0293] Phase 1: Adjust the second adjustment component to adjust the height of the substation fire sprinkler mechanism. Specifically, start the first motor 3212 to drive the lifting rod 3210 to extend along the height direction and raise it.

[0294] Phase Two: Adjusting the first adjustment component to adjust the horizontal rotation of the substation fire spraying mechanism. Specifically, adjusting the rotating pan-tilt unit 3220 to make the substation fire spraying mechanism rotate horizontally relative to the first fixed frame 3222.

[0295] Phase 3: After the fire is extinguished, the second adjustment component is adjusted in the reverse direction to retract it; then the third adjustment component is adjusted. Specifically, the electric cylinder 3204 is activated to cause the mounting plate 3213 to flip relative to the first base 3203, thereby enabling the raising and lowering mechanism to be extended and retracted.

[0296] See Figure 23 and Figure 24 and Figure 25 The cable trench spraying robot 4 is used for low-level spraying fire extinguishing. The cable trench spraying robot 4 includes a compressed air foam fire extinguishing robot, a second electric three-way selector valve 41, and an external foam inlet pipe 42.

[0297] A compressed air foam fire extinguishing robot is disclosed in Chinese patent document CN119466913A, including a chassis assembly, a walking unit 401, a second frame platform 402, an integrated sheet metal cover 403, a fire extinguishing assembly 404, a gripping assembly 405, a vacuum assembly 406, a monitoring system 407, a second control module 409, and an automatic fire point recognition camera.

[0298] The fire extinguishing assembly 404 includes a mixing tank 4040 mounted on the crossbeam of the traveling unit 401. The outlet of the mixing tank 4040 is connected to a CAFS mixer 4041 via one end of a three-way connector. The outlet of the CAFS mixer 4041 is connected to a first fire monitor body 4042. An air compressor is mounted on the traveling unit 401 and located on one side of the mixing tank 4040. The air outlet of the air compressor is connected to both the CAFS mixer 4041 and the mixing tank 4040. These are all prior art and will not be described in detail here.

[0299] A second electrically operated three-way selector valve 41 is installed on the pipeline between the outlet end of the CAFS mixer 4041 and the first fire monitor body 4042. This second electrically operated three-way selector valve 41 is a valve driven by an electric actuator, capable of fluid diversion, merging, or flow direction switching; it is existing technology and will not be described further. The first port of the second electrically operated three-way selector valve 41 is connected to the outlet end of the CAFS mixer 4041, the second port is connected to the first fire monitor body 4042, and the third port is connected to the external foam inlet pipe 42.

[0300] It is worth mentioning that by connecting the second fire quick connector 266 through the external foam inlet pipe 42, the cable trench spraying robot 4 can be connected to the first compressed air foam generating module 2.

[0301] The process of using the cable trench spraying robot 4 for low-level spraying fire extinguishing is disclosed in Chinese patent document CN119466913A, which discloses a compressed air foam fire extinguishing robot, and will not be repeated here.

[0302] The second compressed air foam generating module 5 is used to provide compressed air foam to the fire monitor assembly 6. The second compressed air foam generating module 5 is preferably a fixed compressed air foam extinguishing system. The fixed compressed air foam extinguishing system is a new type of foam extinguishing system based on positive pressure foam generation.

[0303] The process by which this stationary compressed air foam fire extinguishing system generates compressed air foam is as follows:

[0304] Compressed air foam is generated in the front-end host section, and compressed air foam is output from its output end; this is existing technology and will not be described in detail.

[0305] See 1 and Figure 26 The fire monitor assembly 6 includes a first main pipe 60, a first automatic air vent valve 61, a first end test water device 62, a first branch pipe 63, a maintenance valve 64, an electric butterfly valve 65, a water flow indicator 66, and a second fire monitor body 67.

[0306] Part of the first main pipe 60 is embedded in the firewall. The longitudinal section of the first main pipe 60 has an inverted L-shaped structure, and the horizontal section of the first main pipe 60 is located at the top of the firewall. The first automatic exhaust valve 61 is installed at the highest point of the first main pipe 60. One end of the first main pipe 60 is connected to the output end of the second compressed air foam generating module 5, and the other end of the first main pipe 60 is equipped with a first end test device 62. The first end test device 62 is used to test whether the pressure and flow rate at the most unfavorable point reaches the requirements when the pipeline is filled with compressed air foam, and to check whether there are leaks or faults in the equipment and pipeline. This is existing technology and will not be described in detail.

[0307] The first main pipe 60 is equipped with two first branch pipes 63 in a horizontal section. The first branch pipe 63 has an L-shaped horizontal cross section. Along the direction of compressed air foam delivery, the first branch pipe 63 is equipped with a maintenance valve 64, an electric butterfly valve 65, a water flow indicator 66, and a second fire monitor body 67 in sequence. The maintenance valve 64 is a valve that cuts off the flow of fluid during equipment maintenance or pipeline repair. It is used to close the pipeline when repairing the second fire monitor body 67. This is existing technology and will not be described in detail.

[0308] The electric butterfly valve 65 is a valve that uses an electric actuator to drive the valve stem to rotate and uses a circular butterfly plate as the opening and closing element to realize the opening, closing and regulation of the fluid passage. It is used to realize the on and off of the second fire monitor body 67. The water flow indicator 66 is used to indicate and check whether the pipeline connection is correct.

[0309] The second fire monitor body 67 is a special fire-fighting equipment used for fire suppression. It consists of a monitor body, a spraying device, a control system, etc. It has the characteristics of large flow rate and long range. When in use, the second fire monitor body 67 can adjust the spraying angle. This is existing technology and will not be described in detail.

[0310] The fire monitor assembly 6 is used for spraying fire extinguishing in the following process:

[0311] When the electric butterfly valve 65 is opened, the compressed air foam in the output end of the second compressed air foam generating module 5 enters the second fire monitor body 67 through the first main pipe 60 and the first branch pipe 63 in sequence, and the second fire monitor body 67 sprays to extinguish the fire.

[0312] The third compressed air foam generating module 7 is used to provide compressed air foam for the sprinkler assembly 8. It is preferably a fixed compressed air foam fire extinguishing system. Refer to the description of the second compressed air foam generating module 5, which will not be repeated here.

[0313] See 1 and Figure 27The spray assembly 8 includes a second main pipe 80, a second branch pipe 81, a second automatic air vent valve 82, and a second end test device 83. Part of the second main pipe 80 is embedded within the firewall. The longitudinal section of the second main pipe 80 has a transverse "T" shape. The second automatic air vent valve 82 is located at the highest point of the second main pipe 80. The bottom end of the second main pipe 80 is connected to the output end of the third compressed air foam generating module 7. The side end of the second main pipe 80 is connected to the second end test device 83. The top end of the second main pipe 80 is connected to the second branch pipe 81, which is located in the middle of the firewall and extends along the length of the firewall. The spray branch pipe is equipped with one or more nozzles, preferably adjustable-angle nozzles, such as industrial nozzles.

[0314] The process by which the sprinkler assembly 8 is used for fire suppression is as follows:

[0315] The compressed air foam in the output of the third compressed air foam generating module 7 enters the nozzle sequentially through the second main pipe 80 and the second branch pipe 81, and the nozzle sprays out to extinguish the fire.

[0316] First, the elevated fire suppression system for substations applicable to multiple fire scenarios, which is protected in this embodiment, is divided into two categories based on the complex distribution of equipment in the substation. One category is fixed components, which can be used to provide key fire protection for equipment that requires special protection; the other category is mobile components, which can be moved around the substation to the permitted fire extinguishing position to spray fire extinguishing.

[0317] Secondly, depending on the fire location and fire height, at least one of the aerial spraying robot 3, cable trench spraying robot 4, fire monitor assembly 6, and sprinkler assembly 8 should be selected for spraying fire extinguishing. The aerial spraying robot 3, cable trench spraying robot 4, fire monitor assembly 6, and sprinkler assembly 8 can operate individually or simultaneously, working in synergy. When spraying fire extinguishing, they can completely cover the surface of the fire location, improving fire extinguishing efficiency.

[0318] Then, the compressed air foam generated by the first compressed air foam generating module 2 is uniform and fine, with a foaming ratio of ≥7 times, which can effectively adhere to the surface of the fire extinguishing location, quickly reduce the temperature of the burning surface and isolate oxygen.

[0319] Compressed air foam has an asphyxiation time of ≤30 seconds for epoxy resin fires, significantly faster than traditional water spray. Furthermore, compressed air foam exhibits high stability with a water separation time >5 minutes, allowing it to cover burning materials for an extended period and prevent reignition. However, in practical use, due to wind load, foam loss upon landing is high, thus limiting its extinguishing effect. In this embodiment, the first nozzle 331 is axially tilted inward to create a clustering effect on the compressed air foam. Combined with the radial tilt of the first nozzle 331 and the downward tilt of the second nozzle 332 (the downward tilt angle of the second nozzle 332 differs from the radial tilt angle of the first nozzle 331), this design can effectively address three-dimensional fires, particularly after the cover of the current transformer 102's oil and gas chamber has exploded. It allows for high-low jet extinguishing, solving the problem that a single jet device cannot directly spray compressed air foam behind obstacles. This enables the sprayed compressed air foam to cover the outer surface of the fire location, forming a composite jet field, achieving three-dimensional coverage, and enhancing the extinguishing effect.

[0320] Ultimately, the elevated fire suppression system provided in this embodiment, applicable to multiple fire scenarios in substations, can address the problem of multiple fires involving various complex electrical equipment in substations by achieving multi-angle, multi-height, and three-dimensional spraying. It is fully adaptable to various fire situations involving high-voltage electrical equipment in substations and ensures sufficient fire suppression capabilities for all types of fires.

[0321] Example 2

[0322] See again Figure 19 and Figure 20 and Figure 21 Based on Embodiment 1, this embodiment provides the application of the raised spray robot 3 for extinguishing fires on the current transformer 102, specifically, the setting of spray mechanism parameters.

[0323] Taking the current transformer 102 with a coil diameter of 1.2m as an example, the vertical distance between the second nozzle 332 and the fire section of the current transformer 102 along the Z-axis is 0.39m; the distance between the second nozzle 332 and the center of the current transformer 102 in the permissible fire extinguishing position is 2.5m.

[0324] Therefore, the downward tilt angle α of the second nozzle 332 is preferably 9°, and the downward tilt angle β of the first nozzle 331 is preferably 13°.

[0325] The distance between the first nozzles 331 is selected as 0.7m, and the axial inclination angle Γ of the first nozzles 331 is 8°.

[0326] The elevated spraying robot 3 can quickly move to the permissible fire extinguishing position near the fire current transformer 102. In view of the fact that the existing current transformer 102 is generally quite high, the height of the spraying mechanism can be quickly adjusted by the second adjustment component to adapt to the target position. At the same time, the first adjustment component adjusts the horizontal rotation of the spraying mechanism, which significantly improves the overall applicability and deployment convenience of the robot.

[0327] The adjusted and positioned jetting mechanism utilizes the synergistic effect of the downward converging jet generated by the first nozzle 331 and the upward jet generated by the second nozzle 332 to construct a composite jet field in three-dimensional space. This composite jet field enables directional and efficient coverage and fire suppression of three-dimensional fire sources in space.

[0328] Furthermore, by calculating the tilt angles of the first nozzle 331 and the second nozzle 332, a better spray mechanism configuration can be precisely matched to the fire extinguishing needs of a specific current transformer 102, thereby achieving a better fire extinguishing effect.

[0329] Example 3

[0330] Based on Embodiment 1, this embodiment claims protection for a substation fire-fighting method based on compressed air foam extinguishing, including the following steps;

[0331] S1. Confirm the location and height of the fire extinguishing operation;

[0332] S2. Based on the fire extinguishing location and fire extinguishing height, select at least one of the following: aerial spray robot 3, cable trench spray robot 4, fire monitor assembly 6, and sprinkler assembly 8.

[0333] When a fire breaks out at equipment requiring special protection, such as transformer 100, fixed and / or movable components can be used for fire suppression.

[0334] For some devices that are independent of the firewall, such as current transformer 102, cable trench (not shown in the drawing) and dry reactor 103, only mobile components can be selected. When the fire extinguishing height is high, such as above 10m, the aerial spraying robot 3 should be selected.

[0335] When the fire extinguishing height is low, such as below 10m, cable trench spraying robot 4 and / or elevated spraying robot 3 should be selected.

[0336] It is worth mentioning that the aerial spraying robot 3, cable trench spraying robot 4, fire monitor assembly 6, and sprinkler assembly 8 can operate individually or simultaneously, working in synergy. When spraying fire extinguishing, they can completely cover the surface of the fire location, improving fire extinguishing efficiency. Therefore, the number of water supply module 1, first compressed air foam generating module 2, aerial spraying robot 3, cable trench spraying robot 4, second compressed air foam generating module 5, fire monitor assembly 6, third compressed air foam generating module 7, and sprinkler assembly 8 is not limited to one.

[0337] When using a raised-lift spray robot 3 for fire suppression, the following steps are included:

[0338] Connect the first compressed air foam generating module 2 and the elevated jetting robot 3;

[0339] The first compressed air foam generating module 2 and the control lift-up spray robot 3 are moved to the permitted fire extinguishing position, aimed at the fire extinguishing position, and sprayed to extinguish the fire.

[0340] When using the cable trench spraying robot 4 for fire suppression, the following steps are included:

[0341] Connect the first compressed air foam generation module 2 to the cable trench spraying robot 4;

[0342] Drive the first compressed air foam generating module 2 and control the cable trench spraying robot 4 to move to the permitted fire extinguishing position, aim at the fire extinguishing position, and spray fire extinguishing.

[0343] When fire monitor assembly 6 is selected for fire suppression, the fire monitor assembly 6 is controlled to spray fire suppression through the second compressed air foam generating module 5.

[0344] When the spray assembly 8 is selected for fire extinguishing, the third compressed air foam generating module 7 controls the spray assembly 8 to spray for fire extinguishing.

[0345] It is worth mentioning that when the first compressed air foam generating module 2 is short of water, water can be supplied to the first compressed air foam generating module 2 from the outside through the water supply module 1.

[0346] The connection between the first compressed air foam generating module 2 and the elevated spraying robot 3, as well as the connection between the first compressed air foam generating module 2 and the cable trench spraying robot 4, can both be achieved manually or by remotely controlling the robot.

[0347] The details of each step above have been described in detail above and will not be repeated here.

[0348] Example 4

[0349] See Figure 28This embodiment, based on Embodiment 3, claims protection for a substation fire control system based on compressed air foam extinguishing, including:

[0350] The image monitoring unit 9a is used to confirm the fire location and fire height. Specifically, the image monitoring unit 9a includes a monitoring camera, a monitoring host, and a display. Monitoring cameras are installed at various locations in the substation and near important equipment. The monitoring cameras are used to capture the fire situation at various locations in the substation.

[0351] The substation's control host is equipped with a monitoring host, which is connected to the monitoring camera via a first cable. The monitoring camera outputs the captured information to the monitoring host.

[0352] The substation management center is equipped with a monitor, which is connected to the monitoring host via a network. The monitoring host converts the captured information into a primary signal and sends it to the monitor for display, facilitating remote control.

[0353] Unit 9b is selected, and at least one of the following components is selected based on the fire extinguishing location and fire extinguishing height: aerial spray robot 3, cable trench spray robot 4, fire monitor assembly 6, and sprinkler assembly 8.

[0354] See Figure 29 The control unit 9c includes an operation button 90c, an operation lever 91c, an emergency stop button 92c, a first controller 93c, a second controller 94c, a first transmitter 95c, a second transmitter 96c, a first handheld transmitter 97c, a second handheld transmitter 98c, a first fire cabinet 99c, and a second fire cabinet 100c.

[0355] The substation management center is equipped with operation buttons 90c, operation levers 91c, emergency stop buttons 92c, and a first controller 93c. It performs remote control based on the content displayed on the monitor. The operation buttons 90c, operation levers 91c, and emergency stop buttons 92c are electrically connected to the first controller 93c via a second cable.

[0356] The substation's control host is equipped with a second controller 94c, a first transmitter 95c, a second transmitter 96c, a first handheld transmitter 97c, a second handheld transmitter 98c, a first fire cabinet 99c, and a second fire cabinet 100c. The first controller 93c is network-connected to the second controller 94c, and the second controller 94c is electrically connected to the first transmitter 95c, the second transmitter 96c, the first fire cabinet 99c, and the second fire cabinet 100c.

[0357] The first fire cabinet 99c is electrically connected to the second compressed air foam generating module 5 via the third cable, and the second fire cabinet 100c is electrically connected to the third compressed air foam generating module 7 via the fourth cable.

[0358] Both the first transmitter 95c and the first handheld transmitter 97c are microwave controlled by the first receiver of the aerial jetting robot 3. Therefore, the first transmitter 95c and the first handheld transmitter 97c can operate the aerial jetting robot 3 individually or together.

[0359] The second transmitter 96c and the second handheld transmitter 98c are both microwave controlled by the second receiver of the cable trench spraying robot 4. Therefore, the second transmitter 96c and the second handheld transmitter 98c can operate the cable trench spraying robot 4 individually or together.

[0360] When the aerial spraying robot 3 is selected for fire extinguishing, it is used to control the aerial spraying robot 3 to move to the permitted fire extinguishing position, aim at the fire extinguishing position, and spray fire extinguishing. Specifically, based on the display, by manipulating the operation button 90c, the operation lever 91c, and the emergency stop button 92c, a second signal is output to the first controller 93c. The first controller 93c analyzes and outputs a third signal to the second controller 94c. The second controller 94c analyzes and outputs the third signal and triggers the first transmitter 95c. The first transmitter 95c outputs a fourth signal to the first receiver, which operates the aerial spraying robot 3 to move to the permitted fire extinguishing position, aim at the fire extinguishing position, and spray fire extinguishing. The operation process of the aerial spraying robot 3 has been described in detail above and will not be repeated here.

[0361] When the cable trench spraying robot 4 is selected for fire extinguishing, it is used to control the cable trench spraying robot 4 to move to the permitted fire extinguishing position, aim at the fire extinguishing position, and spray fire extinguishing. Specifically, based on the display, by manipulating the operation button 90c, the operation lever 91c, and the emergency stop button 92c, a fifth signal is output to the first controller 93c. The first controller 93c analyzes and outputs a sixth signal to the second controller 94c. The second controller 94c analyzes and outputs a seventh signal and triggers the first transmitter 95c. The first transmitter 95c outputs an eighth signal to the first receiver, which operates the raised spraying robot 3 to move to the permitted fire extinguishing position, aim at the fire extinguishing position, and spray fire extinguishing. The operation process of the raised spraying robot 3 has been described in detail above and will not be repeated here.

[0362] When the fire monitor assembly 6 is selected for fire extinguishing, it is used to control the fire monitor assembly 6 to spray fire extinguishing through the second compressed air foam generating module 5. Specifically, based on the display, the ninth signal is output to the first controller 93c by operating the operation button 90c, the operation lever 91c and the emergency stop button 92c. The first controller 93c analyzes and outputs the tenth signal to the second controller 94c. The second controller 94c analyzes and outputs the eleventh signal to the first fire cabinet 99c. The first fire cabinet 99c controls the fire monitor assembly 6 to spray fire extinguishing through the second compressed air foam generating module 5.

[0363] When the sprinkler assembly 8 is selected for fire extinguishing, it is used to control the sprinkler assembly 8 to spray fire extinguishing through the third compressed air foam generating module 7. Specifically, based on the display, the twelfth signal is output to the first controller 93c by operating the operation button 90c, the operation lever 91c and the emergency stop button 92c. The first controller 93c analyzes and outputs the thirteenth signal to the second controller 94c. The second controller 94c analyzes and outputs the fourteenth signal to the second fire cabinet 100c. The second fire cabinet 100c controls the sprinkler assembly 8 to spray fire extinguishing through the third compressed air foam generating module 7.

[0364] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A raised platform fire suppression system applicable to multiple fire scenarios in substations, characterized in that, Applicable to multiple fire scenarios in substations, including a first compressed air foam generating module (2), a raised spray robot (3), a cable trench spray robot (4), a second compressed air foam generating module (5), a fire monitor assembly (6), a third compressed air foam generating module (7), and a sprinkler assembly (8); the first compressed air foam generating module (2), the raised spray robot (3), and the cable trench spray robot (4) are configured in an operational mechanical state, the first compressed air foam generating module (2) is connected to the cable trench spray robot (4) and / or the raised spray robot (3), the raised spray robot (3) includes a spraying mechanism, the spraying mechanism includes at least one spraying mechanism located in a row and all facing to the side. A first nozzle (331) and at least one second nozzle (332); the first nozzle (331) is disposed on both sides of the second nozzle (332); the first nozzle (331) is configured with axial inclination and radial tilt, the second nozzle (332) is radially tilted, and the radial tilt angle of the second nozzle (332) is different from the radial tilt angle of the first nozzle (331); so that the spray paths of the second nozzle (332) and the first nozzle (331) form a composite jet field in three-dimensional space; the second compressed air foam generating module (5) is connected to the fire monitor assembly (6), and the third compressed air foam generating module (7) is connected to the spray assembly (8) to perform multi-angle, multi-height and three-dimensional spraying operations.

2. The elevated fire suppression system applicable to multiple fire scenarios in substations according to claim 1, characterized in that, The spraying mechanism also includes a nozzle assembly (330). At least one first nozzle (331) is provided at both ends of the nozzle assembly (330), and at least one second nozzle (332) is provided in the middle section of the nozzle assembly (330). One end of the first nozzle (331) and the second nozzle (332) are connected to the nozzle assembly (330), and the other end of the first nozzle (331) and the second nozzle (332) forms a nozzle. The second nozzle (332) is inclined downward.

3. The elevated fire suppression system applicable to multiple fire scenarios in substations according to claim 2, characterized in that, The downward tilt angle of the second nozzle (332) is α, where α is the angle formed by the axis of the second nozzle (332) and the horizontal plane, and α satisfies the following formula: α=arctan(h / s)×K where h is the vertical distance of the second nozzle (332) from the burning section of the object to be extinguished along the Z-axis; s is the distance between the second nozzle (332) at the allowable extinguishing position and the center of the object to be extinguished; and K is the downward tilt angle correction coefficient of the second nozzle (332).

4. The elevated fire suppression system applicable to multiple fire scenarios in substations according to claim 2, characterized in that, The radial tilt angle of the first nozzle (331) is β, where β is the angle formed by the axis of the first nozzle (331) and the horizontal plane, and β satisfies the following formula: β=α+4° where α is the downward tilt angle of the second nozzle (332).

5. The elevated fire suppression system applicable to multiple fire scenarios in substations according to claim 2, characterized in that, The axial inclination angle of the first nozzle (331) is Γ, where Γ is the angle formed by the axis of the first nozzle (331) and the horizontal line, and Γ satisfies the following formula: Γ=arctan(L / 2s) where L is the distance between the first nozzles (331) and s is the distance between the second nozzle (332) at the allowable extinguishing position and the center of the object to be extinguished.

6. The elevated fire suppression system applicable to multiple fire scenarios in substations according to claim 1, characterized in that, The lifting and jetting robot (3) also includes a tracked chassis mechanism, a telescopic outrigger mechanism and a lifting adjustment mechanism; the tracked chassis mechanism is provided at the bottom, the tracked chassis mechanism is provided on the lifting adjustment mechanism, and the lifting adjustment mechanism is provided at the top.

7. The elevated fire suppression system applicable to multiple fire scenarios in substations according to claim 6, characterized in that, The tracked chassis mechanism includes a frame body (301), rolling components (302), rubber tracks (303), a second motor (304), a control box (305), a battery (306), a cover plate (307), and a shell (308). Rolling components (302) are provided on both sides of the bottom of the frame body (301), and the outer side of the rolling component (302) on the adjacent side is wrapped by the rubber track (303). The second motor (304), the control box (305), and the battery (306) are arranged sequentially along the length of the frame body (301). The battery (306) is configured to control the rolling components. The control box (305) and the second motor (304) are powered. The control box (305) is electrically connected to the second motor (304). The drive shaft of the second motor (304) is connected to the input end of the rolling assembly (302) through a coupling. A cover plate (307) is provided above the middle of the frame body (301). The cover plate (307) covers the second motor (304), the control box (305) and the battery (306). The outer shell (308) is covered on both sides above the frame body (301). The outer shell (308) covers the rubber track (303). The outer shell (308) is spliced ​​with the cover plate (307).

8. The elevated fire suppression system applicable to multiple fire scenarios in substations according to claim 6, characterized in that, The telescopic outrigger mechanism includes a telescopic boom frame (310), a movable frame (311), an electric push rod (312), a third motor (313), a telescopic tube (314), and an electric outrigger (315). The telescopic boom frame (310) has a U-shaped cross-section. Along the moving direction of the tracked chassis mechanism, the longitudinal beam of the telescopic boom frame (310) is fixed to the front of the chassis body (301), and both ends of the longitudinal beam of the telescopic boom frame (310) extend along the length direction and are fixed. An electric push rod (312) is installed on the chassis body (301), and the output end of the electric push rod (312) is parallel to the length direction of the chassis body (301). The crossbeam of the telescopic boom frame (310) has a tubular structure, and the two ends of the telescopic boom frame (310) are respectively inserted into the movable tube. At both ends of the movable frame (311), the movable frame (311) has a U-shaped frame structure. The crossbeam of the movable frame (311) is inserted and matched with the crossbeam of the telescopic arm frame (310). The longitudinal beam of the movable frame (311) is connected to the output end of the electric push rod (312). The longitudinal beam of the movable frame (311) has a tubular structure. Both ends of the longitudinal beam of the movable frame (311) extend along the length direction. A third motor (313) is set in the middle of the longitudinal beam of the movable frame (311). The two output ends of the third motor (313) are connected to the lead screw. The lead screws are engaged with the lead screw nuts. The lead screw nuts are respectively connected to the ends of the telescopic tubes (314) inserted at both ends of the longitudinal beam of the movable frame (311). Electric outriggers (315) are set at both ends of the longitudinal beam of the movable frame (311) and the longitudinal beam of the telescopic arm frame (310).

9. The elevated fire suppression system applicable to multiple fire scenarios in substations according to claim 6, characterized in that, The lifting adjustment mechanism includes a third adjustment component, a second adjustment component, and a first adjustment component; the third adjustment component, the second adjustment component, the first adjustment component, and the injection mechanism are connected sequentially from bottom to top.

10. The elevated fire suppression system applicable to multiple fire scenarios in substations according to claim 9, characterized in that, The third adjustment component includes a pin (3201), a bearing (3202), a first base (3203), and a tilting electric cylinder (3204). The first base (3203) is provided on the cover plate (307). The first base (3203) is connected to the bottom of the second adjustment component through the pin (3201), and the second adjustment component is driven to flip by the tilting electric cylinder (3204).

11. The elevated fire suppression system applicable to multiple fire scenarios in substations according to claim 9, characterized in that, The second adjustment assembly includes a lifting rod (3210), a second fixing frame (3211), a first motor (3212), and a mounting plate (3213). The mounting plate (3213) is connected to the first base (3203) via a pin (3201). The first motor (3212) and the second fixing frame (3211) are mounted on the mounting plate (3213). The bottom end of the lifting rod (3210) is mounted on the second fixing frame (3211). The top end of the lifting rod (3210) is the output end of the lifting rod (3210). The first motor (3212) is configured to provide power to the lifting rod (3210).

12. The elevated fire suppression system applicable to multiple fire scenarios in substations according to claim 9, characterized in that, The first adjustment component includes a rotating gimbal (3220), a rotary joint (3221), and a first fixed frame (3222); the output end of the lifting rod (3210) is provided with the first fixed frame (3222), the rotating gimbal (3220) is mounted on the first fixed frame (3222), and the rotating gimbal (3220) is connected to the spraying mechanism through the rotary joint (3221).

13. The elevated fire suppression system applicable to multiple fire scenarios in substations according to claim 1, characterized in that, The cable trench spraying robot (4) includes a compressed air foam fire extinguishing robot, a second electric three-way selector valve (41) and an external foam inlet pipe (42); the output end of the compressed air foam fire extinguishing robot is connected to the external foam inlet pipe (42) through the second electric three-way selector valve (41).

14. The elevated fire suppression system applicable to multiple fire scenarios in substations according to claim 1, characterized in that, The first compressed air foam generating module (2) includes an electric chassis assembly, an upper structure assembly, a liquid tank assembly (22), a water supply assembly (23), a foam liquid supply assembly (24), an air supply assembly (25), a gas-liquid mixing assembly (26), and a first control module. The electric chassis assembly is equipped with the upper structure assembly, and the upper structure assembly and the electric chassis assembly together form a space. The liquid tank assembly (22) is set in the space. The liquid tank assembly (22) is equipped with a first output end and a second output end. The first output end is connected to the input end of the water supply assembly (23), and the second output end is connected to the input end of the foam liquid supply assembly (24). The output ends of the water supply assembly (23), the foam liquid supply assembly (24), and the air supply assembly (25) are connected to the input end of the gas-liquid mixing assembly (26). The first control module is set at the output end of the gas-liquid mixing assembly (26).

15. The elevated fire suppression system applicable to multiple fire scenarios in substations according to claim 14, characterized in that, The electric chassis assembly includes a first frame platform (201), a steering unit (202), a drive unit (203), a power module (204), and a braking unit (205). Along the moving direction of the electric chassis assembly, the steering unit (202) and the drive unit (203) are installed sequentially from front to back on the bottom of the first frame platform (201). The braking unit (205) is set on the bottom of the first frame platform (201) on one side of the drive unit (203), and the steering unit (202) is set on the front side of the first frame platform (201). The power module (204) is set on the first frame platform (201). The power module (204) is configured to supply power to the electric chassis assembly, the water supply assembly (23), the foam liquid supply assembly (24), the air supply assembly (25), and the first control module.

16. The elevated fire suppression system applicable to multiple fire scenarios in substations according to claim 14, characterized in that, The upper structure includes a front cover (210), a middle cover (211) and a rear cover (212). Along the conveying direction of the electric chassis assembly, the front cover (210), the middle cover (211) and the rear cover (212) are sequentially covered on the electric chassis assembly to form a space.

17. The elevated fire suppression system applicable to multiple fire scenarios in substations according to claim 14, characterized in that, The liquid tank assembly (22) includes a water tank (220), a water inlet (221), a water outlet (222), a first breather valve (223), a foam liquid tank (224), a liquid inlet (225), a foam liquid outlet pipe (226), a second breather valve (227), a first liquid level sensor (228), a second liquid level sensor (229), and a liquid level display; the water tank (220) is provided with a water inlet (221) and a water outlet (222); foam liquid is provided on one side of the water tank (220). The foam liquid tank (224) is equipped with an injection port (225), and a foam liquid outlet pipe (226) is connected to one side of the foam liquid tank (224). The foam liquid tank (224) is equipped with a second breather valve (227). The water tank (220) is equipped with a first liquid level sensor (228) and a liquid level display. The foam liquid tank (224) is equipped with a second liquid level sensor (229). The second liquid level sensor (229) and the first liquid level sensor (228) are both electrically connected to the liquid level display.

18. The elevated fire suppression system applicable to multiple fire scenarios in substations according to claim 14, characterized in that, The water supply assembly (23) includes a first inlet pipe (230), a first electric three-way selector valve (231), a fire pump set (232), an outlet pipe (233), a first check valve (234), a second inlet pipe (235), a filter (236), a third inlet pipe (237), and a first fire quick connector (238); the first output end is connected to one end of the first inlet pipe (230), and the other end of the first inlet pipe (230) is connected to the first inlet end of the first electric three-way selector valve (231); the outlet end of the first electric three-way selector valve (231) is connected to one end of the outlet pipe (233) and flows along the water supply line. In the direction, a fire pump group (232) and a first check valve (234) are installed in sequence on the water outlet pipe (233). The other end of the water outlet pipe (233) is connected to the first check valve (234). The first check valve (234) is connected to the gas-liquid mixing component (26). The second inlet end of the first electric three-way selector valve (231) is connected to one end of the second water inlet pipe (235). The other end of the second water inlet pipe (235) is connected to the outlet end of the filter (236). The inlet end of the filter (236) is connected to one end of the third water inlet pipe (237). The other end of the third water inlet pipe (237) is connected to the first fire quick connector (238).

19. The elevated fire suppression system applicable to multiple fire scenarios in substations according to claim 14, characterized in that, The foam liquid supply assembly (24) includes a foam liquid pipeline (240), a self-priming foam liquid pump (241), and a second check valve (242); the foam liquid outlet pipe (226) is connected to the gas-liquid mixing assembly (26) through the foam liquid pipeline (240), and along the foam liquid conveying direction, the foam liquid pipeline (240) is sequentially equipped with a self-priming foam liquid pump (241) and a second check valve (242).

20. The elevated fire suppression system applicable to multiple fire scenarios in substations according to claim 14, characterized in that, The air supply assembly (25) includes a piston air compressor (250), a valve block (251), a safety valve (252), a third check valve (253), a flow sensor (254), and an air delivery pipeline (255). The piston air compressor (250) is connected to the gas-liquid mixing assembly (26) through the air delivery pipeline (255). Along the gas delivery direction, the air delivery pipeline (255) is sequentially equipped with a valve block (251), a third check valve (253), and a flow sensor (254). A safety valve (252) is installed on the valve block (251).

21. The elevated fire suppression system applicable to multiple fire scenarios in substations according to claim 14, characterized in that, The gas-liquid mixing assembly (26) includes a non-turbulent fourth water inlet pipe (260), a tee connector (261), a foam inlet pipe (262), a mixing chamber (263), a high-pressure air inlet pipe (264), a compressed air foam outlet pipe (265), and a second fire-fighting quick connector (266); a first one-way valve (234) is connected to one end of the fourth water inlet pipe, and the other end of the fourth water inlet pipe is connected to the tee connector (261). The lower interface is connected to the foam liquid pipeline (240), the left interface of the tee connector (261) is connected to the mixing chamber (263), the mixing chamber (263) is connected to the air supply pipeline (255) through the high-pressure air inlet pipe (264), the outlet of the mixing chamber (263) is connected to one end of the compressed air foam output pipe (265), the first control module is installed on the compressed air foam output pipe (265), and the other end of the compressed air foam output pipe (265) is connected to the second fire quick connector (266).

22. The elevated fire suppression system applicable to multiple fire scenarios in substations according to claim 1, characterized in that, It also includes a water supply module (1), which is connected to the first compressed air foam generating module (2).

23. The elevated fire suppression system applicable to multiple fire scenarios in substations according to claim 22, characterized in that, The water supply module (1) includes an electric forklift (10), a fire water module (11) and a suction pipe (12). The electric forklift (10) is equipped with the water supply module (1) and the water supply module (1) is equipped with the suction pipe (12).

24. The elevated fire suppression system applicable to multiple fire scenarios in substations according to claim 1, characterized in that, A fire monitor assembly (6) is installed on the top of the substation firewall. The fire monitor assembly (6) includes a first main pipe (60), a first automatic air vent valve (61), a first end test water device (62), a first branch pipe (63), a maintenance valve (64), an electric butterfly valve (65), a water flow indicator (66), and a second fire monitor body (67). Part of the first main pipe (60) is embedded in the firewall. The longitudinal section of the first main pipe (60) is an inverted L-shaped structure, and the horizontal pipe section of the first main pipe (60) is located at the top of the firewall. The highest point of the first main pipe (60) is equipped with a fire monitor assembly (67). A first automatic exhaust valve (61) is installed. One end of the first main pipe (60) is connected to the output end of the second compressed air foam generating module (5). The other end of the first main pipe (60) is equipped with a first end test water device (62). At least two first branch pipes (63) are installed in the horizontal pipe section of the first main pipe (60). The horizontal cross section of the first branch pipe (63) is L-shaped. Along the compressed air foam conveying direction, the horizontal pipe section of the first branch pipe (63) is sequentially equipped with a maintenance valve (64), an electric butterfly valve (65), a water flow indicator (66), and a second fire monitor body (67).

25. The elevated fire suppression system applicable to multiple fire scenarios in substations according to claim 1, characterized in that, A sprinkler assembly (8) is installed in the middle of the substation firewall. The sprinkler assembly (8) includes a second main pipe (80), a second branch pipe (81), a second automatic air vent valve (82), and a second end test water device (83). Part of the second main pipe (80) is embedded in the firewall. The longitudinal section of the second main pipe (80) is a horizontal "T" shape. The second automatic air vent valve (82) is installed at the highest position of the second main pipe (80). The bottom end of the second main pipe (80) is connected to the output end of the third compressed air foam generating module (7). The side end of the second main pipe (80) is connected to the second end test water device (83). The top end of the second main pipe (80) is connected to the second branch pipe (81). The second branch pipe (81) is located in the middle of the firewall and is arranged along the length of the firewall. One or more sprinkler heads are installed on the sprinkler branch pipe.

26. A method for firefighting in multiple fire scenarios in substations using the elevated firefighting system according to any one of claims 1 to 25, characterized in that, The process includes the following steps: confirming the fire extinguishing location and height; selecting at least one of the following based on the fire extinguishing location and height: a raised platform spray robot (3), a cable trench spray robot (4), a fire monitor assembly (6), and a sprinkler assembly (8); when the raised platform spray robot (3) is selected, connecting the first compressed air foam generating module (2) and the raised platform spray robot (3); driving the first compressed air foam generating module (2) and controlling the raised platform spray robot (3) to move to the permitted fire extinguishing location, aiming at the fire extinguishing location, and spraying fire extinguishing agent; when the cable trench spray robot is selected... When the robot (4) sprays fire extinguishing, the first compressed air foam generating module (2) is connected to the cable trench spraying robot (4); the first compressed air foam generating module (2) and the control cable trench spraying robot (4) are driven to move to the fire extinguishing position, aim at the fire extinguishing position, and spray fire extinguishing; when the fire monitor assembly (6) is selected to spray fire extinguishing, the fire monitor assembly (6) is controlled to spray fire extinguishing through the second compressed air foam generating module (5); when the spray assembly (8) is selected to spray fire extinguishing, the spray assembly (8) is controlled to spray fire extinguishing through the third compressed air foam generating module (7).

27. The elevated fire-fighting method applicable to multiple fire scenarios in substations according to claim 26, characterized in that, Confirming the fire extinguishing location and height includes: installing surveillance cameras at various locations in the substation and near important equipment; the surveillance cameras are used to capture the fire situation at various locations in the substation; the cameras output the captured information to the monitoring host; the monitoring host transmits the captured information to the display.

28. A raised fire control system for multiple fire scenarios in substations, employing the raised fire-fighting method for multiple fire scenarios in substations as described in claim 26, is characterized in that, include: Image monitoring unit (9a) is used to confirm the location and height of the fire. The selection unit (9b) selects at least one of the following components based on the fire extinguishing location and fire extinguishing height: a raised spray robot (3), a cable trench spray robot (4), a fire monitor assembly (6), and a sprinkler assembly (8); the control unit (9c) controls the raised spray robot (3) to move to the permitted fire extinguishing location, aim at the fire extinguishing location, and spray fire extinguishing when the raised spray robot (3) is selected; controls the cable trench spray robot (4) to move to the permitted fire extinguishing location, aim at the fire extinguishing location, and spray fire extinguishing when the cable trench spray robot (4) is selected; controls the fire monitor assembly (6) to spray fire extinguishing when the fire monitor assembly (6) is selected, through the second compressed air foam generating module (5); and controls the sprinkler assembly (8) to spray fire extinguishing when the sprinkler assembly (8) is selected, through the third compressed air foam generating module (7).

29. The elevated fire-fighting control system applicable to multiple fire scenarios in substations according to claim 28, characterized in that, The image monitoring unit (9a) includes a monitoring camera, a monitoring host, and a display; the monitoring host is installed in the control host of the power station, and the monitoring host is electrically connected to the monitoring camera; the display is installed in the substation management center, and the display is connected to the monitoring host via a network.

30. The elevated fire control system applicable to multiple fire scenarios in substations according to claim 28, characterized in that, The control unit (9c) includes operation buttons (90c), operating levers (91c), emergency stop buttons (92c), a first controller (93c), a second controller (94c), a first transmitter (95c), a second transmitter (96c), a first handheld transmitter (97c), a second handheld transmitter (98c), a first fire cabinet (99c), and a second fire cabinet (100c). The substation management center is equipped with operation buttons (90c), operating levers (91c), emergency stop buttons (92c), and a first controller (93c), enabling remote control based on the displayed content. The operation buttons (90c), operating levers (91c), and emergency stop buttons (92c) are electrically connected to the first controller (93c). The substation control host is equipped with a second controller (94c), a first transmitter (95c), a second transmitter (96c), and a first fire cabinet (100c). The handheld transmitter (97c), the second handheld transmitter (98c), the first fire cabinet (99c) and the second fire cabinet (100c), the first controller (93c) and the second controller (94c) are network connected, and the second controller (94c) is electrically connected to the first transmitter (95c), the second transmitter (96c), the first fire cabinet (99c) and the second fire cabinet (100c); the first fire cabinet (99c) is electrically connected to the second compressed air foam generating module (5), and the second fire cabinet (100c) is electrically connected to the third compressed air foam generating module (7); the first transmitter (95c) and the first handheld transmitter (97c) are both microwave controlled by the first receiver of the aerial spraying robot (3), and the second transmitter (96c) and the second handheld transmitter (98c) are both microwave controlled by the second receiver of the cable trench spraying robot (4).

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