Unmanned inspection-fire disposal integrated device for energy storage power station and working method of unmanned inspection-fire disposal integrated device

Abstract

The invention discloses an energy storage power station unmanned inspection-fire-fighting disposal integrated device and a working method thereof, and belongs to the field of lithium ion battery fault diagnosis and fire fighting. According to the device, by integrating the liftable multi-sensor inspection system, the accurately-driven fire-fighting mechanical arm system and the multi-type fire-fighting agent trailer system, full-process automatic and unmanned operation of energy storage power station inspection and fire-fighting disposal is achieved. By means of visible light, infrared thermal imaging and gas detection multi-dimensional monitoring means, faults of different risk levels such as appearance damage, temperature abnormity and gas leakage of a battery cluster can be accurately recognized, and quick response is achieved through a grading early warning mechanism; according to the fire extinguishing system, through flexible rotation and pitching adjustment of a mechanical arm, in combination with a staged spraying strategy of perfluorohexanone and liquid nitrogen, accurate fire extinguishing can be achieved aiming at open fire and after-combustion risks, personnel are effectively prevented from entering a high-risk environment to work, the operation safety and the fault handling efficiency of an energy storage power station are greatly improved, and the energy storage power station is safe and reliable. Meanwhile, the collaborative process of routing inspection and fire fighting is simplified, and the operation and maintenance cost is reduced.

Description

TECHNICAL FIELD

[0001] The method relates to the fields of lithium ion battery fault diagnosis and fire extinguishing, and the thermal runaway diagnosis method is an artificial intelligence algorithm based on infrared images, battery cluster appearance images and multi-element sensing signals. BACKGROUND

[0002] With the development of artificial intelligence, intelligent robots play an important role in various fields. China has listed fire-fighting robots as key development products and promoted their development towards intelligence and autonomy. In complex dangerous scenarios, the application of robot technology can improve the efficiency and safety of production and rescue work. However, traditional fire-fighting equipment gradually exposes its limitations when dealing with complex and variable fire environments. Under this background, it is inevitable to introduce artificial intelligence technology into the field of fire fighting. Artificial intelligence technology can bring unprecedented changes to fire-fighting equipment with its powerful data processing and learning capabilities.

[0003] With the development of large-scale and high-integration of energy storage power stations, the risk monitoring and fire fighting of battery clusters are facing challenges such as response lag and insufficient prevention and control accuracy. The intelligent inspection-fire integrated system based on multi-modal perception can realize real-time and accurate monitoring and rapid collaborative disposal of battery cluster status, significantly improving the safety protection level of energy storage systems. The device constructs a global perception network through an infrared thermal imager, a multi-spectral camera, an electromagnetic sensor and a gas sensor array, and realizes early warning of thermal runaway and accurate fire extinguishing by combining deep learning algorithms.

[0004] Current energy storage power station inspection mainly relies on manual or single sensor monitoring, which has problems such as large blind area and low data analysis efficiency, making it difficult to identify battery abnormal heating, deformation and other hidden dangers in a timely manner. Traditional fire fighting systems mostly use fixed point triggering mode, and the response speed and fire extinguishing accuracy are difficult to meet the characteristics of rapid spread of battery cluster fire.

[0005] The current safety monitoring of energy storage power stations mainly faces three technical bottlenecks: first, single sensors are difficult to fully capture abnormal battery characteristics, resulting in high false negative rate; second, traditional threshold alarm methods cannot distinguish between normal working condition fluctuations and real thermal runaway precursors; third, the efficiency of the monitoring and fire fighting system linkage is insufficient. SUMMARY

[0006] In order to solve the problems in the prior art, the present application provides an unmanned inspection-firefighting integrated device for energy storage power station and a control method thereof, which fuses data of an infrared imaging camera, a visible light high-definition camera and a gas sensor array, extracts temperature gradient anomalies, shell bulges and other characteristic indexes through a convolutional neural network, and performs time series prediction in combination with a long short-term memory network (LSTM); when the system determines a thermal runaway risk, a complex extinguishing agent of perfluorohexanone and liquid nitrogen is used to realize rapid cooling and oxygen concentration control, thereby shortening the extinguishing response time and effectively preventing rekindling; and the present application provides an important guarantee for safe and stable operation of a new power system.

[0007] The technical scheme for solving the problems of the energy storage system is an unmanned inspection-firefighting integrated device for energy storage power station, which comprises a vehicle body, a lifting slide rail inspection system, a multi-sensor integrated monitoring system, a firefighting mechanical arm system, a firefighting agent trailer system and an intelligent control module.

[0008] The lifting slide rail inspection system, the multi-sensor integrated monitoring system and the firefighting mechanical arm system are arranged on the vehicle body, and the firefighting agent trailer system is carried behind the vehicle body.

[0009] An ultrasonic sensor, an audible-light alarm and a universal wheel are arranged on the vehicle body.

[0010] In the lifting slide rail inspection system, a lifting guide rail and a threaded rod are arranged on a base support, and a through slot is arranged in the lifting guide rail; a sliding block is arranged on the threaded rod, and a through hole of the sliding block is threadedly connected with the threaded rod; a lifting drive motor at the top of the threaded rod drives the threaded rod to rotate, thereby moving the sliding block up and down; one side of the sliding block is matched with the through slot, and the sliding block is guided.

[0011] The other side of the sliding block is fixedly connected with a lifting frame base, and the lifting frame base supports a lifting gimbal base through a lifting rod.

[0012] The multi-sensor integrated monitoring system is arranged on the lifting gimbal base and comprises a motor main shell base, a first drive motor, a pump suction type gas detection module, a visible light camera and an infrared thermal imaging camera; an output shaft of the first drive motor is connected with a middle cavity shell arranged at the top of the motor main shell base, so as to control horizontal rotation of the multi-sensor integrated monitoring system; a second drive motor is arranged behind the middle cavity shell, so as to control pitching movement of the multi-sensor integrated monitoring system; the top of the motor main shell base is provided with the middle cavity shell, and two sides of the middle cavity shell are respectively connected with a second cavity shell body in which the visible light camera is installed and a first cavity shell body in which the infrared thermal imaging camera is installed.

[0013] The fire-fighting mechanical arm system is arranged on the vehicle body through a rotating base, a first rotary arm is arranged on the rotating base, a third driving motor and a rotary arm driving wheel are arranged on the first rotary arm, the third driving motor drives the rotary arm driving wheel, a rotary arm driven wheel arranged on a second rotary arm is driven to rotate through a rotary arm transmission belt, thereby driving the second rotary arm to swing up and down; the fire hose is fixed on the first rotary arm and the second rotary arm, and a fire nozzle is arranged at the end portion.

[0014] In the fire-fighting agent trailer system, the main box body comprises a liquid nitrogen sub-box body and a perfluorohexanone sub-box body, and the fire hose is connected with the liquid nitrogen sub-box body and the perfluorohexanone sub-box body during work.

[0015] Further, the horizontal rotation of the multi-sensor integrated monitoring system is specifically as follows: the horizontal driving wheel is driven to rotate through the first driving motor, the horizontal driven wheel is driven to rotate through the horizontal transmission belt, the vertical short shaft is driven to rotate horizontally, and the intermediate cavity shell rigidly connected with the vertical short shaft is driven to rotate horizontally, so that the visible light camera and the infrared thermal imaging camera are driven to rotate horizontally synchronously.

[0016] The pitch movement of the multi-sensor integrated monitoring system is specifically as follows: the sensor driving wheel is driven to rotate through the second driving motor, the sensor driven wheel is driven to rotate through the sensor transmission belt, the pitch rotating shaft is driven to rotate, and the second cavity shell body and the first cavity shell body rigidly connected with the pitch rotating shaft are driven to perform pitch movement, so that the visible light camera and the infrared thermal imaging camera are driven to perform pitch movement synchronously.

[0017] Further, the bottom end electronic limiting block and the top end electronic limiting block are arranged on the lifting guide rail.

[0018] Further, the fire hose is fixed on the first rotary arm through the first fixing frame and is fixed on the second rotary arm through the second fixing frame.

[0019] Further, the vehicle body rear is connected with the trailer vehicle body through the traction joint and the traction frame, and the liquid nitrogen sub-box body and the perfluorohexanone sub-box body are arranged on the trailer vehicle body.

[0020] Further, the liquid nitrogen tank cover and the liquid nitrogen supply nozzle are arranged on the liquid nitrogen sub-box body, and the perfluorohexanone tank cover and the perfluorohexanone supply nozzle are arranged on the perfluorohexanone sub-box body.

[0021] A working method of an unmanned inspection-firefighting integrated device of an energy storage power station, comprising the following steps:

[0022] Step 1, the energy storage battery cabin is started to operate, the energy storage battery cluster in the energy storage battery cabin starts to supply power, and the vehicle body moves to a predetermined inspection point;

[0023] Step 2, the lifting drive motor starts, drives the threaded rod to rotate, drives the sliding block with threaded hole to rise along the lifting guide rail, thereby lifting the entire lifting holder system and multi-sensor integrated monitoring system to the observation height;

[0024] The first drive motor works, drives the horizontal driving wheel to rotate, drives the horizontal driven wheel to rotate through the horizontal conveyor belt, drives the vertical short shaft to rotate horizontally, and then makes the intermediate cavity shell rigidly connected with the vertical short shaft rotate horizontally, so that the visible light camera and the infrared thermal imaging camera rotate horizontally synchronously;

[0025] The second drive motor works, drives the sensor driving wheel to rotate, drives the sensor driven wheel to rotate through the sensor conveyor belt, drives the pitch shaft to rotate, and then makes the second cavity shell and the first cavity shell rigidly connected with the pitch shaft pitch, so that the visible light camera and the infrared thermal imaging camera pitch synchronously;

[0026] So that the multi-sensor integrated monitoring system is adjusted to the appropriate monitoring angle;

[0027] Step 3, the multi-sensor integrated monitoring system monitors the state of the battery cluster of the energy storage power station, the visible light camera shoots the battery cluster wire harness and appearance to detect whether it is damaged or deformed; the infrared thermal imaging camera scans and generates a temperature distribution map; the pump suction gas detection module detects the concentration of the gas to be detected by pumping air in the cabin through the pump suction pipe;

[0028] Step 4, the intelligent control module judges the diagnosis result according to the fault picture shot by the visible light camera, if it is identified as low risk fault of aging and mechanical damage, it is sent to the on-duty personnel through the wireless module, and the on-duty personnel determines the disposal scheme remotely according to the picture and information returned;

[0029] Step 5, when the infrared thermal imaging camera detects that the temperature is over limit or the pump suction gas detection module detects that the gas concentration is over limit and lasts for more than 30s, the intelligent control module judges that it is a high risk fault; the central controller sends an alarm signal to the BMS through the CAN bus, and the BMS cuts off the power supply of the suspected fault battery cluster first; at the same time, the audible and light alarm is triggered to send an alarm signal in the warehouse, and an alarm is sent to the duty room;

[0030] Step 6, the visible light camera or infrared thermal imaging camera identifies the accurate position of the small flame, the intelligent control module calculates the flame coordinates, and controls the vehicle body to move to the fire extinguishing position;

[0031] The fire extinguishing agent trailer system follows the movement of the vehicle body, and the fire extinguishing pipeline is connected with the rear fire extinguishing mechanical arm system through the liquid nitrogen supply nozzle and the perfluorohexone supply nozzle;

[0032] Step 7, the fire-fighting mechanical arm aims, the rotating base of the fire-fighting mechanical arm rotates, drives the first rotary arm and the second rotary arm to move, and aligns the fire-fighting nozzle to the direction of the fire source; the third driving motor is started, drives the rotary arm driving wheel, drives the rotary arm driven wheel and the rotating shaft to rotate through the rotary arm transmission belt, realizes the fine adjustment of the pitch angle of the fire-fighting nozzle, and ensures accurate aiming at the fire source;

[0033] Step 8, when the infrared thermal imaging camera and the visible light camera clearly capture the open fire, and the gas sensor detects that the CO concentration is greater than 500ppm and the smoke concentration is greater than 2.0mg / m 3 , the priority is given to starting the perfluorohexanone auxiliary box body pipeline, the intelligent control module sends an instruction to open the electromagnetic pressure valve, and the pump is started; when the perfluorohexanone extinguishes the open fire, if the internal temperature of the battery is still greater than 200 DEG C or the temperature is in a continuously rising state, the liquid nitrogen auxiliary box body pipeline is switched to immediately; the liquid nitrogen is pumped into the fire hose, and finally precise injection is realized from the fire nozzle to the target position.

[0034] Step 9, the visible light camera continuously monitors the fire; if the fire is extinguished within the preset time, the system sends a successful disposal signal and a fault point image to the on-duty personnel, and the staff carries out the next step of aftercare disposal; if the fire is not extinguished within the preset time, the system sends a disposal failure signal to the on-duty personnel, and the warning level is raised; the whole energy storage cabin cabin-level fire extinguishing system is started, the control device exits the energy storage cabin, and the staff starts the emergency disposal measures according to the emergency regulations.

[0035] Further, in the step 1, the ultrasonic sensor and the laser radar continue to work during the movement, detect the surrounding obstacles, and realize obstacle avoidance.

[0036] Further, in the step 2, the lifting stroke of the electronic limit block is within the limit range of the top electronic limit block and the bottom electronic limit block, and the electronic limit is carried out.

[0037] Further, in the step 3, the to-be-detected gas is H2, gaseous hydrocarbon, CO and smoke.

[0038] Compared with the prior art, the present application has the following advantages: (1) The present application realizes early warning and accurate disposal. By fusing temperature, gas, visual and infrared multi-dimensional sensing data, the fault can be accurately identified and located in the initial stage of thermal runaway, the timeliness and accuracy of early warning are greatly improved, and key time is gained for fire extinguishing.

[0039] (2) Compared with the traditional extensive fire extinguishing, the present application constructs a "Pack-cluster-cabin" three-level fire extinguishing system. Through the progressive response of Pack-level local inhibition, mobile device precise injection and cabin-level full coverage, the fire is suppressed in the smallest unit, the blind start of full submersion fire extinguishing is avoided, and the secondary damage and economic loss are significantly reduced.

[0040] (3) The application realizes full-automatic "detection-elimination-evaluation" closed-loop operation. Through the cooperation of the unmanned inspection device, the mobile fire-fighting mechanical arm and the intelligent control, the whole process from discovery, positioning, fire extinguishing to effect evaluation is autonomously completed, replacing manual entry into high-risk environments, ensuring safety and improving disposal efficiency and reliability.

[0041] (4) The system introduces a dynamic regulation mechanism with real-time feedback. During the fire extinguishing process, the sensor continuously monitors the fire field state, dynamically adjusts the spraying parameters and the mechanical arm pose, ensures that the fire extinguishing agent accurately acts on the effective part, and stops the operation after confirming the extinguishing, improving the single success rate and preventing rekindling.

[0042] The device can identify small temperature gradient changes, shell expansion and abnormal characteristic gas concentration during the heat runaway incubation period through three-dimensional visual positioning, multi-source signal fusion analysis and intelligent decision algorithm, improving the accuracy of early warning. After confirming the fire, the system automatically plans the optimal fire extinguishing path, uses liquid nitrogen, perfluorohexone and other fire extinguishing agents for composite spraying technology, realizes the coordinated prevention and control of instantaneous suppression of fire and deep cooling of the battery. The core advantage of the system is that it uses deep learning algorithm to perform multi-dimensional correlation analysis on the temperature field distribution of infrared images, the deformation characteristics of battery appearance and the concentration of CO / H2 and other characteristic gases, which can realize accurate early identification of heat runaway. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 It is a structural schematic diagram of the unmanned inspection-firefighting integrated device for energy storage power stations.

[0044] Figure 2 It is a structural schematic diagram of the unmanned inspection-firefighting integrated device for energy storage power stations. Figure 1 It is a structural diagram after the middle baffle is penetrated.

[0045] Figure 3 It is a top view of the sliding block structure.

[0046] Figure 4 It is a structural schematic diagram of the middle cavity shell.

[0047] Figure 5 It is a front view of the multi-sensor integrated monitoring system.

[0048] Figure 6 It is an exploded structural schematic diagram of the horizontal transmission device in the multi-sensor integrated monitoring system.

[0049] Figure 7 It is an exploded structural schematic diagram of the pitch transmission device in the multi-sensor integrated monitoring system.

[0050] Figure 8 It is a structural schematic diagram of the fire-fighting mechanical arm system.

[0051] Figure 9Structure diagram of fire extinguishing agent storage device.

[0052] Figure 10 Structure diagram of fire extinguishing agent trailer system.

[0053] Figure 11 Control logic diagram of unmanned inspection and fire handling integrated device of energy storage power station.

[0054] In the figure: 111, ultrasonic sensor, 115, audible and light alarm, 116, universal wheel;

[0055] 211, base support, 212, lifting guide rail, 213, through slot, 214, threaded rod, 215, sliding block, 216, bottom end electronic limit block, 217, top end electronic limit block, 218, lifting drive motor, 219, lifting stand base, 220, lifting gimbal base, 221, lifting rod, 222, Bluetooth antenna, 223, lifting platform shell;

[0056] 311, middle cavity shell, 312, first cavity shell, 313, second cavity shell, 314, sensor driving wheel, 315, sensor driven wheel, 316, second drive motor, 317, sensor conveyor belt, 318, visible light camera, 319, infrared thermal imaging camera, 320, pump suction gas detection module, 321, pump into air pipe, 322, first drive motor, 323, motor main shell base, 324, U-shaped support side plate, 325, transmission connecting piece, 326, pitch pivot, 327, deep groove ball bearing, 328, U-shaped support upright plate, 329, left connecting piece, 330, right connecting piece, 331, lifting motor fixed U-shaped support, 333, upper bearing seat, 334, lower bearing seat, 335, upper deep groove ball bearing, 336, lower deep groove ball bearing, 337, horizontal driving wheel, 338, horizontal conveyor belt, 339, horizontal driven wheel, 340, vertical short shaft, 341, first motor fixed U-shaped support;

[0057] 411, first rotary arm, 412, second rotary arm, 413, fire extinguishing pipe, 414, rotary base, 415, first fixed frame, 416, second fixed frame, 417, rotary arm driving wheel, 418, rotary arm driven wheel, 419, third drive motor, 420, rotary arm conveyor belt, 421, pivot, 422, fire nozzle, 423, electromagnetic pressure valve, 424, battery, 425, fire hose;

[0058] 511, main box body, 512, liquid nitrogen auxiliary box body, 513, perfluorohexone auxiliary box body, 514, liquid nitrogen box cover, 515, perfluorohexone box cover, 516, liquid nitrogen supply nozzle, 517, perfluorohexone supply nozzle, 518, trailer body, 519, traction frame, 520, traction joint. DETAILED DESCRIPTION

[0059] The following gives specific embodiments of the present application. The specific embodiments are only for further detailed description of the present application, and do not limit the protection scope of the claims of the present application.

[0060] An unmanned inspection-firefighting integrated device for energy storage power station and a control method thereof are provided. The device includes a lightweight vehicle body, a liftable slide rail system, a multi-sensor integrated monitoring module, a firefighting mechanical arm system, a firefighting agent trailer system, and an intelligent control unit. The device autonomously navigates in the energy storage cabin through the mobile wheels, realizes longitudinal full-coverage detection of the battery cluster by using the liftable slide rail, diagnoses the battery state in real time in combination with the multi-sensor data, and triggers corresponding firefighting measures according to the diagnosed fault level.

[0061] When the battery cluster in the energy storage power station produces a low fault risk, such as aging and damage of the wiring, mechanical damage to the appearance of the battery cluster, etc., the device first collects the data observed by the integrated inspection device of the liftable slide rail during the inspection, preliminarily judges the fault type by using the multi-sensor fusion data fusion and processing method based on the artificial intelligence algorithm, autonomously marks the fault position and generates a structured report, and wirelessly transmits the fault pictures and the preliminary diagnosis results to the energy storage power station on-duty personnel. The on-duty personnel determines the disposal scheme according to the actual situation. When the system judges that the battery cluster in the energy storage power station produces a high fault risk, an alarm signal in the cabin is triggered, and an alarm signal and a suspected fault position are transmitted to the BMS and the on-duty personnel. The BMS first cuts off the power supply of the suspected fault battery cluster, and the on-duty personnel performs subsequent disposal according to the feedback of the actual situation. When it is judged that the battery cluster is a 1-level thermal runaway fault (temperature overrun, slight exhaust), a wireless signal is sent to trigger the cabin alarm, the on-duty room alarm, the BMS cuts off the power supply of the fault cluster and the battery cluster nearby, and the PACK-level firefighting in the battery cluster is triggered. If it is judged as a 2-level thermal runaway fault (micro-flame is observed), the cabin alarm and the on-duty room alarm are triggered, the BMS cuts off the power supply of the fault cluster and the battery cluster nearby, the PACK-level firefighting in the battery cluster is triggered, the mobile firefighting device is opened, and the firefighting device sprays liquid nitrogen, perfluorohexone, etc. to the target position to realize the cooling and oxygen isolation of the battery Pack, so as to achieve the purpose of inhibiting the thermal runaway in the battery Pack in the shortest time. If the 2-level thermal runaway is effectively inhibited within the preset time, a disposal success signal and a fault image are sent to the on-duty personnel for the next step disposal. If the 2-level thermal runaway is not effectively inhibited within the preset time, a disposal failure signal is sent to the on-duty personnel, the thermal runaway early warning fault is improved to level 3, and the cabin firefighting is triggered. The cabin firefighting agent spraying device is started, the unmanned inspection-firefighting integrated device for energy storage power station exits the energy storage cabin, and the staff cooperates with other emergency disposal measures.

[0062] The unmanned inspection-firefighting integrated device comprises a light-weight vehicle body, a liftable slide rail inspection system, a multi-sensor integrated detection module, a firefighting mechanical arm system, a firefighting agent trailer system and an intelligent control unit.

[0063] The vehicle body comprises a shell and a control module mounted in the shell; a mobile base for displacement is mounted on the shell, and a laser radar and an ultrasonic sensor for completing automatic obstacle avoidance and autonomous navigation driving in cooperation with the mobile base are mounted on the shell; a driving motor is embedded on the surface of the shell, and a universal wheel is mounted on an output shaft of the driving motor through a shaft coupling.

[0064] The liftable slide rail system comprises a lifting assembly mounted on the shell and mounted on the vehicle body; the multi-sensor integrated detection module is mounted on the lifting assembly. The lifting assembly comprises a lifting guide rail, a motor system, a support frame and a screw rod assembly; the lifting guide rail is mounted on the surface of the vehicle body; the multi-sensor integrated detection module is slidingly arranged on the surface of the lifting guide rail.

[0065] The multi-sensor integrated detection module is composed of an integrated gas sensor, a normal camera, an infrared camera, an electromagnetic signal monitoring and other sensors. The integrated gas sensor includes H2, HC, CO and smoke sensors. The integrated gas sensor continuously monitors the concentration of specific gases: the monitoring of hydrogen is used for early warning of lithium battery thermal runaway; hydrocarbons and carbon monoxide are used to judge smoldering or early open fire; the detection of smoke directly confirms the occurrence of combustion. The visible light camera is used for manual or AI image recognition to confirm whether the wiring harness appearance has damage or burning marks, whether the battery cluster shell has bulges, deformation and other physical structure changes. The infrared thermal imaging camera precisely locates the overheating point, monitors whether the temperature distribution of the battery cluster is uniform, whether there is a thermal anomaly, and identifies hidden fire sources in a smoke environment. Finally, the electromagnetic signal monitoring unit captures the electromagnetic radiation intensity change of a specific frequency band to determine whether the electrical circuit or equipment has an electrical fault such as electric leakage and arc discharge.

[0066] The firefighting mechanical arm system is designed in a joint structure, which is divided into waist, elbow and wrist parts and has three degrees of freedom. The waist joint is connected vertically to the body and can drive the entire mechanical arm to rotate in the horizontal direction; the shoulder joint is connected to the waist joint and can drive the upper part of the arm to pitch; a fire extinguishing agent nozzle is integrated at the end of the mechanical arm. By controlling the angles of the joints of the mechanical arm, the position of the end of the mechanical arm can be adjusted, and the injection of fire extinguishing material is controlled by an electromagnetic valve to extinguish the fire source.

[0067] The laser radar, the mobile base, the lifting assembly and the multi-sensor integrated detection module are all controlled by the control module.

[0068] The communication module has functions of data analysis system interaction, instruction issuing and execution, image information transmission, etc. The robot end industrial computer realizes control on the mobile robot and the mechanical arm, and acquisition of robot state, sensor and other data, and triggers the alarm in the warehouse and the alarm in the duty room after an electrical fault occurs in the energy storage power station.

[0069] Automatic obstacle avoidance and autonomous navigation driving are realized by using the mobile base in cooperation with the laser radar; meanwhile, the device is compact in structure and is suitable for use in a narrow channel in the energy storage power station.

[0070] The technical scheme for solving the technical problem of the method is to provide an energy storage power station unmanned inspection-firefighting integrated device and a control method thereof, and the method comprises the following steps:

[0071] Step 1, the energy storage battery cabin is started.

[0072] Step 2, the control unit of the unmanned inspection-firefighting integrated device determines the thermal runaway level according to the battery cluster temperature, gas and visual signal fed back by the integrated inspection component on the liftable slide rail during the inspection, and starts a graded response mechanism.

[0073] Step 3, when the infrared thermal imaging camera monitors that there is an abnormal temperature rise of a single or multiple battery monomers on the surface of the battery cluster, the temperature value continuously exceeds 75 DEG C and the temperature rise rate is fast, the gas monitoring unit detects that the total hydrocarbon (HC) concentration exceeds 100 ppm, or the hydrogen (H2) concentration exceeds 50 ppm, or the carbon monoxide (CO) concentration sharply rises, and the camera identifies that there is a slight bulging sign in the battery pack, it is determined that there is a level 1 thermal runaway fault, a wireless alarm signal is immediately sent out, the sound and light alarm and the duty room alarm system in the energy storage cabin are simultaneously triggered, the position of the battery cluster where the thermal runaway fault occurs is determined, the BMS is notified to cut off the power supply circuit of the fault cluster and the adjacent battery cluster, and the PACK level local fire extinguishing device in the battery cluster is started.

[0074] Step 4, if a small fire is observed through infrared or visible light images, it is determined that there is a level 2 thermal runaway, on the basis of the level 1 response measures, the mobile firefighting device is further dispatched to aim at the fire position, the visible light camera and the infrared thermal imaging camera of the integrated monitoring module are used for close-range accurate positioning at the end of the mechanical arm, the fire position and temperature distribution information are acquired, the control unit calculates the target angle of each joint, the firefighting mechanical arm multi-joint is driven to adjust, and the fire extinguishing agent nozzle is quickly moved to the fire position; then, according to the fire condition, if direct fire extinguishing is needed, the fire extinguishing agent nozzle is controlled by the electromagnetic valve to aim at the root of the fire source or the battery pressure relief port to spray fire extinguishing medium such as perfluorohexanone and liquid nitrogen at a specific flow rate and direction; meanwhile, the infrared thermal imaging camera monitors the temperature change of the fire point in real time, and feeds back the data to the control system to dynamically adjust the mechanical arm pose and the spraying parameters.

[0075] Step 5, in the process of monitoring the temperature and flammable gas signals of the battery Pack output in real time, if it is monitored that both the temperature and the flammable gas signal are lower than the lower limit value, it is determined that the battery Pack level thermal runaway ends, the liquid nitrogen and the fire extinguishing medium supply path such as perfluorohexone are cut off, the spraying is stopped, the system will automatically send a treatment success signal and on-site image data to the on-duty personnel, and waits for the staff to intervene for subsequent disposal;

[0076] Step 6, if the fire is not controlled within the set time, a treatment failure signal is immediately sent to the on-duty personnel, and the thermal runaway warning level is raised to level 3;

[0077] Step 7, at this time, the cabin level global fire extinguishing system will be started, the energy storage battery cabin working circuit is cut off, the global fire extinguishing agent spraying device in the cabin is released to carry out full coverage explosion suppression and fire extinguishing, the wireless alarm signal triggers the sound and light alarm in the energy storage cabin and the sound and light alarm of the entire power station. At the same time, the unmanned inspection-firefighting integrated device automatically evacuates the energy storage cabin, and the staff takes further joint emergency disposal measures according to the emergency plan.

[0078] Embodiment 1

[0079] The application provides an unmanned inspection-firefighting integrated device (see Figure 1 and Figure 2 ) for an energy storage power station, which comprises a vehicle body, a lifting slide rail inspection system, a multi-sensor integrated monitoring system, a fire-fighting mechanical arm system, a fire-fighting agent trailer system and an intelligent control module.

[0080] The vehicle body comprises ultrasonic sensors 111, sound and light alarms 115 and universal wheels 116 distributed at four corners of the vehicle body.

[0081] The energy storage power station state is monitored by a multi-sensor integrated system carried on a liftable slide rail system on a vehicle body. The liftable holder system comprises a base support 211, a lifting guide rail 212, a through slot 213, a threaded rod 214 and a sliding block 215 (the sliding block 215 has a longitudinal through hole, the through hole is threaded with the threaded rod 214, so that the sliding block 215 can move up and down on the threaded rod 214 flexibly, the sliding block 215 is cut on both ends of the other side to fit the lifting slide rail track), a bottom electronic limit block 216, a top electronic limit block 217, a lifting drive motor 218, a lifting frame base 219, a lifting holder base 220 and three lifting rods 221. In the liftable slide rail inspection system, the lifting guide rail 212 and the threaded rod 214 are arranged on the base support 211, the through slot 213 is arranged in the lifting guide rail 212; the sliding block 215 is arranged on the threaded rod 214, the through hole of the sliding block 215 is threaded with the threaded rod 214; the lifting drive motor 218 at the top of the threaded rod 214 drives the threaded rod 214 to rotate, thereby making the sliding block 215 move up and down; one side of the sliding block 215 cooperates with the through slot 213, which plays a guiding role for the sliding block 215;

[0082] The liftable slide rail inspection system controls the lifting movement of the lifting holder base 220 by the lifting drive motor 218 at the top of the base support 211, the output end of the lifting drive motor 218 is connected with the top end coupling of the threaded rod 214, the threaded rod 214 is driven to rotate by controlling the positive and reverse rotation instructions of the motor output, the sliding block 215 has a longitudinal through hole, the through hole is threaded with the threaded rod 214, so that the sliding block 215 can move up and down on the threaded rod 214 flexibly with the rotation of the threaded rod 214, the top electronic limit block 217 is arranged at the top end of the threaded rod 214, the bottom electronic limit block 216 is arranged at the bottom, the lifting frame base 219 is fixedly connected to the right side of the sliding block 215, the lifting frame base 219 is connected with the three lifting rods 221, the top ends of the three lifting rods 221 are connected with the lifting holder base 220, the support of the three lifting rods 221 is more conducive to the stability of the top lifting holder base 220, and the sliding block 215 is also installed on the left lifting guide rail 212; the threaded rod 214 is driven to rotate by the lifting drive motor 218, so that the sliding block 215 moves up and down at the same time and moves along the lifting guide rail 212, which further increases the stability of the lifting holder of the multi-sensor integrated monitoring system, and is more conducive to the accuracy of the monitoring data.

[0083] The multi-sensor integrated monitoring system is arranged on the lifting cloud platform base 220, and includes a motor main shell base 323, a first driving motor 322, a pump suction type gas detection module 320, a visible light camera 318 and an infrared thermal imaging camera 319. The output shaft of the first driving motor 322 is connected to the middle cavity shell 311 arranged at the top of the motor main shell base 323, and the multi-sensor integrated monitoring system is controlled to rotate horizontally. The second driving motor 316 is arranged at the back of the middle cavity shell 311, and the multi-sensor integrated monitoring system is controlled to pitch. The top of the motor main shell base 323 is provided with the middle cavity shell 311, and the two sides of the middle cavity shell 311 are respectively connected to the second cavity shell 313 provided with the visible light camera 318 and the first cavity shell 312 provided with the infrared thermal imaging camera 319.

[0084] The first driving motor 322 is fixedly arranged on the first motor fixed U-shaped support 341, and the output shaft of the first driving motor 322 is connected to the horizontal driving wheel 337, which is connected to the horizontal driven wheel 339 through the horizontal conveying belt 338. The horizontal driven wheel 339 is arranged on the vertical short shaft 340, the bottom of the vertical short shaft 340 is arranged on the lower bearing seat 334 through the lower deep groove ball bearing 336, and the lower bearing seat 334 is fixed on the motor main shell base 323. The top of the vertical short shaft 340 is arranged on the upper bearing seat 333 through the upper deep groove ball bearing 335, and the upper bearing seat 333 is fixed on the middle cavity shell 311; the vertical short shaft 340 is fixedly connected to the middle cavity shell 311 at the extending end.

[0085] The entire horizontal rotation device adopts a modular structure. The base plate as the base is horizontally fixed at the bottom layer, the first driving motor 322 is vertically installed through the first motor fixed U-shaped support 341, and the motor output shaft faces downward and is assembled with the horizontal driving wheel 337. The bearing seats are symmetrically arranged on the base plate, the deep groove ball bearings are respectively assembled in the bearing seats, and the two bearings jointly support and guide the vertical short shaft 340 to stably rotate along the vertical axis. The horizontal driven wheel 339 is in the same horizontal plane as the horizontal driving wheel 337, and forms a closed belt transmission loop through the horizontal conveying belt 338. The vertical short shaft 340 is fixedly connected to the middle cavity shell 311 above through the flange, and the platform top carries the camera support. When the motor is started, the torque is transmitted to the vertical short shaft 340 through the driving wheel, the conveying belt and the driven wheel in sequence, so as to drive the rotating platform and the support to realize the horizontal rotary motion around the vertical axis.

[0086] Further, the horizontal rotation of the multi-sensor integrated monitoring system is specifically as follows: the first driving motor 322 drives the horizontal driving wheel 337 to rotate, the horizontal conveying belt 338 drives the horizontal driven wheel 339 to rotate, the vertical short shaft 340 is driven to rotate horizontally, and then the middle cavity shell 311 rigidly connected to the vertical short shaft 340 is driven to rotate horizontally, so that the visible light camera 318 and the infrared thermal imaging camera 319 are driven to rotate horizontally synchronously.

[0087] The second driving motor 316 is fixed to the side plate 324 of the U-shaped support, and the output end is connected to the sensor driving wheel 314 through a shaft coupling. The sensor driving wheel 314 drives the sensor driven wheel 315 to rotate through the sensor transmission belt 317. The sensor driven wheel 315 is fixedly connected to the transmission connecting piece 325, and the power is transmitted to the pitch rotating shaft 326 of the penetrating mechanism. The two ends of the pitch rotating shaft 326 are supported by the vertical plates 328 of the U-shaped support on both sides through the deep groove ball bearings 327, so as to form a stable rotating center. The left connecting piece 329 and the right connecting piece 330 are respectively connected to the second cavity shell 313 and the first cavity shell 312 to realize rigid connection. When the second driving motor 316 is started, the power is finally transmitted to the pitch rotating shaft 326 through the belt transmission system and the transmission connecting piece 325, so that the second cavity shell 313 and the first cavity shell 312 are synchronously and pitch-rotated through the forced synchronization of the left and right connecting pieces. The bottom of the vertical plate 324 of the U-shaped support is in contact with the top of the motor main shell base 323 through a square mounting plate structure. Four screw holes are arranged on the mounting plate in a uniform distribution, and corresponding through holes are arranged on the top platform of the motor main shell base 323. The through holes and the screw holes are connected through a bolt assembly to form a fastening connection.

[0088] The pitch movement of the control multi-sensor integrated monitoring system is specifically as follows: the sensor driving wheel 314 is driven to rotate through the second driving motor 316, the sensor driven wheel 315 is driven to rotate through the sensor transmission belt 317, the pitch rotating shaft 326 is driven to rotate, and then the second cavity shell 313 and the first cavity shell 312 which are rigidly connected to the pitch rotating shaft 326 are pitch-moved, so that the visible light camera 318 and the infrared thermal imaging camera 319 are synchronously and pitch-moved.

[0089] According to the signals of the gas sensor, the temperature sensor and the current sensor monitored by the multi-sensor integrated monitoring system, it is determined that the Pack-level thermal runaway occurs. The patrol-firefighting integrated device monitors the temperature of the battery of the energy storage power station through the infrared thermal imaging camera 319 during the patrol, monitors the appearance of the battery pack and the circuit through the visible light camera 318, and detects the content of HC, smoke and the like in the air through the pump suction type gas detection module 320. The pump suction type gas detection module 320 is fixed to the lifting gimbal base 220, the infrared thermal imaging camera 319 is located in the first cavity shell 312, the visible light camera 318 is located in the second cavity shell 313, and the middle cavity shell 311 can keep a distance between the infrared thermal imaging camera 319 and the visible light camera 318 to prevent overheating. 、

[0090] ​The fire-fighting mechanical arm system is arranged on the vehicle body through the rotating base 414, the first rotary arm 411 is arranged on the rotating base 414, the third driving motor 419 and the rotary arm driving wheel 417 are arranged on the first rotary arm 411, the third driving motor 419 drives the rotary arm driving wheel 417, the rotary arm driven wheel 418 arranged on the second rotary arm 412 is driven to rotate through the rotary arm conveying belt 420, and then the second rotary arm 412 is swung up and down; the fire hose 425 is fixed on the first rotary arm 411 and the second rotary arm 412, and the fire nozzle 422 is arranged at the end portion;

[0091] The fire-fighting mechanical arm system comprises the first rotary arm 411, the second rotary arm 412, the fire pipe 413, the first fixing frame 415 and the second fixing frame 416, the fire pipe 413 is fixed on the first rotary arm 411 through the first fixing frame 415, the fire pipe 413 is fixed on the second rotary arm 412 through the second fixing frame 416, the spray pressure of the fire nozzle 422 is adjusted through the control of the electromagnetic pressure valve 423, meanwhile, the battery 424 can supply power for the electromagnetic pressure valve 423 to improve the endurance capacity; the fire pipe 413 can swing left and right and pitch, the swing effect is consistent with that of the multi-sensor integrated monitoring system, the transmission device is fixed at the connecting turning portion of the first rotary arm 411 and the second rotary arm 412, the rotary arm driving wheel 417 is fixed at the first rotary arm 411, the rotary arm driven wheel 418 is fixed at the second rotary arm 412, the output end of the third driving motor 419 is connected with the rotary arm driving wheel 417 through a shaft coupling, the rotary arm driven wheel 418 is driven through the rotary arm conveying belt 420, the rotating shaft 421 penetrates the rotary arm driven wheel 418 and the connecting portion of the second rotary arm 412 and the first rotary arm 411, so that the pitching movement of the second rotary arm 412 is realized. In the embodiment, the driving motor in the rotating base 414 controls the left and right movement of the fire spray mechanism, so that the spray angle can be changed, and different fire source positions can be adapted.

[0092] In the fire-fighting agent trailer system, the main box body 511 comprises a liquid nitrogen auxiliary box body 512 and a perfluorohexone auxiliary box body 513, and the fire hose 425 is connected with the liquid nitrogen auxiliary box body 512 and the perfluorohexone auxiliary box body 513 during work.

[0093] The patrol-firefighting integrated device is also equipped with a fire truck trailer system, and the fire truck body and the towing joint 520 of the trailer body 518 are fixed through the towing frame 519. The trailer body is provided with a fire extinguishing agent storage box, and the main box body 511 is provided with two separated sub-box bodies for storing liquid nitrogen and perfluorohexone respectively. The liquid nitrogen box cover 514 and the perfluorohexone box cover 515 on the top of the main box body 511 are connected with the liquid nitrogen sub-box body 512 and the perfluorohexone sub-box body 513 respectively, so as to facilitate the timely supplement of the fire extinguishing agent. The trailer body 518 is provided with two circular holes on the plate close to the fire truck body, so that the liquid nitrogen supply nozzle 516 and the perfluorohexone supply nozzle 517 of the fire extinguishing agent can extend out of the holes, facilitating the connection with the fire hose 425.

[0094] The application also provides a control method of the unmanned patrol-firefighting integrated device based on the energy storage power station.

[0095] Step 1, the energy storage battery cabin is started to operate, the energy storage battery cluster in the energy storage battery cabin starts to supply power, and the vehicle body moves to the predetermined patrol point through the four universal wheels 116. During the movement, the four ultrasonic sensors 111 and the laser radar continuously work to detect the surrounding obstacles and realize obstacle avoidance.

[0096] Step 2, the lifting drive motor 218 is started to drive the threaded rod 214 to rotate, and the sliding block 215 with a threaded through hole is lifted along the lifting guide rail 212, so that the entire lifting holder system and the multi-sensor integrated monitoring system are lifted to the best observation height. The top electronic limit block 217 and the bottom electronic limit block 216 ensure that the lifting stroke is within the mechanical limit range, prevent the sliding block 215 from impacting the base or the top, and realize electronic limiting. The first drive motor 322 works, the sensor driving wheel 314 drives the sensor driven wheel 315 through the sensor conveying belt 317, so that the entire multi-sensor integrated monitoring system rotates on the horizontal plane for monitoring.

[0097] Step 3, the multi-sensor integrated monitoring system monitors the state of the energy storage power station battery cluster. The visible light camera 318 photographs the battery cluster wire harness and appearance to detect damage or deformation, and the infrared thermal imaging camera 319 scans and generates a temperature distribution map. The pump suction type gas detection module 320 sucks the cabin air through the pump suction pipe 321 to detect H2, HC, CO and smoke concentration.

[0098] Step 4, if a low-risk fault such as aging of the wiring or mechanical damage is identified, the system sends the visible light camera 318 photographed fault picture and the diagnosis result to the on-duty personnel through the wireless module. The on-duty personnel determines a treatment scheme remotely according to the returned picture and information, such as marking for repair, strengthening monitoring, etc.

[0099] Step 5, when the infrared thermal imaging camera 319 or the pump suction gas detection module 320 detects that the temperature or gas concentration is out of limit and lasts for more than 30s, the system immediately determines that it is a high-risk failure. The central controller sends an alarm signal to the BMS through the CAN bus, and the BMS cuts off the power supply of the suspected failure battery cluster. At the same time, the audible and visual alarm 115 is triggered to send an in-bay alarm signal, and an alarm is sent to the duty room.

[0100] Step 6, the visible light camera 318 or the infrared thermal imaging camera 319 identifies the accurate position of the small flame, and the central controller calculates the flame coordinates to control the vehicle body to move to the best fire extinguishing position through the universal wheel 116. The fire extinguishing agent trailer system follows the vehicle body to move. The fire extinguishing pipeline is connected with the rear fire mechanical arm system through the liquid nitrogen supply nozzle 516 and the perfluorohexone supply nozzle 517.

[0101] Step 7, the fire mechanical arm aims, the rotating base 414 of the fire mechanical arm rotates, driving the first rotating arm 411 and the second rotating arm 412 to move, roughly aiming the fire extinguishing nozzle 422 in the direction of the fire source. The third driving motor 419 is started to drive the rotating arm driving wheel 417, which drives the rotating arm driven wheel 418 and the rotating shaft 421 to rotate through the rotating arm conveying belt 420, to realize the fine adjustment of the elevation angle of the fire extinguishing nozzle 422, and to ensure accurate aiming at the fire source.

[0102] Step 8, when the infrared thermal imaging camera 319 and the visible light camera 318 clearly capture the open fire, and the gas sensor detects that the CO concentration sharply rises by more than 500ppm and the smoke concentration is higher than 2.0mg / m 3 , the perfluorohexone auxiliary box 513 pipeline is started preferentially, the central controller issues an instruction to open the electromagnetic pressure valve 423, and the pump is started; when the perfluorohexone extinguishes the open fire, the thermal imaging display shows that the internal temperature of the battery is still high, which is more than 200℃ or continuously rising, and there is a high risk of rekindling; or although there is no open fire, but it is monitored that there is an ultra-high temperature hotspot in the Pack, the liquid nitrogen auxiliary box 512 pipeline is immediately switched to. The fire extinguishing agent is pumped into the fire extinguishing pipeline 413 through the water hose, and finally accurately sprayed from the fire extinguishing nozzle 422 to the target flame position.

[0103] Step 9, the visible light camera 318 continuously monitors the fire. If the fire is extinguished within the preset time, the system sends a successful disposal signal and a failure point image to the on-duty personnel, and the staff carries out the next step of aftercare disposal. If the fire is not extinguished within the preset time, the system sends a failure disposal signal to the on-duty personnel, and the warning level is raised to level 3. The cabin-level fire extinguishing system of the whole energy storage cabin is started. At the same time, in order to ensure safety, the control device immediately moves out of the energy storage cabin through the universal wheel 116. According to the emergency procedures, the staff cooperates to start other emergency disposal measures.

[0104] The invention is not described in the place, applicable to the prior art. The above examples are only used to illustrate the invention, any equivalent transformation and improvement on the basis of the technical scheme of the invention, shall not be excluded from the protection scope of the invention.

Claims

1. An integrated unmanned inspection and fire-fighting device for energy storage power stations, characterized in that: The vehicle body is provided with a lifting slide rail inspection system, a multi-sensor integrated monitoring system, and a fire-fighting mechanical arm system, and a fire-fighting agent trailer system is carried at the rear of the vehicle body. The vehicle body is provided with an ultrasonic sensor, an audible and visual alarm, and a universal wheel. The lifting guide rail and the threaded rod are arranged on the base support, and a through slot is arranged in the lifting guide rail. The other side of the sliding block is fixedly connected with the lifting frame base, and the lifting frame base supports the lifting holder base through the lifting rod. The multi-sensor integrated monitoring system is arranged on the lifting holder base and includes a motor main shell base, a first driving motor, a pump suction type gas detection module, a visible light camera, and an infrared thermal imaging camera. The fire-fighting agent trailer system includes a main box body, a liquid nitrogen sub-box body, and a perfluorohexone sub-box body.

2. The unmanned inspection and fire-fighting integrated device of the energy storage power station according to claim 1, wherein: The first driving motor drives the horizontal driving wheel to rotate, the horizontal transmission belt drives the horizontal driven wheel to rotate, the vertical short shaft is horizontally rotated, the intermediate cavity shell rigidly connected with the vertical short shaft is horizontally rotated, and the visible light camera and the infrared thermal imaging camera are synchronously horizontally rotated. The second driving motor drives the sensor driving wheel to rotate, the sensor transmission belt drives the sensor driven wheel to rotate, the pitch shaft is rotated, the second cavity shell and the first cavity shell rigidly connected with the pitch shaft are pitch moved, and the visible light camera and the infrared thermal imaging camera are synchronously pitch moved. The lifting guide rail is provided with a bottom electronic limit block and a top electronic limit block. The fire hose is fixed on the first rotary arm through the first fixing frame and on the second rotary arm through the second fixing frame.

3. The energy storage power station unmanned inspection-firefighting disposal integrated device according to claim 2, characterized in that: ​ 4. The energy storage power station unmanned inspection-firefighting disposal integrated device according to claim 3, characterized in that: ​ 5. The energy storage power station unmanned inspection-firefighting disposal integrated device according to claim 4, characterized in that: The trailer body is connected to the trailer body through a traction joint and a traction frame, and a liquid nitrogen auxiliary box and a perfluorohexanone auxiliary box are arranged on the trailer body.

6. The energy storage power station unmanned inspection-firefighting disposal integrated device according to claim 5, characterized in that: A liquid nitrogen tank cover and a liquid nitrogen supply nozzle are arranged on the liquid nitrogen auxiliary box, and a perfluorohexanone tank cover and a perfluorohexanone supply nozzle are arranged on the perfluorohexanone auxiliary box.

7. The working method of the unmanned inspection-firefighting integrated device of the energy storage power station according to claim 6, characterized in that, The method comprises the following steps: Step 1, the energy storage battery cabin is started, the energy storage battery cluster in the energy storage battery cabin starts to supply power, and the vehicle body moves to a predetermined inspection point; Step 2, the lifting drive motor is started, the threaded rod is driven to rotate, the sliding block with a threaded through hole is driven to ascend along the lifting guide rail, so that the entire lifting holder system and the multi-sensor integrated monitoring system are lifted to an observation height; The first drive motor works to drive the horizontal driving wheel to rotate, the horizontal transmission belt drives the horizontal driven wheel to rotate, the vertical short shaft is driven to rotate horizontally, and then the intermediate cavity shell rigidly connected with the vertical short shaft is driven to rotate horizontally, so that the visible light camera and the infrared thermal imaging camera are driven to rotate horizontally synchronously; The second drive motor works to drive the sensor driving wheel to rotate, the sensor transmission belt drives the sensor driven wheel to rotate, the pitch shaft is driven to rotate, and then the second cavity shell and the first cavity shell rigidly connected with the pitch shaft are driven to pitch, so that the visible light camera and the infrared thermal imaging camera are driven to pitch synchronously; The multi-sensor integrated monitoring system is adjusted to a suitable monitoring angle; Step 3, the multi-sensor integrated monitoring system monitors the state of the energy storage station battery cluster, the visible light camera shoots the wire harness and appearance of the battery cluster to detect whether the battery cluster is damaged or deformed, the infrared thermal imaging camera scans and generates a temperature distribution map, and the pump suction type gas detection module detects the concentration of the to-be-detected gas by pumping air in the cabin through the pump suction pipe; Step 4, the intelligent control module judges the diagnosis result according to the fault picture shot by the visible light camera, if the identification is that the wiring is aging and the mechanical damage is low-risk failure, the wireless module sends the diagnosis result to the on-duty personnel, the on-duty personnel remotely determines a disposal scheme according to the returned picture and information; Step 5, when the infrared thermal imaging camera detects that the temperature is out of limit or the pump suction type gas detection module detects that the gas concentration is out of limit and lasts for more than 30 seconds, the intelligent control module determines that the failure is high-risk; the central controller sends a warning signal to the BMS through the CAN bus, the BMS cuts off the power supply of the suspected fault battery cluster first; at the same time, the audible light alarm is triggered to send an alarm signal in the cabin and sends a warning to the on-duty room; Step 6, the visible light camera or the infrared thermal imaging camera identifies the accurate position of the tiny flame, the intelligent control module calculates the flame coordinates, and the vehicle body is controlled to move to a fire extinguishing position; The fire extinguishing agent trailer system follows the movement of the vehicle body, and the fire extinguishing pipeline is connected to the rear fire extinguishing mechanical arm system through the liquid nitrogen supply nozzle and the perfluorohexanone supply nozzle; Step 7, the fire extinguishing mechanical arm aims, the rotating base of the fire extinguishing mechanical arm rotates to drive the first rotary arm and the second rotary arm to move, the fire extinguishing nozzle is aimed at the fire source direction; the third drive motor is started to drive the rotary arm driving wheel, the rotary arm transmission belt drives the rotary arm driven wheel and the rotating shaft to rotate, the aiming angle of the fire extinguishing nozzle is finely adjusted, and the fire source is accurately aimed. Step 8, when the infrared thermal imaging camera and the visible light camera clearly capture the open fire, and the gas sensor detects that the CO concentration is greater than 500ppm and the smoke concentration is greater than 2.0mg / m³, the perfluorocyclohexanone auxiliary box pipeline is preferentially started, the intelligent control module sends an instruction to open the electromagnetic pressure valve, and the pump is started; when the perfluorocyclohexanone extinguishes the open fire, if the internal battery temperature is still greater than 200℃ or the temperature is in a continuous rising state, the liquid nitrogen auxiliary box pipeline is switched immediately; the liquid nitrogen is pumped into the fire hose, and finally precise spraying is performed from the fire nozzle to the target position.

8. The working method of the energy storage power station unmanned inspection-firefighting disposal integrated device according to claim 7, characterized in that, The method further comprises the following steps: Step 9, the visible light camera continuously monitors the fire; if the fire is extinguished within the preset time, the system sends a successful disposal signal and a fault point image to the on-duty personnel, and the staff performs the next step of aftercare disposal; if the fire is not extinguished within the preset time, the system sends a disposal failure signal to the on-duty personnel, and the warning level is raised; the whole energy storage cabin cabin fire extinguishing system is started, and the control device exits the energy storage cabin; the staff cooperates to start the emergency disposal measures according to the emergency regulations.

9. The working method of the energy storage power station unmanned inspection-firefighting disposal integrated device according to claim 8, characterized in that, In the step 2, the lifting stroke of the electronic limiting block is within the limit range of the top electronic limiting block and the bottom electronic limiting block, and the electronic limiting is performed.

10. The working method of the unmanned inspection-firefighting integrated device of the energy storage power station according to claim 9, characterized in that, In the step 3, the gas to be detected is H2, gaseous hydrocarbon, CO, and smoke. In the step 3, the gas to be detected is H2, gaseous hydrocarbon, CO, and smoke.

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