CN117224884A - Transformer substation fire-fighting linkage system and method based on positioning adjustment and multi-station fusion - Google Patents
Transformer substation fire-fighting linkage system and method based on positioning adjustment and multi-station fusion Download PDFInfo
- Publication number
- CN117224884A CN117224884A CN202310660917.3A CN202310660917A CN117224884A CN 117224884 A CN117224884 A CN 117224884A CN 202310660917 A CN202310660917 A CN 202310660917A CN 117224884 A CN117224884 A CN 117224884A
- Authority
- CN
- China
- Prior art keywords
- fire
- fighting
- robot
- data
- control unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000004927 fusion Effects 0.000 title claims abstract description 19
- 238000001514 detection method Methods 0.000 claims abstract description 26
- 230000003287 optical effect Effects 0.000 claims abstract description 12
- 238000004364 calculation method Methods 0.000 claims abstract description 9
- 238000004891 communication Methods 0.000 claims abstract description 9
- 238000012937 correction Methods 0.000 claims abstract description 7
- 238000004458 analytical method Methods 0.000 claims abstract description 5
- 239000000779 smoke Substances 0.000 claims description 17
- 230000008859 change Effects 0.000 claims description 11
- 238000013459 approach Methods 0.000 claims description 8
- UHOVQNZJYSORNB-UHFFFAOYSA-N Benzene Chemical compound C1=CC=CC=C1 UHOVQNZJYSORNB-UHFFFAOYSA-N 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 6
- QVFWZNCVPCJQOP-UHFFFAOYSA-N chloralodol Chemical compound CC(O)(C)CC(C)OC(O)C(Cl)(Cl)Cl QVFWZNCVPCJQOP-UHFFFAOYSA-N 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 claims description 5
- 238000012423 maintenance Methods 0.000 claims description 3
- 230000005855 radiation Effects 0.000 claims description 3
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 claims description 2
- 150000001335 aliphatic alkanes Chemical class 0.000 claims description 2
- 239000007789 gas Substances 0.000 claims description 2
- 239000001257 hydrogen Substances 0.000 claims description 2
- 229910052739 hydrogen Inorganic materials 0.000 claims description 2
- UFHFLCQGNIYNRP-UHFFFAOYSA-N Hydrogen Chemical compound [H][H] UFHFLCQGNIYNRP-UHFFFAOYSA-N 0.000 claims 1
- 238000012545 processing Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000004590 computer program Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 241000876443 Varanus salvator Species 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009529 body temperature measurement Methods 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 125000004435 hydrogen atom Chemical class [H]* 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Landscapes
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The invention provides a transformer substation fire-fighting linkage system and method based on positioning adjustment and multi-station fusion, and relates to the technical field of transformer substation fire-fighting, wherein the transformer substation fire-fighting linkage system comprises a sensing detection unit, a fire-fighting control unit and a fire-fighting robot unit, the sensing detection unit is used for acquiring real-time images of fire sources and temperature and humidity data and transmitting the real-time images and the temperature and humidity data to the fire-fighting control unit, the fire-fighting control unit performs calculation and analysis to generate a fire-fighting control instruction, and the analyzed fire azimuth and distance data are sent to the fire-fighting robot unit; the fire-fighting robot unit is in wireless communication connection with the fire-fighting robot, and controls the fire-fighting robot to go to extinguish the fire after receiving the data and the instruction transmitted by the fire-fighting control unit; the fire-fighting robot comprises a robot holder, wherein the robot holder carries a thermal imager, a laser, an optical camera and a laser ranging sensor, and can calibrate a specific fire extinguishing track of the fire-fighting robot to realize position correction in fire extinguishment.
Description
Technical Field
The disclosure relates to the technical field of substation fire protection, in particular to a substation fire protection system linkage and system based on azimuth adjustment and multi-station fusion.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The transformer station is an electric power facility for converting voltage, receiving and distributing electric energy, controlling the flow direction of electric power and regulating voltage in an electric power system, is an intermediate link for connecting a power plant and a user, and is used for connecting the power grids of all levels of voltage through a transformer thereof, plays a role in the whole electric power system, so that the attention to the fire safety problem of the transformer station is extremely high.
The fire extinguishing system of the existing transformer substation adopts full-automatic early warning and management and control to extinguish fire, when the transformer substation fires, the transformer substation fire-fighting robot is adopted to extinguish fire, but when the transformer substation fire-fighting robot works, the identified camera is distorted or the pixel size is changed due to external reasons or internal reasons of a hardware system of the transformer substation fire-fighting robot, so that a certain deviation can be generated in the fire extinguishing direction of the fire-fighting robot, the existing robot has lower real-time deviation rectifying capability, the motion trail of the existing robot cannot be controlled accurately in real time, and the fire extinguishing efficiency and accuracy are lower.
And general fire control robot needs monitor platform to control and communicate in real time, most data center only carries out the condition of a fire judgement to a fire characteristic parameter to the condition of a fire detection, and need the control room personnel on duty start fire extinguishing switch just begin the action of putting out a fire, the shortcoming of this kind of mode lies in unable first time to put out a fire, suppress the condition of a fire development, and when control room unmanned management, unmanned on duty are handled, fire control host computer is in the state always, fire control equipment can't play effectual fire extinguishing function, and when single detection parameter early warning takes place the electrical signal interference in addition, can produce early warning misinformation, lead to, the judgement of image condition of a fire, present unable fire prediction that realizes the multiparameter, the misinformation that can't avoid producing because of the electrical signal interference.
Disclosure of Invention
In order to solve the problems, the present disclosure provides a fire-fighting linkage system and a fire-fighting linkage system of a transformer substation based on positioning adjustment and multi-station fusion, which are designed for a fire-fighting linkage system of a data center in a multi-station fusion mode, and are used for linking fire detection and fire-fighting control parts, correcting and rectifying azimuth deviation in the working process of a fire-fighting robot in real time, and guaranteeing fire safety of the transformer substation.
According to some embodiments, the present disclosure employs the following technical solutions:
substation fire-fighting linkage system based on location adjustment and multi-station fusion includes:
the fire control system comprises a sensing detection unit, a fire control unit and a fire control robot unit, wherein the sensing detection unit is used for visually detecting fire source information, acquiring real-time images and temperature and humidity data of a fire source, transmitting the real-time images and the temperature and humidity data to the fire control unit, the fire control unit performs calculation and analysis, judges the temperature and humidity data through a threshold comparison method, combines the real-time image characteristics, generates a fire control instruction, and transmits the analyzed fire azimuth and distance data to the fire control robot unit;
the fire-fighting robot unit is in wireless communication connection with the fire-fighting robot, and after receiving the data and the instruction transmitted by the fire-fighting control unit, the fire-fighting robot unit controls the fire-fighting robot to go to extinguish the fire; the fire-fighting robot comprises a robot holder, wherein the robot holder carries a thermal imager, a laser, an optical camera and a laser ranging sensor, and can calibrate a specific fire-extinguishing track of the fire-fighting robot to realize position correction in fire extinguishment.
According to some embodiments, the present disclosure employs the following technical solutions:
the transformer substation fire-fighting linkage method based on positioning adjustment and multi-station fusion comprises the following steps:
the sensing detection unit detects smoke and temperature and humidity data in the early stage of fire, acquires voltage data, and uploads the voltage data to the fire control unit, and the fire control unit calculates the temperature rise rate and the voltage change rate, judges the temperature rise rate and the voltage change rate by a threshold comparison method, stores the data at the moment, and calculates the change rate with the data acquired in the next second; when two or more than two characteristic parameter data exceed the preset fire threshold, judging that a fire exists, and generating a corresponding fire extinguishing instruction; and if not, gradually judging whether the data of each characteristic parameter exceeds the threshold value, and if so, generating a patrol maintenance instruction.
Further, after receiving the data and the instruction transmitted by the fire control unit, the fire control robot unit controls the fire control robot to go to extinguish the fire, and the fire control robot reaches a designated fire extinguishing place according to the azimuth and the distance data transmitted by the fire control unit; after reaching a specified fire extinguishing place, the fire-fighting robot transmits single laser pulse to the target by utilizing the laser, measures the distance between the robot and the fire source, recognizes other targets outside the fire source by utilizing the optical camera, acquires the digital image of the non-high-temperature object, and transmits the digital image back to the fire-fighting control unit to monitor the fire condition around the fire-fighting robot.
Further, the cloud platform of the fire-fighting robot is connected with a compass, the fire monitor angle and the running attitude angle of the robot are measured in real time, the calibration and the position correction of the fire extinguishing track of the fire-fighting robot are realized, and the specific realization method is as follows: the method comprises the steps of constructing a kinematic model of the robot in straight running and steering, analyzing the stress condition of each steering direction, calculating steering driving force according to the steering principle of the fire-fighting robot, and adjusting the movement speed and direction by changing the driving force of driving wheels at two sides of the fire-fighting robot so as to enable the fire-fighting robot to approach a detected fire source target.
Further, after the fire-fighting robot approaches the fire source target, the method for positioning the fire-fighting target is as follows: according to the acquired real-time image, an image coordinate system is established, the position of the fire source is deduced through coordinates on the image coordinate system, firstly, the length offset of the flame center and the image center is calculated, then the image coordinate system is converted into a geodetic coordinate system, the geodetic coordinate related to the fire source positioning is established, the angle is calculated, and the steering of the fire monitor is adjusted to position.
Compared with the prior art, the beneficial effects of the present disclosure are:
the method and the device can improve the deviation rectifying capability of the robot when the direction is regulated, and enable the feasibility of the movement track in a controllable range. The sensing detection unit is connected with the fire control unit by utilizing the LoRa wireless communication technology, the judgment of fire is automatically completed by multi-parameter threshold judgment, multi-parameter fire detection is performed, and compared with the early warning of a single detection parameter, the false alarm caused by electric signal interference can be avoided, the multi-parameter detection is equivalent to providing double fire judgment for the fire control linkage system, and the false alarm rate of the fire condition by the system is reduced, so that fire can be accurately extinguished.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate and explain the exemplary embodiments of the disclosure and together with the description serve to explain the disclosure, and do not constitute an undue limitation on the disclosure.
FIG. 1 is a schematic diagram of a system connection of the present disclosure;
fig. 2 is a flow chart of a fire control unit data analysis process of the present disclosure.
The specific embodiment is as follows:
the disclosure is further described below with reference to the drawings and examples.
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the present disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments in accordance with the present disclosure. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
Example 1
In one embodiment of the present disclosure, a fire protection linkage system of a transformer substation based on positioning adjustment and multi-station fusion is provided, including, as shown in fig. 1:
the fire control system comprises a sensing detection unit, a fire control unit and a fire control robot unit, wherein the sensing detection unit is used for visually detecting fire source information, acquiring real-time images and temperature and humidity data of a fire source, transmitting the real-time images and the temperature and humidity data to the fire control unit, the fire control unit performs calculation and analysis, judges the temperature and humidity data through a threshold comparison method, combines the real-time image characteristics, generates a fire control instruction, and transmits the analyzed fire azimuth and distance data to the fire control robot unit;
the fire-fighting robot unit is in wireless communication connection with the fire-fighting robot, and after receiving the data and the instruction transmitted by the fire-fighting control unit, the fire-fighting robot unit controls the fire-fighting robot to go to extinguish the fire; the fire-fighting robot comprises a robot holder, wherein the robot holder carries a thermal imager, a laser, an optical camera and a laser ranging sensor, and can calibrate a specific fire-extinguishing track of the fire-fighting robot to realize position correction in fire extinguishment.
The sensing detection unit and the fire control unit are respectively matched with a core processor, in order to enable the system to complete data processing in a short time, the core processor selects an STC8F chip with the advantages of high data processing speed, high clock control precision, large storage space and the like, the chip has an ultra-high speed 8051 core, the processing speed is about 12 times faster than that of the traditional 8051, and the instruction codes are completely compatible with the traditional 8051. At the same time, 42 external GPIOs can be provided at most, and a plurality of sensing equipment inputs or a plurality of fire fighting equipment action signal outputs can be met.
The smoke sensor disclosed by the disclosure adopts an MQ-2 type smoke sensor, can be used for detecting liquefied gas, benzene, alkane, alcohol, hydrogen, smoke and the like, has the conductivity increased along with the increase of the smoke volume fraction, the detectable smoke volume fraction range is 10-4-10-2, and the smoke module circuit has an analog and digital double-circuit signal output function. In order to display specific smoke volume fraction values on the monitoring screen, a digital output function is adopted, and the specific smoke volume fraction values are converted into accurate smoke volume fraction values by accessing a signal processing circuit.
The temperature and humidity detection module selects an SHT20 temperature and humidity sensor as a key element, and the selected sensor has the advantages of high stability, high cost performance, low power consumption and the like, can support I2C digital/PWM and SDM output/analog voltage interface output, has a temperature measurement range of-40 to +125 ℃, and has a response time of 5s.
Furthermore, the sensing detection unit and the fire control unit transmit data through the LoRa communication module, and a working mode of point-to-many transparent transmission is adopted. Compared with the traditional wireless communication technologies such as WiFi, zigbee and Bluetooth, the LoRa technology has a longer signal transmission distance, is suitable for various large-scale places, and has the advantages of being higher in safety, more in node number, lower in power consumption and the like. The communication module selects a module with the model of ATK-LORA-01, and the module has various transparent transmission working modes: the intelligent fire-fighting system can realize various functions by sending AT instructions through point-to-point, point-to-many and broadcast transmission. The wireless transmission distance is more than 3km, the anti-interference capability is strong, the standby power consumption is 9 mu A, the TX power is 100MW, and the RX sensitivity is-136 dB. In the system, the sensing detection unit and the fire control unit are in signal transmission using LoRa technology, a point-to-many transparent transmission working mode is adopted, ATK-LORA-01 configuration software V1.1 is used for configuring initial addresses for all the LoRa nodes, the sensing detection unit node is used as a total point, and the fire control unit node is used as a multi-pivot point.
The robot holder carries a thermal imager, a laser and an optical camera to drive a laser ranging sensor to rotate, the thermal imager selects a gray scale mode, the energy distribution of infrared radiation of a fire source is reflected through infrared image pixel points, the highest temperature and the lowest temperature of a fire scene are monitored in real time, after the direction of the fire source is determined, a single laser pulse is emitted to a target by the laser, and the distance between the robot and the fire source is measured.
The fire-fighting robot takes the driving wheel as a power output wheel train of the walking device, so that the driving wheel is meshed with the crawler belt and outputs torque to drive the crawler belt to tile forwards or move in azimuth. The drive wheel was cut using a 2a12 aluminum plate and welded with the gear teeth, inner wheel disc and outer wheel, secured by a shaft-wheel connection sleeve.
The fire-fighting robot can visually detect a fire source target, the robot holder carries a thermal infrared imager, an LDS1000M laser ranging sensor, a DS-2ZMN2006 color light camera, an AINS02-2H holder and an SEC345 electronic compass, and the holder is used for carrying the thermal infrared imager, the laser and the optical camera to drive the sensor to rotate. The thermal imager selects a gray mode, reflects the energy distribution of infrared radiation of a fire source through infrared image pixel points, monitors the highest temperature and the lowest temperature of a fire scene in real time, and outputs a digital image through an Ethernet. After the fire source direction is determined, a single laser pulse is emitted to the target by using a pulse laser, and the distance between the robot and the fire source is measured. And identifying other targets outside the fire source by utilizing the optical camera, and collecting digital images of non-high-temperature objects so that fire fighters behind can master the condition of the fire scene around the robot. The compass is used for measuring the fire monitor angle and the running attitude angle of the fire-fighting robot.
Example 2
An embodiment of the present disclosure provides a substation fire-fighting linkage method based on positioning adjustment and multi-station fusion, including:
the sensing detection unit detects smoke and temperature and humidity data in the early stage of fire, acquires a real-time image of a fire source, acquires voltage data, and uploads the voltage data to the fire control unit, and the fire control unit calculates the temperature rise rate and the voltage change rate, judges the temperature rise rate and the voltage change rate through a threshold comparison method, stores the data in the moment, and calculates the change rate with the data acquired in the next second; when two or more than two characteristic parameter data exceed the preset fire threshold, judging that a fire exists, and generating a corresponding fire extinguishing instruction; and if not, gradually judging whether the data of each characteristic parameter exceeds the threshold value, and if so, generating a patrol maintenance instruction.
Specifically, as shown in fig. 2, the smoke sensor and the temperature and humidity sensor of the sensing unit are collected once per second, the temperature rise rate and the voltage change rate obtained by operation in the fire control unit are judged by a threshold comparison method, and the data of the moment is stored so as to calculate the change rate with the data collected in the next second. When two or more than two characteristic parameter data exceed the initial set fire threshold, judging that fire exists at the moment, rapidly starting power protection, turning on emergency lamps and evacuation indicator lamps, playing fire alarm broadcast, putting down a fire roller shutter door, and reminding related personnel of rapid evacuation; and if not, starting to gradually judge whether the data of each characteristic parameter exceeds the threshold value, and displaying the current characteristic parameter state on a screen. When the system judges that fire exists, a fire extinguishing instruction is started rapidly, and if the fire extinguishing instruction is sent out within 10 seconds, the fire-fighting robot is controlled to start, so that fire extinguishing work is completed. If no fire extinguishing instruction is sent within 10 seconds, the fire-fighting robot is manually controlled to start.
After receiving the data and the instruction transmitted by the fire control unit, the fire control robot unit controls the fire control robot to go to extinguish the fire, and the fire control robot reaches a designated fire extinguishing place according to the azimuth and the distance data transmitted by the fire control unit; after reaching a specified fire extinguishing place, the fire-fighting robot transmits single laser pulse to the target by utilizing the laser, measures the distance between the robot and the fire source, recognizes other targets outside the fire source by utilizing the optical camera, acquires the digital image of the non-high-temperature object, and transmits the digital image back to the fire-fighting control unit to monitor the fire condition around the fire-fighting robot.
The method for acquiring the azimuth and distance data transmitted by the fire control unit is that the sensing detection unit detects a real-time image of a fire source, extracts a fire source target in the image, performs geometric feature analysis on the extracted fire source target, determines the center position of the fire source target, and outputs the fire source azimuth and distance data.
Further, the cloud platform of the fire-fighting robot is connected with a compass, the fire monitor angle and the running attitude angle of the robot are measured in real time, the calibration and the position correction of the fire extinguishing track of the fire-fighting robot are realized, and the specific realization method is as follows: the method comprises the steps of constructing a kinematic model of the robot in straight running and steering, analyzing the stress condition of each steering direction, calculating steering driving force according to the steering principle of the fire-fighting robot, and adjusting the movement speed and direction by changing the driving force of driving wheels at two sides of the fire-fighting robot so as to enable the fire-fighting robot to approach a detected fire source target.
Specifically, a kinematic model of the robot for straight running and steering is constructed, and the calculation formula of the linear speed of the crawler belt is as follows:
wherein: v 1 ，v 2 Linear speeds of the inner crawler belt and the outer crawler belt respectively; a is the turning radius of the robot; b is the steering angular velocity of the robot; q is the center distance of the crawler belts at the two sides. According to the engagement relationship between the driving wheel and the caterpillar, the linear speed of the driving wheel is the same as that of the caterpillar, thus v 1 ，v 2 It can also be expressed as:
wherein: w (w) 1 ，w 2 The inner and outer angular speeds of the driving wheel are respectively; c is the radius of the drive wheel. The calculation formula of the steering angular velocity b of the robot is as follows:
b＝c(w 2 -w 1 )/Q (3)
the robot is subjected to azimuth adjustment by taking b as the steering angular speed and taking a as the steering radius, and the stress condition under the steering is analyzed. According to the robot steering principle, the steering driving moment M corresponding to the parameters a and b is calculated, and the formula is as follows:
M＝0.5Q(F 1 -F 2 ) (4)
wherein: f (F) 1 ，F 2 The driving forces required by the inner driving wheel and the outer driving wheel when the robot turns respectively. Substituting the formula (4) into a longitudinal force balance equation of the robot to obtain a calculation formula of the driving force required by the inner side and the outer side of the driving wheel, wherein the calculation formula is as follows:
wherein F is the sum of the traction forces on the inside and outside of the drive wheel. The driving force of driving wheels at two sides of the robot is changed to adjust the moving speed and direction so as to enable the moving speed and direction to approach to the detected fire source target.
As an embodiment, when the fire-fighting robot approaches the fire source target, the positioning method for the fire-extinguishing target is as follows: according to the acquired real-time image, an image coordinate system is established, the position of the fire source is deduced through coordinates on the image coordinate system, firstly, the length offset of the flame center and the image center is calculated, then the image coordinate system is converted into a geodetic coordinate system, the geodetic coordinate related to the fire source positioning is established, the angle is calculated, and the steering of the fire monitor is adjusted to position. The specific method for positioning comprises the following steps:
after the robot approaches the fire source, the positioning algorithm of the fire extinguishing target is optimized, so that the fire water monitor can be aligned to the fire source. Deducing the position of a fire source through coordinates on an image coordinate system, firstly calculating the length offset of the flame center and the image center, wherein the formula is as follows:
(m，n)＝6.25×10 -6 (x，y) (6)
wherein: (x, y) is the pixel coordinates of the infrared image; (m, n) are the corresponding amounts of offset in the x-axis and y-axis, respectively. Then converting the image coordinate system into a geodetic coordinate system, establishing a geodetic coordinate (x) 0 ,y 0 ,z 0 ). Since the fire source targets are ground fire, z is taken 0 0, the horizontal rotation angle theta of the robot fire monitor 1 Vertical rotation angle theta 2 The calculation formula is as follows:
wherein H is the installation height of the fire-fighting robot. Will be theta 1 And theta 2 Is converted into a steering direction to align the fire source to realize fire extinguishment.
The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While the specific embodiments of the present disclosure have been described above with reference to the drawings, it should be understood that the present disclosure is not limited to the embodiments, and that various modifications and changes can be made by one skilled in the art without inventive effort on the basis of the technical solutions of the present disclosure while remaining within the scope of the present disclosure.
Claims (10)
1. Substation fire control linked system based on location adjustment and multisite fuses, its characterized in that includes: the fire control system comprises a sensing detection unit, a fire control unit and a fire control robot unit, wherein the sensing detection unit is used for visually detecting fire source information, acquiring real-time images and temperature and humidity data of a fire source, transmitting the real-time images and the temperature and humidity data to the fire control unit, the fire control unit performs calculation and analysis, judges the temperature and humidity data through a threshold comparison method, combines the real-time image characteristics, generates a fire control instruction, and transmits the analyzed fire azimuth and distance data to the fire control robot unit;
the fire-fighting robot unit is in wireless communication connection with the fire-fighting robot, and after receiving the data and the instruction transmitted by the fire-fighting control unit, the fire-fighting robot unit controls the fire-fighting robot to go to extinguish the fire; the fire-fighting robot comprises a robot holder, wherein the robot holder carries a thermal imager, a laser, an optical camera and a laser ranging sensor, and can calibrate a specific fire-extinguishing track of the fire-fighting robot to realize position correction in fire extinguishment.
2. The substation fire protection linkage system based on positioning adjustment and multi-station fusion according to claim 1, wherein the sensing detection unit comprises a temperature and humidity sensor and a smoke sensor, the smoke sensor is used for detecting liquefied gas, benzene, alkane, alcohol, hydrogen and smoke, and the conductivity increases with the increase of the smoke volume fraction.
3. The substation fire protection linkage system based on positioning adjustment and multi-station fusion according to claim 1, wherein the sensing detection unit and the fire protection control unit transmit data through the LoRa communication module, and a working mode of point-to-many transparent transmission is adopted.
4. The substation fire-fighting linkage system based on positioning adjustment and multi-station fusion according to claim 1, wherein the robot holder carries a thermal imager, a laser and an optical camera to drive a laser ranging sensor to rotate, the thermal imager selects a gray scale mode, the infrared image pixel points reflect the energy distribution of infrared radiation of a fire source, the highest temperature and the lowest temperature of a fire scene are monitored in real time, after the fire source orientation is determined, a single laser pulse is emitted to a target by the laser, and the distance between the robot and the fire source is measured.
5. The substation fire-fighting linkage system based on positioning adjustment and multi-station fusion according to claim 1, wherein the optical camera is used for identifying other targets outside the fire source of the fire-fighting robot in a short distance, collecting digital images of non-high-temperature objects, and transmitting the digital images back to the fire-fighting control unit to monitor the fire conditions around the fire-fighting robot.
6. The substation fire protection linkage system based on positioning adjustment and multi-station fusion according to claim 1, wherein the fire protection robot holder further comprises a compass for measuring a fire monitor angle and an attitude angle of operation of the fire protection robot.
7. The substation fire protection linkage method based on positioning adjustment and multi-station fusion according to any one of claims 1-6, comprising:
the sensing detection unit detects smoke and temperature and humidity data in the early stage of fire, acquires voltage data, and uploads the voltage data to the fire control unit, and the fire control unit calculates the temperature rise rate and the voltage change rate, judges the temperature rise rate and the voltage change rate by a threshold comparison method, stores the data at the moment, and calculates the change rate with the data acquired in the next second; when two or more than two characteristic parameter data exceed the preset fire threshold, judging that a fire exists, and generating a corresponding fire extinguishing instruction; and if not, gradually judging whether the data of each characteristic parameter exceeds the threshold value, and if so, generating a patrol maintenance instruction.
8. The substation fire-fighting linkage method based on positioning adjustment and multi-station fusion according to claim 8, wherein after the fire-fighting robot unit receives the data and the instruction transmitted by the fire-fighting control unit, the fire-fighting robot is controlled to go to fire, and the fire-fighting robot reaches a designated fire-fighting site according to the azimuth and the distance data transmitted by the fire-fighting control unit; after reaching a specified fire extinguishing place, the fire-fighting robot transmits single laser pulse to the target by utilizing the laser, measures the distance between the robot and the fire source, recognizes other targets outside the fire source by utilizing the optical camera, acquires the digital image of the non-high-temperature object, and transmits the digital image back to the fire-fighting control unit to monitor the fire condition around the fire-fighting robot.
9. The substation fire-fighting linkage method based on positioning adjustment and multi-station fusion according to claim 8, wherein the fire-fighting robot cradle head is connected with a compass, and the fire monitor angle and the running attitude angle of the robot are measured in real time, so that the calibration and position correction of the fire-fighting track of the fire-fighting robot are realized, and the method is specifically realized as follows: the method comprises the steps of constructing a kinematic model of the robot in straight running and steering, analyzing the stress condition of each steering direction, calculating steering driving force according to the steering principle of the fire-fighting robot, and adjusting the movement speed and direction by changing the driving force of driving wheels at two sides of the fire-fighting robot so as to enable the fire-fighting robot to approach a detected fire source target.
10. The substation fire-fighting linkage method based on positioning adjustment and multi-station fusion according to claim 9, wherein after the fire-fighting robot approaches the fire source target, the positioning method for the fire-fighting target is as follows: according to the acquired real-time image, an image coordinate system is established, the position of the fire source is deduced through coordinates on the image coordinate system, firstly, the length offset of the flame center and the image center is calculated, then the image coordinate system is converted into a geodetic coordinate system, the geodetic coordinate related to the fire source positioning is established, the angle is calculated, and the steering of the fire monitor is adjusted to position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310660917.3A CN117224884A (en) | 2023-06-02 | 2023-06-02 | Transformer substation fire-fighting linkage system and method based on positioning adjustment and multi-station fusion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310660917.3A CN117224884A (en) | 2023-06-02 | 2023-06-02 | Transformer substation fire-fighting linkage system and method based on positioning adjustment and multi-station fusion |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117224884A true CN117224884A (en) | 2023-12-15 |
Family
ID=89089991
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310660917.3A Pending CN117224884A (en) | 2023-06-02 | 2023-06-02 | Transformer substation fire-fighting linkage system and method based on positioning adjustment and multi-station fusion |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117224884A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117572811A (en) * | 2024-01-17 | 2024-02-20 | 山东中鸿云计算技术有限公司 | Intelligent booster station control system |
-
2023
- 2023-06-02 CN CN202310660917.3A patent/CN117224884A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117572811A (en) * | 2024-01-17 | 2024-02-20 | 山东中鸿云计算技术有限公司 | Intelligent booster station control system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102096413B (en) | Security patrol robot system and control method thereof | |
| CN103399577B (en) | A kind of detection sensory perceptual system of operated from a distance rescue robot | |
| CN109885083A (en) | Transmission line of electricity fining inspection flying platform and method for inspecting based on laser radar | |
| CN109276833A (en) | A kind of robot patrol fire-fighting system and its control method based on ROS | |
| CN108189004A (en) | A kind of explosion-proof crusing robot | |
| CN106975191A (en) | A kind of fire-fighting system and its rescue mode | |
| CN111739252B (en) | Fire monitoring and automatic fire extinguishing system and working method thereof | |
| CN103426270A (en) | Household intelligent fire-fighting early warning and escape system | |
| CN111408089A (en) | Fire-fighting robot and fire-fighting robot fire extinguishing system | |
| CN103235562A (en) | Patrol-robot-based comprehensive parameter detection system and method for substations | |
| CN103514721B (en) | The monitoring terminal of a kind of forest fireproofing early warning system | |
| CN107274003A (en) | A kind of wisdom fire-fighting management system and its control method | |
| CN117224884A (en) | Transformer substation fire-fighting linkage system and method based on positioning adjustment and multi-station fusion | |
| CN104243918A (en) | Robot monitoring system automatically patrolling based on Bluetooth positioning | |
| CN102323782A (en) | Internet of things based intelligent monitoring system for oil tank in tank area | |
| KR101212630B1 (en) | Mobile system for monitoring power transfer line | |
| CN103399333A (en) | Mobile wireless positioning method and system | |
| CN113730860A (en) | Autonomous fire extinguishing method of fire-fighting robot in unknown environment | |
| CN103514702A (en) | Forest fire prevention early warning system | |
| CN102650885A (en) | Robot walking monitoring system with remote-range prewarning function | |
| CN204408502U (en) | Application bluetooth locates the robot monitoring system automatically gone on patrol | |
| CN103761827A (en) | Fire monitor system | |
| CN112556709A (en) | Fire rescue robot, rescue assisting system and communication method thereof | |
| CN202306238U (en) | Tank region oil tank intelligent monitoring device based on Internet of things | |
| CN107741725A (en) | A kind of automatic control system applied to power monitoring |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |