Fire extinguishing system, method and control system suitable for current transformer

Abstract

The invention discloses a fire extinguishing system suitable for a current transformer, which comprises a water source supply module, a first compressed air foam generation module and a lift jet robot configured to be in a mechanical state capable of running, and the water source supply module is configured to supply water to the outside of the first compressed air foam generation module; the first compressed air foam generation module communicates with the elevating jet robot, and a jet path of the elevating jet robot forms a composite jet flow field in a three-dimensional space; the fire monitor assembly is communicated with the second compressed air foam generating module, and the third compressed air foam generating module is communicated with the spraying assembly. The device has the beneficial effects that high-pressure air foam is formed through the compressed air foam generation module, a composite jet flow field is formed through the spray pipe mechanism, oriented and efficient covering and fire suppression are achieved for a space three-dimensional fire source, and wrapping type fire extinguishing of a high-position ignition point of a visual angle blind area of personnel is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power equipment fire fighting, in particular to a fire fighting system, method and control system suitable for current transformers. BACKGROUND

[0002] As the core node of the power system, the form and technology of the substation have been constantly developing along with the evolution of power demand and technology. The voltage level has jumped from the mode of 110 / 220kV hub and 35kV terminal to the backbone network architecture of 1000kV / 500kV hub and 220 / 110kV terminal.

[0003] The equipment in the substation is complex, the cables are concentratedly distributed, and the surrounding environment is sensitive. The fire hazards and risks mainly manifest in the following aspects: first, there are many high-voltage electrical equipment in the substation, including transformers, reactors, current transformers, etc. These devices may produce electric arc, high temperature, pressure mutation, etc. when they fail, thereby causing fire; second, there are many flammable materials such as cables and wires in the substation. Once a short circuit, overload or other failure occurs, it may cause a fire; third, there are flammable substances such as transformer oil in the substation. When they encounter electric arc, high temperature, etc., they may burn and cause fire; fourth, there are a large number of personnel and buildings around the substation. Once a fire occurs, it will directly endanger the surrounding personnel and environment, and the fire fighting efficiency is not high and the safety risk of rescue personnel is large.

[0004] At present, the main fire fighting methods for substations include fire extinguishers, fire hydrants, oil-immersed transformer oil discharge and nitrogen injection fire extinguishing equipment, water spray fire extinguishing system, and conventional foam spray fire extinguishing system. Among them, the fire extinguishers, fire hydrants, and oil discharge and nitrogen injection fire extinguishing equipment have small application range, low fire extinguishing capacity, and low automation level, and can only be used for local small fires. The water spray / conventional foam spray fire extinguishing system is relatively simple to maintain, only needing to regularly check whether the spray head, pipeline, water pump and other equipment are normal. However, its shortcomings are that it requires professional pump sets and spray heads and is easily affected by the environment. In cold or severe cold areas, it is easy to freeze and cannot be used. At the same time, once the spray head is damaged, the whole pressure will be lost, causing the fire extinguishing system to fail.

[0005] The above fire extinguishing equipment or fire extinguishing system is a single fire extinguishing equipment, which cannot completely meet the fire extinguishing demand of various scenes in the substation. Possible scenes are as follows: 1. There is an oil-immersed current transformer in the substation, which is a high equipment. Once a fire occurs, the fire site can be about 10 meters away from the ground, and the current transformer generally has an oil storage tank at the top. Once a fire occurs, the upper half of the cover of the oil storage tank is easily blown off, and the coil exposed and the transformer oil wrapped around the coil stored in the lower cover form a three-dimensional fire of solid fire in the middle of the high oil pool and liquid fire on four sides. From the bottom of the current transformer, only the lower half of the oil storage tank can be seen. Generally, the fire extinguishing equipment or fixed equipment cannot quickly spray the fire extinguishing agent to the fire point position, which requires high-altitude operation equipment to spray the fire extinguishing agent from top to bottom, and needs to wrap the three-dimensional fire point. 2. In addition to the high equipment, there is also a dry reactor. The outdoor dry reactor is generally a hollow structure, and from the cross section, the combustible material is distributed in the annular zone within the outer diameter. The top is generally covered with a bird-proof cover to cover the top of the dry reactor. Once the reactor catches fire, it is difficult for the fire extinguishing agent to be sprayed to the top surface of the reactor if the bird-proof cover is not broken. 3. The fixed spray fire extinguishing equipment can only adjust the spray angle within a certain range, and the equipment in the substation generally has a complex structure, such as the concave-convex surface of the transformer in various angles and directions. In some special cases, the fixed equipment cannot directly spray the fire extinguishing agent to the fire source. 4. The existing mobile fire extinguishing equipment is an independent device, which needs to be operated by the operator on site to extinguish the fire, and the rescue personnel have a high personal risk.

[0006] The information disclosed in this BACKGROUND section is only for the purpose of increasing the understanding of the background of the present invention and should not be regarded as an acknowledgment or any form of suggestion that this information forms prior art that is publicly known. SUMMARY

[0007] The technical problem to be solved by the present application is to solve the problem of low fire extinguishing efficiency of the current transformer in the substation.

[0008] The present application solves the above technical problems by the following technical means:

[0009] The present application claims a fire extinguishing system suitable for a current transformer, comprising a water source supply module, a first compressed air foam generating module, a high-altitude spraying robot, a second compressed air foam generating module, a fire monitor assembly, a third compressed air foam generating module and a spraying assembly.

[0010] The water supply module, the first compressed air foam generating module and the elevated jetting robot are configured in a mechanical state capable of operation, the water supply module is configured to supply water externally to the first compressed air foam generating module, the first compressed air foam generating module is in communication with the elevated jetting robot, and a jetting path of the elevated jetting robot forms a composite jet field in three-dimensional space.

[0011] The fire monitor assembly and the second compressed air foam generating module are in communication with the fire monitor assembly, and the third compressed air foam generating module and the spray assembly are in communication.

[0012] Firstly, based on the mechanical state of components in the substation, the above components are divided into two categories of fire extinguishing components;

[0013] The first category is fixed components, i.e., the spray assembly, the third compressed air foam generating module, the fire monitor assembly and the second compressed air foam generating module fixed in the substation. Among them, the spray assembly and the fire monitor assembly are arranged at the equipment that needs to be protected.

[0014] The fixed components are divided into two parts based on the fire extinguishing position and the fire extinguishing height;

[0015] The first part is the fire monitor assembly arranged at the top of the fire wall of the fire station, and the second compressed air foam generating module provides compressed air foam for jetting fire extinguishing.

[0016] The second part is the spray assembly arranged in the middle of the fire wall of the fire station, and the third compressed air foam generating module provides compressed air foam for jetting fire extinguishing.

[0017] The second category is mobile components, i.e., the water supply module, the first compressed air foam generating module and the elevated jetting robot moving in the substation.

[0018] Secondly, with the help of the compressed air foam generating module, the system can quickly prepare high-pressure air foam and continuously and stably provide fire extinguishing medium for the fire extinguishing robot, so as to ensure that the robot timely carries out jetting operation with large flow and high coverage;

[0019] Then, the water supply module provides external water supply for the compressed air foam generating module, so that the compressed air foam generating module forms a continuous fire extinguishing source;

[0020] Finally, in combination with the elevated jetting robot, the jetting path of the elevated jetting robot forms a composite jet field in three-dimensional space, and the three-dimensional fire is eliminated.

[0021] Preferably, the elevated jetting robot comprises a jetting mechanism at the top, the jetting mechanism is provided with at least three nozzles, the jetting paths of the nozzles are different in inclination angle in three-dimensional space, and a composite jet field is formed.

[0022] By inclining the jet path angle of the spray port, a composite jet field is constructed in three-dimensional space, and the space stereoscopic fire source is realized directional, efficient coverage and inhibition.

[0023] Preferably, the spray mechanism comprises a spray pipe welding member, at least one first spray pipe and at least one second spray pipe;

[0024] The spray pipe welding member is provided with at least one first spray pipe at both ends, and at least one second spray pipe at the middle section, the first spray pipe and the second spray pipe are communicated with each other at one end of the spray pipe welding member, and the other end of the first spray pipe and the second spray pipe forms a spray port;

[0025] The first spray pipe is configured in axial inward inclination and radial inclination, and the second spray pipe is downwardly inclined, and the downward inclination angle of the second spray pipe is different from the radial inclination angle of the first spray pipe.

[0026] Therefore, the downward convergent jet flow formed by the first spray pipe at both ends of the spray mechanism and the upward jet flow generated by the second spray pipe at the middle section cooperate to construct a composite jet field in three-dimensional space, and realize directional, efficient coverage and inhibition of the space stereoscopic fire source.

[0027] Preferably, the downward inclination angle of the second spray pipe is α, α is the included angle between the second spray pipe axis and the horizontal line, and α satisfies the following formula;

[0028] α=arctan(h / s)×K

[0029] Wherein, h is the vertical distance of the second spray pipe from the fire section of the object to be extinguished along the Z-axis direction; s is the distance between the allowable extinguishing position of the second spray pipe and the center of the object to be extinguished; K is the downward inclination angle correction coefficient of the second spray pipe.

[0030] Further verify the downward inclination angle of the second spray pipe, combine the inclination angle with the size and position of the object to be extinguished through specific numerical formula, and obtain better extinguishing effect.

[0031] Preferably, the radial inclination angle of the first spray pipe is β, β is the included angle between the first spray pipe axis and the horizontal ruler, and β satisfies the following formula;

[0032] β=α+4°

[0033] Wherein, α is the downward inclination angle of the second spray pipe.

[0034] In fact, it is because the downward inclination angle between the first nozzle and the second nozzle is different that the coverage of the fire extinguishing area is realized in the longitudinal direction, and by combining the inclination angle with the size and position of the object to be extinguished through specific numerical formulas, a better fire extinguishing effect is obtained; further, the downward inclination angle of the second nozzle is verified, and by combining the inclination angle with the size and position of the object to be extinguished through specific numerical formulas, a better fire extinguishing effect is obtained.

[0035] Preferably, the first nozzle has an axial inward inclination angle Γ, Γ is the included angle between the first nozzle axis and the horizontal line, Γ satisfies the following formula;

[0036] Γ=arctan(L / 2s)

[0037] Wherein, L is the distance between the first nozzles; s is the distance between the second nozzle at the allowed fire extinguishing position and the center of the object to be extinguished.

[0038] Further, the axial inward inclination angle of the second nozzle is verified, and by the synergistic effect of the inclination of the three nozzles, a composite jet field is constructed in three-dimensional space, and directional and efficient coverage and suppression of the space stereoscopic fire source are realized. And by combining the inclination angle with the size and position of the object to be extinguished through specific numerical formulas, a better fire extinguishing effect is obtained.

[0039] Preferably, the height lifting spraying robot further comprises a crawler chassis mechanism, a telescopic leg mechanism and a height lifting adjusting mechanism;

[0040] The crawler chassis mechanism is provided with the telescopic leg mechanism at the bottom, the height lifting adjusting mechanism is arranged on the crawler chassis mechanism, and the spraying mechanism is arranged on the top of the height lifting adjusting mechanism.

[0041] The crawler chassis mechanism is used for adjusting the movement of the whole height lifting spraying robot and serves as a bearing platform of the height lifting adjusting mechanism; the telescopic leg mechanism is used for adjusting the stop support of the crawler chassis mechanism.

[0042] Preferably, the crawler chassis mechanism comprises a frame body, a rolling assembly, a rubber crawler belt, a second motor, a control box, a battery, a cover plate and an outer shell;

[0043] The frame body is provided with the rolling assembly on both sides of the bottom, the rolling assembly on the adjacent side is wrapped by the rubber crawler belt, the second motor, the control box and the battery are arranged in sequence on the frame body in the length direction, the battery is configured to supply power to the control box and the second motor, the control box is electrically connected with the second motor, and the driving shaft of the second motor is connected with the input end of the rolling assembly through a shaft coupling;

[0044] The cover plate is arranged on the upper middle part of the frame body and covers the second motor, the control box and the battery; the outer shell is arranged on both sides of the upper part of the frame body and covers the rubber crawler belt, and the outer shell and the cover plate are spliced.

[0045] The battery is arranged to supply power to the control box and the second motor, and the rolling assembly and the rubber track are arranged to realize the movement of the track chassis mechanism.

[0046] Preferably, the telescopic supporting leg mechanism comprises a telescopic arm frame, a movable frame, an electric push rod, a third motor, a telescopic pipe and an electric supporting leg.

[0047] The telescopic arm frame is in the shape of a "U" in the transverse section, and the longitudinal beam of the telescopic arm frame is fixed to the front of the vehicle body in the direction of movement of the track chassis mechanism.

[0048] The electric push rod is arranged on the vehicle body, and the output end of the electric push rod is parallel to the length direction of the vehicle body.

[0049] The cross beam of the telescopic arm frame is in the shape of a pipe, and the two ends of the cross beam are respectively inserted into the two ends of the movable frame.

[0050] The longitudinal beam of the movable frame is in the shape of a pipe, and the two ends of the longitudinal beam are sequentially arranged along the length direction.

[0051] The third motor is arranged in the middle of the longitudinal beam of the movable frame, and the two output ends of the third motor are connected to the lead screws.

[0052] Preferably, the height adjusting mechanism comprises a third adjusting assembly, a second adjusting assembly and a first adjusting assembly.

[0053] The height adjusting mechanism can adjust the spraying height, spraying angle and folding of the spraying mechanism through the cooperation of the first adjusting assembly, the second adjusting assembly and the third adjusting assembly.

[0054] Preferably, the third adjusting assembly comprises a pin shaft, a bearing, a first base and a laying cylinder.

[0055] The laying cylinder drives the second adjusting assembly to flip, so that the second adjusting assembly rotates around the pin shaft to realize folding.

[0056] Preferably, the second adjusting assembly comprises a lifting rod, a second fixing frame, a first motor and a mounting plate, the mounting plate is installed in the first base through a pin shaft, the first motor and the second fixing frame are arranged on the mounting plate, the bottom end of the lifting rod is arranged on the second fixing frame, the top end of the lifting rod is the output end of the lifting rod, and the first motor is configured to provide power for the lifting rod.

[0057] The lifting rod is retracted and extended to realize height adjustment by the power provided by the first motor.

[0058] Preferably, the first adjusting assembly comprises a rotating holder, a rotating joint and a first fixing frame. The output end of the lifting rod is provided with the first fixing frame, the rotating holder is arranged on the first fixing frame, and the rotating holder is connected to the spraying mechanism through the rotating joint.

[0059] The rotating holder is adjusted to rotate horizontally, and the rotating holder and the rotating joint are combined to enable the spraying mechanism to rotate horizontally relative to the first fixing frame, and the pipeline connection of the spraying mechanism is not affected.

[0060] Preferably, the first compressed air foam generating module comprises an electric chassis assembly, an upper assembly, a liquid tank assembly, a water supply assembly, a foam liquid supply assembly, a gas supply assembly and a gas-liquid mixing assembly.

[0061] The electric chassis assembly is provided with the upper assembly, the upper assembly and the electric chassis assembly jointly enclose a space, the liquid tank assembly is arranged in the space, the liquid tank assembly is provided 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, the second output end is connected to the input end of the foam liquid supply assembly, and the output ends of the water supply assembly, the foam liquid supply assembly and the gas supply assembly are connected to the input end of the gas-liquid mixing assembly.

[0062] The liquid tank assembly, the water supply assembly, the foam liquid supply assembly, the gas supply assembly and the gas-liquid mixing assembly form high-pressure air foam, and the electric chassis assembly is matched to enable the formed high-pressure air foam to move to the vicinity of the height-lifting spraying robot to provide high-pressure air foam for the height-lifting spraying robot.

[0063] Preferably, the electric chassis assembly comprises a first frame platform, a steering unit, a driving unit, a power module and a brake unit.

[0064] In the moving direction of the electric chassis assembly, the steering unit and the driving unit are sequentially arranged on the bottom of the first frame platform from front to back, the brake unit is arranged on one side of the driving unit, and the steering unit is arranged on the front side of the first frame platform; the power module is arranged on the first frame platform, and the power module is configured to supply power to the electric chassis assembly, the water supply assembly, the foam liquid supply assembly, the gas supply assembly and the control module.

[0065] The brake unit refers to a part responsible for generating braking force in a braking system, and the brake unit is welded to the bottom of the first frame platform, and the connecting rod of the brake unit is connected with the brake pull rod of the driving unit.

[0066] Preferably, the upper assembly includes a front cover, a middle cover and a tail cover, and the front cover, the middle cover and the tail cover are sequentially arranged on the electric chassis assembly in the conveying direction of the electric chassis assembly to form a space.

[0067] The space is used for protecting the liquid tank assembly.

[0068] Preferably, the liquid tank assembly includes a water tank, a water inlet, a water outlet, a first breathing valve, a foam tank, a liquid inlet, a foam outlet pipe, a second breathing valve, a first liquid level sensor, a second liquid level sensor and a liquid level digital display meter.

[0069] The water tank is provided with the water inlet and the water outlet, and the water tank is provided with the foam tank on one side, the foam tank is provided with the liquid inlet, the foam tank is communicated with the foam outlet pipe on one side, and the foam tank is provided with the second breathing valve.

[0070] The water tank is provided with the first liquid level sensor and the liquid level digital display meter, and the foam tank is provided with the second liquid level sensor, and the second liquid level sensor and the first liquid level sensor are electrically connected with the liquid level digital display meter.

[0071] The foam tank provides foam, the water tank provides water, the liquid level digital display meter is a digital instrument for displaying liquid level height, and the liquid level digital display meter is connected with the liquid level sensor to receive a liquid level signal and convert the liquid level signal into a digital form displayed on a screen.

[0072] Preferably, the water supply assembly includes a first water inlet pipe, a first electric three-way valve, a fire pump set, a water outlet pipe, a first check valve, a second water inlet pipe, a filter, a third water inlet pipe and a first fire quick connector.

[0073] One end of the first water inlet pipe is connected with the first output end, and the other end of the first water inlet pipe is connected with the first inlet end of the first electric three-way valve; one end of the water outlet pipe is connected with the outlet end of the first electric three-way valve, the fire pump set and the first check valve are sequentially arranged on the water outlet pipe in the water conveying direction, the other end of the water outlet pipe is connected with the first check valve, and the first check valve is connected with the gas-liquid mixing assembly; one end of the second water inlet pipe is connected with the second inlet end of the first electric three-way valve, the other end of the second water inlet pipe is connected with the outlet end of the filter, one end of the third water inlet pipe is connected with the inlet end of the filter, and the other end of the third water inlet pipe is connected with the first fire quick connector.

[0074] The water supply assembly has two water supply paths, one of which is to convey water in the water tank to the gas-liquid mixing assembly, specifically, the fire pump set is started, and the water in the water tank enters the gas-liquid mixing assembly through the water outlet pipe.

[0075] Another way is to supply water from outside to the gas-liquid mixing assembly. Specifically, the first fire hydrant connector can be connected with the water supply module through the water suction pipe, so that the water in the water supply module enters the gas-liquid mixing assembly through the third water inlet pipe, the second water inlet pipe and the water outlet pipe in sequence.

[0076] Preferably, the foam liquid supply assembly comprises a foam liquid pipeline, a self-suction foam liquid pump and a second one-way valve; the foam liquid outlet pipe is connected with the gas-liquid mixing assembly through the foam liquid pipeline, and along the foam liquid conveying direction, the foam liquid pipeline is sequentially provided with the self-suction foam liquid pump and the second one-way valve.

[0077] The foam in the foam liquid tank is conveyed to the gas-liquid mixing assembly through the foam liquid pipeline.

[0078] Preferably, the gas supply assembly comprises a piston air compressor, a valve block, a safety valve, a third one-way valve, a flow sensor and a gas conveying pipeline;

[0079] The piston air compressor is connected with the gas-liquid mixing assembly through the gas conveying pipeline, and along the gas conveying direction, the gas conveying pipeline is sequentially provided with the valve block, the third one-way valve and the flow sensor; the safety valve is arranged on the valve block.

[0080] The compressed air generated by the piston air compressor is regulated by the safety valve on the valve block, then measured by the flow sensor, and then safely conveyed to the gas-liquid mixing assembly through the gas conveying pipeline.

[0081] Preferably, the gas-liquid mixing assembly comprises a turbulence-free fourth water inlet pipe, a tee joint, a foam liquid inlet pipe, a mixing chamber, a high-pressure air inlet pipe, a compressed air foam liquid outlet pipe and a second fire hydrant connector.

[0082] The first one-way valve is connected with one end of the fourth water inlet pipe, the other end of the fourth water inlet pipe is connected with the tee joint, the lower interface of the tee joint is connected with the foam liquid pipeline, the left interface of the tee joint is connected with the mixing chamber, the mixing chamber is connected with the gas conveying pipeline through the high-pressure air inlet pipe, the outlet of the mixing chamber is connected with one end of the compressed air foam liquid outlet pipe, a control module is arranged on the compressed air foam liquid outlet pipe, and the other end of the compressed air foam liquid outlet pipe is connected with the second fire hydrant connector.

[0083] The gas-liquid mixing assembly is used for mixing compressed air, foam liquid and water; the water enters the tee joint through the fourth water inlet pipe, the foam liquid enters the tee joint through the foam liquid pipeline, the foam liquid and the water are mixed into the mixing chamber, the compressed air enters the mixing chamber through the gas conveying pipeline and the high-pressure air inlet pipe in sequence, and the three are mixed to form compressed air foam, which reaches the second fire hydrant connector through the compressed air foam liquid outlet pipe.

[0084] Preferably, the elevated fire fighting system suitable for multiple fire scenes in a transformer substation further comprises a water supply module, which is in communication with the first compressed air foam generating module.

[0085] The water supply module is used to supply water outside the first compressed air foam generating module.

[0086] Preferably, the water supply module comprises an electric forklift, a fire water module and a water suction pipe, the electric forklift is a forklift driven by electric energy, usually uses a battery as a source of energy to drive the water supply module to move, the water supply module is arranged on the electric forklift, and the water suction pipe is arranged on the water supply module.

[0087] When the first compressed air foam generating module needs external water supply, the electric forklift is started to move to a corresponding position, and the water suction pipe is communicated with the external water supply input end of the first compressed air foam generating module to supply water to the first compressed air foam generating module.

[0088] Preferably, the fire wall of the transformer substation is provided with a fire gun assembly at the top, and the fire gun assembly comprises a first main pipe, a first automatic exhaust valve, a first terminal water testing device, a first branch pipe, an overhauling valve, an electric butterfly valve, a water flow indicator and a second fire gun body.

[0089] Part of the first main pipe is pre-buried in the fire wall, the first main pipe has an inverted L-shaped structure in the longitudinal section, and the horizontal pipe section of the first main pipe is located at the top of the fire wall, the first automatic exhaust valve is arranged at the highest position of the first main pipe, one end of the first main pipe is connected with the output end of the second compressed air foam generating module, and the other end of the first main pipe is provided with the first terminal water testing device.

[0090] The first main pipe horizontal pipe section is provided with at least two first branch pipes, the first branch pipe has an L-shaped structure in the horizontal section, and the first branch pipe horizontal pipe section is sequentially provided with the overhauling valve, the electric butterfly valve, the water flow indicator and the second fire gun body along the high-pressure air foam conveying direction.

[0091] The electric butterfly valve is opened, and the high-pressure air foam in the output end of the second compressed air foam generating module enters the second fire gun body in sequence through the first main pipe and the first branch pipe, and the second fire gun body sprays fire extinguishing.

[0092] Preferably, the fire wall of the transformer substation is provided with a spraying assembly in the middle, and the spraying assembly comprises a second main pipe, a second branch pipe, a second automatic exhaust valve and a second terminal water testing device.

[0093] Part of the second main pipe is pre-buried in the fire wall, the second main pipe has a horizontally arranged T-shaped structure in the longitudinal section, the second automatic exhaust valve is arranged at the highest position of the second main pipe, the bottom end of the second main pipe is connected with the output end of the third compressed air foam generating module, the side end of the second main pipe is connected with the second terminal water testing device, the top end of the second main pipe is connected with the second branch pipe, the second branch pipe is located in the middle of the fire wall and is arranged in sequence along the length direction of the fire wall, and the second branch pipe is provided with one or more spray heads.

[0094] The high-pressure air foam in the third compressed air foam generation module output end enters the spray head in turn through the second main pipe and the second branch pipe, and the spray head sprays the fire extinguishing.

[0095] The application also claims a fire-fighting method for a current transformer using the fire-fighting system for a current transformer, comprising the following steps:

[0096] Confirming a fire extinguishing position;

[0097] Based on the fire extinguishing position, at least one of the height-jetting robot, the fire monitor assembly and the spray assembly is selected;

[0098] When the height-jetting robot is selected to spray fire extinguishing, the water supply module, the first compressed air foam generation module and the height-jetting robot are sequentially turned on; the first compressed air foam generation module is driven and the height-jetting robot is controlled to move to the fire extinguishing position, aiming at the fire extinguishing position, and spraying fire extinguishing;

[0099] When the fire monitor assembly is selected to spray fire extinguishing, the fire monitor assembly is controlled by the second compressed air foam generation module to spray fire extinguishing;

[0100] When the spray assembly is selected to spray fire extinguishing, the spray assembly is controlled by the third compressed air foam generation module to spray fire extinguishing.

[0101] Through the method, the height-jetting robot, the fire monitor assembly and the spray assembly in the substation can be remotely controlled to extinguish fire, and the fire safety is improved.

[0102] Preferably, confirming the fire extinguishing position and the fire extinguishing height comprises:

[0103] Monitoring cameras are arranged near each position and important equipment of the substation, and the monitoring cameras are used to shoot the fire situation of each position of the substation;

[0104] The monitoring cameras output the shooting information to a monitoring host;

[0105] The monitoring host transmits the shooting information to a display.

[0106] The shooting information is verified through the cameras and then transmitted to the display, so that the operator can check and remotely operate.

[0107] The application also claims a fire-fighting control system for a current transformer using the fire-fighting method for a current transformer, comprising:

[0108] An image monitoring unit is used to confirm the fire extinguishing position and the fire extinguishing height;

[0109] A selection unit is used to select at least one of the height-jetting robot, the fire monitor assembly and the spray assembly based on the fire extinguishing position and the fire extinguishing height;

[0110] The control unit is configured to control the high-lift spraying robot to move to a position allowing fire extinguishing, align with the position, and spray fire extinguishing when the high-lift spraying robot is selected to spray fire extinguishing.

[0111] The control unit is configured to control the fire monitor assembly to spray fire extinguishing through the second compressed air foam generating module when the fire monitor assembly is selected to spray fire extinguishing.

[0112] The control unit is configured to control the spraying assembly to spray fire extinguishing through the third compressed air foam generating module when the spraying assembly is selected to spray fire extinguishing.

[0113] The control system is configured to allow an operator to remotely control the high-lift spraying robot, the fire monitor assembly, and the spraying assembly to extinguish fire, thereby improving fire safety.

[0114] Preferably, the image monitoring unit comprises a monitoring camera, a monitoring host, and a display.

[0115] The monitoring host is arranged in the control host of the power station and electrically connected with the monitoring camera, and the display is arranged in the substation management center and connected with the monitoring host through a network.

[0116] The monitoring camera is used to capture fire conditions, and the monitoring host is used to transmit the conditions to the display, thereby facilitating remote operation by an operator.

[0117] Preferably, the control unit comprises an operation button, an operation lever, an emergency stop button, a first controller, a second controller, a first transmitter, a first handheld transmitter, a first fire-fighting cabinet, and a second fire-fighting cabinet.

[0118] The operation button, the operation lever, the emergency stop button, and the first controller are arranged in the substation management center and electrically connected with each other, and remote control is performed based on the display content.

[0119] The second controller, the first transmitter, the first handheld transmitter, the first fire-fighting cabinet, and the second fire-fighting cabinet are arranged in the control host of the substation, the first controller is connected with the second controller through a network, and the second controller is electrically connected with the first transmitter, the first fire-fighting cabinet, and the second fire-fighting cabinet.

[0120] The first fire-fighting cabinet is electrically connected with the second compressed air foam generating module, and the second fire-fighting cabinet is electrically connected with the third compressed air foam generating module.

[0121] The first transmitter and the first handheld transmitter are both microwave-controlled with the first receiver of the high-lift spraying robot.

[0122] The raising and spraying robot, the fire monitor assembly and the spraying assembly are remotely operated through an operation button, an operation lever and an emergency stop button, and manual remote operation is realized by cooperation of the first controller, the second controller, the first transmitter, the first handheld transmitter, the first fire control cabinet and the second fire control cabinet. BRIEF DESCRIPTION OF DRAWINGS

[0123] Figure 1 is a structural schematic diagram of a fire-fighting system suitable for a current transformer in embodiment one of the present application;

[0124] Figure 2 is a structural schematic diagram of a water source supply module in embodiment one of the present application;

[0125] Figure 3 is a structural schematic diagram of a compressed air foam generating module in embodiment one of the present application;

[0126] Figure 4 is a structural schematic diagram of an electric chassis assembly in embodiment one of the present application;

[0127] Figure 5 is a structural schematic diagram of a steering unit in embodiment one of the present application;

[0128] Figure 6 is a top view of the compressed air foam generating module removing the upper assembly in embodiment one of the present application;

[0129] Figure 7 is a structural schematic diagram of a liquid tank assembly in embodiment one of the present application;

[0130] Figure 8 is a structural schematic diagram of a water supply assembly in embodiment one of the present application;

[0131] Figure 9 is a structural schematic diagram of a foam liquid supply assembly in embodiment one of the present application;

[0132] Figure 10 is a structural schematic diagram of a gas supply assembly in embodiment one of the present application;

[0133] Figure 11 is a structural schematic diagram of a gas-liquid mixing assembly in embodiment one of the present application;

[0134] Figure 12 is a structural schematic diagram of the extension of a second adjusting assembly of the raising and spraying robot in embodiment one of the present application;

[0135] Figure 13 is a structural schematic diagram of the retraction of a second adjusting assembly of the raising and spraying robot in embodiment one of the present application;

[0136] Figure 14 is a structural schematic diagram of the removal of a cover plate and a shell from a track chassis mechanism in embodiment one of the present application;

[0137] Figure 15 Figure 1 is a structural schematic diagram of a track chassis mechanism in an embodiment of the present application;

[0138] Figure 16 Figure 2 is a structural schematic diagram of a height adjustment mechanism in an embodiment of the present application;

[0139] Figure 17 Figure 3 is a structural schematic diagram of a first adjustment assembly and a spraying mechanism in an embodiment of the present application;

[0140] Figure 18 Figure 4 is a structural schematic diagram of a spraying mechanism in an embodiment of the present application;

[0141] Figure 19 Figure 5 is a side view of a coordinate system established by a spraying mechanism in an embodiment of the present application;

[0142] Figure 20 Figure 6 is a top view of a coordinate system established by a spraying mechanism in an embodiment of the present application;

[0143] Figure 21 Figure 7 is a side view of a coordinate system established by a spraying mechanism in an embodiment of the present application;

[0144] Figure 22 Figure 8 is a structural schematic diagram of a breaking mechanism in an embodiment of the present application;

[0145] Figure 23 Figure 9 is a structural schematic diagram of a fire monitor assembly in an embodiment of the present application;

[0146] Figure 24 Figure 10 is a structural schematic diagram of a spraying assembly in an embodiment of the present application;

[0147] Figure 25 Figure 11 is a structural schematic diagram of a fire control system for extinguishing a fire in a substation in an embodiment of the present application;

[0148] Figure 26 Figure 12 is a structural schematic diagram of a control unit in an embodiment of the present application;

[0149] 1, water supply module; 10, electric forklift; 11, fire-fighting water module; 12, water suction pipe;

[0150] 2, first compressed air foam generating module;

[0151] 201, first frame platform;

[0152] 202, steering unit; 2020, steering bridge assembly; 2021, steering column; 2022, steering handle;

[0153] 203, driving unit; 204, power module; 205, brake unit;

[0154] 210 front cover; 211 middle cover; 212 rear cover;

[0155] 22 liquid tank assembly; 220 water tank; 221 water inlet; 222 water outlet; 223 first breathing valve; 224 foam tank; 225 liquid inlet; 226 foam outlet pipe; 227 second breathing valve; 228 first liquid level sensor; 229 second liquid level sensor;

[0156] 23 water supply assembly; 230 first water inlet pipe; 231 first electric three-way selector valve; 232 fire pump set; 233 water outlet pipe; 234 first one-way valve; 235 second water inlet pipe; 236 filter; 237 third water inlet pipe; 238 first fire hydrant;

[0157] 24 foam supply assembly; 240 foam pipe; 241 self-suction foam pump; 242 second one-way valve;

[0158] 25 air supply assembly; 250 piston air compressor; 251 valve block; 252 safety valve; 253 third one-way valve; 254 flow sensor; 255 air supply pipe;

[0159] 26 gas-liquid mixing assembly; 260 turbulence-free fourth water inlet pipe; 261 three-way joint; 262 foam liquid inlet pipe; 263 mixing chamber; 264 high-pressure air inlet pipe; 265 compressed air foam outlet pipe; 266 second fire hydrant;

[0160] 3 elevated spray robot;

[0161] 301 vehicle body; 302 rolling assembly; 303 rubber track; 304 second motor; 305 control box; 306 battery; 307 cover plate; 308 housing;

[0162] 310 telescopic arm frame; 311 movable frame; 312 electric push rod; 313 third motor; 314 telescopic pipe; 315 electric support leg;

[0163] 3201 pin shaft; 3202 bearing; 3203 first base; 3204 lodging cylinder;

[0164] 3210 lifting rod; 3211 second fixed frame; 3212 first motor; 3213 mounting plate;

[0165] 3220 rotating holder; 3221 rotating joint; 3222 first fixed frame;

[0166] 330, nozzle welding member; 331, first nozzle; 332, second nozzle;

[0167] 340, second base; 341, guide fixing cylinder; 342, guide body; 343, impact motor; 344, reamer;

[0168] 5, second compressed air foam generating module;

[0169] 6, fire monitor assembly; 60, first main pipe; 61, first automatic exhaust valve; 62, first end water testing device; 63, first branch pipe; 64, maintenance valve; 65, electric butterfly valve; 66, water flow indicator; 67, second fire monitor body;

[0170] 7, third compressed air foam generating module;

[0171] 8, spray assembly; 80, second main pipe; 81, second branch pipe; 82, second automatic exhaust valve; 83, second end water testing device;

[0172] 9a, image monitoring unit;

[0173] 9b, selection unit;

[0174] 9c, control unit; 90c, operation button; 91c, operation lever; 92c, emergency stop button; 93c, first controller; 94c, second controller; 95c, first transmitter; 97c, first handheld transmitter; 99c, first fire control cabinet; 100c, second fire control cabinet. DETAILED DESCRIPTION

[0175] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0176] Embodiment one

[0177] Referring to Figure 1 The present embodiment claims to protect a compressed air foam based fire fighting system suitable for current transformers, which is applied to fire fighting suitable for current transformers, and is targeted at complex equipment in a substation, based on fire extinguishing positions and targeted fire extinguishing.

[0178] The compressed air foam based fire fighting system suitable for current transformers comprises a water source supply module 1, a first compressed air foam generating module 2, a high-altitude jetting robot 3, a second compressed air foam generating module 5 Figure 1a fire monitor assembly 6, a third compressed air foam generating module 7 Figure 1 and a sprinkler assembly 8.

[0179] The above components are divided into two categories of fire extinguishing components based on their mechanical state in the substation;

[0180] The first category is fixed components, i.e. the sprinkler assembly 8, the third compressed air foam generating module 7, the fire monitor assembly 6 and the second compressed air foam generating module 5, which are fixed in the substation. Among them, the sprinkler assembly 8 and the fire monitor assembly 6 are arranged at the equipment that needs to be protected.

[0181] The fixed components are divided into two parts based on different fire extinguishing positions;

[0182] The first part is the fire monitor assembly 6, which is arranged at the top of the fire station firewall and provides compressed air foam for spraying fire extinguishing by the second compressed air foam generating module 5.

[0183] The second part is the sprinkler assembly 8, which is arranged in the middle of the fire station firewall and provides compressed air foam for spraying fire extinguishing by the third compressed air foam generating module 7.

[0184] The second category is mobile components, i.e. the water supply module 1, the first compressed air foam generating module 2 and the elevated spraying robot 3, which move in the substation.

[0185] The mobile components are divided into two types based on different fire extinguishing positions;

[0186] The first type is the elevated spraying robot 3, which performs high-position fire extinguishing. The elevated spraying robot 3 provides compressed air foam for spraying fire extinguishing by the first compressed air foam generating module 2.

[0187] The water supply module 1 provides external water supply for the first compressed air foam generating module 2 to prevent insufficient water supply of the first compressed air foam generating module 2 itself.

[0188] Referring to Figure 2 , the water supply module 1 includes an electric forklift 10, a fire water module 11 and a water suction pipe 12. The electric forklift 10 is a forklift driven by electric energy, usually using a battery as a source of energy, for driving the water supply module 1 to move. The water supply module 1 is arranged on the electric forklift 10, and the water suction pipe 12 is arranged on the water supply module 1. The water suction pipe 12 is a pipe tool for sucking or transporting liquid.

[0189] The water supply module 1 for providing external water supply for the first compressed air foam generating module 2 is as follows:

[0190] When the first compressed air foam generating module 2 needs external water supply, the electric forklift 10 is started to move to the corresponding position, and the suction pipe 12 is communicated with the external water supply input end of the first compressed air foam generating module 2 to supply water for the first compressed air foam generating module 2.

[0191] Referring to Figures 3-11 , the first compressed air foam generating module 2 is used for generating compressed air foam, specifically, the first compressed air foam generating module 2 comprises an electric chassis assembly, an upper assembly, a liquid tank assembly 22, a water supply assembly 23, a foam liquid supply assembly 24, a gas supply assembly 25 and a gas-liquid mixing assembly 26.

[0192] The electric chassis assembly is provided with the upper assembly, and the upper assembly and the electric chassis assembly jointly enclose a space, a left side of the space is provided with the liquid tank assembly 22, the liquid tank assembly 22 is installed on the electric chassis assembly by riveting, and a control module, the foam liquid supply assembly 24, the gas-liquid mixing assembly 26, the water supply assembly 23 and the gas supply assembly 25 are sequentially arranged around the liquid tank assembly 22. Among them, the upper assembly, the water supply assembly 23, the foam liquid supply assembly 24, the gas supply assembly 25 and the control module are installed on the electric chassis assembly by bolts, and the gas-liquid mixing assembly 26 is fixed on the electric chassis assembly by a pipe clamp.

[0193] The electric chassis assembly is used for driving the first compressed air foam generating module 2 to move. Specifically, the electric chassis assembly comprises a first frame platform 201, a steering unit 202, a driving unit 203, a power module 204 and a brake unit 205.

[0194] The first frame platform 201 is used as the main structure of the electric chassis assembly, and is used for installing other components. Along the moving direction of the electric chassis assembly, the first frame platform 201 is sequentially provided with the steering unit 202 and the driving unit 203 at the bottom from front to back by bolts.

[0195] The driving unit 203 refers to the arrangement of the vehicle engine, and the number and position of the vehicle driving wheels, which are prior art and will not be described in detail.

[0196] The first frame platform 201 is provided with a steering unit 202 on the front side. The steering unit 202 refers to a special mechanism on the automobile for changing the driving direction of the automobile. Specifically, the steering unit 202 includes a steering bridge assembly 2020, a steering column 2021 and a steering handle 2022; the first frame platform 201 is connected to the steering bridge assembly 2020 at the bottom by bolts. The steering bridge assembly 2020 is a vehicle axle composed of four parts, i.e. front axle, kingpin, steering knuckle and wheel hub, which undertakes the task of steering. It is prior art and will not be described in detail. The input end of the steering bridge assembly 2020 is connected to the bottom end of the steering column 2021, and the top end of the steering column 2021 is connected to the steering handle 2022 by bolts. In use, the steering handle 2022 is driven to make the steering column 2021 drive the steering bridge assembly 2020 to steer, so as to finally realize the steering of the first frame platform 201. It is prior art and will not be described in detail.

[0197] The first frame platform 201 is provided with a power module 204. The power module 204 is an independent power conversion device for supplying power to the entire electric chassis assembly, water supply assembly 23, foam liquid supply assembly 24, gas supply assembly 25 and control module.

[0198] The brake unit 205 refers to the part of the braking system responsible for generating braking force. The brake unit 205 is welded to the bottom of the first frame platform 201. The connecting rod of the brake unit 205 is connected to the brake pull rod of the driving unit 203. It is prior art and will not be described in detail.

[0199] The electric chassis assembly is used to drive the first compressed air foam generating module 2 to move. Under the power supply of the power module 204, the electric chassis assembly drives the wheels by the driving unit 203 to move the first frame platform 201. The steering control is realized by driving the steering handle 2022 to drive the steering bridge assembly 2020 through the steering column 2021, and the braking is realized by connecting the brake unit 205 to the brake pull rod of the driving unit 203 through the connecting rod. Thus, the first compressed air foam generating module 2 is driven to move. It is prior art and will not be described in detail.

[0200] The upper assembly includes a front cover 210, a middle cover 211 and a tail cover 212. The electric chassis assembly is sequentially covered by the front cover 210, the middle cover 211 and the tail cover 212 through bolts. The front cover 210, the middle cover 211, the tail cover 212 and the electric chassis assembly together enclose a space.

[0201] 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 breathing valve 223, a foam liquid tank 224, a liquid inlet 225, a foam liquid outlet pipe 226, a second breathing valve 227, a first liquid level sensor 228, a second liquid level sensor 229 and a liquid level digital display table.

[0202] The water tank 220 is used for storing water, and a water inlet 221 is arranged on the water tank 220, and a water outlet 222 is arranged on the right side of the water tank 220. In order to ensure the stability of the water storage of the water tank 220, a first breathing valve 223 is arranged on the water tank 220.

[0203] A foam tank 224 is welded on the rear side of the water tank 220, and the foam tank 224 is used for storing foam liquid. A liquid inlet 225 is arranged on the foam tank 224, and a foam liquid outlet pipe 226 is arranged on the right side of the foam tank 224. In order to ensure the stability of the foam liquid storage of the foam tank 224, a second breathing valve 227 is arranged on the foam tank 224.

[0204] The breathing valve is a valve that can communicate with the atmosphere when the pressure exceeds or is lower than the range, and can ensure that the tank space is isolated from the atmosphere within a certain pressure range. It is prior art and will not be described again.

[0205] Further, in order to verify the liquid level of the water tank 220 and the foam tank 224, the first liquid level sensor 228 and the liquid level digital display table are arranged on the water tank 220, and the second liquid level sensor 229 is arranged on the foam tank 224. The liquid level sensor is a device for measuring the liquid level. After measurement, the liquid level is displayed by the liquid level digital display table. Specifically, the liquid level digital display table is a digital instrument for displaying the liquid level. The liquid level digital display table is connected with the liquid level sensor, receives the liquid level signal, and converts it into a digital form displayed on the screen. It is prior art and will not be described again.

[0206] The water supply assembly 23 supplies water from the water tank 220 or the water source to the water delivery module 1 to the gas-liquid mixing assembly 26. Specifically, the water supply assembly 23 includes a first water inlet pipe 230, a first electric three-way selector valve 231, a fire pump set 232, a water outlet pipe 233, a first check valve 234, a second water inlet pipe 235, a filter 236, a third water inlet pipe 237, and a first fire quick connector 238. The water outlet 222 is connected to one end of the first water inlet pipe 230, and the other end of the first water 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 for controlling the opening and closing state of the valve through an electric actuator. There are three ports in total.

[0207] 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 fire pump set 232 and the first check valve 234 are arranged on the water outlet pipe 233 in sequence. 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, and the first check valve 234 is connected with the gas-liquid mixing assembly 26.

[0208] The second inlet end of the first electrically-operated 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, one end of the third water inlet pipe 237 is connected to the inlet end of the filter 236, and the other end of the third water inlet pipe 237 is connected to the first fire-fighting quick connector 238.

[0209] The water supply assembly 23 has two ways to supply water. One way is to deliver the water in the water tank 220 to the gas-liquid mixing assembly 26, specifically, the fire-fighting pump set 232 is started, and the water in the water tank 220 enters the gas-liquid mixing assembly 26 through the water outlet pipe 233.

[0210] The other way is to deliver the external water supply to the gas-liquid mixing assembly 26, specifically, the first fire-fighting quick connector 238 can be connected to the water source supply module 1 through the water suction pipe 12, so that the water in the water source supply module 1 enters the gas-liquid mixing assembly 26 through the third water inlet pipe 237, the second water inlet pipe 235, and the water outlet pipe 233 in sequence.

[0211] The foam liquid supply assembly 24 is used to deliver the foam liquid 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-suction foam liquid pump 241, and a second one-way 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 delivery direction, the foam liquid pipeline 240 is sequentially provided with the self-suction foam liquid pump 241 and the second one-way valve 242.

[0212] The gas supply assembly 25 is used to deliver compressed air to the gas-liquid mixing assembly 26, specifically, the gas supply assembly 25 includes a piston air compressor 250, a valve block 251, a safety valve 252, a third one-way valve 253, a flow sensor 254, and a gas delivery pipeline 255, the piston air compressor 250 is connected to the gas-liquid mixing assembly 26 through the gas delivery pipeline 255, and along the gas delivery direction, the gas delivery pipeline 255 is sequentially provided with the valve block 251, the third one-way valve 253, and the flow sensor 254, the flow sensor 254 is a device for measuring the flow speed, volume, or mass of fluid, and is used to measure the movement speed, volume, or mass of gas in the gas delivery pipeline 255.

[0213] The safety valve 252 is arranged on the valve block 251, and the safety valve 252 is a safety protection valve that is automatically opened and closed according to the working pressure of the pressure system, and is generally installed on the equipment or pipeline of the closed system to protect the safety of the system, and is used to protect the safety of the gas delivery pipeline 255.

[0214] The air supply assembly 25 is used for inputting compressed air to the gas-liquid mixing assembly 26. The compressed air generated by the piston air compressor 250 is regulated by the safety valve 252 on the valve block 251, metered by the flow sensor 254, and then safely delivered to the gas-liquid mixing assembly 26 by the air delivery pipeline 255.

[0215] The gas-liquid mixing assembly 26 is used for mixing compressed air, foam liquid and water. Specifically, the gas-liquid mixing assembly 26 includes a turbulence-free fourth water inlet pipe 260, a tee joint 261, a foam liquid inlet pipe 262, a mixing chamber 263, a high-pressure air inlet pipe 264, a compressed air foam liquid outlet pipe 265, and a second fire hose connector 266. The 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 joint 261. The lower interface of the tee joint 261 is connected to the foam liquid pipeline 240, and the left interface of the tee joint 261 is connected to the mixing chamber 263. The mixing chamber 263 is connected to the air delivery 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 liquid outlet pipe 265. A control module is arranged on the compressed air foam liquid outlet pipe 265. The control module is a key device for accurately adjusting the flow, pressure and flow direction of liquid, and is widely used in industrial automation, laboratory equipment, water treatment and other fields. It is prior art and will not be described here. The other end of the compressed air foam liquid outlet pipe 265 is connected to the second fire hose connector 266.

[0216] The gas-liquid mixing assembly 26 is used for mixing compressed air, foam liquid and water. Specifically, the gas-liquid mixing assembly 26 includes a turbulence-free fourth water inlet pipe 260, a tee joint 261, a foam liquid inlet pipe 262, a mixing chamber 263, a high-pressure air inlet pipe 264, a compressed air foam liquid outlet pipe 265, and a second fire hose connector 266. The 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 joint 261. The lower interface of the tee joint 261 is connected to the foam liquid pipeline 240, and the left interface of the tee joint 261 is connected to the mixing chamber 263. The mixing chamber 263 is connected to the air delivery 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 liquid outlet pipe 265. A control module is arranged on the compressed air foam liquid outlet pipe 265. The control module is a key device for accurately adjusting the flow, pressure and flow direction of liquid, and is widely used in industrial automation, laboratory equipment, water treatment and other fields. It is prior art and will not be described here. The other end of the compressed air foam liquid outlet pipe 265 is connected to the second fire hose connector 266.

[0217] It is worth mentioning that the first fire hose connector 238 is connected to the water suction pipe 12, so that the water source supply module 1 and the first compressed air foam generation module 2 are in communication.

[0218] The first compressed air foam generation module 2 is used for generating compressed air foam, and the process is as follows:

[0219] First, the water supply assembly 23 delivers the water in the water tank 220 to the gas-liquid mixing assembly 26. Specifically, the fire pump set 232 is started, and the water in the water tank 220 enters the gas-liquid mixing assembly 26 through the water outlet pipe 233.

[0220] Secondly, the foam liquid assembly 24 transports the foam liquid in the foam liquid tank 224 to the gas-liquid mixing assembly 26; specifically, the self-suction foam liquid pump 241 is started, the foam liquid in the foam liquid tank 224 flows out through the foam liquid outlet pipe 226, and enters the gas-liquid mixing assembly 26 through the foam liquid pipe 240.

[0221] Then, the air supply assembly 25 transports 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, then metered by the flow sensor 254, and then safely transported to the gas-liquid mixing assembly 26 by the air conveying pipe 255.

[0222] Finally, the gas-liquid mixing assembly 26 mixes to form compressed air foam.

[0223] Referring to Figures 12-18 The height lifting spraying robot 3 is used for high position spraying fire extinguishing, and comprises a crawler chassis mechanism, a telescopic leg mechanism, a height lifting adjusting mechanism and a spraying mechanism. The telescopic leg mechanism is arranged at four corners of the bottom of the crawler chassis mechanism, the height lifting adjusting mechanism is arranged on the crawler chassis mechanism, and the spraying mechanism is arranged at the top of the height lifting adjusting mechanism.

[0224] The crawler chassis mechanism is used for adjusting the movement of the whole height lifting spraying robot 3, and is a bearing platform of the height lifting adjusting mechanism and the spraying mechanism. Specifically, the crawler chassis mechanism comprises a frame body 301, a rolling assembly 302, a rubber crawler 303, a second motor 304, a control box 305, a battery 306, a cover plate 307 and an outer shell 308.

[0225] The frame body 301 serves as the main structure of the crawler chassis mechanism, and is used for fixedly mounting other parts. The frame body 301 is provided with the rolling assembly 302 on both sides of the bottom, and the rolling assembly 302 on the adjacent side is wrapped by the rubber crawler 303.

[0226] The second motor 304, the control box 305 and the battery 306 are arranged in sequence on the frame body 301 in the length direction. The battery 306 provides power for the crawler chassis mechanism. Specifically, the battery 306 is electrically connected with the control box 305, the control box 305 is electrically connected with the second motor 304, and the driving shaft of the second motor 304 is connected with the input end of the rolling assembly 302 through a shaft coupling.

[0227] In use, the battery 306 outputs high-voltage direct current 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.

[0228] The core PLC of the control box 305 receives the motion instructions such as speed or direction from the upper computer, and outputs signals to the second motor 304, which is a prior art 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 shaft coupling. The rolling assembly 302 rotates to drive the rubber track 303 to move in a ring shape.

[0229] Further, the safety and protection of the track chassis mechanism are considered. Preferably, a cover plate 307 is arranged above the middle of the frame body 301, covering the second motor 304, the control box 305 and the battery 306, for waterproof sealing. The cover plate 307 is provided with a height adjustment mechanism.

[0230] The outer shell 308 is arranged on the top of the frame body 301 on both sides to protect the rubber track 303. The outer shell 308 is spliced with the cover plate 307 to achieve protection of the entire track chassis mechanism.

[0231] The telescopic leg mechanism is used to adjust and support the stop of the track chassis mechanism. Specifically, the telescopic leg mechanism includes a telescopic arm frame 310, a movable frame 311, an electric push rod 312, a third motor 313, a telescopic pipe 314 and an electric leg 315. The telescopic arm frame 310 has a "U" shaped cross section and is fixed to the periphery of the frame body 301. Specifically, along the moving direction of the track chassis mechanism, the longitudinal beam of the telescopic arm frame 310 is fixed to the front of the frame body 301, and the longitudinal beam of the telescopic arm frame 310 extends along the length direction.

[0232] The cross beams of the telescopic arm frame 310 on both sides of the longitudinal beam extend along the outer contour of the frame body 301 and are fixed to the sides of the frame body 301. The electric push rod 312 is arranged on the frame body 301 and has a linear driving structure driven by an electric motor to realize telescopic movement. The output end of the electric push rod 312 is parallel to the length direction of the frame body 301.

[0233] The cross beam of the telescopic arm frame 310 has a square tube structure, and the two ends of the movable frame 311 are respectively inserted into the cross beam of the telescopic arm frame 310. The movable frame 311 has a U-shaped structure, the cross beam of the movable frame 311 is inserted into the cross beam of the telescopic arm frame 310, and the longitudinal beam of the movable frame 311 is connected to the output end of the electric push rod 312.

[0234] The longitudinal beam of the movable frame 311 has a square tube structure, and the longitudinal beam of the movable frame 311 extends along the length direction. The third motor 313 is arranged in the middle of the longitudinal beam of the movable frame 311. The third motor 313 is a double-head motor, which is a motor with two rotors and can provide double rotation. The output ends of the double-head motor are connected to the lead screws, the lead screws are engaged with the lead screw nuts, and the lead screw nuts are connected to the ends of the telescopic pipes 314 inserted into the longitudinal beam of the movable frame 311.

[0235] The electric legs 315 are arranged at both ends of the longitudinal beams of the movable frame 311 and the telescopic arm frame 310, and are devices mounted on a semitrailer, an engineering vehicle or the like, and play a supporting role when the semitrailer is separated or the engineering vehicle is used, which is prior art and will not be described herein.

[0236] The height adjusting mechanism is used for adjusting the spraying height of the spraying mechanism, and is used for extinguishing a fire in a high-altitude fire area. The height adjusting mechanism comprises a third adjusting assembly, a second adjusting assembly, a first adjusting assembly and the spraying mechanism. The third adjusting assembly is arranged on the cover plate 307, and the third adjusting assembly, the second adjusting assembly, the first adjusting assembly and the spraying mechanism are sequentially connected from bottom to top.

[0237] The third adjusting assembly is mainly used for adjusting the overturning of the entire height adjusting mechanism. Specifically, the third adjusting assembly comprises a pin shaft 3201, a bearing 3202, a first base 3203 and a laying electric cylinder 3204. The first base 3203 is arranged on the cover plate 307, the first base 3203 is connected to the second adjusting assembly through the pin shaft 3201, and the second adjusting assembly is driven to overturn by the laying electric cylinder 3204.

[0238] The laying electric cylinder 3204 refers to a hinged electric push rod. Its working principle is that the linear extension and retraction and hinge rotation compound motion of the push rod are realized through electric driving, so that the load completes the laying action from standing to lying, which is prior art and will not be described herein.

[0239] Specifically, the first base 3203 is in a U-shaped structure. The second adjusting assembly is arranged in the first base 3203 and connected to each other through the pin shaft 3201. The bearing 3202 is arranged between the pin shaft 3201 and the first base 3203. The laying electric cylinder 3204 is arranged on the first base 3203, and the output end of the laying electric cylinder 3204 is connected to the second adjusting assembly.

[0240] In use, the second adjusting assembly is laid by starting the laying electric cylinder 3204, so as to realize the folding and unfolding of the height adjusting mechanism.

[0241] The second adjusting assembly is used for adjusting the height of the spraying mechanism. Specifically, the second adjusting assembly comprises 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 through the pin shaft 3201. The first motor 3212 and the second fixing frame 3211 are arranged on the mounting plate 3213. The lifting rod 3210 is arranged at the bottom end of 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 for the lifting rod 3210.

[0242] The lifting rod 3210 is preferably a multi-stage telescopic column, which works by providing power to a steel wire rope traction system through a first motor 3212, and the steel wire rope traction system drives the multi-stage rectangular tube nested telescopic, and finally realizes lifting, which is prior art and will not be described here.

[0243] The first adjusting assembly is used to adjust the rotation of the injection mechanism in the horizontal direction. Specifically, the first adjusting assembly includes a rotating holder 3220, a rotating joint 3221, and a first fixing frame 3222. The first fixing frame 3222 is arranged at the output end of the lifting rod 3210, the rotating holder 3220 is arranged on the first fixing frame 3222, and the rotating holder 3220 is connected to the injection mechanism through the rotating joint 3221. The first fixing frame 3222 has an inverted “U” shape, which provides sufficient space for the rotating joint 3221.

[0244] The rotating holder 3220 is a mechanical structure for adjusting the angle of an object, which can carry the object to rotate in the horizontal direction, which is prior art and will not be described here. The rotating joint 3221 is a pipe connecting device, and the connected pipes can rotate relative to each other, which is prior art and will not be described here. Therefore, the combination of the rotating holder 3220 and the rotating joint 3221 can realize the rotation of the injection mechanism relative to the first fixing frame 3222 in the horizontal direction, and the pipe connection of the injection mechanism is not affected.

[0245] The injection mechanism includes a nozzle welding member 330, a first nozzle 331, and a second nozzle 332. Specifically, the nozzle welding member 330 has a longitudinal section in the shape of a “T” pipe, the longitudinal pipe section of the nozzle welding member 330 is connected to the rotating holder 3220 through the rotating joint 3221, the horizontal pipe section of the nozzle welding member 330 is sealed at both ends, and a row of nozzles is arranged on the horizontal pipe section of the nozzle welding member 330. The nozzles are connected to each other and the nozzle welding member 330, and there are three nozzles, which are the first nozzle 331 located at both ends of the horizontal pipe section of the nozzle welding member 330 and the second nozzle 332 located in the middle of the horizontal pipe section of the nozzle welding member 330.

[0246] The longitudinal pipe section of the nozzle welding member 330 refers to the part of the pipe with a vertical axis, and the horizontal pipe section of the nozzle welding member 330 refers to the part of the pipe with a horizontal axis. In actual use, the nozzles are not limited to being arranged in one row, but can also be arranged in two or more rows, which can be designed according to actual conditions.

[0247] Similarly, the number of nozzles is not limited to three, but at least two nozzles should be distributed at both ends of the horizontal pipe section of the nozzle welding member 330, and at least one second nozzle 332 should be located in the middle of the horizontal pipe section of the nozzle welding member 330.

[0248] The two first nozzles 331 are arranged in axial inward inclination and radial inclination, and the second nozzle 332 is downwardly inclined at an angle different from the radial inclination angle, and the three jet beams intersect in space to form a highly concentrated three-dimensional convergent jet flow field.

[0249] The axial inward inclination and radial inclination arrangement means that the two first nozzle outlets 331 are inclined downwardly away from the horizontal section of the nozzle welding member 330.

[0250] In addition, in actual use, the radial inclination angle can be greater than the downward inclination angle, or the radial inclination angle can be smaller than the downward inclination angle, as long as the two angles are different. In the preferred embodiment, the downward inclination angle is smaller than the radial inclination angle.

[0251] Therefore, the jet mechanism claimed in the embodiment forms a downward convergent jet flow through the first nozzles 331 at both ends, and cooperates with the upward jet flow generated by the second nozzle 332 in the middle to construct a composite jet flow field in three-dimensional space, thereby achieving directional and efficient coverage and suppression of the space stereoscopic fire.

[0252] The upward jet flow refers to the upward jet flow from the second nozzle 332 relative to the jet flow from the first nozzle 331, and is not intended to refer to the direction of the jet flow. In essence, the jet flows from the second nozzle 332 and the first nozzle 331 are both downward jet flows.

[0253] Referring to Figures 19-21 , further, a three-dimensional coordinate system is established with the horizontal section of the nozzle welding member 330 as the X-axis, a horizontal line perpendicular to the X-axis as the Y-axis, the longitudinal axis of the nozzle welding member 330 as the Z-axis, and the intersection of the lines as the origin O.

[0254] Specifically, the downward inclination angle of the second nozzle 332 is α, which is the included angle between the axis of the second nozzle 332 and the Y-axis, and α satisfies the following formula:

[0255] α = arctan (h / s) × K

[0256] Where h is the vertical distance of the second nozzle 332 from the fire section of the object to be extinguished along the Z-axis direction; s is the distance between the allowable extinguishing position of the second nozzle 332 and the center of the object to be extinguished; and K is the downward inclination angle correction coefficient of the second nozzle 332.

[0257] The downward inclination angle correction coefficient K of the second nozzle 332 is corrected according to the size of the object to be extinguished and the vertical distance h of the second nozzle 332 from the fire section of the object to be extinguished along the Z-axis direction, and K is preferably 0.85-0.95.

[0258] The first spray pipe 331 is downwardly inclined at an angle β, β is the included angle between the axis of the first spray pipe 331 and the Y axis, and β satisfies the following formula:

[0259] β = a + 4°

[0260] Wherein, a is the downward inclination angle of the second spray pipe 332.

[0261] The first spray pipe 331 is inwardly inclined at an angle Γ, Γ is the included angle between the axis of the first spray pipe 331 and the X axis, and Γ satisfies the following formula:

[0262] Gamma = arctan (L / 2s)

[0263] Wherein, L is the distance between the first spray pipe 331; s is the distance between the second spray pipe 332 and the center of the object to be extinguished at the allowable extinguishing position.

[0264] Referring to Figure 22 In some embodiments, in order to accurately align the extinguishing position, a demolition mechanism is preferably provided on the first fixed frame 3222 for removing other components blocking the ignition section of the object to be extinguished, wherein the demolition mechanism comprises a second base 340, a guide fixed cylinder 341, a guide body 342, an impact motor 343 and a hole opener 344.

[0265] The second base 340 is bolted on the first fixed frame 3222, the second base 340 connects the guide fixed cylinder 341, the axis of the guide fixed cylinder 341 is horizontal and located on the same side of the spray pipe, the guide body 342 is coaxially slid in the guide fixed cylinder 341, the impact motor 343 is provided on the suspended end or side of the guide body 342, and the rotating shaft of the impact motor 343 is connected with the hole opener 344.

[0266] The process of the demolition mechanism for removing the shielding object is as follows:

[0267] The second base 340 provides a stable foundation for the entire demolition mechanism, the guide fixed cylinder 341 and the guide body 342 are in sliding fit, which can ensure that the guide body 342 can move stably and controllably in a straight line along the axis of the fixed cylinder, and also serves as a support platform for the impact motor 343 and the hole opener 344.

[0268] Wherein, the impact motor 343 is a mechanical impact caused by external factors or internal factors during startup, stop or operation of the motor, which is a prior art and will not be described in detail. Therefore, when demolition is needed, the impact motor 343 is started to drive the hole opener 344 to rotate at high speed and generate high-frequency and high-energy impact along the rotation axis direction, thereby damaging the shielding object.

[0269] It is worth mentioning that the second fire quick connector 266 is connected through the rotary joint 3221, so that the high-altitude jet robot 3 is in communication with the first compressed air foam generating module 2.

[0270] The high-altitude jet robot 3 is used for high-altitude fire extinguishing and retraction, and the process is as follows:

[0271] First, the crawler chassis mechanism is driven to move to a position near the on-fire current transformer that allows fire extinguishing; specifically, the battery 306 outputs high-voltage direct current to the control box 305, 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 shaft coupling, and the rolling assembly 302 rotates to drive the rubber crawler 303 to move in a ring shape to the position, which is prior art and will not be described again.

[0272] Second, the telescopic leg mechanism is started to stop supporting the high-altitude jet robot 3; specifically, the electric push rod 312 is started to move the crossbeam of the movable frame 311 in the crossbeam of the telescopic arm frame 310 along the length direction of the vehicle frame, at this time, the movable frame 311 is unfolded relative to the telescopic arm frame 310; the double-head motor is started to rotate the lead screw, which drives the lead screw nut to mesh with the lead screw, so that the telescopic pipe 314 is extended out of the longitudinal beam of the movable frame 311; the electric leg 315 is started to support on the bottom surface.

[0273] Then, the high-altitude adjustment mechanism is adjusted; specifically including the following stages:

[0274] Stage one, adjust the second adjustment assembly, which is used to adjust the height of the fire extinguishing jet mechanism suitable for the current transformer, specifically, start the first motor 3212 to drive the lifting rod 3210 to extend along the height direction to achieve the lifting.

[0275] Stage two, adjust the first adjustment assembly, which is used to adjust the horizontal rotation of the fire extinguishing jet mechanism suitable for the current transformer, specifically, adjust the rotating holder 3220 to make the fire extinguishing jet mechanism suitable for the current transformer rotate relative to the first fixed frame 3222 along the horizontal direction.

[0276] Stage three, after the fire extinguishing is completed, the second adjustment assembly is adjusted in reverse to make the second adjustment assembly retract; then the third adjustment assembly is adjusted; specifically, the inverted electric cylinder 3204 is started to make the mounting plate 3213 flip relative to the first base 3203 to achieve the retraction of the high-altitude adjustment mechanism.

[0277] The second compressed air foam generating module 5 is used to provide compressed air foam for the fire monitor assembly 6, and the second compressed air foam generating module 5 is preferably a fixed compressed air foam extinguishing system, which is a new type of foam extinguishing system based on a positive pressure foam generating method.

[0278] The fixed compressed air foam fire extinguishing system is used for generating compressed air foam in the following process:

[0279] High-pressure air foam is generated in the front-end host part, and the output end outputs high-pressure air foam; it is prior art and will not be described again.

[0280] Referring to Figure 23 , the fire monitor assembly 6 includes a first main pipe 60, a first automatic exhaust valve 61, a first end water test device 62, a first branch pipe 63, an overhaul valve 64, an electric butterfly valve 65, a water flow indicator 66, and a second fire monitor body 67.

[0281] Part of the first main pipe 60 is embedded in the firewall, the first main pipe 60 has an inverted L-shaped structure in the longitudinal section, and the horizontal pipe section of the first main pipe 60 is located at the top of the firewall. The first automatic exhaust valve 61 is arranged at the highest position of the first main pipe 60, one end of the first main pipe 60 is connected with the output end of the second compressed air foam generating module 5, and the other end of the first main pipe 60 is provided with the first end water test device 62. The first end water test device 62 is used to test whether the pressure flow at the most unfavorable point meets the requirements when the pipeline is filled with high-pressure air foam, check whether the equipment and pipeline have leakage, failure, etc. It is prior art and will not be described again.

[0282] The first main pipe 60 horizontal pipe section is provided with two first branch pipes 63, the first branch pipe 63 has an L-shaped structure in the horizontal section, along the high-pressure air foam conveying direction, the horizontal pipe section of the first branch pipe 63 is sequentially provided with the overhaul valve 64, the electric butterfly valve 65, the water flow indicator 66, and the second fire monitor body 67. Among them, the overhaul valve 64 is a valve used to cut off the fluid flow during equipment maintenance or pipeline overhaul, which is used to close the pipeline during the overhaul of the second fire monitor body 67. It is prior art and will not be described again.

[0283] The electric butterfly valve 65 is a valve that rotates the valve rod by an electric actuator to open, close and adjust the fluid passage by using a circular butterfly plate as a closing member, which is used to realize the on-off of the second fire monitor body 67; the water flow indicator 66 is used to prompt and check whether the pipeline connection is correct.

[0284] The second fire monitor body 67 is a special fire-fighting equipment for fire fighting, which is composed of a cannon body, a jet device, a control system, etc., and has the characteristics of large flow and long range. When used, the second fire monitor body 67 can adjust the jet angle. It is prior art and will not be described again.

[0285] The fire monitor assembly 6 is used for jetting fire extinguishing in the following process:

[0286] The electric butterfly valve 65 is opened, and the high-pressure 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 fire extinguishing.

[0287] The third compressed air foam generating module 7 is used to provide high-pressure air foam for the spray assembly 8, preferably a fixed compressed air foam extinguishing system, which is described in the second compressed air foam generating module 5 and will not be repeated here.

[0288] Referring to Figure 24 , the spray assembly 8 includes a second main pipe 80, a second branch pipe 81, a second automatic exhaust valve 82, and a second terminal water testing device 83. Part of the second main pipe 80 is embedded in the fireproof wall, the longitudinal cross-section of the second main pipe 80 is in a transversely arranged "T" shape structure, the second automatic exhaust valve 82 is arranged 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 terminal water testing 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 fireproof wall and is arranged along the length direction of the fireproof wall, and the second branch pipe 81 is provided with one or more spray heads, preferably adjustable angle spray heads, such as industrial spray heads.

[0289] The process of the spray assembly 8 for spraying fire extinguishing is as follows:

[0290] The high-pressure air foam in the output end of the third compressed air foam generating module 7 enters the spray head in sequence through the second main pipe 80 and the second branch pipe 81, and the spray head sprays fire extinguishing.

[0291] Embodiment two

[0292] Referring again to Figures 19-21 , this embodiment is based on the first embodiment and provides the application of the height-raising spraying robot 3 for extinguishing the current transformer, specifically, the spraying mechanism parameter setting.

[0293] Taking the coil diameter of the current transformer as an example, the vertical distance of the second spray pipe 332 from the fireproof section of the current transformer along the Z-axis direction is 0.39 m; the distance between the second spray pipe 332 and the center of the current transformer at the allowed fire extinguishing position is 2.5 m. Therefore, the downward inclination angle a of the second spray pipe 332 is preferably 9°, and the downward inclination angle β of the first spray pipe 331 is preferably 13°.

[0294] The distance between the first spray pipes 331 is selected to be 0.7 m, and the axial inward inclination angle Γ of the first spray pipe 331 is 8°.

[0295] The height-raising spraying robot 3 can quickly move to the allowed fire extinguishing position near the on-fire current transformer. In view of the characteristics that the existing current transformers generally have a high height, the height of the spraying mechanism is quickly adjusted by the second adjusting assembly to adapt to the target position; at the same time, the rotation of the spraying mechanism in the horizontal direction is adjusted by the first adjusting assembly, which significantly improves the overall applicability and deployment convenience of the robot.

[0296] The first spray pipe 331 forms a downward convergent jet flow, which cooperates with the upward jet flow generated by the second spray pipe 332 to construct a composite jet flow field in three-dimensional space. The composite jet flow field can achieve directional, efficient coverage and fire suppression on a spatial three-dimensional fire source.

[0297] Further, by matching the specific calculation of the inclination angles of the first spray pipe 331 and the second spray pipe 332, a better spray mechanism configuration can be accurately matched for the fire extinguishing needs of a specific current transformer, thereby achieving a more optimal fire extinguishing effect.

[0298] Embodiment three

[0299] This embodiment is based on embodiment one and claims a fire extinguishing method for extinguishing fires in a substation, comprising:

[0300] S1, confirming the fire extinguishing position;

[0301] S2, selecting at least one of the elevated spray robot 3, the fire monitor assembly 6 and the spray assembly 8 based on the fire extinguishing position;

[0302] When the equipment to be protected is on fire, such as a transformer, the fixed type components and / or mobile type components can be used for fire extinguishing.

[0303] Some equipment independent of the firewall, such as current transformers and reactors, can only be extinguished by mobile type components, i.e. the elevated spray robot 3.

[0304] It is worth mentioning that the elevated spray robot 3, the fire monitor assembly 6 and the spray assembly 8 can be operated individually or simultaneously to achieve complete coverage of the fire extinguishing position and improve the fire extinguishing efficiency.

[0305] When the elevated spray robot 3 is selected for fire extinguishing, the following steps are included:

[0306] The water supply module 1, the first compressed air foam generating module 2 and the elevated spray robot 3 are sequentially turned on;

[0307] The first compressed air foam generating module 2 is driven and the elevated spray robot 3 is controlled to move to the fire extinguishing position, aimed at the fire extinguishing position, and then the fire is extinguished.

[0308] When the fire monitor assembly 6 is selected for fire extinguishing, the second compressed air foam generating module 5 controls the fire monitor assembly to extinguish the fire.

[0309] When the spray assembly 8 is selected for fire extinguishing, the third compressed air foam generating module 7 controls the spray assembly 8 to extinguish the fire.

[0310] The sequential connection of the water supply module 1, the first compressed air foam generating module 2 and the elevated jet robot 3 can be achieved by manual or remote control robot connection.

[0311] The details of each of the above steps have been described in detail in the above description and will not be repeated here.

[0312] Embodiment four

[0313] With reference to Figure 25 , the embodiment is based on embodiment three, and claims a fire control system for extinguishing fires in a substation, comprising:

[0314] An image monitoring unit 9a is arranged to confirm the fire extinguishing position, specifically, the image monitoring unit 9a comprises a monitoring camera, a monitoring host and a display, wherein the monitoring camera is arranged near each position and important equipment in the substation, and is used to shoot the fire situation of each position in the substation.

[0315] A monitoring host is arranged in the control host of the substation, and the monitoring host is connected with the monitoring camera through a first cable, and the monitoring camera outputs the shooting information to the monitoring host.

[0316] A display is arranged in the substation management center, and the display is connected with the monitoring host through a network, and the monitoring host converts the shooting information into a first signal and transmits it to the display for display, so as to facilitate remote control.

[0317] A selection unit 9b is selected based on the fire extinguishing position, and at least one of the elevated jet robot 3, the fire monitor assembly 6 and the spray assembly 8 is selected.

[0318] With reference to Figure 26 , the control unit 9c comprises an operation button 90c, an operation rod 91c, an emergency stop button 92c, a first controller 93c, a second controller 94c, a first transmitter 95c, a first handheld transmitter 97c, a first fire control cabinet 99c and a second fire control cabinet 100c.

[0319] The operation button 90c, the operation rod 91c, the emergency stop button 92c and the first controller 93c are arranged in the substation management center, and remote control is performed based on the display content; the operation button 90c, the operation rod 91c and the emergency stop button 92c are electrically connected with the first controller 93c through a second cable.

[0320] The second controller 94c, the first transmitter 95c, the first handheld transmitter 97c, the first fire control cabinet 99c and the second fire control cabinet 100c are arranged in the control host of the substation, the first controller 93c is network connected with the second controller 94c, and the second controller 94c is electrically connected with the first transmitter 95c, the first fire control cabinet 99c and the second fire control cabinet 100c.

[0321] The first fire-fighting cabinet 99c is electrically connected with the second compressed air foam generating module 5 through a third cable, and the second fire-fighting cabinet 100c is electrically connected with the third compressed air foam generating module 7 through a fourth cable;

[0322] The first transmitter 95c and the first handheld transmitter 97c are microwave-controlled by the first receiver of the elevated jet robot 3, and thus the first transmitter 95c and the first handheld transmitter 97c can operate the elevated jet robot 3 independently or jointly.

[0323] When the elevated jet robot 3 is selected to spray fire extinguishing, the elevated jet robot 3 is controlled to move to a position allowing fire extinguishing, align with the position allowing fire extinguishing, and spray fire extinguishing; specifically, based on the display, the operation button 90c, the operation lever 91c and the emergency stop button 92c are operated to output a second signal 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, and the first transmitter 95c outputs a fourth signal to the first receiver, thereby controlling the elevated jet robot 3 to move to a position allowing fire extinguishing, align with the position allowing fire extinguishing, and spray fire extinguishing; the operation of the elevated jet robot 3 has been described in detail above, and thus will not be described again.

[0324] When the fire monitor assembly 6 is selected to spray fire extinguishing, the fire monitor assembly 6 is controlled to spray fire extinguishing by the second compressed air foam generating module 5; specifically, based on the display, the operation button 90c, the operation lever 91c and the emergency stop button 92c are operated to output a fifth signal 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 to the first fire-fighting cabinet 99c, and the first fire-fighting cabinet 99c controls the fire monitor assembly 6 to spray fire extinguishing by the second compressed air foam generating module 5.

[0325] When the spray assembly 8 is selected to spray fire extinguishing, the spray assembly 8 is controlled to spray fire extinguishing by the third compressed air foam generating module 7; specifically, based on the display, the operation button 90c, the operation lever 91c and the emergency stop button 92c are operated to output a ninth signal to the first controller 93c, the first controller 93c analyzes and outputs a tenth signal to the second controller 94c, the second controller 94c analyzes and outputs an eleventh signal to the second fire-fighting cabinet 100c, and the second fire-fighting cabinet 100c controls the spray assembly 8 to spray fire extinguishing by the third compressed air foam generating module 7.

[0326] The above examples are only used to illustrate the technical solutions of the present application, and are not intended to limit the present application; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that the technical solutions recorded in the foregoing examples can be modified, or some technical features can be replaced by equivalent features; and these modifications or replacements 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 application.

Claims

1. A fire protection system suitable for use with a current transformer, characterized in that, The system comprises a water supply module (1), a first compressed air foam generating module (2), a high-altitude jetting robot (3), a second compressed air foam generating module (5), a fire monitor assembly (6), a third compressed air foam generating module (7) and a spraying assembly (8); The water supply module (1), the first compressed air foam generating module (2) and the high-altitude jetting robot (3) are configured in a mechanical state capable of operation, the water supply module (1) is configured to supply water externally to the first compressed air foam generating module (2), the first compressed air foam generating module (2) is in communication with the high-altitude jetting robot (3), and the jetting path of the high-altitude jetting robot (3) forms a composite jet field in three-dimensional space. The fire monitor assembly (6) is in communication with the second compressed air foam generating module (5), and the third compressed air foam generating module (7) is in communication with the spraying assembly (8).

2. The fire protection system suitable for use with a current transformer of claim 1, wherein, The high-altitude jetting robot (3) comprises a jetting mechanism located at the top, the jetting mechanism is provided with at least three nozzles, the jetting paths of the nozzles are inclined at different angles in three-dimensional space, and a composite jet field is formed.

3. The fire protection system suitable for use with a current transformer of claim 2, wherein, The jetting mechanism comprises a nozzle welding member (330), at least one first nozzle (331) and at least one second nozzle (332). The nozzle welding member (330) is provided with at least one first nozzle (331) at both ends, and at least one second nozzle (332) is arranged in the middle of the nozzle welding member (330), one end of the first nozzle (331) and the second nozzle (332) is in communication with the nozzle welding member (330), and the other end of the first nozzle (331) and the second nozzle (332) forms a nozzle. The first nozzle (331) is configured in cooperation with axial inward inclination and radial pitch, and the second nozzle (332) is downwardly inclined, and the downward inclination angle of the second nozzle (332) is different from the radial pitch angle of the first nozzle (331).

4. The fire protection system suitable for use with a current transformer of claim 3, wherein, The downward inclination angle of the second nozzle (332) is α, which is the included angle between the axis of the second nozzle (332) and the horizontal line, and α satisfies the following formula: α = arctan (h / s) × K Wherein, h is the vertical distance of the second nozzle (332) from the ignition section of the object to be extinguished along the Z-axis direction; s is the distance between the second nozzle (332) and the center of the object to be extinguished at the allowable extinguishing position; K is the downward inclination angle correction coefficient of the second nozzle (332).

5. The fire protection system suitable for use with a current transformer of claim 3, wherein, The radial pitch angle of the first nozzle (331) is β, which is the included angle between the axis of the first nozzle (331) and the horizontal line, and β satisfies the following formula: β＝α+4° Wherein, α is the downward inclination angle of the second nozzle (332).

6. The fire protection system suitable for use with a current transformer of claim 3, wherein, The axial inward inclination angle of the first nozzle (331) is Γ, which is the included angle between the axis of the first nozzle (331) and the horizontal line, and Γ satisfies the following formula: Γ = arctan (L / 2s) Wherein, L is the distance between the first nozzles (331); s is the distance between the second nozzle (332) and the center of the object to be extinguished at the allowable extinguishing position.

7. The fire protection system suitable for use with a current transformer of claim 1, wherein, The high-altitude jetting robot (3) further comprises a tracked chassis mechanism, a telescopic leg mechanism and a high-altitude adjusting mechanism; the tracked chassis mechanism is provided with the telescopic leg mechanism at the bottom, the tracked chassis mechanism is provided with the high-altitude adjusting mechanism on the top, and the jetting mechanism is arranged on the top of the high-altitude adjusting mechanism.

8. The fire protection system suitable for use with a current transformer of claim 7, wherein, The crawler chassis mechanism comprises a frame body (301), a rolling assembly (302), a rubber track (303), a second motor (304), a control box (305), a battery (306), a cover plate (307) and a shell (308); The frame body (301) is provided with the rolling assembly (302) on both sides of the bottom, the outer side of the rolling assembly (302) on one side is wrapped by the rubber track (303), the second motor (304), the control box (305) and the battery (306) are arranged in sequence along the length direction on the top of the frame body (301), the battery (306) is configured to supply power to the control box (305) and the second motor (304), the control box (305) is electrically connected with the second motor (304), and the driving shaft of the second motor (304) is connected with the input end of the rolling assembly (302) through a shaft coupling. The cover plate (307) is arranged on the top of the middle part of the frame body (301) and covers the second motor (304), the control box (305) and the battery (306); the shell (308) is arranged on the top of both sides of the frame body (301) and covers the rubber track (303), and the shell (308) is spliced with the cover plate (307).

9. The fire protection system suitable for use with a current transformer of claim 7, wherein, The telescopic supporting leg mechanism comprises a telescopic arm frame (310), a movable frame (311), an electric push rod (312), a third motor (313), a telescopic pipe (314) and an electric supporting leg (315). The telescopic arm frame (310) is in a "U" shape in the transverse section, and the longitudinal beam of the telescopic arm frame (310) is fixed to the front of the frame body (301) along the moving direction of the crawler chassis mechanism and extends along the length direction at both ends. The electric push rod (312) is arranged on the frame body (301), and the output end of the electric push rod (312) is parallel to the length direction of the frame body (301). The cross beam of the telescopic arm frame (310) is in a tubular structure, the movable frame (311) is inserted into the inner part of both ends of the cross beam of the telescopic arm frame (310), the movable frame (311) is in a U-shaped structure, the cross beam of the movable frame (311) is inserted into the cross beam of the telescopic arm frame (310), and the longitudinal beam of the movable frame (311) is connected with the output end of the electric push rod (312). The longitudinal beam of the movable frame (311) is in a tubular structure, the longitudinal beam of the movable frame (311) extends along the length direction at both ends, the third motor (313) is arranged in the middle part of the longitudinal beam of the movable frame (311), both output ends of the third motor (313) are connected with lead screws, the lead screws are engaged with screw nuts, and the screw nuts are connected with the end parts of the telescopic pipes (314) inserted into both ends of the longitudinal beam of the movable frame (311) respectively; the electric supporting leg (315) is arranged at both ends of the longitudinal beam of the movable frame (311) and the longitudinal beam of the telescopic arm frame (310).

10. The fire protection system suitable for use with a current transformer of claim 7, wherein, The height adjusting mechanism comprises a third adjusting assembly, a second adjusting assembly and a first adjusting assembly; the third adjusting assembly, the second adjusting assembly, the first adjusting assembly and the spraying mechanism are connected in sequence from bottom to top.

11. The fire protection system suitable for use with a current transformer of claim 10, wherein, The third adjusting assembly comprises a pin shaft (3201), a bearing (3202), a first base (3203) and a lodging cylinder (3204). The first base (3203) is arranged on the cover plate (307), and the first base (3203) is connected to the bottom of the second adjusting assembly through the pin shaft (3201). The second adjusting assembly is driven to overturn by the lodging cylinder (3204).

12. The fire protection system suitable for use with a current transformer of claim 10, wherein, The second adjusting assembly comprises 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) through the pin shaft (3201). The first motor (3212) and the second fixing frame (3211) are arranged on the mounting plate (3213). The bottom end of the lifting rod (3210) is arranged 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 for the lifting rod (3210).

13. The fire protection system suitable for use with a current transformer of claim 10, wherein, The first adjusting assembly comprises a rotating holder (3220), a rotating joint (3221) and a first fixing frame (3222). The output end of the lifting rod (3210) is arranged on the first fixing frame (3222). The rotating holder (3220) is arranged on the first fixing frame (3222). The rotating holder (3220) is connected to the spraying mechanism through the rotating joint (3221).

14. The fire protection system suitable for use with a current transformer of claim 1, wherein, The first compressed air foam generating module (2) comprises an electric chassis assembly, an upper assembly, a liquid tank assembly (22), a water supply assembly (23), a foam liquid supply assembly (24), a gas supply assembly (25) and a gas-liquid mixing assembly (26). The electric chassis assembly is arranged on the upper assembly. The electric chassis assembly and the upper assembly jointly enclose a space. The liquid tank assembly (22) is arranged in the space. The liquid tank assembly (22) is provided 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). 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 gas supply assembly (25) are connected to the input end of the gas-liquid mixing assembly (26).

15. The fire protection system suitable for use with a current transformer of claim 14, wherein, The electric chassis assembly comprises a first frame platform (201), a steering unit (202), a driving unit (203), a power module (204) and a brake unit (205). From the moving direction of the electric chassis assembly, the steering unit (202) and the driving unit (203) are arranged on the bottom of the first frame platform (201) from front to back. The brake unit (205) is arranged on the bottom of the first frame platform (201) on one side of the driving unit (203). The steering unit (202) is arranged on the front side of the first frame platform (201). The power module (204) is arranged 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 gas supply assembly (25) and the control module.

16. The fire protection system suitable for use with a current transformer of claim 14, wherein, The upper assembly comprises a front cover (210), a middle cover (211) and a tail cover (212), which are sequentially arranged on the electric chassis assembly in the conveying direction of the electric chassis assembly.

17. The fire protection system suitable for use with a current transformer of claim 14, wherein, The liquid tank assembly (22) comprises a water tank (220), a water inlet (221), a water outlet (222), a first breathing valve (223), a foam tank (224), a liquid inlet (225), a foam outlet pipe (226), a second breathing valve (227), a first liquid level sensor (228), a second liquid level sensor (229) and a liquid level digital display meter. The water tank (220) is provided with the water inlet (221) and the water outlet (222), and the foam tank (224) is arranged on one side of the water tank (220). The foam tank (224) is provided with the liquid inlet (225), and is communicated with the foam outlet pipe (226) on one side. The second breathing valve (227) is arranged on the foam tank (224). The water tank (220) is provided with the first liquid level sensor (228) and the liquid level digital display meter, and the foam tank (224) is provided with the second liquid level sensor (229). The second liquid level sensor (229) and the first liquid level sensor (228) are electrically connected with the liquid level digital display meter.

18. The fire protection system suitable for use with a current transformer of claim 14, wherein, The water supply assembly (23) comprises a first water inlet pipe (230), a first electric three-way selector valve (231), a fire pump group (232), a water outlet pipe (233), a first check valve (234), a second water inlet pipe (235), a filter (236), a third water inlet pipe (237) and a first fire quick connector (238). The first water inlet pipe (230) is connected with one end of the first output end, and the other end of the first water inlet pipe (230) is connected with 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 with one end of the water outlet pipe (233). In the water conveying direction, the fire pump group (232) and the first check valve (234) are sequentially arranged on the water outlet pipe (233). The other end of the water outlet pipe (233) is connected with the first check valve (234), and the first check valve (234) is connected with the gas-liquid mixing assembly (26). The second inlet end of the first electric three-way selector valve (231) is connected with one end of the second water inlet pipe (235), and the other end of the second water inlet pipe (235) is connected with the outlet end of the filter (236). The inlet end of the filter (236) is connected with one end of the third water inlet pipe (237), and the other end of the third water inlet pipe (237) is connected with the first fire quick connector (238).

19. The fire protection system suitable for use with a current transformer of claim 14, wherein, The foam liquid supply assembly (24) comprises a foam liquid pipeline (240), a self-suction foam liquid pump (241) and a second check valve (242). The foam outlet pipe (226) is connected with the gas-liquid mixing assembly (26) through the foam liquid pipeline (240). In the foam liquid conveying direction, the self-suction foam liquid pump (241) and the second check valve (242) are sequentially arranged on the foam liquid pipeline (240).

20. The fire protection system suitable for use with a current transformer of claim 14, wherein, The gas supply assembly (25) comprises a piston air compressor (250), a valve block (251), a safety valve (252), a third one-way valve (253), a flow sensor (254) and a gas pipeline (255); The piston air compressor (250) is connected with the gas-liquid mixing assembly (26) through the gas pipeline (255), and the gas pipeline (255) is sequentially provided with the valve block (251), the third one-way valve (253) and the flow sensor (254) in the gas conveying direction; the safety valve (252) is arranged on the valve block (251).

21. The fire protection system suitable for use with a current transformer of claim 14, wherein, The gas-liquid mixing assembly (26) comprises a turbulence-free fourth water inlet pipe (260), a tee joint (261), a foam liquid inlet pipe (262), a mixing chamber (263), a high-pressure air inlet pipe (264), a compressed air foam liquid outlet pipe (265) and a second fire-fighting quick connector (266). The first one-way valve (234) is connected with one end of the fourth water inlet pipe, the other end of the fourth water inlet pipe is connected with the tee joint (261), the lower interface of the tee joint (261) is connected with the foam liquid pipeline (240), the left interface of the tee joint (261) is connected with the mixing chamber (263), the mixing chamber (263) is connected with the gas pipeline (255) through the high-pressure air inlet pipe (264), the outlet of the mixing chamber (263) is connected with one end of the compressed air foam liquid outlet pipe (265), a control module is arranged on the compressed air foam liquid outlet pipe (265), and the other end of the compressed air foam liquid outlet pipe (265) is connected with the second fire-fighting quick connector (266).

22. The fire protection system suitable for use with a current transformer of claim 1, wherein, The water source supply module (1) comprises an electric forklift (10), a fire-fighting water module (11) and a water suction pipe (12), the water source supply module (1) is arranged on the electric forklift (10), and the water suction pipe (12) is arranged on the water source supply module (1).

23. The fire protection system suitable for use with a current transformer of claim 1, wherein, The fire-fighting cannon assembly (6) is arranged on the top of the fire wall of the transformer substation, and comprises a first main pipe (60), a first automatic exhaust valve (61), a first end water testing device (62), a first branch pipe (63), an overhauling valve (64), an electric butterfly valve (65), a water flow indicator (66) and a second fire-fighting cannon body (67). Part of the first main pipe (60) is pre-buried in the fire wall, the longitudinal section of the first main pipe (60) is in an inverted L-shaped structure, the horizontal pipe section of the first main pipe (60) is located on the top of the fire wall, the first automatic exhaust valve (61) is arranged at the highest position of the first main pipe (60), one end of the first main pipe (60) is connected with the output end of the second compressed air foam generating module (5), and the other end of the first main pipe (60) is provided with the first end water testing device (62). The horizontal pipe section of the first main pipe (60) is provided with at least two first branch pipes (63), the horizontal section of the first branch pipe (63) is in an L-shaped structure, and the horizontal pipe section of the first branch pipe (63) is sequentially provided with the overhauling valve (64), the electric butterfly valve (65), the water flow indicator (66) and the second fire-fighting cannon body (67) in the high-pressure air foam conveying direction.

24. The fire protection system suitable for use with a current transformer of claim 1, wherein, The spraying assembly (8) is arranged in the middle of the fire wall of the transformer substation, and comprises a second main pipe (80), a second branch pipe (81), a second automatic exhaust valve (82) and a second end water testing device (83). Part of the second main pipe (80) is embedded in the firewall, the second main pipe (80) is in the shape of a horizontal "T" in the longitudinal section, the second automatic exhaust valve (82) is arranged at the highest position of the second main pipe (80), the bottom end of the second main pipe (80) is connected with the output end of the third compressed air foam generating module (7), the side end of the second main pipe (80) is connected with the second end water testing device (83), and the top end of the second main pipe (80) is connected with the second branch pipe (81). The second branch pipe (81) is located in the middle of the firewall and is arranged along the length direction of the firewall, and the second branch pipe (81) is provided with one or more spray heads.

25. A method for extinguishing a fire in a current transformer using the fire extinguishing system for a current transformer according to any one of claims 1 to 24, characterized by, The method comprises the following steps: Confirming the fire extinguishing position; Based on the fire extinguishing position, at least one of the elevated spraying robot (3), the fire monitor assembly (6) and the spray assembly (8) is selected; When the elevated spraying robot (3) is selected to spray fire extinguishing, the water supply module (1), the first compressed air foam generating module (2) and the elevated spraying robot (3) are sequentially turned on; the first compressed air foam generating module (2) is driven and the elevated spraying robot (3) is controlled to move to the allowed fire extinguishing position, align with the fire extinguishing position, and spray fire extinguishing; When the fire monitor assembly (6) is selected to spray fire extinguishing, the fire monitor assembly is controlled to spray fire extinguishing by 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 by the third compressed air foam generating module (7).

26. The fire protection method suitable for use in a current transformer according to claim 25, characterized in that, Confirming the fire extinguishing position and the fire extinguishing height comprises: A monitoring camera is arranged near each position and important equipment of the substation, and the monitoring camera is used to shoot the fire situation of each position of the substation; The monitoring camera outputs the shooting information to a monitoring host; The monitoring host transmits the shooting information to a display.

27. A fire control system for a current transformer adapted to the fire control method of any one of claims 25 to 26, characterized in that, It comprises: An image monitoring unit (9a) is used to confirm the fire extinguishing position; A selection unit (9b) is used to select at least one of the elevated spraying robot (3), the fire monitor assembly (6) and the spray assembly (8) based on the fire extinguishing position and the fire extinguishing height; A control unit (9c) is used to control the elevated spraying robot (3) to move to the allowed fire extinguishing position, align with the fire extinguishing position, and spray fire extinguishing when the elevated spraying robot (3) is selected to spray fire extinguishing; When the fire monitor assembly (6) is selected to spray fire extinguishing, the fire monitor assembly is controlled to spray fire extinguishing by 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 by the third compressed air foam generating module (7).

28. The fire control system suitable for use with a current transformer of claim 27, wherein, The image monitoring unit (9a) comprises the monitoring camera, the monitoring host and the display; The monitoring host is arranged in the control host of the power station, the monitoring host is electrically connected with the monitoring camera, the display is arranged in the substation management center, and the display is connected with the monitoring host through a network.

29. The fire control system suitable for use with a current transformer of claim 28, wherein, The control unit (9c) comprises 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 first handheld transmitter (97c), a first fire-fighting cabinet (99c) and a second fire-fighting cabinet (100c); The operation button (90c), the operating lever (91c), the emergency stop button (92c) and the first controller (93c) are arranged in the substation management center, and remote control is performed based on the display content of the display; the operation button (90c), the operating lever (91c), the emergency stop button (92c) and the first controller (93c) are electrically connected; The second controller (94c), the first transmitter (95c), the first handheld transmitter (97c), the first fire-fighting cabinet (99c) and the second fire-fighting cabinet (100c) are arranged in the control host of the substation, the first controller (93c) is network-connected with the second controller (94c), and the second controller (94c) is electrically connected with the first transmitter (95c), the first fire-fighting cabinet (99c) and the second fire-fighting cabinet (100c); The first fire-fighting cabinet (99c) is electrically connected with the second compressed air foam generating module (5), and the second fire-fighting cabinet (100c) is electrically connected with the third compressed air foam generating module (7); The first transmitter (95c) and the first handheld transmitter (97c) are both microwave-controlled with the first receiver of the height-lifting jet robot (3).

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