Robot for fire emergency disposal of high-voltage power distribution machine room

Abstract

The utility model discloses a robot for fire emergency disposal of a high-voltage power distribution machine room. Comprising a mobile robot body with an intelligent control system, a spraying module which is carried on the intelligent mobile robot body, controlled by the intelligent control system to work and used for fire extinguishing or cooling spraying, a power-off execution module used for power-off operation execution, a fire extinguishing execution module used for fire extinguishing and a hole breaking execution module used for hole opening operation. The robot has various execution operation capabilities such as power failure, fire extinguishment and hole breaking, realizes emergency treatment functions such as power failure, fire extinguishment and hole breaking, and is particularly suitable for fire emergency application of a high-voltage power distribution machine room.

Description

Technical Field

[0001] This utility model relates to the field of robot product structure, and in particular to robot products for emergency work. 。 Background Technology

[0002] Against the backdrop of the accelerated construction of new power systems, the scale of ultra-high voltage transmission and transformation facilities continues to expand. As a core node of the power network, distribution rooms face severe challenges to their safe operation. In recent years, electrical fires caused by equipment aging and insulation failure have been on the rise, and the power grid paralysis following such accidents can indirectly affect the regional economic chain. Traditional emergency response relies heavily on manual operation, requiring workers to risk entering strong electric fields (with field strength generally exceeding 10kV / m), facing fatal risks such as electric shock and arc burns. Furthermore, donning full protective gear takes up to 3 minutes, easily missing the golden 5-minute window for initial fire response.

[0003] While existing firefighting robot technology partially replaces manual labor, it exhibits significant shortcomings in high-voltage scenarios: conventional wheeled chassis are limited by a turning radius of over 1 meter, making it difficult to traverse the standard 1.2-meter corridors of power distribution rooms; the drilling devices mostly use general-purpose drill bits, which are prone to breakage and hole diameter deviations exceeding 5 millimeters when facing high-strength cabinet steel plates with a thickness of 2-8 millimeters; the separate design of the fire extinguishing module and the drilling system results in a delay of over 30 seconds in action coordination, and the extinguishing agent is underutilized because it cannot be accurately injected into the core area of ​​the fire source. More seriously, the complex electromagnetic environment causes multiple interferences to the equipment—field strengths above 30kV / m can cause wireless communication packet loss rates to surge to 15%, and navigation sensors to experience centimeter-level positioning drift, severely restricting the accuracy and timeliness of emergency response. Utility Model Content

[0004] The purpose of this invention is to provide a robot for emergency response to fires in high-voltage power distribution rooms. This robot possesses multiple operational capabilities, including power outage, fire extinguishing, and hole breaching, enabling emergency response functions such as power outage, fire extinguishing, and hole breaching. It is particularly suitable for emergency applications in high-voltage power distribution room fires, thus solving the problems existing in the aforementioned background technology. 。

[0005] To achieve the above objectives, the technical solution of this utility model is: a robot for emergency response to fires in high-voltage power distribution rooms, comprising a mobile robot body with an intelligent control system, and a spraying module mounted on the intelligent mobile robot body and controlled by the intelligent control system for fire extinguishing or cooling spraying, a power-off execution module for power-off operation, a fire extinguishing execution module for fire extinguishing, and a hole-breaking execution module for hole-opening operation.

[0006] The intelligent mobile robot body is also equipped with a mounting platform. The mounting platform is installed on the intelligent mobile robot body via a lifting and rotating device that allows for both lifting and rotation. The electrical actuator, fire extinguishing actuator, and / or hole-breaking actuator are mounted on the mounting platform.

[0007] The lifting and rotating device includes a lifting drive base mounted on the main body of the intelligent mobile robot, a multi-section telescopic column connected to the lower end of the lifting drive base and driven by it to lift and adjust, and a rotating seat fixedly mounted on the upper end of the multi-section telescopic column via a bogie. The rotating seat is equipped with a rotating drive mechanism, and the mounted movable platform is rotatably mounted on the rotating seat and driven to rotate by the rotating drive mechanism. The rotation axis of the rotating seat is perpendicular to the lifting axis of the multi-section telescopic column.

[0008] The spraying module includes a water spraying module and / or a fire extinguisher module; the spraying module includes a water tank, a water pump connected to the water tank, and a spray atomizing pipe assembly connected to the water pump, the spray atomizing pipe assembly being arranged to spray atomize towards the outer periphery of the intelligent mobile robot body; the fire extinguisher module includes a fire extinguisher and a nozzle connected to the fire extinguisher, the nozzle being arranged to spray towards the outer periphery of the intelligent mobile robot body.

[0009] The power-off execution module includes a first moving mechanism mounted on a movable platform and a rotating electric gripper mounted on the first moving mechanism and moved and adjusted by it.

[0010] The rotating electric gripper is equipped with a position sensor.

[0011] The hole-breaking execution module includes a second moving mechanism mounted on a movable platform and a counter-pressure nail gun mounted on the second moving mechanism and moved and adjusted by it.

[0012] The second moving mechanism is equipped with a sensing and positioning structure.

[0013] The fire extinguishing module includes a fire extinguisher positioned on a movable platform and a fire extinguisher nozzle connected to the fire extinguisher and mounted on the movable platform via a moving mechanism.

[0014] The platform is also equipped with vision devices.

[0015] The vision module includes a dual-spectrum camera and a visual camera.

[0016] The main body of the intelligent mobile robot is also equipped with a support leg module that can be used to prevent tipping when the hole-breaking execution module is working.

[0017] The leg module includes a leg mounting base connected to the main body of the mobile robot, an electric actuator connected to the upper end of the leg mounting base, a support plate hinged to the lower end of the electric actuator, and an anti-slip pad set on the support plate.

[0018] The main body of the intelligent mobile robot includes a walking chassis module with a tracked walking structure and a Christie suspension and Matilda four-wheel balance suspension system, a main control module, a wireless charging module, a communication module, a collision avoidance module, a vision module, a temperature and humidity sensing module, and an autonomous navigation module mounted on the walking chassis module.

[0019] By adopting the above technical solution, the beneficial effects of this utility model are:

[0020] 1. The robot with the above-mentioned structure can perform tasks such as fire detection, autonomous navigation, hole breaking, fire extinguishing, power outage operation, and data transmission, and is particularly suitable for emergency fire applications in high-voltage power distribution rooms.

[0021] 2. The robot with the above-mentioned structure can effectively and reliably replace humans in high-risk environments such as strong electric fields and high temperatures, completely eliminating the risk of electric shock and burns.

[0022] 3. It can integrate high-precision positioning, power-off operation, adaptive hole breaking and directional atomization fire extinguishing technologies, which can reduce the time of the entire process of hole breaking-power-off-fire extinguishing and break through the efficiency bottleneck of traditional segmented operation.

[0023] 4. It can be equipped with electromagnetic interference resistance (stable operation at a field strength of 40kV / m), narrow space maneuverability (zero radius turning in a 1.2m channel), and multi-layer protection system to ensure reliability in complex environments.

[0024] 5. Based on edge intelligence and big data dynamic optimization decision-making, promote the transformation of power fire protection from "passive emergency response" to "proactive prevention and control", and provide a full-scenario solution for the safe operation and maintenance of UHV power grid. Attached Figure Description

[0025] Figure 1 This is a structural schematic diagram of a robot for emergency response to fires in high-voltage power distribution rooms, which is related to this utility model.

[0026] Figure 2 This is a structural schematic diagram of the lifting and rotating device involved in this utility model.

[0027] Figure 3 This utility model relates to the support leg module.

[0028] Figure 4 This is a schematic diagram of the structure of the mobile platform involved in this utility model.

[0029] Figure 5This is a structural schematic diagram of the spraying module involved in this utility model. Detailed Implementation

[0030] To further explain the technical solution of this utility model, the following detailed description is provided through specific embodiments.

[0031] This embodiment discloses a robot for emergency response to fires in high-voltage power distribution rooms, such as... Figure 1 The device includes a mobile robot body 1 with an intelligent control system, a spraying module 2 mounted on the intelligent mobile robot body 1 and controlled by the intelligent control system for fire extinguishing or cooling spraying, a power-off execution module 3 for power-off operation, a fire extinguishing execution module 4 for fire extinguishing, and a hole-breaking execution module 5 for hole-opening operation, which can realize emergency handling operations such as power-off, hole-breaking, and spraying fire extinguishing agent.

[0032] The intelligent mobile robot body 1, in this embodiment, for example... Figure 1As shown, the system includes a tracked chassis module with a dual-track differential drive system for stable movement, supporting multiple operation modes such as forward, backward, and turning, and adapting to complex environments. Its suspension system can adopt Christie suspension and Matilda four-wheel balance suspension system, which can adapt to heavy load shock absorption. The main body 1 of the intelligent mobile robot also includes a main control module, wireless charging module, communication module, collision avoidance module, vision module, temperature and humidity sensing module, and autonomous navigation module mounted on the chassis module. The chassis module integrates the main control module, wireless charging module, communication module, collision avoidance module, vision module, and autonomous navigation module, which can monitor obstacles in real time and adjust the travel route to ensure movement safety under complex working conditions. It is equipped with a battery management system that supports power status monitoring and automatic return to base when the battery is low. The wireless charging module utilizes contact charging technology, transferring power through physical contact between the vehicle's charging plates and the compatible charging station. The charging system supports automatic docking, autonomously identifying the charging location and establishing a connection to ensure unmanned charging. It can be equipped with a charging status monitoring device to provide real-time feedback on charging progress and system status, ensuring a safe and reliable charging process. The autonomous navigation module, based on multi-sensor fusion technology, integrates environmental modeling and path planning. By constructing a 3D map in real time, it achieves precise positioning and dynamic obstacle avoidance, supporting autonomous navigation in complex scenarios. The system can plan the optimal path according to task requirements and dynamically adjust it during operation, ensuring both efficiency and safety. The main control module, as the system's core, coordinates the collaborative work of all submodules. It can integrate multi-protocol communication interfaces, support data interaction with external devices, and be equipped with a real-time operating system and intelligent control algorithms to achieve tasks, status monitoring, and fault diagnosis, ensuring the robot's efficient and stable operation. The vision module integrates multiple vision sensors, including multispectral cameras, thermal imagers, and visual cameras, enabling comprehensive, multi-angle monitoring of the surrounding environment. It can capture real-time images and video information, and through image recognition and analysis technology, quickly locate key targets such as fire sources and obstacles. The optional infrared camera has temperature monitoring capabilities, allowing real-time sensing of environmental temperature changes and providing crucial information for firefighting and rescue decisions. Furthermore, it supports image and data storage and transmission, facilitating remote monitoring and analysis. The communication module, acting as an information bridge between the robot and the outside world, integrates multiple communication protocols and interfaces, supporting high-speed, stable data transmission. It can send environmental information and equipment status data collected by the robot to the backend monitoring center in real time. Simultaneously, it can receive instructions and task information from the backend, enabling remote control and collaborative operations. This module supports 5G / Mesh dual-link communication, ensuring real-time data feedback and remote command response.

[0033] The intelligent mobile robot body 1 is also equipped with a carrying platform 11. The carrying platform 11 is installed on the intelligent mobile robot body 1 by means of a lifting and rotating device 12 that is capable of lifting, rotating and rotating. The electric execution module 3, the fire extinguishing execution module 4 and the hole breaking execution module 5 are installed on the carrying platform 11. In this way, the height and orientation of the operation can be adjusted as needed by means of the lifting and rotating device 12. As shown in the figure in this embodiment, the lifting and rotating device 12 includes a lifting drive base 111 (which can be driven by a servo motor) mounted on the main body of the intelligent mobile robot 1, and a multi-section telescopic column 112 connected to the lower end of the lifting drive base 111 and driven by it to lift and adjust. A rotating seat 114 is fixedly mounted on the upper end of the multi-section telescopic column 112 via a bogie 113. The rotating seat 114 is provided with a rotating drive mechanism 115. The mounted mobile platform 11 is rotatably mounted on the rotating seat 114 and driven to rotate by the rotating drive mechanism 115. The rotation axis of the rotating seat 114 is perpendicular to the lifting axis of the multi-section telescopic column 112. The multi-section telescopic column 112 can be assembled from three lifting columns to complete the height lifting action. The rotating seat 114 can have a rotation function, so that the height adjustment and orientation adjustment can not only meet the operation requirements of the highest and lowest cabinets, but also reduce the overall height of the equipment, improve space utilization efficiency and operation convenience. During operation, the working height can be flexibly adjusted to adapt to different scenario requirements. It supports arbitrary height stopping and rapid lifting functions, with a maximum lifting height to meet the needs of multi-cabinet operations. It can be equipped with mechanical limit and overload protection devices to ensure operational stability and safety. The rotating base 114 enables rotational movement, providing the robot with flexible angle adjustment capabilities. It can achieve 360-degree omnidirectional rotation, supports rapid rotation and precise positioning. During operations such as hole breaking and fire extinguishing, the angle can be flexibly adjusted according to actual needs to expand the working range and improve work efficiency. It can be equipped with a rotation status monitoring device to provide real-time feedback on rotation angle and speed information, ensuring the safety and stability of rotational operations.

[0034] The spraying module 2 in this embodiment includes a water spraying module 21 and a fire extinguisher module 22. Alternatively, only the spraying module 21 may be included depending on the configuration. The spraying module 21 includes a water tank 211, a water pump 212 connected to the water tank 211, and a spray atomizing pipe assembly 213 connected to the water pump 212. The spray atomizing pipe assembly 213 is arranged to spray atomize water towards the outer periphery of the intelligent mobile robot body 1. The fire extinguisher module 22 includes a fire extinguisher 221 and a nozzle 222 connected to the fire extinguisher 221. The nozzle 222 is also arranged to spray water towards the outer periphery of the intelligent mobile robot body 1. The system can support constant pressure water supply and pulse jet modes, quickly covering the target area and suppressing the spread of fire. Depending on the usage needs, this module can be used for cooling or fire extinguishing. For cooling purposes, when the system starts, the water pump 212 begins operation, rapidly delivering water from the water tank 211 along the pipeline to the spray atomizing pipes 213 on both sides of the robot. The spray atomizing tube 213 can transform water flow into fine and uniform water mist particles. After these water mists are sprayed out from the atomizing head, they quickly diffuse in the air around the robot, thereby significantly reducing the temperature around the robot. In this way, the water spray module 21 can effectively prevent the robot from being damaged due to overheating and ensure that it can continue to perform its tasks stably in complex and dangerous fire scenarios.

[0035] The power-off execution module 3 includes a first moving mechanism 31 mounted on the movable platform 11 and a rotating electric gripper 32 mounted on the first moving mechanism 31 and moved and adjusted by it. During operation, the module uses the first moving mechanism 31 to further adjust and position the rotating electric gripper, thus enabling the power-off of the electrical cabinet via the knobs and touch buttons. It can be equipped with a cross-laser calibration system for rapid positioning of the power-off knob, supporting millimeter-level precision adjustment. It features multi-position rotation control, adaptability to different sizes of power-off knobs, and supports clockwise / counterclockwise bidirectional operation. It can work in conjunction with a vision module, using image recognition to assist positioning and ensure the accuracy and safety of the power-off operation.

[0036] The perforation execution module 5 includes a second moving mechanism 51 mounted on the movable platform 11, a counter-pressure nail gun 52 mounted on the second moving mechanism 51 and moved and adjusted by it, and a sensing and positioning structure (not visible in the figure). This module drives the hydraulic punching device and the nail gun 52 to further correspond to the work position through the movement and adjustment of the second moving mechanism 51. Through the methods of hydraulic punching and counter-pressure nailing, the gunpowder explosion can achieve rapid perforation of the electrical cabinet wall. It can efficiently perforate cabinets of different materials, ensuring the accuracy of the perforation operation. At the same time, it can have a perforation status monitoring function, which can provide real-time feedback on the perforation progress and tool status, ensuring the smooth progress of the perforation operation.

[0037] The fire extinguishing module 4 includes a fire extinguisher 41 positioned on a movable platform 11 and a fire extinguisher nozzle 42 connected to the fire extinguisher 41 and mounted on the movable platform 11 via a moving mechanism. This moving mechanism can be a second moving mechanism 51. When the module is working, the orientation can be further adjusted via the second moving mechanism 51 to align the fire extinguisher nozzle 42 with the puncture site, thus initiating rapid spraying of the extinguishing agent. This enables rapid response of the fire extinguisher, precise fire extinguishing, and quick initiation of fire extinguishing operations, effectively controlling the spread of fire. It supports multi-level spray mode control and can flexibly adjust the spray intensity according to the location and size of the fire source to ensure accurate coverage of the fire point by the extinguishing agent.

[0038] To effectively mitigate the risk of the robot tipping over during the drilling process, the main body 1 of the intelligent mobile robot is equipped with a support leg module 13 for anti-tipping support during the operation of the drilling execution module 5. This support leg module 13 is mounted on the mobile chassis module on the opposite side of the drilling execution module 5. The support leg module 13 includes a support leg fixing seat 131 connected to the main body 1, an electric actuator 132 connected to the upper end of the support leg fixing seat 131, a support plate 133 hinged to the lower end of the electric actuator 132, and an anti-slip pad 134 (which can be a rubber pad) mounted on the support plate 133. During operation, the electric actuator 132 is activated, pushing the support plate 133 downwards. The support plate 133 achieves effective contact with the ground through hinged adjustment. Simultaneously, the anti-slip pad 134 significantly increases the friction with the ground, thereby stabilizing the robot and effectively preventing it from tipping over during the drilling operation.

[0039] The robot with the above-described structure can perform tasks such as fire detection, autonomous navigation, hole-breaking operations, fire extinguishing, power-off operations, and data transmission. Through efficient collaboration between modules, it achieves fully automated processing, as shown in the following workflow: First, the vision module locates the fire point using an infrared thermal imager and a visible light camera; the main control module generates a fire heat map and triggers an emergency response. The autonomous navigation module plans a path using laser SLAM data, and the tracked chassis module dynamically avoids obstacles and moves to the target area. The lifting and rotating device raises the mobile platform to the working height and drives the hole-breaking module to align with the cabinet and perform hole-breaking operations on the nail gun. After the vision module relocates the fire point, the fire extinguishing module, in conjunction with the spraying module, sprays dry powder and fine water mist, with temperature and humidity sensors providing real-time feedback on the fire extinguishing effect. The power-off module uses visual guidance and force-controlled grippers to perform precise knob operations. Finally, the communication module transmits data in real-time, and the robot autonomously returns to the charging base station. Throughout the entire process of the fire suppression operation, the closed-loop control of lifting, rotating, and puncturing, the linkage mechanism of vision, navigation, and fire extinguishing, and the coordinated operation of force control, vision, and power cut-off were consistently implemented to ensure the efficient completion of fire emergency response tasks under complex working conditions.

[0040] This robot is adaptable to all terrains and can operate continuously in extreme environments. Its fully automated process significantly improves emergency response efficiency. Through precise breaching and targeted fire suppression technologies, it effectively controls the spread of fire; force-controlled power outages prevent secondary damage to equipment and reduce maintenance costs. The system achieves human-machine isolation in high-risk scenarios, ensuring personnel safety. It can provide intelligent fire prevention solutions for critical power infrastructure, reducing the risk of large-scale power outages. Modular design and remote control technology lay the foundation for multi-robot collaborative operations, promoting the construction of smart fire protection systems. Standardized emergency response procedures can be quickly adapted to different scenarios, promoting technological upgrades in the industrial fire protection field.

[0041] In summary, the robot of this utility model aims to overcome the core challenges of high human risk, large response delay, and poor adaptability of existing equipment in the handling of fires in high-voltage power distribution rooms. Through multimodal collaborative technology, it achieves unmanned and precise operation and can achieve the following advantages: (1) It can achieve unmanned operation 24 hours a day and timely temperature detection and early warning of power room cabinets; (2) It can quickly operate the knob to quickly disconnect the power; (3) It can instantly penetrate 2mm of cabinet steel plate and quickly open the fire extinguishing channel; (4) It can quickly extinguish the fire inside the cabinet by using a built-in 4L dry powder fire extinguisher and corresponding operating device; (5) It can automatically cool down in high-temperature environment by using a built-in 1L self-sprinkling water tank to ensure normal equipment operation; (6) It can overcome obstacles of 15mm, climb slopes of 10 degrees, and reach the cabinet that is about to catch fire quickly through the complex fire environment at a maximum operating speed of 1m / s; (7) It can flexibly define inspection routes; (8) It can achieve remote real-time video monitoring and remote operation; (9) It can automatically recharge when the battery is low.

[0042] The above embodiments and figures are not intended to limit the product form and style of this utility model. Any appropriate changes or modifications made by those skilled in the art should be considered as not departing from the patent scope of this utility model.

Claims

1. A robot for emergency response to fires in high-voltage power distribution rooms, characterized in that, It includes a mobile robot body with an intelligent control system, a spraying module mounted on the intelligent mobile robot body and controlled by the intelligent control system for fire extinguishing or cooling spraying, a power-off execution module for power-off operation, a fire extinguishing execution module for fire extinguishing, and a hole-breaking execution module for hole-opening operation.

2. The robot for emergency response to fires in high-voltage power distribution rooms as described in claim 1, characterized in that, The main body of the intelligent mobile robot includes a walking chassis module with a tracked walking structure and a Christie suspension and Matilda four-wheel balance suspension system, a main control module, a wireless charging module, a communication module, a collision avoidance module, a vision module, and an autonomous navigation module mounted on the walking chassis module.

3. The robot for emergency response to fires in high-voltage power distribution rooms as described in claim 2, characterized in that, The vision module includes a dual-spectrum camera and a visual camera.

4. A robot for emergency response to fires in high-voltage power distribution rooms as described in claim 1, 2, or 3, characterized in that, The intelligent mobile robot body is also equipped with a carrying platform. The carrying platform is installed on the intelligent mobile robot body by means of a lifting and rotating device that can be raised, lowered and rotated. The electric actuator, fire extinguishing actuator and / or hole breaking actuator are installed on the carrying platform.

5. A robot for emergency response to fires in high-voltage power distribution rooms as described in claim 4, characterized in that, The power-off execution module includes a first moving mechanism mounted on a movable platform and a rotating electric claw mounted on the first moving mechanism and moved and adjusted by it. And / or, the hole-breaking execution module includes a second moving mechanism mounted on a movable platform and a counter-pressure nail gun mounted on the second moving mechanism and moved and adjusted by it; And / or, the fire extinguishing execution module includes a fire extinguisher positioned on a movable platform and a fire extinguisher nozzle connected to the fire extinguisher and mounted on the movable platform via a moving mechanism; And / or, the lifting and rotating device includes a lifting drive base mounted on the main body of the intelligent mobile robot and a multi-section telescopic column connected at the lower end to the lifting drive base and driven by it to lift and adjust, and a rotating seat fixedly mounted on the upper end of the multi-section telescopic column via a bogie. The rotating seat is provided with a rotating drive mechanism, and the mounted movable platform is rotatably mounted on the rotating seat and driven to rotate by the rotating drive mechanism. The rotation axis of the rotating seat is perpendicular to the lifting axis of the multi-section telescopic column. And / or, the spraying module includes a water spraying module, the spraying module includes a water tank, a water pump connected to the water tank and a spray atomizing pipe assembly connected to the water pump, the spray atomizing pipe assembly is arranged in a structure that sprays and atomizes towards the outer periphery of the intelligent mobile robot body; And / or, the spraying module includes a water spraying module and a fire extinguisher module; the spraying module includes a water tank, a water pump connected to the water tank, and a spray atomizing pipe assembly connected to the water pump, the spray atomizing pipe assembly being arranged to spray atomize towards the outer periphery of the intelligent mobile robot body; the fire extinguisher module includes a fire extinguisher and a nozzle connected to the fire extinguisher, the nozzle being arranged to spray towards the outer periphery of the intelligent mobile robot body.

6. A robot for emergency response to fires in high-voltage power distribution rooms as described in claim 5, characterized in that, The main body of the intelligent mobile robot is also equipped with a support leg module that can be used to prevent tipping when the hole-breaking execution module is working.

7. A robot for emergency response to fires in high-voltage power distribution rooms as described in claim 6, characterized in that, The leg module includes a leg mounting base connected to the main body of the mobile robot, an electric actuator connected to the upper end of the leg mounting base, a support plate hinged to the lower end of the electric actuator, and an anti-slip pad set on the support plate.

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