WO2021115343A1 - Intelligent fire-fighting system and method for transformer substation - Google Patents
Intelligent fire-fighting system and method for transformer substation Download PDFInfo
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- WO2021115343A1 WO2021115343A1 PCT/CN2020/134991 CN2020134991W WO2021115343A1 WO 2021115343 A1 WO2021115343 A1 WO 2021115343A1 CN 2020134991 W CN2020134991 W CN 2020134991W WO 2021115343 A1 WO2021115343 A1 WO 2021115343A1
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- equipment
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/16—Fire prevention, containment or extinguishing specially adapted for particular objects or places in electrical installations, e.g. cableways
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C99/00—Subject matter not provided for in other groups of this subclass
- A62C99/0009—Methods of extinguishing or preventing the spread of fire by cooling down or suffocating the flames
- A62C99/0045—Methods of extinguishing or preventing the spread of fire by cooling down or suffocating the flames using solid substances, e.g. sand, ashes; using substances forming a crust
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C99/00—Subject matter not provided for in other groups of this subclass
- A62C99/0009—Methods of extinguishing or preventing the spread of fire by cooling down or suffocating the flames
- A62C99/0072—Methods of extinguishing or preventing the spread of fire by cooling down or suffocating the flames using sprayed or atomised water
Definitions
- the present disclosure belongs to the technical field of smart substations, and specifically relates to a substation smart fire fighting system and method.
- the substation/converter station generally puts in a robot loaded with a certain capacity of fire extinguishing medium (such as fire fighting water, etc.).
- a certain capacity of fire extinguishing medium such as fire fighting water, etc.
- small and medium-sized fire-fighting robots carry limited fire extinguishing medium capacity and cannot control the fire at one time, which causes the fire delay or the safety of the robot itself is threatened.
- Large-scale robots are generally equipped with a large-caliber water cannon, which is supplied by fire trucks, and can only use water jets to extinguish fires.
- the facilities facing the substation have application limitations.
- the height of the fire water cannon is fixed, which cannot meet the requirements of different height equipment in the substation. Accurate fire extinguishing needs.
- the robot is far from the fire point, it will not be able to reach the fire scene quickly and in time, and it may also delay the fire and cause the fire to expand.
- the present disclosure proposes an intelligent fire protection system and method for a substation.
- the present disclosure can enable multiple fire fighting robots and fire fighting medium supply equipment deployed in the substation to ensure the first Fire fighting at a time to ensure the safety of the substation.
- the present disclosure adopts the following technical solutions:
- An intelligent fire protection system for a substation comprising a plurality of fire fighting robots and fire fighting medium supply equipment that can be linked and controlled, and a control center.
- the fire fighting robots and fire fighting medium supply equipment are arranged at intervals in each area of the substation.
- the fire fighting medium supply equipment It can be detachably connected with the fire hydrant to realize continuous water supply, among which:
- the fire-fighting robot includes a robot body on which a fire-fighting water/foam spray mechanism with a first interface is provided;
- the fire-fighting medium supply equipment carries a water supply mechanism and a foam supply mechanism, and the corresponding fire extinguishing medium is provided through a hose, The end of the hose is provided with a second interface adapted to the first interface;
- the control center is configured to receive fire information, and dispatch a corresponding number of fire-fighting robots with a short distance or a corresponding number of fire-fighting robots and fire-fighting medium supply equipment with a short distance according to the fire situation to the vicinity of the fire point, through the first interface and the second
- the second interface is automatically and quickly connected to implement fire fighting.
- the fire fighting robot includes a robot body, and a fire extinguishing mechanism is provided on the robot body.
- the fire extinguishing mechanism includes a fire fighting water/foam spraying mechanism, and the fire fighting water/foam spraying mechanism includes at least one water inlet pipe.
- One end of the water pipe is provided with a first interface, and the other end is connected to a transmission water pipe.
- the other end of the transmission water pipe is provided with a rotary joint.
- the rotary joint is provided with a spray nozzle, and the rotary joint is connected with the robot body through a lifting mechanism.
- the fire-fighting medium supply equipment carries a water supply mechanism and a foam supply mechanism, wherein:
- the water supply mechanism includes a number of fire-fighting water storage tanks.
- the fire-fighting water storage tank is connected to a booster pump through a pipeline.
- the drain pipe of the booster pump is connected to a hose, and the other end of the hose is provided with a first interface. Equipped second interface;
- the foam supply mechanism includes a plurality of foam storage tanks, the foam storage tanks are connected to the foam pump through a pipeline, the drain pipe of the foam pump is connected to the hose, and the other end of the hose is provided with a first interface. Adapted second interface.
- multiple firefighting robots and firefighting medium supply equipment are set in the substation.
- the control center can confirm whether to put in several firefighting robots separately according to the size of the fire, or whether to put in firefighting robots + firefighting medium supply equipment, and quickly dispatch nearby according to the location of the fire. , Strive to extinguish the fire in the best extinguishing period, which can effectively control the fire and ensure the safety of the substation.
- the present disclosure can use fire fighting robots and fire fighting medium supply equipment to cooperate with each other, combined with the length and flexibility of hoses and transmission pipes, and can make full use of the limited space in the substation, ensure continuous operation, and fully control the fire.
- the fire-fighting medium supply equipment can be a movable mechanism such as a car body, or a fixed mechanism.
- the above technical solutions can achieve fire extinguishing with water and foam, and at least two media. At the same time, it can adapt to the complex environment in the substation and adapt to the different regions and heights of the fire source in the substation by using the mutual cooperation of the mobile chassis, the lifting mechanism and the rotary joint. Sexual adjustment and suppression have great freedom.
- the fire extinguishing mechanism further includes a dry powder spraying mechanism, which is arranged on the mobile chassis of the fire fighting robot, and specifically includes a number of dry powder tanks.
- the outlet of the dry powder tank is connected to the spray head through a pipeline, and the spray head is arranged On the revolving head, the revolving head is arranged on the mobile chassis through a lifting mechanism, so that the height and angle of the dry powder spray can be adjusted.
- the mobile chassis is a crawler-type mobile chassis.
- a shell is provided on the mobile chassis, and the shell contains the dry powder injection mechanism and the fire-fighting water/foam injection mechanism, and at least the rotary joint, the rotary head and the nozzle are exposed outside the shell. body.
- the front end of the housing is provided with a distance measuring sensor, a camera device, and a lighting lamp.
- the dry powder injection mechanism includes a number of solenoid valves and dry powder tanks, the powder inlet pipe of the solenoid valve is connected to the corresponding dry powder tank, one end of the powder outlet pipe of the solenoid valve is connected to the solenoid valve, and the other end is connected to the multi-way The joint, one end of the multi-way joint is connected to the dry powder nozzle, which is fixed on the rotary head.
- the fire-fighting water/foam spray mechanism includes a main water pipe and a solenoid valve. One end of the main water pipe is connected to the water inlet pipe, and the other end is connected to the spray nozzle.
- the main water pipe is provided with a solenoid valve, and the fire water is controlled by the solenoid valve. The spraying work of the foam spraying mechanism.
- the fire-fighting robot is also provided with a self-spraying mechanism, which specifically includes a standpipe and a sprinkler.
- the water inlet pipe is connected to the standpipe through a pipeline, and the angle between the standpipe and the vertical direction is less than or equal to 15 °, the nozzle is installed on the riser.
- Self-spraying is the process of self-spraying of the robot during the water spraying process to lower its temperature and ensure the safety of the robot itself.
- the self-sprinkling is always in the open state. As long as the standpipe has fire fighting water, it will work.
- one end of the lifting mechanism is fixed to the mobile chassis, and the other end is provided with a revolving base, the revolving base is equipped with a revolving head, and the revolving head is provided with a lighting lamp, a camera device and an infrared Thermal Imager.
- the fire-fighting medium supply equipment is provided with a hose docking mechanism
- the hose docking mechanism includes a socket provided on the fire-fighting medium supply equipment
- the socket includes a support seat
- the support seat is A plurality of uprights are provided, the uprights are distributed circumferentially, the center can accommodate the water inlet pipe, the upright is provided with an elastic body, the end of the upright is provided with a compression plate, and the compression plate is provided with a relatively rotatable
- the pressing piece is connected to the second interface by a movable card.
- the second interface When the second interface is docked with the first interface, the second interface is set in the socket to ensure the stability of the second interface. At the same time, when facing outwards, the first interface on the robot side can be quickly connected to ensure timeliness and speed. , The elastic body can also offset the impulse when the two joints are connected to a certain extent.
- the second interface and the first interface are both quick-connect plugs.
- the fire fighting robot body and the fire fighting medium supply equipment are both provided with at least one image acquisition device for real-time monitoring of the docking state of the second interface and the first interface.
- the fire-fighting medium supply equipment is also provided with a hose retracting mechanism, which specifically includes a reel, a driving member, and a support frame.
- the driving member is connected to the reel through the transmission member to drive the reel to rotate.
- the hose is wound on the reel, and an image acquisition device is provided on the reel for real-time acquisition of the state images of the fire hose.
- a processor is provided on the fire-fighting robot or fire-fighting medium supply equipment, and the processor is connected to the control system of the fire-fighting robot.
- the state image is processed and recognized.
- the processor controls the robot to stop the action; when the image shows the joint between the hose and the robot, it is recognized The hose has been completely retracted, and the processor controls the reel to stop.
- a first sensor is provided on the reel.
- the number of turns of the reel is monitored in real time.
- the first sensor Send a fully unfolding control signal to the processor, and the processor will control the robot to stop after receiving the fully unfolded control signal;
- the hose is retracted: monitor the number of turns of the reel in real time, and when the number of turns reaches the preset value, It is determined that the hose has been completely retracted, and the first sensor sends a complete retracting control signal to the processor, and the processor controls the reel to stop the action after receiving the complete retracting control signal.
- the first sensor is a rotary encoder or a rotation sensor or other revolution measurement sensors.
- a pressure sensor is provided at the position of the fire hose or the second interface or the first interface, which is used to detect the water pressure in real time and transmit it to the processor, and compare it with the stored preset pressure threshold. When the pressure is lower than the preset pressure threshold, it is prompted that the pressure is insufficient, and the processor determines that there is a pipeline leak/hose damage.
- the processor is also configured to obtain the relative position of the second interface and the first interface by extracting more obvious feature values in the image, and to determine the current docking status by continuously capturing images and performing image processing.
- the processor is also configured to: while performing image processing, the second interface and/or the first interface is equipped with a first sensor, and when the second interface and the first interface are successfully connected, the first sensor is installed on the second interface and/or the first interface. The sensor sends a docking success signal to the processor.
- a multi-eye vision device is provided on the fire fighting robot for collecting visual image information and infrared image information of the on-site environment.
- At least one unmanned aerial vehicle is also deployed in the substation to collect image information from different perspectives of the equipment in the substation and communicate with the control center to assist the substation fire fighting robot to establish a three-dimensional model of the station. Assist the robot to determine its position coordinates in the station.
- the drone collects image information from different perspectives of the equipment in the station, and assists the substation fire fighting robot to establish a three-dimensional model of the station;
- the drone collects image information in the substation in real time and assists the robot in determining its position coordinates in the station;
- the drone collects the image information of the burning equipment and determines the location of the fire point
- control the robot to plan the path and adjust the spray angle
- the drone collects images of the location of the fire point in real time, determines the current status information of the fire point and transmits it to the robot, and the robot adjusts the fire fighting strategy according to the received current status information of the fire point.
- the operation method of the above-mentioned intelligent fire fighting system is to establish a three-dimensional model in the station.
- Carry recognition and positioning of the equipment ignition point analyze the position of the ignition point in the three-dimensional coordinate system, and combine the fire situation to adjust the ejection elimination curve based on multi-eye vision, calculate the ejection angle and ejection flow rate of the ejection device, and select the fire-fighting medium according to the type of equipment on fire;
- the injection angle, the injection flow rate and the fire fighting medium are fire extinguishing parameters;
- the robot completes the stripping and the hose is recovered.
- the specific process of calculating the injection angle and injection flow rate of the injection device in combination with the fire situation includes:
- the spray coverage area includes the fire point.
- the step of preprocessing the visual image information includes:
- the suspicious fire area is divided and normalized.
- the steps of preprocessing infrared image information include:
- the infrared image is preprocessed by grayscale and then segmented, the image feature value after segmentation is extracted, and the extracted image feature value is input into the trained neural network model for recognition, and the suspicious fire area of the infrared image is obtained.
- the method for determining the fire area is:
- the suspicious fire area obtained after visual image processing is compared with the suspicious fire area obtained after infrared image processing.
- the overlapping suspicious fire area is regarded as the credible fire area, and the suspicious fire area that does not overlap is regarded as the suspected fire area.
- the non-suspected fire area is determined to be an area where no fire has occurred.
- the method for determining the optimal injection angle and injection flow rate is:
- the steps of analyzing the status of the fire equipment in the fire area and determining the best fire extinguishing position and distance include:
- the step of judging the size of the fire of the burning equipment and selecting the best injection mode includes:
- the present disclosure proposes a multi-source heterogeneous fire-fighting equipment linkage control technology.
- Multiple fire-fighting robots and fire-fighting medium supply equipment are deployed in a substation.
- the fire-fighting robots and fire-fighting medium supply equipment are used to cooperate with each other, and the hose, inlet pipe, and transmission water pipe
- the length and flexibility can make full use of the limited space in the substation to form a dynamic pairing and temporary team formation.
- the fire-fighting robot and the fire-fighting medium supply equipment can be dynamically matched according to the location of the fire and the fire situation. , Realize early warning, ensure the first time to put out the fire, eliminate the fire at the embryonic stage, and ensure the safety of the substation.
- This disclosure proposes a multi-sensor fusion fire hose docking monitoring technology, which uses real-time monitoring of sensors to accurately confirm the docking status of the fire-fighting robot and the fire-fighting medium supply equipment, ensuring the intelligence of the docking process, and accurately grasping the progress of the operation to facilitate the docking Deal with the error as soon as it occurs; at the same time, monitor the process of expanding and retracting the hose to assist the robot in finding the best operating point.
- the present disclosure can realize the fire extinguishing of various media such as fire fighting water, foam, and dry powder. At the same time, it can adapt to the complex environment in the substation and target different areas and heights of the substation by using the mutual cooperation of the mobile chassis and the lifting mechanism, the rotary head and the rotary joint.
- the source is adaptively adjusted and extinguished, which has a great degree of freedom.
- the fire-fighting robot of the present disclosure is provided with a self-spraying mechanism, and the robot self-sprays during the water spraying process to lower its temperature and ensure the safety of the robot itself.
- the present disclosure proposes a rapid identification technology for the ignition point of substation equipment that integrates multiple images, combines the collected data, converts flame image information into flame space coordinate information, overcomes the difficult problem of not being able to accurately locate the flame position, and realizes the flame The fast and accurate positioning.
- the ability to quickly identify and analyze the fire point of the equipment is improved, and it provides data support for the selection of the best fire extinguishing method. Combined with the spray curve calculation algorithm, it can realize the automatic aiming of the spray device and quickly and effectively extinguish the fire source.
- the firefighting robot at the closest substation dispatching distance can carry fire extinguishing equipment and various sensors to the spot immediately, and use the quick docking mechanism to complete and firefighting medium supply equipment.
- the docking of the supply mechanism to achieve long-term continuous operation of fire extinguishing, and strive to achieve the best and fastest fire extinguishing.
- the integrated intelligent fire-fighting robot for substations can also be combined with existing fire early warning systems (such as sensors provided at intervals between substations) or sensors carried by each fire-fighting robot, or drone images to monitor the environment in the substation in real time.
- existing fire early warning systems such as sensors provided at intervals between substations
- sensors carried by each fire-fighting robot or drone images to monitor the environment in the substation in real time.
- the fire is discovered at a time, and the fire-fighting robot is dispatched as soon as possible, and the fire-fighting robot is first carried out.
- the robots in other positions rush to the fire point according to the size of the fire, which saves the response time to the greatest extent and guarantees the fire fighting Effectiveness.
- the present disclosure uses drones to cooperate in the air, combined with the three-dimensional registration fusion model of the substation, solves the problem of the fire detection algorithm's misrecognition of the interference light source, and realizes the rapid and accurate guidance of the fire fighting robot to the fire location in the event of a fire.
- Figure 1 is a side view of the fire-fighting robot of the present disclosure
- Figure 2 is a rear view of the fire-fighting robot of the present disclosure
- Figure 3 is a side view of the internal structure of the fire-fighting robot of the present disclosure.
- Figure 4 is a top view of the internal structure of the fire-fighting robot of the present disclosure.
- Figure 5 is a system block diagram of the fire-fighting robot of the present disclosure
- Figure 6 is a schematic diagram of the structure of the fire-fighting robot of the present disclosure.
- FIG. 7 is a schematic diagram of the socket structure of the present disclosure.
- Figure 8 is a top view of the fire-fighting medium supply equipment of the present disclosure.
- Figure 9 is a side view of the fire-fighting medium supply equipment of the present disclosure.
- Figure 10 is a rear view of the fire-fighting medium supply equipment of the present disclosure.
- Figure 11 is a side view of the fire-fighting medium supply equipment of the present disclosure.
- Figure 12 is a block diagram of the fire protection medium supply equipment of the present disclosure.
- Figure 13 is a specific flow chart of fire extinguishing in the present disclosure.
- Figure 14 is an image processing flowchart of the docking process of the present disclosure
- Figure 15 is a schematic diagram of the substation intelligent fire protection system of the present disclosure.
- a substation intelligent fire fighting system includes multiple fire fighting robots and fire fighting medium supply equipment, as well as a control center, fire fighting robots (represented by circles in the figure), and fire fighting medium supply equipment (shown in boxes on the way Instead of representation) are deployed in each area of the substation (indicated by a hexagon) at intervals, and each has a positioning mechanism.
- the fire-fighting medium supply equipment can be fixed, mobile, or both.
- the ignition point (indicated by a star icon) can be obtained according to the smoke/temperature sensors deployed in each area of the substation, or it can be obtained by the sensor carried on the firefighting robot, or it can be detected by configuring the drone .
- the drone collects image information from different perspectives of the equipment in the station, and assists the substation fire fighting robot to establish a three-dimensional model of the station;
- the substation fire-fighting robot uses the multi-eye vision equipment onboard, and takes the structural characteristics of the equipment in the station as the constraint, and uses multi-view reconstruction to obtain a primary model of the substation as a whole; the specific process is:
- the parallax of two images is captured by multiple cameras (two in some embodiments) to construct a three-dimensional scene.
- the three-dimensional information of the target is obtained by calculating the position deviation between corresponding points of the image.
- the equipment in the station usually has a fixed specification, and the length and height information are known, so it can be used as a reference when measuring the distance.
- the disadvantage of establishing a model through stereo vision technology is that the accuracy is not high enough, so the primary model is established.
- the drone is equipped with multiple sensors and uses tilt photography technology to collect images from five different angles: vertical, front view, rear view, left view, and right view at the same time, to obtain rich high resolution of the top and side views of the building Rate texture.
- tilt photography technology to collect images from five different angles: vertical, front view, rear view, left view, and right view at the same time, to obtain rich high resolution of the top and side views of the building Rate texture.
- the real 3D model and the primary model are closely matched to generate an accurate 3D vision model.
- Dense matching of multi-view images can obtain high-precision and high-resolution digital surface models.
- the matching method is:
- initial feature matching is to generate a series of sparse surface elements, which are used as seed points for diffusion.
- the process of diffusion and filtering is repeated many times, and the sparse seed points are diffused to generate dense point clouds and delete error point clouds.
- Initial feature matching The first is feature detection. Commonly used feature extraction operators include Harris corner extraction operator and DoG operator. After feature detection, image matching is performed.
- the drone collects image information in the substation in real time and assists the robot in determining its position coordinates in the station;
- the robot When a fire occurs, the robot is affected by smoke and other harsh environments.
- the visual positioning technology may cause inaccurate positioning, which can easily lead to errors in the subsequent process of determining the position of the water supply point, path planning, and spraying angle, which is not conducive to the fire fighting robot. Work autonomously.
- the drone when the robot is moving in the station to the scene of the fire, the drone takes images in the air to obtain the location of the burning equipment, the distribution of peripheral equipment, and the relative position information of the robot and other equipment; the image data is transmitted back The background is used to detect the on-site environment.
- the drone When the robot is operating in the station, the drone will send back an image in the air, then model the image based on the image returned by the drone. At this time, the robot exists in the model as a mobile device in the station and will have the model The next coordinate. At the same time, the sensor installed by the robot reads the precise model built in advance, and also measures its own coordinates under the fine model.
- the fine model and the model established by the drone are both models in the same substation. Therefore, the same coordinate system can be used for measurement.
- the two coordinate values in the same coordinate system can be compared to assist the robot in determining its own position in the station. Position coordinates.
- the above method enables the robot to accurately perform coordinate positioning even when the vision positioning technology is inaccurate; it overcomes the influence of smoke or spraying water mist on the positioning of the robot itself.
- the control center dispatches the fire-fighting robot a closest to the fire point to go to the fire point first to fight the fire. At the same time, it can dispatch the fire-fighting robot b closer to the fire point, or when the fire-fighting medium supply equipment is equipped with a movable type, as shown in the figure. Show the fire-fighting medium supply equipment i, and dispatch it to the fire point.
- fire-fighting robot a When the fire-fighting robot a reaches the fire point, first use its own fire extinguishing mechanism to extinguish the fire. If it is judged that the fire is small, you can stop calling other fire-fighting robots and fire-fighting medium supply equipment. If the fire is large, continue to dispatch closer to the fire point. Fire-fighting robot b, or fire-fighting medium supply equipment i, go to the fire point, or dispatch more fire-fighting robots and fire-fighting medium supply equipment to the fire point. To ensure a one-time fire extinguishment. Save response time to the greatest extent, while ensuring the effectiveness of rescue work.
- the control center only dispatches the actions of the fire-fighting robots.
- the fire-fighting robot mentioned includes a crawler-type mobile chassis assembly 601, a housing assembly 602, a lifting and turning device 603, a dry powder injection device 604, a fire-fighting water/foam injection device 605, a control device 606, etc. ,among them:
- the crawler-type mobile chassis assembly includes upper 1 crawler, 2 driving wheels, 3 single rollers, 4 supporting rollers, 1, 5 double supporting wheels, 6 supporting rollers, 2, 7 guide wheels , 8 chassis shell and other components
- the motor reducer component is installed in the 8 chassis shell
- 2 driving wheels are installed on the motor reducer component
- 3 single rollers 4 supporting pulleys
- 5 double supporting wheels 6 supporting wheels
- Pulleys 2 7 guide wheels are respectively installed on the 8 chassis shell and 1 crawler is installed on them;
- Shell components including the upper 9 range sensor, 10 visible light camera, 11 screws, 12 headlights, 13 front housing, 14 screws, 15 rear housing, 16 visible light camera, 9 range sensor, 10 visible light camera, Two 12 headlights are installed on the front shell 13 respectively, the front shell 13 is installed on the 8 chassis shell with 11 screws, the 16 visible light camera is installed on the rear shell 15, and the rear shell 15 is installed on the rear shell 15 with 14 screws. 13 On the front housing;
- the lifting and turning device includes 17 lifting mechanism, 18 screws, 19 turning base, 20 turning head, 21 screws, 22 lighting headlights, 23 visible light camera, 24 infrared thermal imager
- the 17 lifting mechanism is mounted on the 8 chassis shell through 21 screws
- the 19 revolving base is mounted on the 17 lifting mechanism through 18 screws
- the 20 revolving head is mounted on the 19 revolving base
- 22 lighting headlights 23 visible light cameras
- the 24 infrared thermal imager is installed on the 20 rotary head.
- Dry powder spray device including 25 dry powder tank, 26 solenoid valve powder inlet pipe, 27 solenoid valve, 28 solenoid valve powder outlet pipe, 29 three-way joint, 30 powder outlet pipe, 31 dry powder nozzle, 25 dry powder tank and 27 solenoid valve Fixed on the 8 chassis shell, one end of the 26 solenoid valve powder inlet pipe is connected to the 25 dry powder tank, the other end is connected to the 27 solenoid valve, one end of the 28 solenoid valve powder pipe is connected to the 27 solenoid valve, the other end is connected to the 29 three-way connector, and the other end is connected to the powder outlet. One end of the pipe is connected with a 29 tee joint, and the other end is connected with a 31 dry powder nozzle, which is fixed on a 20 rotary head.
- the fire-fighting water/foam spray device includes 32 hose joints, 33 water pipes, 34 main water pipes, 35 solenoid valves, 36 rotary joints, 37 solenoid valve water pipes, 38 rotary joints, 39 water pipes, and 40 solenoid valve water pipes.
- 34 main water pipe and 35 solenoid valve are fixed on the 8 chassis shell, 34 main water pipe one end is connected to 32 water With connector, the other end is connected to 35 solenoid valve, 37 solenoid valve water pipe and 40 solenoid valve water pipe are respectively installed on 35 solenoid valve, one end of 43 riser pipe is connected to 37 solenoid valve water pipe, the other end is connected to 36 rotary joint, and one end of riser pipe is connected to 40
- the other end of the solenoid valve water pipe is connected to 38 rotary joint, one end of 33 water pipe is connected to 36 rotary joint, the other end is connected to 41 fire water sprinklers, one end of 39 water pipe is connected to 38 rotary joints, and the other end is connected to 41 fire water sprinklers.
- 42 self-spraying device is installed in On 43 standpipes, 45 self-spraying devices are installed on 44 standpipes.
- 31 dry powder sprinklers and 41 fire water sprinklers can be arranged in a shell to ensure the safety of the sprinklers. And there are holes in the nozzles of the shell, so that the two nozzles can work. 41 Fire water sprinklers can spray water jets or fine water mist.
- the 32 hose connector can be quickly connected to the fire-fighting water supply equipment.
- the 32 hose connector is the first connector and is matched with the socket of the fire-fighting medium supply equipment.
- the socket includes a support seat, and the support The seat is provided with a plurality of uprights, the uprights are distributed around the circumference, and the water inlet pipe can be accommodated in the center, the upright is provided with an elastic body, the end of the upright is provided with a pressing plate, and the pressing plate is provided with opposing The rotating pressing member is movably clamped to the first joint.
- the control device includes 46 robot master control module, 47 power supply module, 48 power display module, 49 relay module 1, 50 screen splitter, 51 water cannon camera, 52 tilt sensor, 53 temperature sensor, 54 sound Light alarm module, 55 self-sprinkler control module, 56GPS positioning module, 57 relay module 2, 58 relay module 3, 59 motor driver 1, 60 motor driver 2, 61 robot motion motor and so on.
- the 46 robot master control module is connected to the 47 power supply module through the 48 power display module; the 46 robot master control module is connected to the 12 lighting headlights and the 22 lighting headlights through the 49 relay module 1; the 46 robot master control module is connected to the 50 screen splitter respectively Connected with 10 visible light cameras, 16 visible light cameras, 51 water cannon cameras; 46 robot master control modules are respectively connected with 24 infrared thermal imagers, 9 distance sensors, 52 inclination sensors, 53 temperature sensors, 54 sound and light alarm modules, and 56 GPS positioning Modules are connected; 46 robot master control modules are connected to 42 automatic spray devices and 45 automatic spray devices through 55 automatic spray device control modules; 46 robot master control modules are connected through 57 relay modules 2 and 27 solenoid valves; 46 robot master The control module is connected to 35 solenoid valve through 58 relay module 3; 46 robot master control module is connected to 17 lifting mechanism through 59 motor driver 1; 46 robot master control module is connected to 61 robot motion motor through 60 motor driver 2. In the foregoing embodiment of the present invention, the 46 robot master control
- the substation fire-fighting robot can be remotely controlled by the remote control.
- the operator can observe the fire scene through the visible light camera, the water cannon camera, and the infrared thermal imager; the real-time measurement of the robot's performance through the ranging sensor, the inclination sensor, the temperature sensor, and the GPS positioning module Posture and surrounding environment information, when the robot encounters danger, the sound and light alarm module can send out sound and light alarm prompts; through the remote control, you can control and choose to use various fire extinguishing media such as dry powder, fire water and foam for fire extinguishing and cooling operations.
- various fire extinguishing media such as dry powder, fire water and foam for fire extinguishing and cooling operations.
- the fire-fighting medium supply equipment includes hose components, hose docking devices, hose retraction devices, water storage pipe components, booster pump components, mobile chassis components, foam pump components, foam storage tank components, and fire fighting Water storage tank components, control components, etc.
- Hose components including 2-1 quick-plug hose connector, 2-2 hose, 2-3 threaded hose connector, 2-1 quick-plug hose connector and 2-2 hose buckle together, 2-3 The threaded hose connector and the 2-2 hose are buckled together, the 2-3 threaded hose connector is fixed on the hose retracting device at one end, and the 2-1 quick-plug hose connector is placed on the hose docking device 2-19 reel ;
- Hose docking device including 2-4 hose support seat, 2-5 shaft screw, 2-6 compression plate, 2-7 screw, 2-8 support plate, 2-9 pillar, 2-10 spring, 2- 11 block female, 2-12 base, 2-13 screws, etc., two 2-6 compression plates are fixed on the 2-4 hose support seat by two 2-5 shaft screws, as shown in Figure 10,
- the tight plate fixes the hose on the hose support seat for positioning.
- the pressure plate can move during the process of lifting the hose without hindering the movement of the hose.
- the spring It can slow down the impact force during the docking process of the robot.
- the 4 2-10 springs are respectively sleeved on the 2-9 pillars.
- One end of the 4 pillars is fixed on the 2-4 hose support seat, and the other end passes through the 2-8 support.
- Plate, 2-12 base and 2-11 block nut are fixed together, 2-8 support plate and 2-12 base are connected together by 2-7 screws, 2-12 base is connected with 2 of the mobile chassis assembly by 2-13 screws -39 on the bottom plate.
- the hose retracting device including 2-14 screws, 2-15 reel motors, 2-16 pinions, 12-7 screws, 2-18 frame body, 2-19 reels, 2-20 central shafts, etc.
- 2 -15 reel motor is fixed on the 2-39 bottom plate of the mobile chassis assembly by 2-14 screws
- 2-16 pinion is fixed on the output shaft of 2-15 reel motor by 12-7 screws
- pinion and reel motor The output shafts are fixed together.
- the output shaft of the reel motor rotates to drive the pinion gear to rotate.
- the pinion gear rotates to drive the reel to rotate.
- the 2-18 frame is welded to the mobile chassis assembly.
- one end of the 2-20 central axis is connected with the water storage pipe assembly through a 2-23 connecting pipe, and the other end passes through the 2-19 reel and is fixed on the 2-18 frame.
- Water storage pipe assembly including 2-21 booster pump drain pipe I, 2-22 booster pump drain pipe II, 2-23 connecting pipe, 2-24 overflow valve, 2-25 overflow valve return pipe, 2-26 Screw, 2-27 booster pump inlet pipe I, 2-28 three-way joint, 2-29 booster pump inlet pipe II, 2-30 booster pump main inlet pipe, 2-31 foam pump discharge pipe, 2- 32 foam pump inlet pipe, 2-33 drain ball valve, etc.
- the 2-23 connecting pipe is fixed on the 2-39 bottom plate of the mobile chassis assembly with 2-26 screws, and the 2-24 overflow valve is connected to the 2-23 connecting pipe.
- one end of the 2-21 booster pump drain pipe I and the 2-22 booster pump drain pipe is connected to the 2-34 booster pump, the other end is connected to the 2-23 connecting pipe, and the 2-25 overflow valve return pipe
- One end is connected to the 2-24 overflow valve, the other end is connected to the 2-30 booster pump main inlet pipe, 2-27 booster pump inlet pipe I, and 2-29 booster pump inlet pipe II are connected at one end to 2
- On the -34 booster pump the other end is connected to the 2-28 three-way joint.
- One end of the 2-30 booster pump’s main water inlet pipe is connected to the 2-28 three-way joint, and the other end is connected to the 2-33 drain ball valve.
- the -33 drain ball valve is connected to the fire water storage tank.
- Booster pump components including 2-34 booster pump, 2-35 booster pump bracket, 2-36 screws, 2-37 bolts, 2-38 nuts, etc.
- 2-34 booster pump passes 4 sets of 2-37 The bolts, 2-38 nuts and 2-35 booster pump bracket are connected together, and the 2-35 booster pump bracket is connected to the 2-39 bottom plate of the mobile chassis assembly through 2-36 screws.
- Mobile chassis components including 2-39 bottom plate, 2-40 movable wheels, etc., two 2-40 movable wheels and 2-39 bottom plate are welded together.
- Foam pump components including 2-41 foam pump bracket, 2-42 screws, 2-43 screws, 2-44 foam pumps, etc.
- the 2-41 foam pump bracket is fixed to 2-39 of the mobile chassis assembly by 2-43 screws
- the 2-44 foam pump is fixed on the 2-41 foam pump bracket with 2-42 screws.
- the foam pump discharges the foam from the foam storage tank into the foam pump discharge pipe.
- the 2-31 foam pump discharge pipe is connected to the 2-30 booster pump main water inlet pipe. The foam mixed with the fire-fighting water from the foam pump enters the booster pump together. .
- Foam storage tank components including 2-45 ball valve, 2-46 screw, 2-47 foam level indicator, 2-48 foam storage tank, 2-49 screw plug, etc.
- 2-45 ball valve is installed on 2-48 foam
- the 2-49 screw plug is installed on the 2-48 foam storage tank as an inlet for filling foam
- the 2-47 foam level indicator is installed on the 2-48 foam storage tank
- the 2-48 foam storage tank passes through Four 2-46 screws are fixed on the 2-51 fire water storage tank.
- Fire water storage tank components including 2-50 pressure relief valve, 2-51 fire water storage tank, 2-52 water inlet connector, 53 fire water level indicator, 2-50 pressure relief valve and 2-52 inlet
- the water joint is welded to the 2-51 fire water storage tank
- the 53 fire water level indicator is installed on the 2-51 fire water storage tank
- the 2-51 fire water storage tank is welded to the 2-39 bottom plate of the mobile chassis assembly.
- the fire water storage tank assembly is connected to the fire hydrant through a 2-52 water inlet connector and a control valve, and the control valve can be remotely controlled.
- control components include 2-54 boost switch, 2-55 emergency stop switch, 2-56 foam mixing switch, 2-57 reel switch, 2-58 wireless transceiver module, 2-59 master control System, 2-60 power module 24V, 2-61 power module 48V, 2-62 booster pump soft starter, 2-63 reel motor soft starter, 2-64 foam pump soft starter, including 2-54 Booster switch, 2-55 emergency stop switch, 2-56 foam mixing switch, 2-57 reel switch, 2-58 wireless transceiver module, 2-60 power module 24V, 2-61 power module 48V, 2-62 increase The pressure pump soft starter, the 2-63 reel motor soft starter, and the 2-64 foam pump soft starter are respectively connected to the 2-59 master control system.
- the 2-59 master control system controls the 2-34 booster pump to work through the 2-62 booster pump soft starter, and the fire water passes through the 2-51 fire water storage tank.
- the control system controls the 2-34 booster pump to stop working through the 2-62 booster pump soft starter.
- the 2-59 master control system controls the 2-44 foam pump to start working through the 2-64 foam pump soft starter, and the foam passes through the 2-32 foam pump inlet pipe and 2-31 foam The pump discharge pipe enters the fire fighting water; when the 2-56 foam mixing switch is pressed again, the 2-59 master control system controls the 2-44 foam pump to stop working through the 2-64 foam pump soft starter.
- the foam pump is turned on and the fire water is mixed to extinguish the fire. If no foam is required, the foam pump is not turned on and only fire water is used to extinguish the fire. Choose freely according to the fire extinguishing characteristics of the fire equipment.
- the 2-59 master control system controls the 2-15 reel motor to start working through the 2-63 reel motor soft starter, and the reel boiled water is recovered; when the 2-57 reel is pressed again After the reel switch, the 2-59 master control system controls the 2-15 reel motor to stop working through the 2-63 reel motor soft starter.
- the fire-fighting robot When a fire occurs, the fire-fighting robot quickly arrives at the fire site, uses the infrared thermal imaging system to identify and locate the fire point of the equipment, analyzes the position of the fire point in the three-dimensional coordinate system, and calculates the jet angle and jet flow rate of the jet device based on the fire equipment.
- Choose the fire-fighting medium such as dry powder, water jet or fine water mist.
- the operator After calculating the various fire-fighting parameters, if the robot needs to be connected with the fire-fighting medium supply equipment, the operator can choose 3L/s, 6L/s and 9L/s fire fighting water supply speed, foam ratio can be selected 3%, 5%, 10% and 20% according to the demand.
- start the fire fighting medium supply equipment to provide fire fighting water or foam mixture to the fire fighting robot.
- Carry out fire-fighting operations After the fire-fighting operations are completed, the robot automatic stripping device completes the automatic stripping, and the fire-fighting medium supply equipment can realize the automatic recovery of the hose.
- the operator can control the robot to realize the automatic docking of the fire hose through the docking camera of the fire fighting robot.
- the docking device equipped with the fire fighting media supply equipment has a multi-directional buffer function, which can realize automatic adjustment of small errors during the docking process, and quickly realize the docking function.
- the first interface is set at the rear of the robot.
- the robot first stops at a position within the set error range, and reverses backwards.
- the elastic docking device performs error correction, and the second interface of the hose is docked to the robot;
- the fire control platform analyzes the range of the error through the collected images, and feeds the result back to the robot control system to control the robot to move forward and move forward. Adjust the angle to reverse again, reduce the error and re-docking.
- the fire hose automatic docking monitoring is divided into two parts: image processing and image recognition.
- the fire control platform performs image processing on the images collected by the image acquisition device. Specifically: Denoising, smoothing, and transforming images through image preprocessing, enhancing important features of images, performing image segmentation, edge detection, and image refinement on preprocessed images.
- the image segmentation part is based on regional features. Segmentation methods, segmentation methods based on correlation matching, and segmentation methods based on boundary features.
- Perform image recognition on the processed image specifically: use the neural network image recognition model fused with genetic algorithm and BP network to recognize the image, extract important feature values in the processed image, and obtain according to the extracted feature values
- the current state of the equipment in the image such as when judging whether the docking is successful, mainly extracts the characteristics of the hose connector, recognizes the hose connector and the robot connector, and calculates their relative position; when judging whether the hose is fully deployed, it is targeted at the hose Train the characteristics of the connection with the hose reel to identify whether the connection appears in the image.
- extract the characteristics of the hose connector for training extract the characteristics of the hose connector for training, and identify whether the hose connector appears in the image .
- the method for adjusting the spray curve of a fire-fighting robot includes the following steps:
- S101 Acquire visual image information and infrared image information of the on-site environment collected by the multi-eye vision device.
- the image information of the scene environment is collected through the ordinary vision camera of the multi-eye vision device, including the image information of the equipment in the scene environment, the fire image information in the scene environment, and the smoke concentration information in the scene environment. If it is at the fire scene, visual image information such as the fire equipment, the size of the fire, and the smoke concentration can be collected through multi-eye vision equipment.
- the infrared image of the scene environment is collected through the infrared camera of the multi-eye vision device, which mainly includes the temperature, the highest temperature, the position where the highest temperature occurs, and the shape of the flame in the scene environment. If you are at a fire scene, you can collect information such as the highest temperature in the scene environment, the location where the highest temperature occurs, and the shape of the flame.
- S102 Perform preprocessing on the obtained visual image information and infrared image information respectively, and determine a corresponding suspicious fire area.
- step 102 an image processing algorithm is used to perform image graying, segmentation, filtering and other processing on the image obtained in step 101, and the corresponding suspicious fire areas are respectively determined.
- the specific implementation process of preprocessing the visual image information is as follows:
- the suspicious fire area is divided and normalized as the basic unit for subsequent research and judgment.
- the processing of the acquired infrared image is relatively simple.
- the infrared image is preprocessed by image grayscale and then segmented, the image feature value after segmentation is extracted, and the extracted image feature value is input into the trained neural network model for recognition, and then you can get Suspicious fire area in infrared image.
- the fire area includes a trusted fire area and a suspected fire area.
- the suspicious fire area after visual image processing is compared with the suspicious fire area after infrared image processing, and the overlapping suspicious fire area is regarded as the credible fire area.
- the overlapping unsuspected fire areas are judged to be non-fire areas, they are areas where no fire has occurred.
- S104 Establish an injection curve model according to the fire area, identify the drop point of the water column, and determine the optimal injection angle and injection flow rate.
- step 104 aiming is performed after determining the fire area.
- the bottom of the credible fire area is taken as the target area. Since the water jet curve and the landing point of the equipment are relatively fixed, the jet can be established. Curve model, adjust the angle and height of the pan-tilt, so that the point of the curve model falls within the credible fire area.
- the spraying picture returned by other cameras on the robot is used, and the algorithm is called for image processing, and the spraying is identified in the image The drop of water column.
- Preprocess the jet image including operations such as denoising, smoothing, and transformation;
- the extracted characteristic values of the jetted water column are input into the neural network image recognition model to identify the drop point of the jetted water column.
- the steps 101-103 are always executed to analyze the fire situation in the scene image in real time. After the credible fire area is reduced and disappeared, spray the suspected fire area until the camera returns the image Until there is no fire area.
- the injection flow rate is divided into three levels from large to small, and adjusted according to the area of the credible fire area and the suspected fire area, usually the maximum flow.
- the credible fire area occupies less than the suspected fire area, it is the medium flow.
- the injection curve can be adjusted, the ignition point can be accurately targeted, and the injection flow rate and angle can be selected.
- S105 Analyze the condition of the fired equipment and determine the best fire-extinguishing position and distance.
- the method for analyzing the condition of the burning equipment is:
- Preprocess the image of the burning area including operations such as denoising, smoothing, and transformation;
- the extracted feature values of the burning equipment are input into the neural network image recognition model to identify the burning equipment.
- the fire area occupies about 1/3 of the camera screen. If it occupies a small area, it will be close, and if it occupies a large area, it will be far. The robot will give priority to whether it will hit an obstacle when adjusting the distance.
- step 106 The specific implementation process of step 106 is:
- Studying and judging the fire situation at the scene mainly depends on the relative size of the flame and comparing the area ratio of the fire area to the entire equipment to determine the fire situation of the equipment on site.
- Different equipment has different rules for on-site fire judgment. For example, for power equipment with a length, width and height of approximately 1m, if the fire area occupies more than half of the area of the equipment surface design, it is considered a large fire, and about one-third is a medium fire. , Less than one-third is a small fire. For power equipment with a length, width and height of about 3m, then one-third of the area is considered a big fire.
- the robot According to the different equipment in the station, establish different sample libraries.
- alarm information such as "xx equipment on fire"
- various information such as suitable fire fighting distance and fire judgment basis are available. Obtained directly from the library, the robot performs operations through real-time judgment based on various information such as the fire extinguishing distance and the basis for fire judgment obtained from the sample library.
- the information in the sample library is obtained through training in advance, and the real-time judgment results obtained by the robot during each operation will also be stored in the sample library.
- the injection mode includes three injection modes: large, medium, and small. At the beginning of the operation, high fire will be selected. As the fire intensity decreases, medium fire and small fire will be selected. It is to reduce the temperature, and then choose medium heat or low heat at the beginning.
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Abstract
An intelligent fire-fighting system and method for a transformer substation. The intelligent fire-fighting system comprises a plurality of fire-fighting robots and fire-fighting medium supply equipment as well as a control center; the fire-fighting robots and the fire-fighting medium supply equipment are all deployed at intervals in each area in the transformer substation; the fire-fighting medium supply equipment can be fixed, and can also be movable; while a fire behavior occurs, ignition point information can be obtained according to a smoke/temperature sensor deployed in each area in the transformer substation, can also be obtained by sensors carried on the fire-fighting robots, and can also be detected by arranging an unmanned aerial vehicle. The control center schedules the fire-fighting robot closest to an ignition point, so that the fire-fighting robot firstly goes to the ignition point to extinguish fire, and meanwhile, other fire-fighting robots closer to the ignition point or the fire-fighting medium supply equipment can be scheduled to go to the ignition point. Timely fire-extinguishing and adaptive fire-extinguishing are implemented.
Description
本公开属于智能变电站技术领域,具体涉及一种变电站智能消防***及方法。The present disclosure belongs to the technical field of smart substations, and specifically relates to a substation smart fire fighting system and method.
本部分的陈述仅仅是提供了与本公开相关的背景技术信息,不必然构成在先技术。The statements in this section merely provide background technical information related to the present disclosure, and do not necessarily constitute prior art.
变电站/换流站内存在大量的高电压、大电流设备,容易因设备故障、线路缺陷等问题引发火灾,而且一旦发生火灾的话后果非常严重,因此,变电站/换流站均采取了一定的消防措施。There are a large number of high-voltage and high-current equipment in the substation/converter station. It is easy to cause fires due to equipment failures, line defects, etc., and once a fire occurs, the consequences are very serious. Therefore, the substation/converter station has taken certain fire protection measures. .
据发明人了解,目前的变电站的消防措施主要有两种:According to the inventor, there are mainly two types of fire protection measures in current substations:
(1)利用传感器对火灾参数(如烟雾、温度等)检测,确定火情后,值守人员利用变电站/换流站内各个位置存放的消防设施进行灭火操作;(1) Use sensors to detect fire parameters (such as smoke, temperature, etc.), and after determining the fire situation, the on-duty personnel use the fire-fighting facilities stored in various locations in the substation/converter station to perform fire-fighting operations;
(2)变电站/换流站一般投入装载有一定容量灭火介质(如消防水等)的机器人。(2) The substation/converter station generally puts in a robot loaded with a certain capacity of fire extinguishing medium (such as fire fighting water, etc.).
但上述消防措施均存在一定的缺陷,首先人工救援虽然能够实时观察火情,有助于扑救,但对人身安全有很大的隐患,同时,各变电站/换流站内需要投入大量的消防设施,而很多消防设施(例如灭火器等)需要定期更换,同时,存在大量的高电压、大电流设备,消防介质需求量大,增加消防成本;另一方面,一旦发生火情,专业消防队出发赶往火灾现场都需要一定时间,无法在最佳灭火期对火灾进行扑救,可能由小火酿成重大火灾事故,大型火灾事故会对多个区域的电力***的建筑安全和用电安全造成严重影响。However, the above-mentioned fire-fighting measures have certain shortcomings. First, although manual rescue can observe the fire situation in real time and help to put out the fire, it has great hidden dangers to personal safety. At the same time, a large number of fire-fighting facilities need to be invested in each substation/converter station. Many fire-fighting facilities (such as fire extinguishers, etc.) need to be replaced regularly. At the same time, there are a large number of high-voltage and high-current equipment, and the demand for fire-fighting media is large, which increases the cost of fire-fighting; The fire scene takes a certain amount of time, and it is impossible to extinguish the fire in the best extinguishing period. A small fire may cause a major fire accident. A large fire accident will have a serious impact on the construction safety and electricity safety of the power system in multiple areas.
而目前消防机器人中小型消防机器人,携带的灭火介质容量有限,不能一次性控制火势,从而造成火势延误或者机器人自身安全受到威胁。而大型机器人一般都是配备一台大口径水炮,由消防车进行供水,只能使用水柱进行灭火,面对变电站的设施具有应用局限性,同时消防水炮高度固定,无法满足变电站内不同高度设备精确灭火需求。另外,如果机器人距离着火点较远,则无法快速、及时到达火灾现场,也有可能延误火情,造成火势扩大。At present, small and medium-sized fire-fighting robots carry limited fire extinguishing medium capacity and cannot control the fire at one time, which causes the fire delay or the safety of the robot itself is threatened. Large-scale robots are generally equipped with a large-caliber water cannon, which is supplied by fire trucks, and can only use water jets to extinguish fires. The facilities facing the substation have application limitations. At the same time, the height of the fire water cannon is fixed, which cannot meet the requirements of different height equipment in the substation. Accurate fire extinguishing needs. In addition, if the robot is far from the fire point, it will not be able to reach the fire scene quickly and in time, and it may also delay the fire and cause the fire to expand.
发明内容Summary of the invention
本公开为了解决上述问题,提出了一种变电站智能消防***及方法,本公开能够使变电站内部署的多个消防机器人和消防介质供给装备,根据着火点的位置以及火情联动和灵活调度,保证第一时间进行扑救,确保变电站的安全。In order to solve the above problems, the present disclosure proposes an intelligent fire protection system and method for a substation. The present disclosure can enable multiple fire fighting robots and fire fighting medium supply equipment deployed in the substation to ensure the first Fire fighting at a time to ensure the safety of the substation.
根据一些实施例,本公开采用如下技术方案:According to some embodiments, the present disclosure adopts the following technical solutions:
一种变电站智能消防***,包括多个能够联动控制的消防机器人和消防介质供给装备,以及控制中心,所述消防机器人和消防介质供给装备均间隔部署于变电站内各区域,所述消防介质供给装备能够和消防栓可拆卸连接,实现持续供水,其中:An intelligent fire protection system for a substation, comprising a plurality of fire fighting robots and fire fighting medium supply equipment that can be linked and controlled, and a control center. The fire fighting robots and fire fighting medium supply equipment are arranged at intervals in each area of the substation. The fire fighting medium supply equipment It can be detachably connected with the fire hydrant to realize continuous water supply, among which:
所述消防机器人包括机器人本体,机器人本体上设置有具有第一接口的消防水/泡沫喷射机构;所述消防介质供给装备上承载有供水机构和泡沫供给机构,通过水带提供相应的灭火介质,所述水带的端部设置有与所述第一接口相适配的第二接口;The fire-fighting robot includes a robot body on which a fire-fighting water/foam spray mechanism with a first interface is provided; the fire-fighting medium supply equipment carries a water supply mechanism and a foam supply mechanism, and the corresponding fire extinguishing medium is provided through a hose, The end of the hose is provided with a second interface adapted to the first interface;
所述控制中心,被配置为接收火情信息,根据火情调度距离近的相应数量的消防机器人或调度距离近的相应数量的消防机器人和消防介质供给装备至着火点附近,通过第一接口和第二接口自动快速连接,实施灭火。The control center is configured to receive fire information, and dispatch a corresponding number of fire-fighting robots with a short distance or a corresponding number of fire-fighting robots and fire-fighting medium supply equipment with a short distance according to the fire situation to the vicinity of the fire point, through the first interface and the second The second interface is automatically and quickly connected to implement fire fighting.
作为进一步的限定,所述消防机器人包括机器人本体,机器人本体上设置有灭火机构,所述灭火机构包括消防水/泡沫喷射机构,所述消防水/泡沫喷射机构包括至少一进水管,所述进水管的一端设置第一接口,另一端连接传输水管,所述传输水管的另一端设置有回转接头,所述回转接头上设置有喷射喷头,且回转接头通过升降机构与机器人本体连接。As a further limitation, the fire fighting robot includes a robot body, and a fire extinguishing mechanism is provided on the robot body. The fire extinguishing mechanism includes a fire fighting water/foam spraying mechanism, and the fire fighting water/foam spraying mechanism includes at least one water inlet pipe. One end of the water pipe is provided with a first interface, and the other end is connected to a transmission water pipe. The other end of the transmission water pipe is provided with a rotary joint. The rotary joint is provided with a spray nozzle, and the rotary joint is connected with the robot body through a lifting mechanism.
作为进一步的限定,所述消防介质供给装备上承载有供水机构和泡沫供给机构,其中:As a further limitation, the fire-fighting medium supply equipment carries a water supply mechanism and a foam supply mechanism, wherein:
所述供水机构包括若干消防水存储罐,消防水存储罐通过管路与增压泵连接,增压泵的排水管连接水带,所述水带的另一端部设置有与第一接口相适配的第二接口;The water supply mechanism includes a number of fire-fighting water storage tanks. The fire-fighting water storage tank is connected to a booster pump through a pipeline. The drain pipe of the booster pump is connected to a hose, and the other end of the hose is provided with a first interface. Equipped second interface;
所述泡沫供给机构包括若干泡沫存储罐,所述泡沫存储罐通过管路与泡沫泵连接,泡沫泵的排水管连接所述水带,所述水带的另一端部设置有与第一接口相适配的第二接口。The foam supply mechanism includes a plurality of foam storage tanks, the foam storage tanks are connected to the foam pump through a pipeline, the drain pipe of the foam pump is connected to the hose, and the other end of the hose is provided with a first interface. Adapted second interface.
本公开通过变电站内设置多个消防机器人和消防介质供给装备,控制中心可以根据火情大小,确认单独投入若干消防机器人,还是投入消防机器人+消防介质供给装备,以及根据着火点的位置,迅速就近调度,力求在最佳灭火期对火灾进行扑救,能够有效控制火情,保证变电站的安全。According to the present disclosure, multiple firefighting robots and firefighting medium supply equipment are set in the substation. The control center can confirm whether to put in several firefighting robots separately according to the size of the fire, or whether to put in firefighting robots + firefighting medium supply equipment, and quickly dispatch nearby according to the location of the fire. , Strive to extinguish the fire in the best extinguishing period, which can effectively control the fire and ensure the safety of the substation.
本公开可以利用消防机器人和消防介质供给装备相互配合,结合水带和传输水管的长度和柔性,能够充分利 用变电站内有限的空间,保证连续作业,充分控制火势。The present disclosure can use fire fighting robots and fire fighting medium supply equipment to cooperate with each other, combined with the length and flexibility of hoses and transmission pipes, and can make full use of the limited space in the substation, ensure continuous operation, and fully control the fire.
消防介质供给装备可以是如车体的可移动式机构,也可以是固定式机构。The fire-fighting medium supply equipment can be a movable mechanism such as a car body, or a fixed mechanism.
同时,上述技术方案可以实现水和泡沫,至少两种介质的灭火,同时利用移动底盘和升降机构、回转接头的相互配合,可以适应变电站内复杂环境、针对变电站不同地区、高度的火源进行适应性调整扑灭,具有很大的自由度。At the same time, the above technical solutions can achieve fire extinguishing with water and foam, and at least two media. At the same time, it can adapt to the complex environment in the substation and adapt to the different regions and heights of the fire source in the substation by using the mutual cooperation of the mobile chassis, the lifting mechanism and the rotary joint. Sexual adjustment and suppression have great freedom.
作为可选择的实施方式,所述灭火机构还包括干粉喷射机构,干粉喷射机构设置于消防机器人的移动底盘上,具体包括若干干粉罐,干粉罐的出口通过管路连接至喷头,所述喷头设置于回转头上,所述回转头通过升降机构设置于移动底盘上,实现干粉喷射的高度、角度可调。As an alternative embodiment, the fire extinguishing mechanism further includes a dry powder spraying mechanism, which is arranged on the mobile chassis of the fire fighting robot, and specifically includes a number of dry powder tanks. The outlet of the dry powder tank is connected to the spray head through a pipeline, and the spray head is arranged On the revolving head, the revolving head is arranged on the mobile chassis through a lifting mechanism, so that the height and angle of the dry powder spray can be adjusted.
作为可选择的实施方式,所述移动底盘为履带式移动底盘。As an alternative embodiment, the mobile chassis is a crawler-type mobile chassis.
作为可选择的实施方式,所述移动底盘上设置有壳体,所述壳体内容纳所述干粉喷射机构和消防水/泡沫喷射机构,且至少回转接头、回转头和喷头外露于所述壳体。As an alternative embodiment, a shell is provided on the mobile chassis, and the shell contains the dry powder injection mechanism and the fire-fighting water/foam injection mechanism, and at least the rotary joint, the rotary head and the nozzle are exposed outside the shell. body.
作为可选择的实施方式,所述壳体的前端设置有测距传感器、摄像设备和照明灯。As an alternative embodiment, the front end of the housing is provided with a distance measuring sensor, a camera device, and a lighting lamp.
作为可选择的实施方式,所述干粉喷射机构包括若干电磁阀和干粉罐,所述电磁阀的进粉管连接对应的干粉罐,电磁阀的出粉管一端连接电磁阀,另一端连接多通接头,多通接头的一端连接干粉喷头,干粉喷头固定在回转头上。As an alternative embodiment, the dry powder injection mechanism includes a number of solenoid valves and dry powder tanks, the powder inlet pipe of the solenoid valve is connected to the corresponding dry powder tank, one end of the powder outlet pipe of the solenoid valve is connected to the solenoid valve, and the other end is connected to the multi-way The joint, one end of the multi-way joint is connected to the dry powder nozzle, which is fixed on the rotary head.
作为可选择的实施方式,所述消防水/泡沫喷射机构包括主水管和电磁阀,主水管一端连接进水管,另一端连接喷射喷头,主水管上设置有电磁阀,通过电磁阀控制消防水/泡沫喷射机构的喷射工作。As an alternative embodiment, the fire-fighting water/foam spray mechanism includes a main water pipe and a solenoid valve. One end of the main water pipe is connected to the water inlet pipe, and the other end is connected to the spray nozzle. The main water pipe is provided with a solenoid valve, and the fire water is controlled by the solenoid valve. The spraying work of the foam spraying mechanism.
作为可选择的实施方式,所述消防机器人上还设置有自喷淋机构,具体包括立管和喷头,进水管通过管路连接立管,所述立管与竖直方向的夹角小于等于15°,喷头安装在立管上。As an alternative embodiment, the fire-fighting robot is also provided with a self-spraying mechanism, which specifically includes a standpipe and a sprinkler. The water inlet pipe is connected to the standpipe through a pipeline, and the angle between the standpipe and the vertical direction is less than or equal to 15 °, the nozzle is installed on the riser.
自喷淋是喷水过程中进行机器人自我喷淋,降低本身温度,保证机器人本身安全,自喷淋是一直处入开启状态,只要立管有消防水,它就工作。Self-spraying is the process of self-spraying of the robot during the water spraying process to lower its temperature and ensure the safety of the robot itself. The self-sprinkling is always in the open state. As long as the standpipe has fire fighting water, it will work.
作为可选择的实施方式,所述升降机构的一端固定移动底盘上,另一端设置有回转底座,所述回转底座上安装回转头,所述回转头上设置有照明灯、摄像设备和红外热成像仪。As an alternative embodiment, one end of the lifting mechanism is fixed to the mobile chassis, and the other end is provided with a revolving base, the revolving base is equipped with a revolving head, and the revolving head is provided with a lighting lamp, a camera device and an infrared Thermal Imager.
作为可选择的实施方式,所述消防介质供给装备上设置有水带对接机构,所述水带对接机构包括设置在消防介质供给装备上的插座,所述插座包括支撑座,所述支撑座上设置有多个立柱,立柱圆周分布,中心处可以容纳所述进水管,所述立柱上设置有弹性体,立柱的端部设置有压紧板,所述压紧板上设置有可相对转动的压紧件,以活动卡接所述第二接口。As an alternative embodiment, the fire-fighting medium supply equipment is provided with a hose docking mechanism, the hose docking mechanism includes a socket provided on the fire-fighting medium supply equipment, the socket includes a support seat, and the support seat is A plurality of uprights are provided, the uprights are distributed circumferentially, the center can accommodate the water inlet pipe, the upright is provided with an elastic body, the end of the upright is provided with a compression plate, and the compression plate is provided with a relatively rotatable The pressing piece is connected to the second interface by a movable card.
当第二接口和第一接口对接时,第二接口设置于插座内,保证第二接口的稳定,同时朝外,机器人侧的第一接口就能够快速对接上,保证及时性和快速性,同时,弹性体还能够一定程度上抵消两个接头对接时的冲力。When the second interface is docked with the first interface, the second interface is set in the socket to ensure the stability of the second interface. At the same time, when facing outwards, the first interface on the robot side can be quickly connected to ensure timeliness and speed. , The elastic body can also offset the impulse when the two joints are connected to a certain extent.
作为可选择的实施方式,第二接口和第一接口均为快接式插头。As an alternative embodiment, the second interface and the first interface are both quick-connect plugs.
作为可选择的实施方式,所述消防机器人本体和消防介质供给装备上均设有至少一个图像采集装置,用于实时监控第二接口和第一接口的对接状态。As an alternative embodiment, the fire fighting robot body and the fire fighting medium supply equipment are both provided with at least one image acquisition device for real-time monitoring of the docking state of the second interface and the first interface.
作为进一步的限定,所述消防介质供给装备上还设置有水带收回机构,具体包括卷盘、驱动件和支撑架,所述驱动件通过传动件与卷盘连接,驱动卷盘转动,所述水带缠绕在所述卷盘上,所述卷盘上设有图像采集设备,用于实时采集消防水带的状态图像。As a further limitation, the fire-fighting medium supply equipment is also provided with a hose retracting mechanism, which specifically includes a reel, a driving member, and a support frame. The driving member is connected to the reel through the transmission member to drive the reel to rotate. The hose is wound on the reel, and an image acquisition device is provided on the reel for real-time acquisition of the state images of the fire hose.
作为进一步的限定,消防机器人或者消防介质供给装备上设置有处理器,所述处理器与消防机器人的控制***连接,所述处理器接收图像采集设备的信息,对实时抓取到的消防水带的状态图像进行处理和识别,当图像中出现卷盘与水带连接处的时候认定水带已经完全展开,所述处理器控制机器人停止动作;当图像中出现水带与机器人对接的接头时认定水带已完全收回,所述处理器控制卷盘停止动作。As a further limitation, a processor is provided on the fire-fighting robot or fire-fighting medium supply equipment, and the processor is connected to the control system of the fire-fighting robot. The state image is processed and recognized. When the connection between the reel and the hose appears in the image, it is assumed that the hose has been fully expanded, and the processor controls the robot to stop the action; when the image shows the joint between the hose and the robot, it is recognized The hose has been completely retracted, and the processor controls the reel to stop.
作为更进一步的限定,所述卷盘上设有第一传感器,水带展开时:实时监测卷盘的转动圈数,转动圈数到达预设数值时,认定水带已经完全展开,第一传感器向处理器发送完全展开控制信号,所述处理器接收到所述完全展开控制信号后控制机器人停止动作;水带收回时:实时监测卷盘的转动圈数,转动圈数到达预设数值时,认定水带已经完全收回,第一传感器向处理器发送完全收回控制信号,所述处理器接收到所述完全收回控制信号后控制卷盘停止动作。As a further limitation, a first sensor is provided on the reel. When the hose is unrolled: the number of turns of the reel is monitored in real time. When the number of turns reaches a preset value, it is determined that the hose has been fully unrolled, and the first sensor Send a fully unfolding control signal to the processor, and the processor will control the robot to stop after receiving the fully unfolded control signal; when the hose is retracted: monitor the number of turns of the reel in real time, and when the number of turns reaches the preset value, It is determined that the hose has been completely retracted, and the first sensor sends a complete retracting control signal to the processor, and the processor controls the reel to stop the action after receiving the complete retracting control signal.
作为更进一步的限定,所述第一传感器为旋转编码器或旋转传感器或其他圈数测量传感器。As a further limitation, the first sensor is a rotary encoder or a rotation sensor or other revolution measurement sensors.
作为进一步的限定,所述消防水带或第二接口或第一接口的位置设有压力传感器,用于实时检测水压并传输到处理器,并与存储的预设压力阈值进行对比,当水压低于预设压力阈值时提示压力不足,所述处理器判定存在管路泄漏/水带破损。As a further limitation, a pressure sensor is provided at the position of the fire hose or the second interface or the first interface, which is used to detect the water pressure in real time and transmit it to the processor, and compare it with the stored preset pressure threshold. When the pressure is lower than the preset pressure threshold, it is prompted that the pressure is insufficient, and the processor determines that there is a pipeline leak/hose damage.
作为进一步的限定,所述处理器还被配置为:通过提取图像中较为明显的特征值,得到第二接口与第一接口 的相对位置,通过持续抓图并进行图像处理,判断目前对接状态。As a further limitation, the processor is also configured to obtain the relative position of the second interface and the first interface by extracting more obvious feature values in the image, and to determine the current docking status by continuously capturing images and performing image processing.
作为进一步的限定,所述处理器还被配置为:在进行图像处理的同时,第二接口和/或第一接口上装有第一传感器,当第二接口和第一接口对接成功时,第一传感器向处理器发送对接成功信号。As a further limitation, the processor is also configured to: while performing image processing, the second interface and/or the first interface is equipped with a first sensor, and when the second interface and the first interface are successfully connected, the first sensor is installed on the second interface and/or the first interface. The sensor sends a docking success signal to the processor.
作为可选择的实施方式,所述消防机器人上设置有多目视觉设备,用于采集现场环境的视觉图像信息和红外图像信息。As an optional implementation manner, a multi-eye vision device is provided on the fire fighting robot for collecting visual image information and infrared image information of the on-site environment.
作为可选择的实施方式,所述变电站内还布设有至少一台无人机,采集变电站内设备不同视角的图像信息,并与所述控制中心通信,用于辅助变电站消防机器人建立站内三维模型,协助所述机器人确定其在站内的位置坐标。As an alternative embodiment, at least one unmanned aerial vehicle is also deployed in the substation to collect image information from different perspectives of the equipment in the substation and communicate with the control center to assist the substation fire fighting robot to establish a three-dimensional model of the station. Assist the robot to determine its position coordinates in the station.
具体的,无人机采集站内设备不同视角的图像信息,辅助变电站消防机器人建立站内三维模型;Specifically, the drone collects image information from different perspectives of the equipment in the station, and assists the substation fire fighting robot to establish a three-dimensional model of the station;
消防机器人作业过程中,无人机实时采集变电站内的图像信息,协助机器人确定其在站内的位置坐标;During the operation of the fire-fighting robot, the drone collects image information in the substation in real time and assists the robot in determining its position coordinates in the station;
无人机采集着火设备图像信息,确定着火点位置;The drone collects the image information of the burning equipment and determines the location of the fire point;
根据机器人位置和着火点位置,控制机器人进行规划路径和喷射角度调整;According to the position of the robot and the position of the ignition point, control the robot to plan the path and adjust the spray angle;
机器人作业过程中,无人机实时采集着火点位置图像,确定着火点当前状态信息并传送给机器人,机器人根据接收到的着火点当前状态信息调整灭火策略。During the robot operation, the drone collects images of the location of the fire point in real time, determines the current status information of the fire point and transmits it to the robot, and the robot adjusts the fire fighting strategy according to the received current status information of the fire point.
上述智能消防***的作业方法,建立站内三维模型,当发生火情后,确定着火点和各个消防机器人的位置,根据机器人位置和着火点位置,控制最近的至少一消防机器人行驶至着火点附近;The operation method of the above-mentioned intelligent fire fighting system is to establish a three-dimensional model in the station. When a fire occurs, determine the fire point and the position of each firefighting robot, and control at least one nearest firefighting robot to drive to the vicinity of the fire point according to the position of the robot and the position of the fire point;
对设备着火点进位识别定位,分析着火点三维坐标系位置,结合火情情况,进行基于多目视觉的消喷射曲线调整,计算出喷射装置的喷射角度、喷射流量,根据着火设备类型选择消防介质;所述喷射角度、所述喷射流量和所述消防介质为灭火参数;Carry recognition and positioning of the equipment ignition point, analyze the position of the ignition point in the three-dimensional coordinate system, and combine the fire situation to adjust the ejection elimination curve based on multi-eye vision, calculate the ejection angle and ejection flow rate of the ejection device, and select the fire-fighting medium according to the type of equipment on fire; The injection angle, the injection flow rate and the fire fighting medium are fire extinguishing parameters;
当有火情时,调度最近的消防机器人与相应的消防介质供给装备对接,按照确定的灭火参数进行消防灭火作业。When there is a fire, dispatch the nearest fire-fighting robot to dock with the corresponding fire-fighting medium supply equipment, and perform fire-fighting operations according to the determined fire-fighting parameters.
灭火作业完毕后,机器人完成脱带,水带回收。After the fire extinguishing operation is completed, the robot completes the stripping and the hose is recovered.
作为可选择的实施方式,结合火情情况计算出喷射装置的喷射角度、喷射流量的具体过程包括:As an optional implementation, the specific process of calculating the injection angle and injection flow rate of the injection device in combination with the fire situation includes:
获取多目视觉设备采集的现场环境的视觉图像信息和红外图像信息;Obtain the visual image information and infrared image information of the scene environment collected by the multi-eye vision device;
分别对得到的视觉图像信息和红外图像信息进行预处理;Preprocess the obtained visual image information and infrared image information respectively;
根据视觉图像信息和红外图像信息的预处理结果,确定着火区域;Determine the fire area according to the preprocessing results of visual image information and infrared image information;
根据着火区域,建立喷射曲线模型,识别出水柱落点,确定最佳喷射角度和喷射流量;According to the fire area, establish the spray curve model, identify the drop point of the water column, and determine the best spray angle and spray flow;
分析着火区域的着火设备状况,确定最佳灭火位置和距离;Analyze the status of the fire equipment in the fire area and determine the best fire fighting location and distance;
判断着火设备的火势大小,选取最佳喷射模式。Judge the size of the fire of the burning equipment and select the best spray mode.
当选择的消防介质是干粉或细水雾时,其喷射覆盖面积包含着火点即可。When the selected fire-fighting medium is dry powder or fine water mist, it is sufficient that the spray coverage area includes the fire point.
作为进一步的限定,所述对视觉图像信息进行预处理的步骤包括:As a further limitation, the step of preprocessing the visual image information includes:
对视觉图像进行预处理;Preprocess the visual image;
将预处理后的图像进行灰度化处理和运动检测,确定视觉图像中是否有可疑火焰的区域;Perform grayscale processing and motion detection on the pre-processed image to determine whether there is a suspicious flame area in the visual image;
对可疑火焰的区域进行滤波处理,提取滤波处理后图像的颜色直方图,提取图像特征值,进行匹配处理,确定视觉图像中可疑火灾的区域;Filtering the area of suspicious flames, extracting the color histogram of the filtered image, extracting image feature values, and performing matching processing to determine the suspicious fire area in the visual image;
将可疑火灾区域进行分割并归一化处理。The suspicious fire area is divided and normalized.
作为进一步的限定,对红外图像信息进行预处理的步骤包括:As a further limitation, the steps of preprocessing infrared image information include:
对红外图像进行图像灰度化预处理后进行分割,提取分割后图像特征值,将提取的图像特征值输入训练好的神经网络模型进行识别,得到红外图像的可疑火灾区域。The infrared image is preprocessed by grayscale and then segmented, the image feature value after segmentation is extracted, and the extracted image feature value is input into the trained neural network model for recognition, and the suspicious fire area of the infrared image is obtained.
作为进一步的限定,所述着火区域的确定方法为:As a further limitation, the method for determining the fire area is:
将视觉图像处理后得到的可疑火灾区域与红外图像处理后得到的可疑火灾区域进行对比,将重叠的可疑火灾区域作为可信火灾区域,将未重叠的可疑火灾区域作为疑似火灾区域,将重叠的未可疑火灾区域判定为未发生火灾的区域。The suspicious fire area obtained after visual image processing is compared with the suspicious fire area obtained after infrared image processing. The overlapping suspicious fire area is regarded as the credible fire area, and the suspicious fire area that does not overlap is regarded as the suspected fire area. The non-suspected fire area is determined to be an area where no fire has occurred.
作为进一步的限定,所述最佳喷射角度和喷射流量的确定方法为:As a further limitation, the method for determining the optimal injection angle and injection flow rate is:
以着火区域的底部为目标区域,建立喷射曲线模型;Take the bottom of the fire area as the target area to establish the injection curve model;
获取消防机器人的喷射图像,并对喷射图像进行处理,识别出喷射的水柱落点;Obtain the spray image of the fire-fighting robot, and process the spray image to identify the drop point of the sprayed water column;
根据水柱落点与着火区域的坐标差,确定最佳喷射角度;根据着火区域中可信火灾区域和疑似火灾区域的面积占比,调整喷射流量。Determine the best spray angle according to the coordinate difference between the drop point of the water column and the fire area; adjust the spray flow rate according to the area ratio of the credible fire area and the suspected fire area in the fire area.
作为进一步的限定,所述分析着火区域的着火设备状况,确定最佳灭火位置和距离的步骤包括:As a further limitation, the steps of analyzing the status of the fire equipment in the fire area and determining the best fire extinguishing position and distance include:
对着火区域图像进行预处理;Preprocess the image of the fire area;
提取预处理后着火区域图像的特征值;Extract the feature value of the image of the fire area after preprocessing;
将提取到的特征值输入神经网络图像识别模型,识别出着火设备;Input the extracted eigenvalues into the neural network image recognition model to identify the burning equipment;
选择着火设备各个方向中,遮挡最少的一个角度作为确定最佳灭火位置;Choose the angle with the least obscuration among all directions of the fire equipment as the best extinguishing position;
根据着火区域占据整个图像的比例,调整消防机器人与着火设备之间的距离。According to the proportion of the fire area occupying the entire image, adjust the distance between the fire fighting robot and the fire equipment.
作为进一步的限定,所述判断着火设备的火势大小,选取最佳喷射模式的步骤包括:As a further limitation, the step of judging the size of the fire of the burning equipment and selecting the best injection mode includes:
建立包含着火设备的灭火距离和火情判断依据的样本库;Establish a sample library containing the fire extinguishing distance of the fired equipment and the basis for the judgment of the fire situation;
从样本库中获取着火设备的灭火距离和火情判断依据;Obtain the fire extinguishing distance and fire judgment basis of the burning equipment from the sample library;
将着火区域面积与着火设备面积相比,根据着火设备的火情判断依据,判断该着火设备的火势大小;Compare the area of the burning area with the area of the burning equipment, and judge the fire size of the burning equipment according to the fire judgment basis of the burning equipment;
根据着火设备的火势大小,选取最佳喷射模式。According to the size of the fire of the burning equipment, select the best spray mode.
与现有技术相比,本公开的有益效果为:Compared with the prior art, the beneficial effects of the present disclosure are:
本公开提出了一种多源异构消防设备联动控制技术,在变电站内部署多个消防机器人和消防介质供给装备,利用消防机器人和消防介质供给装备相互配合,结合水带、进水管、传输水管的长度和柔性,能够充分利用变电站内有限的空间,形成动态配对、临时组队的方式,且消防机器人和消防介质供给装备之间,能够根据着火点的位置以及火情联动和灵活调度,动态配对,实现提前预警,保证第一时间进行扑救,将火势消灭在萌芽阶段,保障变电站的安全。The present disclosure proposes a multi-source heterogeneous fire-fighting equipment linkage control technology. Multiple fire-fighting robots and fire-fighting medium supply equipment are deployed in a substation. The fire-fighting robots and fire-fighting medium supply equipment are used to cooperate with each other, and the hose, inlet pipe, and transmission water pipe The length and flexibility can make full use of the limited space in the substation to form a dynamic pairing and temporary team formation. The fire-fighting robot and the fire-fighting medium supply equipment can be dynamically matched according to the location of the fire and the fire situation. , Realize early warning, ensure the first time to put out the fire, eliminate the fire at the embryonic stage, and ensure the safety of the substation.
本公开提出了多传感器融合的消防水带对接监测技术,利用传感器的实时监测,准确确认消防机器人和消防介质供给装备的对接状态,保证对接过程的智能化,准确把握作业进度,以便于在对接发生错误的第一时间进行处理;同时对水带展开和收起的过程进行监控,辅助机器人寻找最佳作业点。This disclosure proposes a multi-sensor fusion fire hose docking monitoring technology, which uses real-time monitoring of sensors to accurately confirm the docking status of the fire-fighting robot and the fire-fighting medium supply equipment, ensuring the intelligence of the docking process, and accurately grasping the progress of the operation to facilitate the docking Deal with the error as soon as it occurs; at the same time, monitor the process of expanding and retracting the hose to assist the robot in finding the best operating point.
本公开可以实现消防水和泡沫、干粉等多种介质的灭火,同时利用移动底盘和升降机构、回转头和回转接头的相互配合,可以适应变电站内复杂环境、针对变电站不同地区、高度的火源进行适应性调整扑灭,具有很大的自由度。The present disclosure can realize the fire extinguishing of various media such as fire fighting water, foam, and dry powder. At the same time, it can adapt to the complex environment in the substation and target different areas and heights of the substation by using the mutual cooperation of the mobile chassis and the lifting mechanism, the rotary head and the rotary joint. The source is adaptively adjusted and extinguished, which has a great degree of freedom.
本公开消防机器人上设置有自喷淋机构,喷水过程中进行机器人自我喷淋,降低本身温度,保证机器人本身安全。The fire-fighting robot of the present disclosure is provided with a self-spraying mechanism, and the robot self-sprays during the water spraying process to lower its temperature and ensure the safety of the robot itself.
本公开提出了一种融合多种图像的变电站设备着火点快速识别技术,将采集的数据相结合,将火焰图像信息转换成火焰空间坐标信息,攻克了无法对火焰位置精度定位的难题,实现了火焰的快速准确定位。提高了设备着火点的快速识别与分析定位能力,为最佳灭火方式的选择提供数据支持,结合喷射曲线计算算法,可实现喷射装置的自动瞄准,快速有效扑灭火源。The present disclosure proposes a rapid identification technology for the ignition point of substation equipment that integrates multiple images, combines the collected data, converts flame image information into flame space coordinate information, overcomes the difficult problem of not being able to accurately locate the flame position, and realizes the flame The fast and accurate positioning. The ability to quickly identify and analyze the fire point of the equipment is improved, and it provides data support for the selection of the best fire extinguishing method. Combined with the spray curve calculation algorithm, it can realize the automatic aiming of the spray device and quickly and effectively extinguish the fire source.
本公开可以根据变电站内环境、路径和火势等,当火势较小时,调度距离最近的变电站消防机器人可以携带灭火设备和各类传感器第一时间赶赴现,利用快速对接机构完成和消防介质供给装备上的供给机构的对接,实现长时间的连续作业灭火,力争最优、最快的实现灭火。According to the present disclosure, according to the environment, path and fire intensity in the substation, when the fire intensity is small, the firefighting robot at the closest substation dispatching distance can carry fire extinguishing equipment and various sensors to the spot immediately, and use the quick docking mechanism to complete and firefighting medium supply equipment. The docking of the supply mechanism to achieve long-term continuous operation of fire extinguishing, and strive to achieve the best and fastest fire extinguishing.
本公开提供的变电站综合智能消防机器人,还可以结合已有的火灾预警***(如在变电站间隔设置有传感器)或各消防机器人携带的传感器,或无人机图像实时监测变电站内的环境,能够第一时间发现火情,并最快调度消防机器人,先进行扑救工作,在消防机器人工作的过程中,其他位置的机器人再根据火势大小赶往着火点,最大限度的节约响应时间,同时保证扑救工作的有效性。The integrated intelligent fire-fighting robot for substations provided by the present disclosure can also be combined with existing fire early warning systems (such as sensors provided at intervals between substations) or sensors carried by each fire-fighting robot, or drone images to monitor the environment in the substation in real time. The fire is discovered at a time, and the fire-fighting robot is dispatched as soon as possible, and the fire-fighting robot is first carried out. During the work of the fire-fighting robot, the robots in other positions rush to the fire point according to the size of the fire, which saves the response time to the greatest extent and guarantees the fire fighting Effectiveness.
本公开利用无人机在空中配合,结合变电站三维配准融合模型,解决了火灾检测算法对干扰光源的误识难题,实现发生火灾时迅速、准确引导消防机器人赶往火灾地点。The present disclosure uses drones to cooperate in the air, combined with the three-dimensional registration fusion model of the substation, solves the problem of the fire detection algorithm's misrecognition of the interference light source, and realizes the rapid and accurate guidance of the fire fighting robot to the fire location in the event of a fire.
构成本公开的一部分的说明书附图用来提供对本公开的进一步理解,本公开的示意性实施例及其说明用于解释本公开,并不构成对本公开的不当限定。The accompanying drawings of the specification constituting a part of the present disclosure are used to provide a further understanding of the present disclosure, and the exemplary embodiments and descriptions of the present disclosure are used to explain the present disclosure, and do not constitute an improper limitation of the present disclosure.
图1是本公开消防机器人的侧视图;Figure 1 is a side view of the fire-fighting robot of the present disclosure;
图2是本公开消防机器人的后视图;Figure 2 is a rear view of the fire-fighting robot of the present disclosure;
图3是本公开消防机器人的内部结构侧视图;Figure 3 is a side view of the internal structure of the fire-fighting robot of the present disclosure;
图4是本公开消防机器人的内部结构俯视图;Figure 4 is a top view of the internal structure of the fire-fighting robot of the present disclosure;
图5是本公开消防机器人的***模块图;Figure 5 is a system block diagram of the fire-fighting robot of the present disclosure;
图6是本公开消防机器人的结构简图;Figure 6 is a schematic diagram of the structure of the fire-fighting robot of the present disclosure;
图7是本公开的插座结构示意图;Figure 7 is a schematic diagram of the socket structure of the present disclosure;
图8是本公开消防介质供给装备的俯视图;Figure 8 is a top view of the fire-fighting medium supply equipment of the present disclosure;
图9是本公开消防介质供给装备的侧视图;Figure 9 is a side view of the fire-fighting medium supply equipment of the present disclosure;
图10是本公开消防介质供给装备的后视图;Figure 10 is a rear view of the fire-fighting medium supply equipment of the present disclosure;
图11是本公开消防介质供给装备的侧视图;Figure 11 is a side view of the fire-fighting medium supply equipment of the present disclosure;
图12是本公开消防介质供给装备的模块图;Figure 12 is a block diagram of the fire protection medium supply equipment of the present disclosure;
图13是本公开的灭火具体流程图;Figure 13 is a specific flow chart of fire extinguishing in the present disclosure;
图14是本公开的对接过程图像处理流程图;Figure 14 is an image processing flowchart of the docking process of the present disclosure;
图15是本公开的变电站智能消防***示意图。Figure 15 is a schematic diagram of the substation intelligent fire protection system of the present disclosure.
下面结合附图与实施例对本公开作进一步说明。The present disclosure will be further described below in conjunction with the drawings and embodiments.
应该指出,以下详细说明都是例示性的,旨在对本公开提供进一步的说明。除非另有指明,本文使用的所有技术和科学术语具有与本公开所属技术领域的普通技术人员通常理解的相同含义。It should be noted that the following detailed descriptions are all illustrative, and are intended to provide further descriptions of the present disclosure. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present disclosure belongs.
需要注意的是,这里所使用的术语仅是为了描述具体实施方式,而非意图限制根据本公开的示例性实施方式。如在这里所使用的,除非上下文另外明确指出,否则单数形式也意图包括复数形式,此外,还应当理解的是,当在本说明书中使用术语“包含”和/或“包括”时,其指明存在特征、步骤、操作、器件、组件和/或它们的组合。It should be noted that the terms used here are only for describing specific embodiments, and are not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprising" and/or "including" are used in this specification, they indicate There are features, steps, operations, devices, components, and/or combinations thereof.
如图15所示,一种变电站智能消防***,包括多个消防机器人和消防介质供给装备,以及控制中心,消防机器人(在图中以圆圈代替表示),消防介质供给装备(在途中以方框代替表示)均间隔部署于变电站内(以六边形为表示)各区域,且均具有定位机构。As shown in Figure 15, a substation intelligent fire fighting system includes multiple fire fighting robots and fire fighting medium supply equipment, as well as a control center, fire fighting robots (represented by circles in the figure), and fire fighting medium supply equipment (shown in boxes on the way Instead of representation) are deployed in each area of the substation (indicated by a hexagon) at intervals, and each has a positioning mechanism.
消防介质供给装备可以是固定式的,也可以可移动式的,或者二者兼备。The fire-fighting medium supply equipment can be fixed, mobile, or both.
当然,图中仅为一种情况,且为示意图,实际大小、数量都可以根据变电站的大小和级别等进行适应性的更改。Of course, the figure is only one case, and it is a schematic diagram. The actual size and quantity can be changed adaptively according to the size and level of the substation.
当发生火情时,可以根据变电站内各个区域布设的烟雾/温度传感器获取到着火点(星型图标表示)信息,也可以由消防机器人上携带的传感器获取到,还可以通过配置无人机检测得到。When a fire occurs, the ignition point (indicated by a star icon) can be obtained according to the smoke/temperature sensors deployed in each area of the substation, or it can be obtained by the sensor carried on the firefighting robot, or it can be detected by configuring the drone .
无人机采集站内设备不同视角的图像信息,辅助变电站消防机器人建立站内三维模型;The drone collects image information from different perspectives of the equipment in the station, and assists the substation fire fighting robot to establish a three-dimensional model of the station;
变电站消防机器人利用搭载的多目视觉设备,以站内设备结构化的特点为约束,使用多视角重建得到一个变电站整体的初级模型;具体过程为:The substation fire-fighting robot uses the multi-eye vision equipment onboard, and takes the structural characteristics of the equipment in the station as the constraint, and uses multi-view reconstruction to obtain a primary model of the substation as a whole; the specific process is:
利用多摄像头(在部分实施例中可以是两个)摄取两幅图像的视差,构建三维场景,在检测到目标后,通过计算图像对应点间位置偏差,获取目标的三维信息。The parallax of two images is captured by multiple cameras (two in some embodiments) to construct a three-dimensional scene. After the target is detected, the three-dimensional information of the target is obtained by calculating the position deviation between corresponding points of the image.
通过分析摄像头传回的画面,就可以分析画面中的设备与设备之间的距离、拍摄点到设备的距离等各类距离信息。站内的设备通常规格是固定的,长度信息高度信息都是已知的,那么在测距的时候就可以用来作为参考。By analyzing the picture returned by the camera, it is possible to analyze various distance information such as the distance between the device and the device in the picture, the distance from the shooting point to the device, and so on. The equipment in the station usually has a fixed specification, and the length and height information are known, so it can be used as a reference when measuring the distance.
通过立体视觉技术建立模型的缺点就是精度不够高,所以建立的是初级模型。The disadvantage of establishing a model through stereo vision technology is that the accuracy is not high enough, so the primary model is established.
通过无人机搭载多台传感器,采用倾斜摄影技术,同时从垂直、前视、后视、左视、右视五个不同角度采集影像,获取到丰富的建筑物顶面及侧视的高分辨率纹理。通过该种方法可以真实地反映地物情况,高精度地获取物方纹理信息,通过定位、融合、建模等技术,生成真实的三维模型。The drone is equipped with multiple sensors and uses tilt photography technology to collect images from five different angles: vertical, front view, rear view, left view, and right view at the same time, to obtain rich high resolution of the top and side views of the building Rate texture. Through this method, the situation of the ground objects can be truly reflected, the texture information of the object side can be obtained with high precision, and a real three-dimensional model can be generated through positioning, fusion, modeling and other technologies.
结合多目视觉设备建立的初级模型,将真实的三维模型和初级模型进行密集匹配,生成精确的三维视觉模型。Combined with the primary model established by the multi-eye vision device, the real 3D model and the primary model are closely matched to generate an accurate 3D vision model.
多视影像密集匹配能得到高精度高分辨率的数字表面模型,匹配方法为:Dense matching of multi-view images can obtain high-precision and high-resolution digital surface models. The matching method is:
利用算子检测角点,然后通过特征描述符对检测角点进行特征描述,根据相应的匹配准则对影像特征点进行匹配。具体过程为:Operators are used to detect corner points, and then feature descriptors are used to describe the detected corner points, and the image feature points are matched according to the corresponding matching criteria. The specific process is:
使用改进过PMVS算法(基于面片的三维多视角立体视觉算法),包括如下步骤:Use the improved PMVS algorithm (a three-dimensional multi-view stereo vision algorithm based on a patch), including the following steps:
初始特征匹配、面元扩散、面元过滤。Initial feature matching, face element diffusion, face element filtering.
初始特征匹配的目的是生成一系列稀疏的面元,作为种子点进行扩散,扩散与过滤的过程重复多次,将稀疏的种子点扩散生成密集点云并删除错误点云。The purpose of initial feature matching is to generate a series of sparse surface elements, which are used as seed points for diffusion. The process of diffusion and filtering is repeated many times, and the sparse seed points are diffused to generate dense point clouds and delete error point clouds.
初始特征匹配:首先是特征检测,常用的特征提取算子有Harris角点提取算子和DoG算子,特征检测完之后是影像匹配。Initial feature matching: The first is feature detection. Commonly used feature extraction operators include Harris corner extraction operator and DoG operator. After feature detection, image matching is performed.
在进行影像匹配时,在原始算法的基础上,加入部分约束条件以得到更精确的匹配点,作为种子点进行后续操作,根据之前得到的初级模型,筛选出候选空间点中置信度较高的点作为种子点。When performing image matching, on the basis of the original algorithm, some constraints are added to obtain more accurate matching points, which are used as seed points for subsequent operations. According to the preliminary model obtained before, the candidate space points with higher confidence are selected Points are used as seed points.
消防机器人作业过程中,无人机实时采集变电站内的图像信息,协助机器人确定其在站内的位置坐标;During the operation of the fire-fighting robot, the drone collects image information in the substation in real time and assists the robot in determining its position coordinates in the station;
发生火情时,机器人受到烟雾等恶劣环境的影响,通过视觉定位技术可能会导致定位不准确,很容易导致后续的供水点位置确定、路径规划、喷射角度等过程出现差错,不利于消防机器人的自主作业。When a fire occurs, the robot is affected by smoke and other harsh environments. The visual positioning technology may cause inaccurate positioning, which can easily lead to errors in the subsequent process of determining the position of the water supply point, path planning, and spraying angle, which is not conducive to the fire fighting robot. Work autonomously.
本实施例中,在机器人在站内运动赶往着火现场时,无人机在空中拍摄图像,获取着火设备的位置,周边设备的分布情况以及机器人与其他设备的相对位置信息;将图像数据传回后台,用于检测现场环境。In this embodiment, when the robot is moving in the station to the scene of the fire, the drone takes images in the air to obtain the location of the burning equipment, the distribution of peripheral equipment, and the relative position information of the robot and other equipment; the image data is transmitted back The background is used to detect the on-site environment.
同时,通过算法处理传回的图像,建立简单的模型,与预先建立好的精确模型比对,协助机器人确定自身在站内的位置坐标。At the same time, it uses algorithms to process the returned images, build a simple model, and compare it with a pre-established accurate model to assist the robot in determining its own position coordinates in the station.
当机器人在站内运作时,无人机会在空中传回图像,那么根据无人机传回的图像进行建模,此时机器人在该模型中是作为站内一个移动设备而存在的,会拥有该模型下的一个坐标。同时,机器人安装的传感器,读取预先建立好的精确模型,也会测得自身在该精细模型下的坐标。When the robot is operating in the station, the drone will send back an image in the air, then model the image based on the image returned by the drone. At this time, the robot exists in the model as a mobile device in the station and will have the model The next coordinate. At the same time, the sensor installed by the robot reads the precise model built in advance, and also measures its own coordinates under the fine model.
精细模型与无人机建立的模型,都是同一个变电站内的模型,因此可以使用同一坐标系进行衡量,在同一坐标系下的两个坐标值进行比对,可以协助机器人确定自身在站内的位置坐标。The fine model and the model established by the drone are both models in the same substation. Therefore, the same coordinate system can be used for measurement. The two coordinate values in the same coordinate system can be compared to assist the robot in determining its own position in the station. Position coordinates.
上述方法使得机器人能够在视觉定位技术不准确的情况下,也能够准确的进行坐标定位;克服了烟雾或者喷射细水雾对于机器人自身定位的影响。The above method enables the robot to accurately perform coordinate positioning even when the vision positioning technology is inaccurate; it overcomes the influence of smoke or spraying water mist on the positioning of the robot itself.
控制中心调度距离着火点最近的消防机器人a,先前往着火点,进行救火,与此同时,可以调度距离着火点较近的消防机器人b,或者当消防介质供给装备有可移动式的时,例如图中所示消防介质供给装备i,也调度其前往着火点。The control center dispatches the fire-fighting robot a closest to the fire point to go to the fire point first to fight the fire. At the same time, it can dispatch the fire-fighting robot b closer to the fire point, or when the fire-fighting medium supply equipment is equipped with a movable type, as shown in the figure. Show the fire-fighting medium supply equipment i, and dispatch it to the fire point.
当消防机器人a到达着火点时,先利用自身携带的灭火机构实现灭火,如果判断火情较小,可以停止调取其他消防机器人和消防介质供给装备,如果火情较大,继续调度距离着火点较近的消防机器人b,或者消防介质供给装备i,前往着火点,或者调度更多的消防机器人和消防介质供给装备前往着火点。以保***灭火。最大限度的节约响应时间,同时保证扑救工作的有效性。When the fire-fighting robot a reaches the fire point, first use its own fire extinguishing mechanism to extinguish the fire. If it is judged that the fire is small, you can stop calling other fire-fighting robots and fire-fighting medium supply equipment. If the fire is large, continue to dispatch closer to the fire point. Fire-fighting robot b, or fire-fighting medium supply equipment i, go to the fire point, or dispatch more fire-fighting robots and fire-fighting medium supply equipment to the fire point. To ensure a one-time fire extinguishment. Save response time to the greatest extent, while ensuring the effectiveness of rescue work.
当然,如果消防介质供给装备都是固定式的时,控制中心只调度各消防机器人动作。Of course, if the fire-fighting medium supply equipment is fixed, the control center only dispatches the actions of the fire-fighting robots.
具体的,提到的消防机器人,如图6所示,包括履带式移动底盘组件601、外壳组件602、升降回转装置603、干粉喷射装置604、消防水/泡沫喷射装置605、控制装置606等组成,其中:Specifically, the fire-fighting robot mentioned, as shown in Figure 6, includes a crawler-type mobile chassis assembly 601, a housing assembly 602, a lifting and turning device 603, a dry powder injection device 604, a fire-fighting water/foam injection device 605, a control device 606, etc. ,among them:
如图1所示,其中,履带式移动底盘组件,包括上1履带,2驱动轮,3单支重轮,4托带轮1,5双支重轮,6托带轮2,7导向轮,8底盘壳体等组成,电机减速器组件安装在8底盘壳体内,2驱动轮安装在电机减速器组件上,3单支重轮、4托带轮1、5双支重轮、6托带轮2、7导向轮分别安装在8底盘壳体上并且1履带安装在它们上面;As shown in Figure 1, the crawler-type mobile chassis assembly includes upper 1 crawler, 2 driving wheels, 3 single rollers, 4 supporting rollers, 1, 5 double supporting wheels, 6 supporting rollers, 2, 7 guide wheels , 8 chassis shell and other components, the motor reducer component is installed in the 8 chassis shell, 2 driving wheels are installed on the motor reducer component, 3 single rollers, 4 supporting pulleys, 5 double supporting wheels, 6 supporting wheels Pulleys 2, 7 guide wheels are respectively installed on the 8 chassis shell and 1 crawler is installed on them;
外壳组件,包括上9测距传感器,10可见光摄像机,11螺钉,12照明大灯,13前壳体,14螺钉,15后壳体,16可见光摄像机等组成,9测距传感器、10可见光摄像机、两个12照明大灯分别安装在13前壳体上,13前壳体通过11螺钉安装在8底盘壳体上,16可见光摄像机安装在15后壳体上,15后壳体通过14螺钉安装在13前壳体上;Shell components, including the upper 9 range sensor, 10 visible light camera, 11 screws, 12 headlights, 13 front housing, 14 screws, 15 rear housing, 16 visible light camera, 9 range sensor, 10 visible light camera, Two 12 headlights are installed on the front shell 13 respectively, the front shell 13 is installed on the 8 chassis shell with 11 screws, the 16 visible light camera is installed on the rear shell 15, and the rear shell 15 is installed on the rear shell 15 with 14 screws. 13 On the front housing;
如图2、图3和图4所示,升降回转装置,包括17升降机构,18螺钉,19回转底座,20回转头,21螺钉,22照明大灯,23可见光摄像机,24红外热成像仪等组成,17升降机构通过21螺钉安装在8底盘壳体上,19回转底座通过18螺钉安装在17升降机构上,20回转头安装在19回转底座上,22照明大灯、23可见光摄像机、24红外热成像仪安装在20回转头上。As shown in Figure 2, Figure 3 and Figure 4, the lifting and turning device includes 17 lifting mechanism, 18 screws, 19 turning base, 20 turning head, 21 screws, 22 lighting headlights, 23 visible light camera, 24 infrared thermal imager The 17 lifting mechanism is mounted on the 8 chassis shell through 21 screws, the 19 revolving base is mounted on the 17 lifting mechanism through 18 screws, the 20 revolving head is mounted on the 19 revolving base, 22 lighting headlights, 23 visible light cameras, The 24 infrared thermal imager is installed on the 20 rotary head.
干粉喷射装置,包括25干粉罐,26电磁阀进粉管,27电磁阀,28电磁阀出粉管,29三通接头,30出粉管,31干粉喷头等组成,25干粉罐和27电磁阀固定在8底盘壳体上,26电磁阀进粉管一端连接25干粉罐,另一端连接27电磁阀,28电磁阀出粉管一端连接27电磁阀,另一端连接29三通接头,30出粉管一端连接29三通接头,另一端连接31干粉喷头,31干粉喷头固定在20回转头上。Dry powder spray device, including 25 dry powder tank, 26 solenoid valve powder inlet pipe, 27 solenoid valve, 28 solenoid valve powder outlet pipe, 29 three-way joint, 30 powder outlet pipe, 31 dry powder nozzle, 25 dry powder tank and 27 solenoid valve Fixed on the 8 chassis shell, one end of the 26 solenoid valve powder inlet pipe is connected to the 25 dry powder tank, the other end is connected to the 27 solenoid valve, one end of the 28 solenoid valve powder pipe is connected to the 27 solenoid valve, the other end is connected to the 29 three-way connector, and the other end is connected to the powder outlet. One end of the pipe is connected with a 29 tee joint, and the other end is connected with a 31 dry powder nozzle, which is fixed on a 20 rotary head.
如图4所示,消防水/泡沫喷射装置,包括32水带接头,33水管,34主水管,35电磁阀,36回转接头,37电磁阀水管,38回转接头,39水管,40电磁阀水管,41消防水喷头,42自喷淋装置,43立管,44立管,45自喷淋装置等组成,34主水管和35电磁阀固定在8底盘壳体上,34主水管一端连接32水带接头,另一端连接35电磁阀,37电磁阀水管和40电磁阀水管分别安装在35电磁阀上,43立管一端连接37电磁阀水管,另一端连接36回转接头,44立管一端连接40电磁阀水管,另一端连接38回转接头,33水管一端连接36回转接头,另一端连接41消防水喷头,39水管一端连接38回转接头,另一端连接41消防水喷头,42自喷淋装置安装在43立管上,45自喷淋装置安装在44立管上。As shown in Figure 4, the fire-fighting water/foam spray device includes 32 hose joints, 33 water pipes, 34 main water pipes, 35 solenoid valves, 36 rotary joints, 37 solenoid valve water pipes, 38 rotary joints, 39 water pipes, and 40 solenoid valve water pipes. , 41 fire sprinklers, 42 self-sprinkler device, 43 standpipe, 44 standpipe, 45 self-sprinkler device, etc., 34 main water pipe and 35 solenoid valve are fixed on the 8 chassis shell, 34 main water pipe one end is connected to 32 water With connector, the other end is connected to 35 solenoid valve, 37 solenoid valve water pipe and 40 solenoid valve water pipe are respectively installed on 35 solenoid valve, one end of 43 riser pipe is connected to 37 solenoid valve water pipe, the other end is connected to 36 rotary joint, and one end of riser pipe is connected to 40 The other end of the solenoid valve water pipe is connected to 38 rotary joint, one end of 33 water pipe is connected to 36 rotary joint, the other end is connected to 41 fire water sprinklers, one end of 39 water pipe is connected to 38 rotary joints, and the other end is connected to 41 fire water sprinklers. 42 self-spraying device is installed in On 43 standpipes, 45 self-spraying devices are installed on 44 standpipes.
31干粉喷头和41消防水喷头可以设置在一个壳体内,以保障喷头的安全性。且该壳体的喷头处开孔,使两个喷头能够工作。41消防水喷头既可以喷射水柱也可以喷射细水雾。31 dry powder sprinklers and 41 fire water sprinklers can be arranged in a shell to ensure the safety of the sprinklers. And there are holes in the nozzles of the shell, so that the two nozzles can work. 41 Fire water sprinklers can spray water jets or fine water mist.
如图7所示,所述32水带接头能够和消防水供给设备快速连接,32水带接头为第一接头,与消防介质供给装备的插座相配合,所述插座包括支撑座,所述支撑座上设置有多个立柱,立柱圆周分布,中心处可以容纳所述进水管,所述立柱上设置有弹性体,立柱的端部设置有压紧板,所述压紧板上设置有可相对转动的压紧件,以活动卡接所述第一接头。As shown in Figure 7, the 32 hose connector can be quickly connected to the fire-fighting water supply equipment. The 32 hose connector is the first connector and is matched with the socket of the fire-fighting medium supply equipment. The socket includes a support seat, and the support The seat is provided with a plurality of uprights, the uprights are distributed around the circumference, and the water inlet pipe can be accommodated in the center, the upright is provided with an elastic body, the end of the upright is provided with a pressing plate, and the pressing plate is provided with opposing The rotating pressing member is movably clamped to the first joint.
如图5所示,控制装置,包括46机器人总控模块、47电源模块、48电量显示模块、49继电器模块1、50画面分割器、51水炮摄像头、52倾角传感器、53温度传感器、54声光报警模块、55自喷淋装置控制模块、56GPS定位模块、57继电器模块2、58继电器模块3、59电机驱动器1、60电机驱动器2、61机器人运动电机等组成。46机器人总控模块通过48电量显示模块与47电源模块相连;46机器人总控模块通过49继电器模块1分别与12照明大灯、22照明大灯相连;46机器人总控模块通过50画面分割器分别与10可见光摄相机、16可见光摄像机、51水炮摄像头相连;46机器人总控模块分别与24红外热成像仪、9测距传感器、52倾角传感器、53温度传感器、54声光报警模块、56GPS定位模块相连;46机器人总控模块通过55自喷淋装置控制模块分别与42自喷淋装置、45自喷淋装置相连;46机器人总控模块通过57继电器模块2与27电磁阀相连;46机器人总控模块通过58继电器模块3与35电磁阀相连;46机器人总控模块通过59电机驱动器1与17升降机构相连;46机器人总控模块通过60电机驱动器2与61机器人运动电机相连。在本发明上述实施例中,46机器人总控模块可以为控制器、处理芯片(CPU)或者单片机等。As shown in Figure 5, the control device includes 46 robot master control module, 47 power supply module, 48 power display module, 49 relay module 1, 50 screen splitter, 51 water cannon camera, 52 tilt sensor, 53 temperature sensor, 54 sound Light alarm module, 55 self-sprinkler control module, 56GPS positioning module, 57 relay module 2, 58 relay module 3, 59 motor driver 1, 60 motor driver 2, 61 robot motion motor and so on. The 46 robot master control module is connected to the 47 power supply module through the 48 power display module; the 46 robot master control module is connected to the 12 lighting headlights and the 22 lighting headlights through the 49 relay module 1; the 46 robot master control module is connected to the 50 screen splitter respectively Connected with 10 visible light cameras, 16 visible light cameras, 51 water cannon cameras; 46 robot master control modules are respectively connected with 24 infrared thermal imagers, 9 distance sensors, 52 inclination sensors, 53 temperature sensors, 54 sound and light alarm modules, and 56 GPS positioning Modules are connected; 46 robot master control modules are connected to 42 automatic spray devices and 45 automatic spray devices through 55 automatic spray device control modules; 46 robot master control modules are connected through 57 relay modules 2 and 27 solenoid valves; 46 robot master The control module is connected to 35 solenoid valve through 58 relay module 3; 46 robot master control module is connected to 17 lifting mechanism through 59 motor driver 1; 46 robot master control module is connected to 61 robot motion motor through 60 motor driver 2. In the foregoing embodiment of the present invention, the 46 robot master control module may be a controller, a processing chip (CPU), or a single-chip microcomputer.
变电站消防机器人可已通过遥控器进行远程控制,作业人员可以通过可见光摄像机、水炮摄像头、红外热成像仪观察火灾现场情况;通过测距传感器、倾角传感器、温度传感器、GPS定位模块实时测量机器人的姿态和周围环境信息,当机器人遇到危险时,声光报警模块可发出声光报警提示;通过遥控器可控制选择使用干粉、消防水和泡沫等多种灭火介质进行灭火降温作业。The substation fire-fighting robot can be remotely controlled by the remote control. The operator can observe the fire scene through the visible light camera, the water cannon camera, and the infrared thermal imager; the real-time measurement of the robot's performance through the ranging sensor, the inclination sensor, the temperature sensor, and the GPS positioning module Posture and surrounding environment information, when the robot encounters danger, the sound and light alarm module can send out sound and light alarm prompts; through the remote control, you can control and choose to use various fire extinguishing media such as dry powder, fire water and foam for fire extinguishing and cooling operations.
如图8-11所示,消防介质供给装备包括水带组件、水带对接装置、水带收回装置、储水管组件、增压泵组件、移动底盘组件、泡沫泵组件、泡沫存储罐组件、消防水存储罐组件、控制组件等组成。As shown in Figures 8-11, the fire-fighting medium supply equipment includes hose components, hose docking devices, hose retraction devices, water storage pipe components, booster pump components, mobile chassis components, foam pump components, foam storage tank components, and fire fighting Water storage tank components, control components, etc.
水带组件,包括2-1快插水带接头、2-2水带、2-3螺纹水带接头组成,2-1快插水带接头和2-2水带扣压在一起,2-3螺纹水带接头和2-2水带扣压在一起,2-3螺纹水带接头一头固定在水带收回装置上,2-1快插水带接头放置在水带对接装置2-19卷盘上;Hose components, including 2-1 quick-plug hose connector, 2-2 hose, 2-3 threaded hose connector, 2-1 quick-plug hose connector and 2-2 hose buckle together, 2-3 The threaded hose connector and the 2-2 hose are buckled together, the 2-3 threaded hose connector is fixed on the hose retracting device at one end, and the 2-1 quick-plug hose connector is placed on the hose docking device 2-19 reel ;
水带对接装置,包括2-4水带支撑座、2-5转轴螺钉、2-6压紧板、2-7螺钉、2-8支撑板、2-9支柱、2-10弹簧、2-11挡母、2-12底座、2-13螺钉等组成,两个2-6压紧板通过两个2-5转轴螺钉分别固定在2-4水带支撑座,如图10所示,压紧板把水带固定在水带支撑座上面,起到定位作用,机器人拽出水带时,水带在上提的过程中,压紧板可以活动,不阻碍水带运动,对接过程中,弹簧可以起到减缓机器人对接过程中的冲击力,4个2-10弹簧各自套入2-9支柱上,4个支柱一端固定在2-4水带支撑座上,另一端穿过2-8支撑板、2-12底座和2-11挡母固定在一起,2-8支撑板和2-12底座通过2-7螺钉连接在一起,2-12底座通过2-13螺钉连接移动底盘组件的2-39底板上。Hose docking device, including 2-4 hose support seat, 2-5 shaft screw, 2-6 compression plate, 2-7 screw, 2-8 support plate, 2-9 pillar, 2-10 spring, 2- 11 block female, 2-12 base, 2-13 screws, etc., two 2-6 compression plates are fixed on the 2-4 hose support seat by two 2-5 shaft screws, as shown in Figure 10, The tight plate fixes the hose on the hose support seat for positioning. When the robot pulls out the hose, the pressure plate can move during the process of lifting the hose without hindering the movement of the hose. During the docking process, the spring It can slow down the impact force during the docking process of the robot. The 4 2-10 springs are respectively sleeved on the 2-9 pillars. One end of the 4 pillars is fixed on the 2-4 hose support seat, and the other end passes through the 2-8 support. Plate, 2-12 base and 2-11 block nut are fixed together, 2-8 support plate and 2-12 base are connected together by 2-7 screws, 2-12 base is connected with 2 of the mobile chassis assembly by 2-13 screws -39 on the bottom plate.
水带收回装置,包括2-14螺钉、2-15卷盘电机、2-16小齿轮、12-7螺钉、2-18架体、2-19卷盘、2-20中心轴等组成,2-15卷盘电机通过2-14螺钉固定在移动底盘组件的2-39底板上,2-16小齿轮通过12-7螺钉固定在2-15卷盘电机输出轴上,小齿轮和卷盘电机输出轴固定在一起,卷盘电机输出轴转动,带动小齿轮转动,卷盘上面有齿圈,跟小齿轮啮合在一起,小齿轮转动带动卷盘转动,2-18架体焊接在移动底盘组件的2-39底板上,2-20中心轴一端与储水管组件通过2-23联通管连接,另一端穿过2-19卷盘固定在2-18架体上。The hose retracting device, including 2-14 screws, 2-15 reel motors, 2-16 pinions, 12-7 screws, 2-18 frame body, 2-19 reels, 2-20 central shafts, etc., 2 -15 reel motor is fixed on the 2-39 bottom plate of the mobile chassis assembly by 2-14 screws, 2-16 pinion is fixed on the output shaft of 2-15 reel motor by 12-7 screws, pinion and reel motor The output shafts are fixed together. The output shaft of the reel motor rotates to drive the pinion gear to rotate. There is a ring gear on the reel that meshes with the pinion gear. The pinion gear rotates to drive the reel to rotate. The 2-18 frame is welded to the mobile chassis assembly. On the 2-39 bottom plate, one end of the 2-20 central axis is connected with the water storage pipe assembly through a 2-23 connecting pipe, and the other end passes through the 2-19 reel and is fixed on the 2-18 frame.
储水管组件,包括2-21增压泵排水管I、2-22增压泵排水管II、2-23联通管、2-24溢流阀、2-25溢流阀回水管、2-26螺钉、2-27增压泵进水管I、2-28三通接头、2-29增压泵进水管II、2-30增压泵主进水管、2-31泡沫泵排液管、2-32泡沫泵进液管、2-33排水球阀等组成,2-23联通管通过2-26螺钉固定在移动底盘组件的2-39底板上,2-24溢流阀连接在2-23联通管上部,2-21增压泵排水管I和2-22增压泵排水管一端连接在2-34增压泵上,另一端连接在2-23联通管上,2-25溢流阀回水管一端连接在2-24溢流阀上,另一端连接在2-30增压泵主进水管上,2-27增压泵进水管I、和2-29增压泵进水管II一端连接在2-34增压泵上,另一端跟2-28三通接头连接在一起,2-30增压泵主进水管一端连接2-28三通接头上,另一端连接2-33排水球阀上,2-33排水球阀跟消防水存储罐连接在一起。Water storage pipe assembly, including 2-21 booster pump drain pipe I, 2-22 booster pump drain pipe II, 2-23 connecting pipe, 2-24 overflow valve, 2-25 overflow valve return pipe, 2-26 Screw, 2-27 booster pump inlet pipe I, 2-28 three-way joint, 2-29 booster pump inlet pipe II, 2-30 booster pump main inlet pipe, 2-31 foam pump discharge pipe, 2- 32 foam pump inlet pipe, 2-33 drain ball valve, etc. The 2-23 connecting pipe is fixed on the 2-39 bottom plate of the mobile chassis assembly with 2-26 screws, and the 2-24 overflow valve is connected to the 2-23 connecting pipe. On the upper part, one end of the 2-21 booster pump drain pipe I and the 2-22 booster pump drain pipe is connected to the 2-34 booster pump, the other end is connected to the 2-23 connecting pipe, and the 2-25 overflow valve return pipe One end is connected to the 2-24 overflow valve, the other end is connected to the 2-30 booster pump main inlet pipe, 2-27 booster pump inlet pipe I, and 2-29 booster pump inlet pipe II are connected at one end to 2 On the -34 booster pump, the other end is connected to the 2-28 three-way joint. One end of the 2-30 booster pump’s main water inlet pipe is connected to the 2-28 three-way joint, and the other end is connected to the 2-33 drain ball valve. The -33 drain ball valve is connected to the fire water storage tank.
增压泵组件,包括2-34增压泵、2-35增压泵支架、2-36螺钉、2-37螺栓、2-38螺母等组成,2-34增压泵通过4组2-37螺栓、2-38螺母和2-35增压泵支架连接在一起,2-35增压泵支架通过2-36螺钉连接移动底盘组件的2-39底板上。Booster pump components, including 2-34 booster pump, 2-35 booster pump bracket, 2-36 screws, 2-37 bolts, 2-38 nuts, etc. 2-34 booster pump passes 4 sets of 2-37 The bolts, 2-38 nuts and 2-35 booster pump bracket are connected together, and the 2-35 booster pump bracket is connected to the 2-39 bottom plate of the mobile chassis assembly through 2-36 screws.
移动底盘组件,包括2-39底板、2-40移动轮等组成,两个2-40移动轮与2-39底板焊接在一起。Mobile chassis components, including 2-39 bottom plate, 2-40 movable wheels, etc., two 2-40 movable wheels and 2-39 bottom plate are welded together.
泡沫泵组件,包括2-41泡沫泵支架、2-42螺钉、2-43螺钉、2-44泡沫泵等组成,2-41泡沫泵支架通过2-43螺钉固定在移动底盘组件的2-39底板上,2-44泡沫泵通过2-42螺钉固定在2-41泡沫泵支架上。泡沫泵把泡沫从泡沫存储罐排入泡沫泵排液管中,2-31泡沫泵排液管连接在2-30增压泵主进水管,泡沫泵打出的泡沫混合消防水一起进入增压泵。Foam pump components, including 2-41 foam pump bracket, 2-42 screws, 2-43 screws, 2-44 foam pumps, etc. The 2-41 foam pump bracket is fixed to 2-39 of the mobile chassis assembly by 2-43 screws On the bottom plate, the 2-44 foam pump is fixed on the 2-41 foam pump bracket with 2-42 screws. The foam pump discharges the foam from the foam storage tank into the foam pump discharge pipe. The 2-31 foam pump discharge pipe is connected to the 2-30 booster pump main water inlet pipe. The foam mixed with the fire-fighting water from the foam pump enters the booster pump together. .
泡沫存储罐组件,包括2-45球阀、2-46螺钉、2-47泡沫液位指示器、2-48泡沫存储罐、2-49螺塞等组成,2-45球阀安装在2-48泡沫存储罐上,2-49螺塞安装在2-48泡沫存储罐上,作为加注泡沫入口,2-47泡沫液位指示器安装在2-48泡沫存储罐上,2-48泡沫存储罐通过四个2-46螺钉固定在2-51消防水存储罐上。Foam storage tank components, including 2-45 ball valve, 2-46 screw, 2-47 foam level indicator, 2-48 foam storage tank, 2-49 screw plug, etc. 2-45 ball valve is installed on 2-48 foam On the storage tank, the 2-49 screw plug is installed on the 2-48 foam storage tank as an inlet for filling foam, the 2-47 foam level indicator is installed on the 2-48 foam storage tank, and the 2-48 foam storage tank passes through Four 2-46 screws are fixed on the 2-51 fire water storage tank.
消防水存储罐组件,包括2-50泄压阀、2-51消防水存储罐、2-52进水接头、53消防水液位指示器等组成,2-50泄压阀和2-52进水接头焊接在2-51消防水存储罐上,53消防水液位指示器安装在2-51消防水存储罐上,2-51消防水存储罐焊接在移动底盘组件的2-39底板上。Fire water storage tank components, including 2-50 pressure relief valve, 2-51 fire water storage tank, 2-52 water inlet connector, 53 fire water level indicator, 2-50 pressure relief valve and 2-52 inlet The water joint is welded to the 2-51 fire water storage tank, the 53 fire water level indicator is installed on the 2-51 fire water storage tank, and the 2-51 fire water storage tank is welded to the 2-39 bottom plate of the mobile chassis assembly.
消防水存储罐组件通过2-52进水接头、控制阀与消防栓连接,且所述控制阀可以远程遥控。The fire water storage tank assembly is connected to the fire hydrant through a 2-52 water inlet connector and a control valve, and the control valve can be remotely controlled.
如图12所示,控制组件,包括2-54增压开关、2-55急停开关、2-56泡沫混合开关、2-57卷盘开关、2-58无线收发模块、2-59总控***、2-60电源模块24V、2-61电源模块48V、2-62增压泵软启动器、2-63卷盘电机软启动器、2-64泡沫泵软启动器组成,包括2-54增压开关、2-55急停开关、2-56泡沫混合开关、2-57卷盘开关、2-58无线收发模块、2-60电源模块24V、2-61电源模块48V、2-62增压泵软启动器、2-63卷盘电机软启动器、2-64泡沫泵软启动器分别与2-59总控***连接。As shown in Figure 12, the control components include 2-54 boost switch, 2-55 emergency stop switch, 2-56 foam mixing switch, 2-57 reel switch, 2-58 wireless transceiver module, 2-59 master control System, 2-60 power module 24V, 2-61 power module 48V, 2-62 booster pump soft starter, 2-63 reel motor soft starter, 2-64 foam pump soft starter, including 2-54 Booster switch, 2-55 emergency stop switch, 2-56 foam mixing switch, 2-57 reel switch, 2-58 wireless transceiver module, 2-60 power module 24V, 2-61 power module 48V, 2-62 increase The pressure pump soft starter, the 2-63 reel motor soft starter, and the 2-64 foam pump soft starter are respectively connected to the 2-59 master control system.
当按下2-54增压开关后,2-59总控***通过2-62增压泵软启动器控制2-34增压泵开始工作,消防水从2-51消防水存储罐经过2-30增压泵主进水管、2-27增压泵进水管I、2-28三通接头、2-29增压泵进水管II、2-21增压泵排水管I、2-22增压泵排水管II、2-23联通管、2-19卷盘、2-2水带、2-1快插水带接头给机器人供水;当再次按下2-54增压开关,2-59总控***通过2-62增压泵软启动器控制2-34增压泵停止工作。When the 2-54 booster switch is pressed, the 2-59 master control system controls the 2-34 booster pump to work through the 2-62 booster pump soft starter, and the fire water passes through the 2-51 fire water storage tank. 30 booster pump main inlet pipe, 2-27 booster pump inlet pipe I, 2-28 three-way joint, 2-29 booster pump inlet pipe II, 2-21 booster pump drain pipe I, 2-22 booster Pump drain pipe II, 2-23 interconnection pipe, 2-19 reel, 2-2 hose, 2-1 quick-insertion hose connector to supply water to the robot; when the 2-54 boost switch is pressed again, 2-59 total The control system controls the 2-34 booster pump to stop working through the 2-62 booster pump soft starter.
当按下2-56泡沫混合开关后,2-59总控***通过2-64泡沫泵软启动器控制2-44泡沫泵开始工作,泡沫通过2-32泡沫泵进液管、2-31泡沫泵排液管进入消防水;当再次按下2-56泡沫混合开关后,2-59总控***通过2-64泡沫泵软启动器控制2-44泡沫泵停止工作。When the 2-56 foam mixing switch is pressed, the 2-59 master control system controls the 2-44 foam pump to start working through the 2-64 foam pump soft starter, and the foam passes through the 2-32 foam pump inlet pipe and 2-31 foam The pump discharge pipe enters the fire fighting water; when the 2-56 foam mixing switch is pressed again, the 2-59 master control system controls the 2-44 foam pump to stop working through the 2-64 foam pump soft starter.
灭火过程中如果需要泡沫,就开启泡沫泵工作,混合消防水进行灭火,如果不需要泡沫,就不开泡沫泵,只用消防水灭火就行。根据着火设备的灭火特性进行自由选择。If foam is needed during the fire extinguishing process, the foam pump is turned on and the fire water is mixed to extinguish the fire. If no foam is required, the foam pump is not turned on and only fire water is used to extinguish the fire. Choose freely according to the fire extinguishing characteristics of the fire equipment.
当按下2-57卷盘开关后,2-59总控***通过2-63卷盘电机软启动器控制2-15卷盘电机开始工作,卷盘开水回收;当再次按下2-57卷盘开关后,2-59总控***通过2-63卷盘电机软启动器控制2-15卷盘电机停止工作。When the 2-57 reel switch is pressed, the 2-59 master control system controls the 2-15 reel motor to start working through the 2-63 reel motor soft starter, and the reel boiled water is recovered; when the 2-57 reel is pressed again After the reel switch, the 2-59 master control system controls the 2-15 reel motor to stop working through the 2-63 reel motor soft starter.
当发生火情后,消防机器人迅速到达火灾现场,通过红外热成像***对设备着火点进位识别定位,分析着火点三维坐标系位置,结合火情情况计算出喷射装置的喷射角度、喷射流量,根据着火设备类型选择干粉、水柱或者细细水雾等消防介质,对各项灭火参数计算完毕后,如果需要机器人与消防介质供给装备对接,操作人员根据着火设备类型,可选择3L/s、6L/s和9L/s的消防水供给速度,泡沫比例可根据需求选择3%、5%、10%和20%,参数设定完毕后,启动消防介质供给装备,给消防机器人提供消防水或者泡沫混合液。进行消防灭火作业,灭火作业完毕后,机器人自动脱带装置完成自动脱带,消防介质供给装备可实现水带自动回收。When a fire occurs, the fire-fighting robot quickly arrives at the fire site, uses the infrared thermal imaging system to identify and locate the fire point of the equipment, analyzes the position of the fire point in the three-dimensional coordinate system, and calculates the jet angle and jet flow rate of the jet device based on the fire equipment. Choose the fire-fighting medium such as dry powder, water jet or fine water mist. After calculating the various fire-fighting parameters, if the robot needs to be connected with the fire-fighting medium supply equipment, the operator can choose 3L/s, 6L/s and 9L/s fire fighting water supply speed, foam ratio can be selected 3%, 5%, 10% and 20% according to the demand. After the parameters are set, start the fire fighting medium supply equipment to provide fire fighting water or foam mixture to the fire fighting robot. Carry out fire-fighting operations. After the fire-fighting operations are completed, the robot automatic stripping device completes the automatic stripping, and the fire-fighting medium supply equipment can realize the automatic recovery of the hose.
操作人员通过消防机器人的对接摄像头,可控制机器人实现消防水带的自动对接,消防介质供给装备配备的对接装置具有多方向缓冲功能,对接过程中可实现微小误差的自动调整,快速实现对接功能。The operator can control the robot to realize the automatic docking of the fire hose through the docking camera of the fire fighting robot. The docking device equipped with the fire fighting media supply equipment has a multi-directional buffer function, which can realize automatic adjustment of small errors during the docking process, and quickly realize the docking function.
第一接口设于机器人后部,机器人首先停在设定误差范围内的位置,向后倒车,弹性对接装置进行误差纠正,将水带的第二接口对接到机器人上;The first interface is set at the rear of the robot. The robot first stops at a position within the set error range, and reverses backwards. The elastic docking device performs error correction, and the second interface of the hose is docked to the robot;
当监控到第一接口和第二接口因误差过大导致无法对接时,消防控制平台通过采集到的图像,分析出误差超出的范围,并将结果反馈给机器人控制***,控制机器人向前移动并调整角度再次倒车,缩小误差后重新对接。When it is monitored that the first interface and the second interface cannot be docked due to an excessive error, the fire control platform analyzes the range of the error through the collected images, and feeds the result back to the robot control system to control the robot to move forward and move forward. Adjust the angle to reverse again, reduce the error and re-docking.
具体的,对接过程如图14所示,消防水带自动对接监控分为图像处理与图像识别两部分,所述消防控制平台对图像采集装置采集到的图像进行图像处理,所述图像处理的方式具体为:通过图像预处理进行图像的去噪、平滑和变换,加强图像的重要特征,对预处理后的图像进行图像分割、边缘检测和图像细化,其中在图像分割部分有基于区域特征的分割方法、基于相关匹配的分割方法和基于边界特征的分割方法等。Specifically, the docking process is shown in Figure 14. The fire hose automatic docking monitoring is divided into two parts: image processing and image recognition. The fire control platform performs image processing on the images collected by the image acquisition device. Specifically: Denoising, smoothing, and transforming images through image preprocessing, enhancing important features of images, performing image segmentation, edge detection, and image refinement on preprocessed images. Among them, the image segmentation part is based on regional features. Segmentation methods, segmentation methods based on correlation matching, and segmentation methods based on boundary features.
对处理后的图像进行图像识别,具体为:采用遗传算法与BP网络相融合的神经网络图像识别模型进行图像的识别,提取处理后的图像中的重要特征值,根据提取到的特征值,获取图像中设备的当前状态,比如在判断对接是否成功时,主要提取水带接头处的特征,识别出水带接头与机器人接头,计算他们的相对位置;在判断水带是否完全展开时,针对水带与水带卷盘连接处的特征进行训练,识别图像中是否出现了该连接处,在判断水带是否完全收回时,提取水带接头的特征进行训练,识别图像中是否出现了水带的接头。Perform image recognition on the processed image, specifically: use the neural network image recognition model fused with genetic algorithm and BP network to recognize the image, extract important feature values in the processed image, and obtain according to the extracted feature values The current state of the equipment in the image, such as when judging whether the docking is successful, mainly extracts the characteristics of the hose connector, recognizes the hose connector and the robot connector, and calculates their relative position; when judging whether the hose is fully deployed, it is targeted at the hose Train the characteristics of the connection with the hose reel to identify whether the connection appears in the image. When judging whether the hose is completely retracted, extract the characteristics of the hose connector for training, and identify whether the hose connector appears in the image .
如图13所示,消防机器人喷射曲线调整方法包括以下步骤:As shown in Figure 13, the method for adjusting the spray curve of a fire-fighting robot includes the following steps:
S101,获取多目视觉设备采集的现场环境的视觉图像信息和红外图像信息。S101: Acquire visual image information and infrared image information of the on-site environment collected by the multi-eye vision device.
通过多目视觉设备的普通视觉摄像头采集现场环境的图像信息,包括现场环境内设备的图像信息、现场环境内火情图像信息和现场环境内烟雾浓度信息等。如果在火情现场,则可通过多目视觉设备采集到着火设备、火情大小、烟雾浓度等视觉图像信息。The image information of the scene environment is collected through the ordinary vision camera of the multi-eye vision device, including the image information of the equipment in the scene environment, the fire image information in the scene environment, and the smoke concentration information in the scene environment. If it is at the fire scene, visual image information such as the fire equipment, the size of the fire, and the smoke concentration can be collected through multi-eye vision equipment.
通过多目视觉设备的红外摄像头采集现场环境的红外图像,主要包括现场环境里各处的温度、最高温度、最高温度出现的位置、火焰的形状等。如果在火情现场,则可以采集到现场环境内温度的最高温度、最高温度出现的位置,火焰的形状等信息。The infrared image of the scene environment is collected through the infrared camera of the multi-eye vision device, which mainly includes the temperature, the highest temperature, the position where the highest temperature occurs, and the shape of the flame in the scene environment. If you are at a fire scene, you can collect information such as the highest temperature in the scene environment, the location where the highest temperature occurs, and the shape of the flame.
S102,分别对得到的视觉图像信息和红外图像信息进行预处理,确定相应的可疑火灾区域。S102: Perform preprocessing on the obtained visual image information and infrared image information respectively, and determine a corresponding suspicious fire area.
所述步骤102中,采用图像处理算法,对步骤101得到的图像进行图像灰度化、分割、滤波等处理,分别确定相应的可疑火灾区域。In the step 102, an image processing algorithm is used to perform image graying, segmentation, filtering and other processing on the image obtained in step 101, and the corresponding suspicious fire areas are respectively determined.
具体地,所述步骤102中,对视觉图像信息进行预处理的具体实现过程如下:Specifically, in the step 102, the specific implementation process of preprocessing the visual image information is as follows:
首先,对图像进行颜色检测,如大片的橘红色或者黑色,做比重计算等初步处理。First, perform color detection on the image, such as large orange-red or black, and do preliminary processing such as calculation of specific gravity.
接着,再对初步处理后的图像进行灰度化处理和运动检测,确定图像中是否有可疑火焰的区域。Then, perform gray-scale processing and motion detection on the preliminarily processed image to determine whether there is a suspicious flame area in the image.
对可疑火焰的区域进行滤波处理,提取滤波处理后图像的颜色直方图,提取图像特征值,进行匹配处理,确定图像中可疑火灾的区域。Filtering the area of suspicious flames, extracting the color histogram of the filtered image, extracting image feature values, and performing matching processing to determine the area of suspicious fires in the image.
最后,将可疑火灾区域进行分割并归一化处理,作为后续进行研判的基本单位。Finally, the suspicious fire area is divided and normalized as the basic unit for subsequent research and judgment.
对于获取的红外图像的处理较为简单,将红外图像进行图像灰度化预处理后进行分割,提取分割后图像特征值,将提取的图像特征值输入训练好的神经网络模型进行识别,即可得到红外图像的可疑火灾区域。The processing of the acquired infrared image is relatively simple. The infrared image is preprocessed by image grayscale and then segmented, the image feature value after segmentation is extracted, and the extracted image feature value is input into the trained neural network model for recognition, and then you can get Suspicious fire area in infrared image.
S103,根据视觉图像信息和红外图像信息的预处理结果,定位着火区域。S103: According to the preprocessing result of the visual image information and the infrared image information, locate the fire area.
在本实施例中,所述着火区域包括可信火灾区域和疑似火灾区域。In this embodiment, the fire area includes a trusted fire area and a suspected fire area.
具体地,所述步骤103中,将视觉图像处理后的可疑火灾区域与红外图像处理后的可疑火灾区域进行对比,将重叠的可疑火灾区域作为可信火灾区域,若未重叠的可疑火灾区域作为疑似火灾区域,将重叠的未可疑火灾区域判定为没有着火的区域,则是未发生火灾的区域。Specifically, in the step 103, the suspicious fire area after visual image processing is compared with the suspicious fire area after infrared image processing, and the overlapping suspicious fire area is regarded as the credible fire area. For suspected fire areas, if the overlapping unsuspected fire areas are judged to be non-fire areas, they are areas where no fire has occurred.
S104,根据着火区域,建立喷射曲线模型,识别出水柱落点,确定最佳喷射角度和喷射流量。S104: Establish an injection curve model according to the fire area, identify the drop point of the water column, and determine the optimal injection angle and injection flow rate.
具体地,所述步骤104中,确定着火区域后进行瞄准,根据得到的可信火灾区域,以可信火灾区域的底部为目标区域,由于设备喷射的水柱曲线与落点较为固定,可以建立喷射曲线模型,调整云台角度及高度,使曲线模型的落点落在可信火灾区域内,喷射之后通过机器人搭载的其他摄像头传回的喷射画面,调用算法进行图像处理,在图像中识别出喷射的水柱落点。Specifically, in step 104, aiming is performed after determining the fire area. According to the obtained credible fire area, the bottom of the credible fire area is taken as the target area. Since the water jet curve and the landing point of the equipment are relatively fixed, the jet can be established. Curve model, adjust the angle and height of the pan-tilt, so that the point of the curve model falls within the credible fire area. After spraying, the spraying picture returned by other cameras on the robot is used, and the algorithm is called for image processing, and the spraying is identified in the image The drop of water column.
对喷射图像进行处理,识别出喷射的水柱落点的具体实现过程为:The specific implementation process of processing the jet image and identifying the drop point of the jetted water column is as follows:
对喷射图像进行预处理,包括去噪、平滑、变换等的操作;Preprocess the jet image, including operations such as denoising, smoothing, and transformation;
提取预处理后图像中喷射水柱的特征值;Extract the characteristic value of the jetted water column in the image after preprocessing;
将提取到的喷射水柱的特征值输入神经网络图像识别模型,识别出喷射的水柱落点。The extracted characteristic values of the jetted water column are input into the neural network image recognition model to identify the drop point of the jetted water column.
当不存在可信火灾区域时,根据得到的疑似火灾区域,以疑似火灾区域的底部为目标区域,建立喷射曲线模型,调整云台角度及高度,使曲线模型的落点落在可信火灾区域内,喷射之后通过机器人搭载的其他摄像头传回的画面,调用算法进行图像处理,在图像中识别出喷射的水柱位置,根据水柱的落点与疑似火灾区域的坐标差,确定最佳喷射角度。When there is no credible fire area, based on the obtained suspected fire area, take the bottom of the suspected fire area as the target area, establish a spray curve model, adjust the angle and height of the pan-tilt, and make the fall point of the curve model fall in the credible fire area Inside, after spraying, the images returned by other cameras on the robot are called, and the algorithm is called for image processing. The position of the sprayed water column is identified in the image, and the best spray angle is determined according to the coordinate difference between the drop point of the water column and the suspected fire area.
在本实施例中,所述步骤101-103一直执行,实时分析现场图像内的着火状况,在可信火灾区域面积缩小、消失之后,对疑似火灾区域进行喷射,直到摄像头传回画面内全部为未发生火灾区域为止。In this embodiment, the steps 101-103 are always executed to analyze the fire situation in the scene image in real time. After the credible fire area is reduced and disappeared, spray the suspected fire area until the camera returns the image Until there is no fire area.
本实施例将喷射流量由大到小分为三档,根据可信火灾区域和疑似火灾区域的面积进行调整,通常为最大流量,当可信火灾区域占比小于疑似火灾区域时,为中等流量,当不存在可信火灾区域时使用小流量。In this embodiment, the injection flow rate is divided into three levels from large to small, and adjusted according to the area of the credible fire area and the suspected fire area, usually the maximum flow. When the credible fire area occupies less than the suspected fire area, it is the medium flow. , Use small traffic when there is no credible fire zone.
本实施例可以根据判断结果,调整喷射曲线,精确瞄准着火点,选择喷射流量和角度。In this embodiment, according to the judgment result, the injection curve can be adjusted, the ignition point can be accurately targeted, and the injection flow rate and angle can be selected.
S105,分析着火设备状况,确定最佳灭火位置和距离。S105: Analyze the condition of the fired equipment and determine the best fire-extinguishing position and distance.
具体地,所述着火设备状况分析方法为:Specifically, the method for analyzing the condition of the burning equipment is:
对着火区域图像进行预处理,包括去噪、平滑、变换等的操作;Preprocess the image of the burning area, including operations such as denoising, smoothing, and transformation;
提取预处理后着火区域图像中着火设备的特征值;Extract the feature value of the burning equipment in the image of the burning area after preprocessing;
将提取到的着火设备的特征值输入神经网络图像识别模型,识别出着火设备。The extracted feature values of the burning equipment are input into the neural network image recognition model to identify the burning equipment.
确定最佳灭火位置,包括选择角度,即着火设备各个方向中,遮挡最少的一个角度。确定距离:着火区域在摄像头画面内占据1/3左右,占据面积少则靠近,占据面积大则远离,机器人在调整距离时会优先考虑是否会撞到障碍物。Determine the best extinguishing position, including selecting the angle, that is, the angle with the least obscuration among all directions of the fire equipment. Determining the distance: The fire area occupies about 1/3 of the camera screen. If it occupies a small area, it will be close, and if it occupies a large area, it will be far. The robot will give priority to whether it will hit an obstacle when adjusting the distance.
S106,分析现场火情,选取最佳喷射模式。S106: Analyze the on-site fire situation and select the best injection mode.
步骤106的具体实现过程为:The specific implementation process of step 106 is:
研判现场火情主要是看火焰的相对大小,对比着火区域与整个设备的面积比,来判断现场着火设备的火情大小。不同设备的现场火情判断规则不同,比如对于长宽高均约为1m的电力设备,如果着火区域占设备面设计的二 分之一以上面积,即算是大火,三分之一左右为中火,三分之一以下为小火。而对于长宽高约为3m的电力设备,那么三分之一面积即算是大火。Studying and judging the fire situation at the scene mainly depends on the relative size of the flame and comparing the area ratio of the fire area to the entire equipment to determine the fire situation of the equipment on site. Different equipment has different rules for on-site fire judgment. For example, for power equipment with a length, width and height of approximately 1m, if the fire area occupies more than half of the area of the equipment surface design, it is considered a large fire, and about one-third is a medium fire. , Less than one-third is a small fire. For power equipment with a length, width and height of about 3m, then one-third of the area is considered a big fire.
根据站内不同的设备,建立不同的样本库,在机器人识别出该设备着火或接到报警信息(如“xx设备起火”)时,适合的灭火距离、火情判断依据等各种信息,是可以直接从该库内得到的,机器人在从样本库内得到的灭火距离、火情判断依据等各种信息的基础上,通过即时判断进行作业。According to the different equipment in the station, establish different sample libraries. When the robot recognizes that the equipment is on fire or receives alarm information (such as "xx equipment on fire"), various information such as suitable fire fighting distance and fire judgment basis are available. Obtained directly from the library, the robot performs operations through real-time judgment based on various information such as the fire extinguishing distance and the basis for fire judgment obtained from the sample library.
样本库内信息是事前通过训练得到的,机器人每次作业时得出的即时判断结果也会存入该样本库。The information in the sample library is obtained through training in advance, and the real-time judgment results obtained by the robot during each operation will also be stored in the sample library.
在本实施例中,所述喷射模式包括分为大、中、小三种喷射模式,在开始作业时会选择大火,随着火势的减小会选择中火和小火,如果火势很小或者主要是降温,才会一开始选择中火或小火。In this embodiment, the injection mode includes three injection modes: large, medium, and small. At the beginning of the operation, high fire will be selected. As the fire intensity decreases, medium fire and small fire will be selected. It is to reduce the temperature, and then choose medium heat or low heat at the beginning.
根据研判出的现场设备的火情大小以及整个设备的面积,选择相应的喷射模式。According to the fire size of the field equipment and the area of the entire equipment, select the corresponding spray mode.
以上所述仅为本公开的优选实施例而已,并不用于限制本公开,对于本领域的技术人员来说,本公开可以有各种更改和变化。凡在本公开的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本公开的保护范围之内。The above descriptions are only preferred embodiments of the present disclosure, and are not used to limit the present disclosure. For those skilled in the art, the present disclosure may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.
上述虽然结合附图对本公开的具体实施方式进行了描述,但并非对本公开保护范围的限制,所属领域技术人员应该明白,在本公开的技术方案的基础上,本领域技术人员不需要付出创造性劳动即可做出的各种修改或变形仍在本公开的保护范围以内。Although the specific embodiments of the present disclosure are described above in conjunction with the accompanying drawings, they do not limit the scope of protection of the present disclosure. Those skilled in the art should understand that on the basis of the technical solutions of the present disclosure, those skilled in the art do not need to make creative efforts. Various modifications or deformations that can be made are still within the protection scope of the present disclosure.
Claims (27)
- 一种变电站智能消防***,其特征是:包括多个能够联动控制的消防机器人和消防介质供给装备,以及控制中心,所述消防机器人和消防介质供给装备均间隔部署于变电站内各区域,所述消防介质供给装备能够和消防栓可拆卸连接,实现持续供水,其中:An intelligent fire protection system for a substation, which is characterized in that it includes a plurality of fire fighting robots and fire fighting medium supply equipment capable of linkage control, and a control center. The fire fighting robots and fire fighting medium supply equipment are arranged at intervals in each area of the substation. The fire-fighting medium supply equipment can be detachably connected with the fire hydrant to realize continuous water supply, among which:所述消防机器人包括机器人本体,机器人本体上设置有具有第一接口的消防水/泡沫喷射机构;所述消防介质供给装备上承载有供水机构和泡沫供给机构,通过水带提供相应的灭火介质,所述水带的端部设置有与所述第一接口相适配的第二接口;The fire-fighting robot includes a robot body on which a fire-fighting water/foam spray mechanism with a first interface is provided; the fire-fighting medium supply equipment carries a water supply mechanism and a foam supply mechanism, and the corresponding fire extinguishing medium is provided through a hose, The end of the hose is provided with a second interface adapted to the first interface;所述控制中心,被配置为接收火情信息,根据火情调度距离近的相应数量的消防机器人或调度距离近的相应数量的消防机器人和消防介质供给装备至着火点附近,通过第一接口和第二接口自动快速连接,实施灭火。The control center is configured to receive fire information, and dispatch a corresponding number of fire-fighting robots with a short distance or a corresponding number of fire-fighting robots and fire-fighting medium supply equipment with a short distance according to the fire situation to the vicinity of the fire point, through the first interface and the second The second interface is automatically and quickly connected to implement fire fighting.
- 如权利要求1所述的一种变电站智能消防***,其特征是:所述变电站内还布设有至少一台无人机,采集变电站内设备不同视角的图像信息,并与所述控制中心通信,用于辅助变电站消防机器人建立站内三维模型,协助消防机器人确定其在站内的位置坐标。The intelligent fire protection system for a substation according to claim 1, wherein at least one unmanned aerial vehicle is also deployed in the substation to collect image information from different perspectives of the equipment in the substation and communicate with the control center. It is used to assist the substation fire-fighting robot to establish a three-dimensional model of the station, and to assist the fire-fighting robot to determine its position coordinates in the station.
- 如权利要求1所述的一种变电站智能消防***,其特征是:所述消防机器人包括机器人本体,机器人本体上设置有灭火机构,所述灭火机构包括消防水/泡沫喷射机构,所述消防水/泡沫喷射机构包括至少一进水管,所述进水管的一端设置第一接口,另一端连接传输水管,所述传输水管的另一端设置有回转接头,所述回转接头上设置有喷射喷头,且回转接头通过升降机构与机器人本体连接。The intelligent fire-fighting system of a substation according to claim 1, characterized in that: the fire-fighting robot includes a robot body, and a fire-extinguishing mechanism is arranged on the robot body, and the fire-extinguishing mechanism includes a fire-fighting water/foam spray mechanism, and the fire-fighting water /Foam spray mechanism includes at least one water inlet pipe, one end of the water inlet pipe is provided with a first interface, the other end is connected to a transmission water pipe, the other end of the transmission water pipe is provided with a rotary joint, and the rotary joint is provided with a spray nozzle, and The rotary joint is connected with the robot body through a lifting mechanism.
- 如权利要求1所述的一种变电站智能消防***,其特征是:所述消防介质供给装备上承载有供水机构和泡沫供给机构,其中:The intelligent fire-fighting system for a substation according to claim 1, characterized in that: the fire-fighting medium supply equipment carries a water supply mechanism and a foam supply mechanism, wherein:所述供水机构包括若干消防水存储罐,消防水存储罐通过管路与增压泵连接,增压泵的排水管连接水带,所述水带的另一端部设置有与第一接口相适配的第二接口;The water supply mechanism includes a number of fire-fighting water storage tanks. The fire-fighting water storage tank is connected to a booster pump through a pipeline. The drain pipe of the booster pump is connected to a hose, and the other end of the hose is provided with a first interface. Equipped second interface;所述泡沫供给机构包括若干泡沫存储罐,所述泡沫存储罐通过管路与泡沫泵连接,泡沫泵的排水管连接所述水带,所述水带的另一端部设置有与第一接口相适配的第二接口。The foam supply mechanism includes a plurality of foam storage tanks, the foam storage tanks are connected to the foam pump through a pipeline, the drain pipe of the foam pump is connected to the hose, and the other end of the hose is provided with a first interface. Adapted second interface.
- 如权利要求3所述的一种变电站智能消防***,其特征是:所述灭火机构还包括干粉喷射机构,干粉喷射机构设置于消防机器人的移动底盘上,具体包括若干干粉罐,干粉罐的出口通过管路连接至喷头,所述喷头设置于回转头上,所述回转头通过升降机构设置于移动底盘上,实现干粉喷射的高度、角度可调。The intelligent fire protection system of a substation according to claim 3, characterized in that: the fire extinguishing mechanism further includes a dry powder spraying mechanism, which is arranged on the mobile chassis of the fire fighting robot, and specifically includes a number of dry powder tanks and outlets for the dry powder tanks. It is connected to a spray head through a pipeline, and the spray head is arranged on a rotary head, and the rotary head is arranged on a mobile chassis through a lifting mechanism, so that the height and angle of the dry powder spray can be adjusted.
- 如权利要求5所述的一种变电站智能消防***,其特征是:所述干粉喷射机构包括若干电磁阀和若干干粉罐,所述电磁阀的进粉管连接对应的干粉罐,电磁阀的出粉管一端连接电磁阀,另一端连接多通接头,多通接头的一端连接干粉喷头,干粉喷头固定在回转头上。A substation intelligent fire protection system according to claim 5, characterized in that: the dry powder injection mechanism includes a number of solenoid valves and a number of dry powder tanks, the powder inlet pipe of the solenoid valve is connected to the corresponding dry powder tank, and the outlet of the solenoid valve One end of the powder pipe is connected with a solenoid valve, the other end is connected with a multi-way joint, and one end of the multi-way joint is connected with a dry powder nozzle, which is fixed on the rotary head.
- 如权利要求3所述的一种变电站智能消防***,其特征是:所述消防水/泡沫喷射机构包括主水管和电磁阀,主水管一端连接进水管,另一端连接喷射喷头,主水管上设置有电磁阀,通过电磁阀控制消防水/泡沫喷射机构的喷射工作。The intelligent fire protection system of a substation according to claim 3, characterized in that: the fire water/foam spray mechanism includes a main water pipe and a solenoid valve, one end of the main water pipe is connected to the water inlet pipe, the other end is connected to the spray nozzle, and the main water pipe is provided There is a solenoid valve, through which the spraying work of the fire water/foam spraying mechanism is controlled.
- 如权利要求3所述的一种变电站智能消防***,其特征是:所述消防机器人上还设置有自喷淋机构,具体包括立管和喷头,所述进水管通过管路连接立管,所述立管与竖直方向的夹角小于等于15°,喷头安装在立管上。A substation intelligent fire protection system according to claim 3, characterized in that: the fire protection robot is also provided with a self-spraying mechanism, which specifically includes a standpipe and a sprinkler, the water inlet pipe is connected to the standpipe through a pipeline, so The angle between the standpipe and the vertical direction is less than or equal to 15°, and the nozzle is installed on the standpipe.
- 如权利要求3所述的一种变电站智能消防***,其特征是:The intelligent fire protection system for a substation as claimed in claim 3, characterized in that:所述消防介质供给装备上设置有水带对接机构,所述水带对接机构包括设置在消防介质供给装备上的插座,所述插座包括支撑座,所述支撑座上设置有多个立柱,立柱圆周分布,中心处可以容纳所述进水管,所述立柱上设置有弹性体,立柱的端部设置有压紧板,所述压紧板上设置有可相对转动的压紧件,以活动卡接所述第二接口。The fire-fighting medium supply equipment is provided with a hose docking mechanism, the hose docking mechanism includes a socket provided on the fire-fighting medium supply equipment, the socket includes a support base, and a plurality of uprights are provided on the support base. Circumferential distribution, the water inlet pipe can be accommodated in the center, the upright column is provided with an elastic body, the end of the upright column is provided with a pressing plate, and the pressing plate is provided with a relatively rotatable pressing member for the movable clamping Connect to the second interface.
- 如权利要求1所述的一种变电站智能消防***,其特征是:所述消防机器人本体和消防介质供给装备上均设有至少一个图像采集装置,用于实时监控第二接口和第一接口的对接状态。The intelligent fire protection system of a substation according to claim 1, characterized in that: the fire protection robot body and the fire protection medium supply equipment are each provided with at least one image acquisition device for real-time monitoring of the second interface and the first interface. Docking status.
- 如权利要求10所述的一种变电站智能消防***,其特征是:所述消防介质供给装备上还设置有水带收回机构,具体包括卷盘、驱动件和支撑架,所述驱动件通过传动件与卷盘连接,驱动卷盘转动,所述水带缠绕在所述卷盘上,所述卷盘上设有图像采集设备,用于实时采集消防水带的状态图像。The intelligent fire protection system of a substation according to claim 10, characterized in that: the fire protection medium supply equipment is also provided with a hose retraction mechanism, which specifically includes a reel, a driving part and a support frame, and the driving part is transmitted through a transmission The parts are connected with the reel to drive the reel to rotate, the hose is wound on the reel, and the reel is provided with an image acquisition device for real-time acquisition of the status image of the fire hose.
- 如权利要求11所述的一种变电站智能消防***,其特征是:消防机器人或者消防介质供给装备上设置有处理器,所述处理器与消防机器人的控制***连接,所述处理器接收图像采集设备的信息,对实时抓取到的消防水带的状态图像进行处理和识别,当图像中出现卷盘与水带连接处的时候认定水带已经完全展开,所述处理器控制机器人停止动作;当图像中出现水带与机器人对接的接头时认定水带已完全收回,所述处理器控制卷盘停止动作。A substation intelligent fire protection system according to claim 11, characterized in that: a processor is provided on the fire fighting robot or fire fighting medium supply equipment, and the processor is connected to the control system of the fire fighting robot, and the processor receives the image collection The information of the equipment is processed and recognized on the real-time captured images of the state of the fire hose. When the connection between the reel and the hose appears in the image, it is determined that the hose has been fully expanded, and the processor controls the robot to stop its action; When a joint between the hose and the robot appears in the image, it is determined that the hose has been completely retracted, and the processor controls the reel to stop.
- 如权利要求12所述的一种变电站智能消防***,其特征是:所述卷盘上设有第一传感器,水带展开时:实时监测卷盘的转动圈数,转动圈数到达预设数值时,认定水带已经完全展开,第一传感器向处理器发送完全展开控制信号,所述处理器接收到所述完全展开控制信号后控制机器人停止动作;水带收回时:实时监测卷盘的转动圈数,转动圈数到达预设数值时,认定水带已经完全收回,第一传感器向处理器发送完全收回控制信号,所述处理器接收到所述完全收回控制信号后控制卷盘停止动作。The intelligent fire protection system for a substation according to claim 12, characterized in that: the reel is provided with a first sensor, when the hose is unrolled: the number of turns of the reel is monitored in real time, and the number of turns reaches a preset value When the hose is fully unfolded, the first sensor sends a complete unfolding control signal to the processor, and the processor controls the robot to stop after receiving the fully unfolded control signal; when the hose is retracted: monitor the rotation of the reel in real time When the number of turns reaches the preset value, it is determined that the hose has been fully retracted, and the first sensor sends a fully retracted control signal to the processor, and the processor controls the reel to stop after receiving the fully retracted control signal.
- 如权利要求12所述的一种变电站智能消防***,其特征是:所述消防水带或第二接口或第一接口的位置设有压力传感器,用于实时检测水压并传输到处理器,并与存储的预设压力阈值进行对比,当水压低于预设压力阈值时提示压力不足,所述处理器判定存在管路泄漏/水带破损。A substation intelligent fire protection system according to claim 12, characterized in that: the fire hose or the second interface or the position of the first interface is provided with a pressure sensor for real-time detection of water pressure and transmission to the processor, It is compared with the stored preset pressure threshold. When the water pressure is lower than the preset pressure threshold, it is prompted that the pressure is insufficient, and the processor determines that there is a pipeline leak/water belt damage.
- 如权利要求12所述的一种变电站智能消防***,其特征是:所述处理器还被配置为:通过提取图像中较为明显的特征值,得到第二接口与第一接口的相对位置,通过持续抓图并进行图像处理,判断目前对接状态;A substation intelligent fire protection system according to claim 12, characterized in that: the processor is further configured to: obtain the relative position of the second interface and the first interface by extracting the more obvious feature values in the image, and Continue to capture pictures and perform image processing to determine the current docking status;或,所述处理器还被配置为:在进行图像处理的同时,第二接口和/或第一接口上装有第一传感器,当第二接口和第一接口对接成功时,第一传感器向处理器发送对接成功信号。Or, the processor is further configured to: while performing image processing, a first sensor is installed on the second interface and/or the first interface, and when the second interface and the first interface are successfully docked, the first sensor is configured to process The device sends a docking success signal.
- 一种智能消防***的作业方法,其特征是:建立站内三维模型,当发生火情后,确定着火点和各个消防机器人的位置,根据机器人位置和着火点位置,控制最近的至少一消防机器人行驶至着火点附近;An operation method of an intelligent fire fighting system, which is characterized by: establishing a three-dimensional model of the station, determining the fire point and the position of each fire fighting robot after a fire occurs, and controlling at least one fire fighting robot nearest to the fire point according to the robot position and the fire point position nearby;对设备着火点进位识别定位,分析着火点三维坐标系位置,结合火情情况,进行基于多目视觉的消喷射曲线调整,计算出喷射装置的喷射角度、喷射流量,根据着火设备类型选择消防介质;所述喷射角度、所述喷射流量和所述消防介质为灭火参数;Carry recognition and positioning of the equipment ignition point, analyze the position of the ignition point in the three-dimensional coordinate system, and combine the fire situation to adjust the ejection elimination curve based on multi-eye vision, calculate the ejection angle and ejection flow rate of the ejection device, and select the fire-fighting medium according to the type of equipment on fire; The injection angle, the injection flow rate and the fire fighting medium are fire extinguishing parameters;当出现火情时,调度最近的选择的消防介质对应的消防介质供给装备赶往着火点附近,控制消防机器人与消防介质供给装备对接,按照确定的所述灭火参数进行消防灭火作业。When a fire occurs, dispatch the fire-fighting medium supply equipment corresponding to the most recently selected fire-fighting medium to rush to the vicinity of the fire point, control the docking of the fire-fighting robot with the fire-fighting medium supply equipment, and perform fire-fighting operations according to the determined fire-fighting parameters.
- 如权利要求16所述的智能消防***的作业方法,其特征是:所述结合火情情况计算出喷射装置的喷射角度、喷射流量的具体过程包括:The operation method of the intelligent fire protection system according to claim 16, characterized in that: the specific process of calculating the injection angle and the injection flow rate of the injection device in combination with the fire situation includes:获取多目视觉设备采集的现场环境的视觉图像信息和红外图像信息;Obtain the visual image information and infrared image information of the scene environment collected by the multi-eye vision device;分别对得到的视觉图像信息和红外图像信息进行预处理;Preprocess the obtained visual image information and infrared image information respectively;根据视觉图像信息和红外图像信息的预处理结果,确定着火区域;Determine the fire area according to the preprocessing results of visual image information and infrared image information;根据着火区域,建立喷射曲线模型,识别出水柱落点,确定最佳喷射角度和喷射流量;According to the fire area, establish the spray curve model, identify the drop point of the water column, and determine the best spray angle and spray flow;分析着火区域的着火设备状况,确定最佳灭火位置和距离;Analyze the status of the fire equipment in the fire area and determine the best fire fighting location and distance;判断着火设备的火势大小,选取最佳喷射模式。Judge the size of the fire of the burning equipment and select the best spray mode.
- 如权利要求17所述的智能消防***的作业方法,其特征是:所述对视觉图像信息进行预处理的步骤包括:The operation method of the intelligent fire protection system according to claim 17, characterized in that: the step of preprocessing the visual image information comprises:对视觉图像进行预处理;Preprocess the visual image;将预处理后的图像进行灰度化处理和运动检测,确定视觉图像中是否有可疑火焰的区域;Perform grayscale processing and motion detection on the pre-processed image to determine whether there is a suspicious flame area in the visual image;对可疑火焰的区域进行滤波处理,提取滤波处理后图像的颜色直方图,提取图像特征值,进行匹配处理,确定视觉图像中可疑火灾的区域;Filtering the area of suspicious flames, extracting the color histogram of the filtered image, extracting image feature values, and performing matching processing to determine the suspicious fire area in the visual image;将可疑火灾区域进行分割并归一化处理。The suspicious fire area is divided and normalized.
- 如权利要求18所述的智能消防***的作业方法,其特征是:所述对红外图像信息进行预处理的步骤包括:The operation method of the intelligent fire protection system according to claim 18, characterized in that: the step of preprocessing the infrared image information comprises:对红外图像进行图像灰度化预处理后进行分割,提取分割后图像特征值,将提取的图像特征值输入训练好的神经网络模型进行识别,得到红外图像的可疑火灾区域。The infrared image is preprocessed by grayscale and then segmented, the image feature value after segmentation is extracted, and the extracted image feature value is input into the trained neural network model for recognition, and the suspicious fire area of the infrared image is obtained.
- 如权利要求19所述的智能消防***的作业方法,其特征是:所述着火区域的确定方法为:The operation method of the intelligent fire protection system according to claim 19, characterized in that: the method for determining the fire area is:将视觉图像处理后得到的可疑火灾区域与红外图像处理后得到的可疑火灾区域进行对比,将重叠的可疑火灾区域作为可信火灾区域,将未重叠的可疑火灾区域作为疑似火灾区域,将重叠的未可疑火灾区域判定为未发生火灾的区域。The suspicious fire area obtained after visual image processing is compared with the suspicious fire area obtained after infrared image processing. The overlapping suspicious fire area is regarded as the credible fire area, and the suspicious fire area that does not overlap is regarded as the suspected fire area. The non-suspected fire area is determined to be an area where no fire has occurred.
- 如权利要求17所述的智能消防***的作业方法,其特征是:所述最佳喷射角度和喷射流量的确定方法为:The operation method of the intelligent fire protection system according to claim 17, wherein the method for determining the optimal injection angle and injection flow rate is:以着火区域的底部为目标区域,建立喷射曲线模型;Take the bottom of the fire area as the target area to establish the injection curve model;获取消防机器人的喷射图像,并对喷射图像进行处理,识别出喷射的水柱落点;Obtain the spray image of the fire-fighting robot, and process the spray image to identify the drop point of the sprayed water column;根据水柱落点与着火区域的坐标差,确定最佳喷射角度;根据着火区域中可信火灾区域和疑似火灾区域的面积占比,调整喷射流量。Determine the best spray angle according to the coordinate difference between the drop point of the water column and the fire area; adjust the spray flow rate according to the area ratio of the credible fire area and the suspected fire area in the fire area.
- 如权利要求17所述的智能消防***的作业方法,其特征是:所述分析着火区域的着火设备状况,确定最佳灭火位置和距离的步骤包括:The operation method of the intelligent fire protection system according to claim 17, characterized in that: the step of analyzing the condition of the fire equipment in the fire area and determining the best fire extinguishing position and distance comprises:对着火区域图像进行预处理;Preprocess the image of the fire area;提取预处理后着火区域图像的特征值;Extract the feature value of the image of the fire area after preprocessing;将提取到的特征值输入神经网络图像识别模型,识别出着火设备;Input the extracted eigenvalues into the neural network image recognition model to identify the burning equipment;选择着火设备各个方向中,遮挡最少的一个角度作为确定最佳灭火位置;Choose the angle with the least obscuration among all directions of the fire equipment as the best extinguishing position;根据着火区域占据整个图像的比例,调整消防机器人与着火设备之间的距离。According to the proportion of the fire area occupying the entire image, adjust the distance between the fire fighting robot and the fire equipment.
- 如权利要求17所述的智能消防***的作业方法,其特征是:所述判断着火设备的火势大小,选取最佳喷射模式的步骤包括:The operation method of the intelligent fire protection system according to claim 17, characterized in that: the step of judging the size of the fire of the burning equipment and selecting the best spray mode comprises:建立包含着火设备的灭火距离和火情判断依据的样本库;Establish a sample library containing the fire extinguishing distance of the fired equipment and the basis for the judgment of the fire situation;从样本库中获取着火设备的灭火距离和火情判断依据;Obtain the fire extinguishing distance and fire judgment basis of the burning equipment from the sample library;将着火区域面积与着火设备面积相比,根据着火设备的火情判断依据,判断该着火设备的火势大小;Compare the area of the burning area with the area of the burning equipment, and judge the fire size of the burning equipment according to the fire judgment basis of the burning equipment;根据着火设备的火势大小,选取最佳喷射模式。According to the size of the fire of the burning equipment, select the best spray mode.
- 如权利要求17所述的智能消防***的作业方法,其特征是:所述判断着火设备的火势大小,选取最佳喷射模式的步骤包括:当选择的消防介质为干粉或细水雾时,控制其喷射覆盖范围包含所述着火设备即可。The operation method of the intelligent fire protection system according to claim 17, characterized in that: the step of judging the size of the fire of the burning equipment and selecting the best spray mode comprises: when the selected fire fighting medium is dry powder or water mist, controlling The spray coverage area only needs to include the ignition equipment.
- 如权利要求17所述的作业方法,其特征是:建立三维模型时,无人机采集站内设备不同视角的图像信息,辅助变电站消防机器人建立站内三维模型;The operation method according to claim 17, characterized in that: when the three-dimensional model is established, the UAV collects image information of the equipment in the station from different perspectives, and assists the substation fire fighting robot to establish the three-dimensional model of the station;消防机器人作业过程中,无人机实时采集变电站内的图像信息,协助机器人确定其在站内的位置坐标;During the operation of the fire-fighting robot, the drone collects image information in the substation in real time and assists the robot in determining its position coordinates in the station;无人机采集着火设备图像信息,确定着火点位置;The drone collects the image information of the burning equipment and determines the location of the fire point;根据机器人位置和着火点位置,控制机器人进行规划路径和喷射角度调整;According to the position of the robot and the position of the ignition point, control the robot to plan the path and adjust the spray angle;机器人作业过程中,无人机实时采集着火点位置图像,确定着火点当前状态信息并传送给机器人,机器人根据接收到的着火点当前状态信息调整灭火策略。During the robot operation, the drone collects images of the location of the fire point in real time, determines the current status information of the fire point and transmits it to the robot, and the robot adjusts the fire fighting strategy according to the received current status information of the fire point.
- 如权利要求25所述的作业方法,其特征是:所述无人机采集站内设备不同视角的图像信息,辅助变电站消防机器人建立站内三维模型,具体为:The operation method according to claim 25, characterized in that: the UAV collects the image information of the equipment in the station from different perspectives, and assists the substation fire fighting robot to establish a three-dimensional model of the station, specifically:利用消防机器人搭载的多目视觉设备,利用站内设备结构化的特点为约束,使用多视角重建得到一个变电站整体的初级模型;Using the multi-eye vision equipment carried by the fire-fighting robot, using the structural characteristics of the equipment in the station as a constraint, using multi-view reconstruction to obtain a primary model of the entire substation;无人机分别从不同角度采集变电站的影像,与建立的初级模型进行密集匹配,生成精确的三维视觉模型。UAVs collect images of substations from different angles, and intensively match them with the established primary models to generate accurate three-dimensional vision models.
- 如权利要求26所述的作业方法,其特征是:所述与建立的初级模型进行密集匹配,具体为:The operation method according to claim 26, wherein the intensive matching with the established primary model is specifically:利用算子检测角点,然后通过特征描述符对检测角点进行特征描述,根据相应的匹配准则对影像特征点进行匹配。Operators are used to detect corner points, and then feature descriptors are used to describe the detected corner points, and the image feature points are matched according to the corresponding matching criteria.
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