CN103550883A - Fire-fighting robot for transformer substation - Google Patents
Fire-fighting robot for transformer substation Download PDFInfo
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- CN103550883A CN103550883A CN201310537988.0A CN201310537988A CN103550883A CN 103550883 A CN103550883 A CN 103550883A CN 201310537988 A CN201310537988 A CN 201310537988A CN 103550883 A CN103550883 A CN 103550883A
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Abstract
The invention relates to a fire-fighting robot for a transformer substation. The fire-fighting robot comprises a routing-inspection robot, a gas detection device, an infrared temperature measurement device, a fire extinguishing device and a main control computer, wherein the routing-inspection robot is arranged in the transformer substation, a routing-inspection route is painted at the ground of a working space of the routing-inspection robot, and a plurality of radio frequency cards for positioning are mounted at ground key points. The fire-fighting robot has the beneficial effects that the automatic routing inspection can be carried out based on routing-inspection route marks and a navigation device; the gas detection device is utilized for monitoring the characteristic gas concentration of an early-stage fire disaster in a production place of the transformer substation in real time and pre-warning the concentration overrun condition in a grading manner; the infrared temperature measurement device is utilized for collecting infrared temperature images of production devices, and pre-warning over-temperature conditions of the devices in a grading manner and positioning fault points; the fire extinguishing device is utilized for rapidly extinguishing the sudden fire, controlling the fire propagation in an initial stage and earning time for the rescue operation. Therefore, the precaution and the fighting of the early-stage fire disaster are strengthened, and the fire safety situation of the transformer substation is effectively improved.
Description
Technical field
The present invention relates to Robotics, particularly a kind of transformer station fire-fighting robot.
Background technology
In transformer station, there is a large amount of high voltages, large electric current production equipment, easily because of problem initiation fires such as equipment fault, line defcts.At present, the fire fighting device of transformer station mainly contains automatic fire alarm system, fire extinguishing system and fireproof blocking etc.But this is mainly in important function division, fire detector is just installed and there is remote signalling interface, fire alarm signal can be fed back to staff.The epochmaking functional areas of minority dispose automatic fire extinguisher and video monitoring system.Like this, concerning incipient fire hidden danger monitor and early warning be also nowhere near, particularly, for there being people transformer station on duty, equipment fault and misoperation situation can be found in time and process in the process of patrolling and examining, fire probability is lower.And for unattended substation, its geographical position is mostly remote, once there is fire alarm, from concentrator station or the detachment of fire-fighting nearby, rushing for scene of fire all needs certain hour, cannot to fire, put out a fire to save life and property in the best phase of putting out a fire, may lead to fire disaster accident by little fire.Therefore, how to improve monitoring and the early warning level of incipient fire hidden danger, the security against fire situation of more effectively improving transformer station is an important topic.
Summary of the invention
Task of the present invention is to overcome the technological deficiency of prior art, and a kind of transformer station fire-fighting robot is provided, and can and put out a fire to save life and property to incipient fire strengthen to guard against, more effectively improves the security against fire situation of transformer station.
Transformer station of the present invention fire-fighting robot, comprise crusing robot, also comprise gas detection apparatus, infrared temperature measurement apparatus, extinguishing device and main control computer, wherein said crusing robot comprises wheel type machine human body, video navigation probe and RFID card reader, described video navigation probe is arranged on the top of described robot body, and described RFID card reader is arranged on the lower front of described robot body corresponding with the some radio-frequency cards on read path; It is anterior that described gas detection apparatus is arranged on described robot body, described infrared temperature measurement apparatus is arranged on described robot body front upper part, described extinguishing device is arranged on described robot body upper back, it is inner that described main control computer is arranged on described robot body, by data acquisition line concentration, is connected with described gas detection apparatus, infrared temperature measurement apparatus and extinguishing device with control line.
Transformer station of the present invention fire-fighting robot, wherein said gas detection apparatus comprises CO, CO
2, HCL, H
2s, SO
2at least 5 kinds of electrochemical gas sensors, signal conversion module and signal transition cards, integrated installation is in a detection of gas box, and every kind of sensor is through independently signal conversion module and a signal transition card output detection signal separately.
Transformer station of the present invention fire-fighting robot, wherein said infrared temperature measurement apparatus comprises thermal infrared imager and electric platform thereof.
Transformer station of the present invention fire-fighting robot, wherein said extinguishing device comprises video guiding probe, fighting nozzle, dry powder extinguisher and three-dimensional machinery arm, described three-dimensional machinery arm is arranged on described robot body, described three-dimensional machinery arm is provided with a plurality of motor, by described Motor Drive, described fighting nozzle is arranged on the top of described three-dimensional machinery arm, described video guiding probe is arranged on the top of described fighting nozzle, described dry powder extinguisher is arranged on the rear portion of described robot body, described dry powder extinguisher communicates with described fighting nozzle through the pipeline of magnetic valve is installed.
Transformer station of the present invention fire-fighting robot, wherein said main control computer adopts embedded industrial control computer,
Transformer station of the present invention fire-fighting robot, wherein said radio-frequency card is at least provided with 9.
Transformer station of the present invention fire-fighting robot, wherein said main control computer is connected with the warning device that at least comprises gas concentration overrun alarm and device temperature overrun alarm.
Transformer station of the present invention fire-fighting robot, wherein said main control computer is through communication network and supervisory control of substation center mutual data transmission.
The beneficial effect of transformer station of the present invention fire-fighting robot is: based on patrolling and examining route sign and guider, carry out automatic detecting; By gas detection apparatus, incipient fire characteristic gas concentration in transformer station's Workplace is carried out to Real-Time Monitoring, concentration overrun condition is carried out to grading forewarning system; By infrared temperature measurement apparatus, production equipment is carried out to infrared temperature IMAQ, equipment overtemperature situation is carried out to classifying alarm, and trouble point is positioned; Adopt extinguishing device to carry out quick extinguishing to burst fire, control initial fire disaster and spread, for the time has been won in rescue work.This has strengthened taking precautions against and putting out a fire to save life and property to incipient fire, has more effectively improved the security against fire situation of transformer station.
Accompanying drawing explanation
Below in conjunction with accompanying drawing and the specific embodiment, the invention will be further described.
The structural representation of Tu1Shi transformer station of the present invention fire-fighting robot;
The controlling party block diagram of Tu2Shi transformer station of the present invention fire-fighting robot;
Fig. 3 is Navigation Control block diagram;
Fig. 4 is navigation way sign schematic diagram;
Fig. 5 is gas detection apparatus controlling party block diagram;
Fig. 6 is infrared temperature measurement apparatus controlling party block diagram;
Fig. 7 is extinguishing device controlling party block diagram.
In figure, 1. crusing robot: 1-1. robot body, 1-2. video navigation probe, 1-3.RFID card reader; 2. gas detection apparatus; 3. infrared temperature measurement apparatus: 3-1. thermal infrared imager, 3-2. electric platform; 4. extinguishing device: 4-1. dry powder extinguisher, 4-2. magnetic valve, 4-3. three-dimensional machinery arm, 4-4. motor, 4-5. fighting nozzle, 4-6. video guiding probe; 5. main control computer.
The specific embodiment
Below in conjunction with drawings and Examples, the present invention will be further described.
Referring to Tu1， transformer station of the present invention fire-fighting robot, comprise crusing robot 1, gas detection apparatus 2, infrared temperature measurement apparatus 3, extinguishing device 4 and main control computer 5.
Wherein, crusing robot 1 is placed in transformer station, and the ground, workplace of crusing robot 1 is decorated with and is patrolled and examined route, and ground key point is provided with the some radio-frequency cards for locating.
In conjunction with referring to Fig. 2, crusing robot 1 comprises wheel type machine human body 1-1, video navigation probe 1-2 and RFID card reader 1-3, video navigation probe 1-2 is arranged on the top of robot body 1-1, and RFID card reader 1-3 is arranged on the lower front of robot body 1-1 corresponding with the radio-frequency card on read path.In embodiment referring to Tu4， transformer station of the present invention fire-fighting robot, radio-frequency card is at least provided with 9.
Referring to Fig. 1, it is anterior that gas detection apparatus 2 is arranged on robot body 1-1, infrared temperature measurement apparatus 3 is arranged on robot body 1-1 front upper part, extinguishing device 4 is arranged on robot body 1-1 upper back, it is inner that main control computer 5 is arranged on robot body 1-1, by data acquisition line concentration, is connected with gas detection apparatus 2, infrared temperature measurement apparatus 3, extinguishing device 4 with control line.
Referring to Fig. 5, gas detection apparatus 2 comprises CO, CO
2, HCL, H
2s, SO
25 kinds of electrochemical gas sensors, signal conversion module and signal transition cards, integrated installation is in a detection of gas box, and every kind of sensor is through independently signal conversion module and signal transition card output detection signal separately.The certainty of measurement of signal conversion module can reach 1ppm, can carry out high accuracy, highly sensitive measurement to characteristic gas.Gas detection apparatus 2 carries out high sensitivity detection for the characteristic gas concentration that incipient fire is produced.
Infrared temperature measurement apparatus 3 is responsible for, according to the control instruction of main control computer 5, substation equipment is carried out to infrared measurement of temperature.Referring to Fig. 1, infrared temperature measurement apparatus 3 comprises thermal infrared imager 3-1 and electric platform 3-2 thereof.
Referring to Fig. 2, main control computer 5 adopts embedded industrial control computer.Main control computer 5 is arranged on crusing robot 1 inside, by data acquisition line concentration, be connected with miscellaneous equipment with control line, be responsible for controlling crusing robot 1 along fixed course automatic detecting, the characteristic gas concentration that receiver gases sniffer 2 gathers is also carried out overload alarm according to setting value, control 3 pairs of substation equipments of infrared temperature measurement apparatus and carry out infrared temperature IMAQ, and according to high temperature alarm value, the overheating problem of equipment is reported to the police and located, warning message sends to operating condition of transformer station equipment Surveillance center by wireless network, main control computer 5 be also responsible for to be controlled 4 pairs of ignition points of extinguishing device and is carried out quick extinguishing action in addition.
In Tu2， transformer station of the present invention fire-fighting robot, main control computer 5 is connected with the warning device 6 that at least comprises gas concentration overrun alarm and device temperature overrun alarm.Main control computer 5 is through communication network and supervisory control of substation center mutual data transmission.
Illustrate the course of work of transformer station of the present invention fire-fighting robot below.
Transformer station of the present invention fire-fighting robot, referring to Fig. 3, robot body 1-1 adopts the vision navigation method based on RFID location, utilize the ground image information of video navigation probe 1-2 picked-up direction of advance, by image processing algorithm, extract the ribbon Route guiding line in image, by travelling according to guide line path before main control computer 5 control body 1-1.Meanwhile, by the positional information prestoring near radio-frequency card RFID card reader 1-3 read path guide line, obtain the current movement position before robot body 1-1, realize the navigator fix before robot body 1-1.
Referring to Fig. 5, the measurement result of each sensor of gas detection apparatus 2 is after the unified processing of data conversion card, by data wire, be real-time transmitted to main control computer 5, main control computer 5 is according to setting in advance alarming value, incipient fire characteristic gas concentration in transformer station's Workplace is carried out to Real-Time Monitoring, characteristic gas concentration is carried out to classifying alarm, and warning message sends to operating condition of transformer station equipment Surveillance center by wireless network.
Referring to Fig. 6, electric platform 3-2 receives the control instruction of main control computer 5, adjust the shooting angle of thermal infrared imager 3-1, the temperature pattern that thermal infrared imager 3-1 gathers is real-time transmitted to main control computer 5 by data line, main control computer 5 carries out classifying alarm according to the temperature alarming value setting in advance to unit exception temperature, and trouble point is positioned, warning message sends to operating condition of transformer station equipment Surveillance center by wireless network.When thermal infrared imager 3-1 detects naked light, at once with main control computer 5 on Navigator carry out information interaction, guided robot 1-1 moves to rapidly near ignition point, prepares fire extinguishing.
Referring to Fig. 7, the three-dimensional machinery arm 4-3 of extinguishing device 4 is driven by motor 4-4, has three degree of freedom, and motor 4-4 receives the control instruction of main control computer 5.When main control computer 5 receives that naked light is reported to the police and after the 1-1 of robot moves near ignition point, the image information that main control computer 5 gathers according to video guiding probe 4-6 is determined ignition point, and controls motor 4-4 driving three-dimensional machinery arm 4-3 fighting nozzle 4-5 is aimed to ignition point.After three-dimensional machinery arm 4-3 action puts in place, main control computer 5 is controlled magnetic valve 4-2 and is opened, and discharges the extinguishing chemical in dry powder extinguisher 4-1, extinguishing chemical is sprayed by fighting nozzle 4-5 through conduit, ignition point is carried out to quick extinguishing, control initial fire disaster and spread, for rescue work gains time.
Embodiment recited above is described the preferred embodiment of the present invention; not the spirit and scope of the present invention are limited; do not departing under design prerequisite of the present invention; various modification and improvement that in this area, common engineers and technicians make technical scheme of the present invention; all should fall into protection scope of the present invention; the technology contents that the present invention asks for protection, is all documented in claims.
Claims (8)
1.Yi Zhong transformer station fire-fighting robot, comprise crusing robot (1), it is characterized in that: also comprise gas detection apparatus (2), infrared temperature measurement apparatus (3), extinguishing device (4) and main control computer (5), wherein said crusing robot (1) comprises wheel type machine human body (1-1), video navigation probe (1-2) and RFID card reader (1-3), described video navigation probe (1-2) is arranged on the top of described robot body (1-1), described RFID card reader (1-3) is arranged on the lower front of described robot body (1-1) corresponding with the some radio-frequency cards on read path, described gas detection apparatus (2) is arranged on described robot body (1-1) front portion, described infrared temperature measurement apparatus (3) is arranged on described robot body (1-1) front upper part, described extinguishing device (4) is arranged on described robot body (1-1) upper back, described main control computer (5) is arranged on described robot body (1-1) inside, by data acquisition line concentration, is connected with described gas detection apparatus (2), infrared temperature measurement apparatus (3) and extinguishing device (4) with control line.
2. a kind of transformer station according to claim 1 fire-fighting robot, is characterized in that: wherein said gas detection apparatus (2) comprises CO, CO
2, HCL, H
2s, SO
2at least 5 kinds of electrochemical gas sensors, signal conversion module and signal transition cards, integrated installation is in a detection of gas box, and every kind of sensor is through independently signal conversion module and a signal transition card output detection signal separately.
3. a kind of transformer station according to claim 1 and 2 fire-fighting robot, is characterized in that: wherein said infrared temperature measurement apparatus (3) comprises thermal infrared imager (3-1) and electric platform (3-2) thereof.
4. a kind of transformer station according to claim 3 fire-fighting robot, it is characterized in that: wherein said extinguishing device (4) comprises video guiding probe (4-6), fighting nozzle (4-5), dry powder extinguisher (4-1) and three-dimensional machinery arm (4-3), described three-dimensional machinery arm (4-3) is arranged on described robot body (1-1), described three-dimensional machinery arm (4-3) is provided with a plurality of motor (4-4), by described motor (4-4), driven, described fighting nozzle (4-5) is arranged on the top of described three-dimensional machinery arm (4-3), described video guiding probe (4-6) is arranged on the top of described fighting nozzle (4-5), described dry powder extinguisher (4-1) is arranged on the rear portion of described robot body (1-1), described dry powder extinguisher (4-1) communicates with described fighting nozzle (4-5) through the pipeline of magnetic valve (4-2) is installed.
5. a kind of transformer station according to claim 4 fire-fighting robot, is characterized in that: wherein said main control computer (5) adopts embedded industrial control computer,
6. a kind of transformer station according to claim 5 fire-fighting robot, is characterized in that: wherein said radio-frequency card is at least provided with 9.
7. a kind of transformer station according to claim 6 fire-fighting robot, is characterized in that: wherein said main control computer (5) is connected with the warning device (6) that at least comprises gas concentration overrun alarm and device temperature overrun alarm.
8. a kind of transformer station according to claim 7 fire-fighting robot, is characterized in that: wherein said main control computer (5) is through communication network and supervisory control of substation center mutual data transmission.
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| CN201310537988.0A CN103550883A (en) | 2013-11-04 | 2013-11-04 | Fire-fighting robot for transformer substation |
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| CN201310537988.0A CN103550883A (en) | 2013-11-04 | 2013-11-04 | Fire-fighting robot for transformer substation |
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