CN115400369B - Cable fire-fighting linkage system based on multi-sensor fusion - Google Patents
Cable fire-fighting linkage system based on multi-sensor fusion Download PDFInfo
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- CN115400369B CN115400369B CN202210929402.4A CN202210929402A CN115400369B CN 115400369 B CN115400369 B CN 115400369B CN 202210929402 A CN202210929402 A CN 202210929402A CN 115400369 B CN115400369 B CN 115400369B
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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
- A62C37/00—Control of fire-fighting equipment
- A62C37/36—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device
- A62C37/38—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device by both sensor and actuator, e.g. valve, being in the danger zone
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G3/00—Installations of electric cables or lines or protective tubing therefor in or on buildings, equivalent structures or vehicles
- H02G3/02—Details
- H02G3/04—Protective tubing or conduits, e.g. cable ladders or cable troughs
- H02G3/0456—Ladders or other supports
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G9/00—Installations of electric cables or lines in or on the ground or water
- H02G9/02—Installations of electric cables or lines in or on the ground or water laid directly in or on the ground, river-bed or sea-bottom; Coverings therefor, e.g. tile
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- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The invention relates to a cable fire-fighting linkage system based on multi-sensor fusion, which comprises a trench wall, a trench cavity and an inspection ladder, wherein at least three cable frames are arranged in the trench cavity, cables are installed on the cable frames, smoke alarms and temperature sensors are arranged on the cable frames, a picture shooting device is arranged on the trench wall, a fire-fighting robot and an unmanned aerial vehicle are arranged at the bottom of the trench cavity, a high-definition camera is installed on the unmanned aerial vehicle, signals shot by the smoke alarms and the picture shooting device are used for controlling the action of the fire-fighting robot by a central control module, the time interval between the temperature sensors and the picture shooting device is 2-3h, the time interval between the unmanned aerial vehicle and the high-definition camera thereon is 5-10d, and the signals of the temperature sensors and the picture shooting device are used for emergency control of the unmanned aerial vehicle and the high-definition camera thereon by the central control module; the cable monitoring is realized by utilizing the cooperation of a plurality of sensors, and the defect of excessively high power consumption caused by long-time operation of the sensors is overcome.
Description
Technical Field
The invention relates to the field of cable fire protection, in particular to a cable fire protection linkage system based on multi-sensor fusion.
Background
With the development of urban areas, the power transmission and distribution lines are more and more cabled, such as high-voltage cables in 35KV-220KV substations, high-voltage cables outside the substations, 10KV distribution network cables and the like, the area where cable fire is most likely to occur is a cable trench, the monitoring of the cable in the cable trench in operation is carried out by a person on duty in daily inspection, the means are single, direct observation cannot be carried out, and the hidden danger of the cable in fire or in the operation process is difficult to discover in time; the cable trench has strong fire concealment, large influence range and long rush repair recovery time, and can cause serious consequences once the cable trench occurs; cable fire may cause serious consequences such as equipment tripping, power load reduction, and even injury to fire fighters, in addition to cable damage; not only can bring serious loss to economy, but also can disturb the normal life and production order of vast residents and enterprises; aiming at the situation, the cable monitoring fire protection system in the cable trench mainly monitors the cable in the cable trench through a temperature sensor, a smoke sensor, a screen monitoring sensor, a humidity sensor and the like, and then the monitored signal information is fused and calculated to evaluate the state of the cable, however, the cable monitoring fire protection system has certain defects, various sensors need to operate at any time, particularly the screen monitoring sensor needs to consume electric quantity when shooting the screen, so that certain defects exist in continuous voyage, frequent battery replacement needs to be carried out on each sensor, and the intelligent monitoring and fire protection of the cable are still not facilitated.
Disclosure of Invention
The invention aims to provide a cable fire-fighting linkage system based on multi-sensor fusion, which is provided with a temperature sensor, a smoke alarm, a plurality of picture shooting devices and a high-definition camera arranged on an unmanned aerial vehicle, and carries out priority numbering on signals of each sensor, so that the cable monitoring can be realized by utilizing the cooperation of the plurality of sensors, and the defect of excessively high power consumption caused by long-time work of the sensors is overcome.
In order to achieve the above purpose, the invention adopts the following technical scheme: the utility model provides a cable fire control linked system based on multisensor fuses, includes ditch wall, ditch chamber and the inspection ladder of communicating with the ditch chamber, the ditch intracavity be provided with not less than three cable frame, install the cable on the cable frame, the center of every cable frame is provided with smoke alarm, and be provided with on every cable frame rather than the cable complex temperature sensor of installing on, the position that the ditch wall is in between two cable frames is provided with the picture shooting ware with the cable trend vertically, the bottom in ditch chamber be provided with fire extinguishing robot and unmanned aerial vehicle, unmanned aerial vehicle on install upward camera's high definition digtal camera, smoke alarm, temperature sensor, picture shooting ware, fire extinguishing robot, unmanned aerial vehicle and high definition digtal camera all communicate with well accuse module wireless through wireless communication, the signal that smoke alarm and picture shooting ware shot is used for well accuse module control fire extinguishing robot's action, temperature sensor, picture shooting ware and unmanned aerial vehicle and the high definition digtal camera on it are the timing operation, and temperature sensor and picture shooting ware's time interval are 2h-3h and the last temperature sensor and the unmanned aerial vehicle of its high definition digtal camera of taking 5-10 and the unmanned aerial vehicle of its time interval.
The technical effect of this application scheme is: the temperature sensor, the smoke alarm, the plurality of picture shooting devices and the high-definition camera installed on the unmanned aerial vehicle are arranged, the smoke alarm with extremely small power consumption works uninterruptedly, the sudden fire disaster can be monitored, the fire extinguishing signals can be sent out, the picture shooting devices and the temperature sensor with relatively small power consumption work at intervals of 2-3 hours, the unmanned aerial vehicle with large power consumption and the high-definition camera work at intervals of 5-10d, the monitoring can be carried out for a long time under normal conditions, the signals of the temperature sensor and the picture shooting devices are used for controlling the unmanned aerial vehicle and the high-definition camera on the unmanned aerial vehicle in an emergency mode, the aging condition of the cable can be primarily analyzed according to the temperature and the shot pictures, then the camera is used for shooting the outer skin of the cable, the risk condition of the cable is further judged through cracks on the cable, the state of the cable is monitored and evaluated, and the power consumption defect caused by long-time work of the sensor is overcome when the cooperation of the plurality of sensors is utilized to realize cable monitoring.
Preferably, the cable is installed on the cable frame through a fixed wire clamping block, and the cable is symmetrically arranged on the cable frame in a V shape.
The technical effect of the preferable scheme is as follows: the installation position of the cable on the cable frame can reduce the influence of the cables, and the single cable can not be influenced by the fire under the condition of timely fire extinguishment.
Preferably, the two trench walls in the region between the two cable racks are provided with picture photographing devices, and the picture photographing devices are uniform in height and distributed in a staggered manner.
The technical effect of the preferable scheme is as follows: the position of the picture shooting device is designed, and the state (whether falling occurs) of all cables can be shot.
Preferably, the inner wall of the trench wall is provided with a robot shielding block, the upper surface of the robot shielding block is an inclined plane, the trench bottom below the robot shielding block is provided with a robot mounting block, the part of the robot mounting block right below the robot shielding block is a flat plate, the part exceeding the part right below the robot shielding block is an inclined plate inclined downwards outwards, and the fire extinguishing robot is arranged on the flat plate of the robot mounting block.
The technical effect of the preferable scheme is as follows: the fire extinguishing robot is arranged on the robot mounting block, the upper part of the fire extinguishing robot can be prevented from being water-proof through the robot shielding block, and the fire extinguishing robot can be prevented from being influenced by accumulated water on the lower part of the trench wall through the robot mounting block.
Preferably, the fire extinguishing robot comprises a robot main body, wherein a battery pack is arranged in the robot main body for supplying power, robot installation side plates are arranged on two sides of the lower part of the robot main body, wheels with driving motors are installed on the inner sides of the robot installation side plates, a fire extinguishing tank installation cavity with side openings is formed in the left side of the robot main body, a fire extinguishing tank installation frame is arranged in the fire extinguishing tank installation cavity, a fire extinguishing tank is placed in the fire extinguishing tank installation frame, and the fire extinguishing tank is communicated with a fire extinguishing spray pipe arranged on the robot main body through a pipeline structure; the pipeline structure comprises a fire-extinguishing on-off valve which is arranged in the robot main body and powered by a battery pack, wherein the upper part of the fire-extinguishing on-off valve is communicated with a fire-extinguishing spray pipe, the lower part of the fire-extinguishing on-off valve is connected with a fire-extinguishing connecting sleeve through a hose, and the fire-extinguishing connecting sleeve is in sleeve joint fit with the outlet part of a fire-extinguishing tank.
The technical effect of the preferable scheme is as follows: the fire extinguishing tank of the fire extinguishing robot can be installed in the fire extinguishing tank installation cavity, meanwhile, the fire extinguishing tank is convenient to replace, and the fire extinguishing materials in the fire extinguishing tank can be sprayed out from the fire extinguishing spray pipe through the specific design of the pipeline structure.
Preferably, the bottom of ditch chamber be provided with the slide rail, the bottom of robot installation piece set up with slide rail complex installation piece spout.
The technical effect of the preferable scheme is as follows: the design of slide rail and installation piece spout can prescribe a limit to fire extinguishing robot's going on the orbit, and then plays better fire extinguishing effect.
Preferably, two sides of the sliding rail are provided with sliding rail arc blocks, the sliding rail arc blocks are in tangent fit with the inner wall of the installation block sliding groove, the inner wall of the installation block sliding groove is embedded with an induction counter which can be in contact with the sliding rail arc blocks and generate counting information, the sliding rail arc blocks on the sliding rail are uniformly distributed, the distance is 200mm, the sliding rail arc blocks on two sides of the sliding rail are arranged in a staggered mode, and the staggered distance is 100mm.
The technical effect of the preferable scheme is as follows: in the design through response counter and slide rail arc piece, and the interval of slide rail arc piece is 200mm, the slide rail arc piece of both sides divides the interval to be 100mm by mistake, so can be according to the accurate distance that goes on of the fire extinguishing robot of the accurate acquisition fire extinguishing robot of response counter production signal, can accurate to 100mm, so make fire extinguishing robot accurate go on to fire extinguishing position according to the picture that produces the smog alarm and the picture shooting ware was taken.
Preferably, unmanned aerial vehicle installing port has still been seted up to the side of robot main part, unmanned aerial vehicle include the unmanned aerial vehicle main part, high definition digtal camera install in the upper portion of unmanned aerial vehicle main part, the lower part of unmanned aerial vehicle main part be provided with unmanned aerial vehicle support and unmanned aerial vehicle post that charges, the lower part of unmanned aerial vehicle support be vertical piece, the lower surface center of unmanned aerial vehicle installing port be provided with the unmanned aerial vehicle that communicates with the group battery in the robot main part and charge the inserted block, and the lower surface of unmanned aerial vehicle installing port still seted up with the vertical part grafting complex bracket groove of unmanned aerial vehicle support, when the unmanned aerial vehicle support inserts the bracket groove completely, unmanned aerial vehicle charge post and unmanned aerial vehicle charge the inserted block electric connection and charge for the unmanned aerial vehicle, shelter from the piece relative ditch wall with the robot on be provided with the unmanned aerial vehicle protection frame that is used for placing unmanned aerial vehicle.
The technical effect of the preferable scheme is as follows: unmanned aerial vehicle installing port and unmanned aerial vehicle charge plug's design can charge for unmanned aerial vehicle through fire extinguishing robot's battery, improves unmanned aerial vehicle's duration.
Drawings
Fig. 1 is a schematic illustration of a fire extinguishing mode of a cable fire protection linkage system based on multi-sensor fusion.
Fig. 2 is a schematic diagram of a health evaluation mode of a cable fire protection linkage system based on multi-sensor fusion.
FIG. 3 is a top view of a cable trough portion of a cable fire protection linkage system based on multi-sensor fusion.
Fig. 4 is a top view of a single cable rack.
Fig. 5 is a side view of a single cable rack.
FIG. 6 is a cross-sectional view of a cable trench portion of a cable fire protection linkage system based on multi-sensor fusion.
Fig. 7 is a schematic structural view of a fire extinguishing robot section.
Fig. 8 is a schematic diagram of the cooperation of the robot mounting side plate and the slide rail.
Fig. 9 is a partial enlarged view of a in fig. 7.
The text labels shown in the figures are expressed as: 1. a trench wall; 2. a trench cavity; 3. an inspection ladder; 4. a cable rack; 5. a cable; 6. a wire clamping block; 7. a temperature sensor; 8. a smoke alarm; 9. a picture taking device; 10. a slide rail; 11. a fire extinguishing robot; 12. a robot shielding block; 13. a robot mounting block; 14. an unmanned aerial vehicle protection frame; 21. a robot main body; 22. a robot is provided with a side plate; 23. a wheel; 24. a fire extinguishing tank mounting frame; 25. a fire extinguishing tank; 26. a fire extinguishing connecting sleeve; 27. a fire-extinguishing on-off valve; 28. a fire suppression nozzle; 29. an arc-shaped block of the sliding rail; 30. a mounting block chute; 31. a sensing counter; 33. an unmanned aerial vehicle mounting port; 34. an unmanned aerial vehicle main body; 35. high definition camera; 36. an unmanned aerial vehicle bracket; 37. unmanned aerial vehicle charging post; 38. unmanned aerial vehicle inserts the piece that charges.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1-3, the application provides a cable fire control linked system based on multisensor fuses, including ditch wall 1, ditch chamber 2 and with the inspection ladder 3 of ditch chamber intercommunication, ditch chamber 2 in be provided with not less than three cable frame 4, install cable 5 on the cable frame 4, its characterized in that, the center of every cable frame 4 is provided with smoke alarm 8, and be provided with on every cable frame 4 rather than the cable 5 complex temperature sensor 7 of installing, the position that the ditch wall is in between two cable frames 4 is provided with the picture camera 9 with cable 5 vertical trend, the bottom of ditch chamber 2 be provided with fire extinguishing robot 11 and unmanned aerial vehicle, unmanned aerial vehicle on install upward camera's 35, smoke alarm 8, temperature sensor 7, picture camera 9, fire extinguishing robot 9, unmanned aerial vehicle and the wireless intercommunication of well accuse module wireless intercommunication of high definition digtal camera 35, the signal that alarm 8 and picture camera 9 was used for well accuse control robot 9, temperature sensor 7, unmanned aerial vehicle and the operation time interval of taking 9 and the high definition digtal camera 9 and the operation time interval of unmanned aerial vehicle are for the temperature sensor 9 and the unmanned aerial vehicle 9 and the temperature sensor 9, and the unmanned aerial vehicle is the time interval of taking 9 and the time interval of taking the time of taking of the time of the operation of the high definition digtal camera 35.
The specific operation of the cable fire-fighting linkage system of the application is as follows: in the initial state, the temperature sensor 7 and the picture shooting device 9 operate once at intervals of 2h-3h, the measured temperature and the shot pictures are transmitted to the central control module, the unmanned aerial vehicle and the high-definition camera 35 thereon operate once at intervals of 5-10d, the cable in the cable trench is subjected to video shooting, the shot video content is transmitted to the central control module, the smoke alarm 8 is in an operation state at all times, the operation of the sensing device is matched with the central control module, two modes can occur, one of the modes is a fire extinguishing mode, as shown in fig. 1, a fire disaster occurs in the cable, the condition is hardly obtained by evaluation according to the state of the cable, smoke is generated at the fire position, the smoke alarm generates smoke alarm signals and is transmitted to the central control module, the central control module controls the picture shooting devices positioned at two sides of the smoke alarm to be started in an emergency mode, the shooting result is transmitted to the central control module through wireless communication, the central control module can obtain an accurate fire position, and then controls the fire extinguishing robot 9 to be started to operate; the second is a health evaluation mode, as shown in fig. 2, the cable is mainly caused by natural aging, the temperature of the cable is measured through a temperature sensor 7 every 2-3 hours, the state of the cable is shot through a picture shooting device, whether the temperature is in a safety zone, whether the cable falls down or not is analyzed, the high-definition camera 35 is driven by the unmanned aerial vehicle to shoot the cable every 5-10d, the number of cracks and the size of the cracks in the unit area of the cable are judged through a shot video screen, the health state of the cable is further evaluated, if the temperature is not in the safety zone or the cable falls down, the unmanned aerial vehicle is started to drive the high-definition camera 35 to shoot the cable in an emergency mode, the number of cracks and the size of the cracks in the unit area of the cable are judged through a shot video screen, and the health state of the cable is further evaluated; the aging condition of the cable is monitored, the effect of timely determining the position and extinguishing fire for the sudden fire of the cable is achieved, and the interval operation of the sensing devices with larger power consumption can improve the monitoring endurance performance of the whole system without frequent manual detection, replacement of the sensing devices and the like.
As shown in fig. 4-5, the cable 5 is mounted on the cable rack 4 through a fixed wire clamping block 6, and the cable 5 is symmetrically arranged on the cable rack 4 in a V-shape.
Adopt card line piece 6 to carry out spacingly to cable 5, ensure that the position of cable 5 can not squint, and all cables 5 become the V-arrangement and distribute, can reduce the correlation coefficient of adjacent cable, cooperate the fire extinguishing operation of this application, can avoid influencing adjacent cable after single cable fires.
As shown in fig. 3, the picture cameras 9 are provided on both trench walls 1 in the region between the two cable racks 4, and the picture cameras 9 are uniform in height and distributed in a staggered manner.
The distribution of the picture photographing devices 9 can photograph the states of the cables 5 on the cable rack 4 from two directions, so that the cables with V-shaped distribution can be completely photographed, and the comparison analysis can be carried out according to the photographed pictures, and under the normal state, the cables 5 with the same height are in the overlapping state in the picture, and if the cables are not overlapped, at least one cable is proved to be in the falling state.
As shown in fig. 6, the inner wall of the trench wall 1 is provided with a robot shielding block 12, the upper surface of the robot shielding block 12 is an inclined surface, the trench bottom below the robot shielding block 12 is provided with a robot mounting block 13, the part of the robot mounting block, which is located right below the robot shielding block 12, is a flat plate, the part, which exceeds the right below the robot shielding block 12, is an inclined plate inclined downwards outwards, and the fire extinguishing robot 11 is arranged on the flat plate of the robot mounting block 13.
Because the apron on the ditch wall 1 can not be waterproof completely, in rainy day, there will be water in the ditch chamber 2, although can be equipped with drainage system at the bottom of the ditch, but fire extinguishing robot 11 directly places at the bottom of the ditch still can exist the damage that the rainwater caused, this application sets up fire extinguishing robot 11 on robot installation piece 13, ponding at the bottom of the ditch generally hardly influences fire extinguishing robot, and the rainwater of drip from the apron department, then can be blocked by robot shielding piece 12, still can not fall on the fire extinguishing robot 11, consequently can ensure that fire extinguishing robot can not receive the injury of rainwater.
As shown in fig. 6, the fire extinguishing robot 21 comprises a robot main body 21, a battery pack is arranged in the robot main body 21 for supplying power, two sides of the lower part of the robot main body 21 are provided with robot installation side plates 22, wheels 23 with driving motors are installed on the inner sides of the robot installation side plates 22, a fire extinguishing tank installation cavity with side openings is formed in the left side of the robot main body 21, a fire extinguishing tank installation frame 24 is arranged in the fire extinguishing tank installation cavity, a fire extinguishing tank 25 is placed in the fire extinguishing tank installation frame 24, a fire extinguishing on-off valve 27 powered by the battery pack is installed in the robot main body 21, the upper part of the fire extinguishing on-off valve 27 is communicated with a fire extinguishing spray pipe 28, the lower part of the fire extinguishing on-off valve 27 is connected with a fire extinguishing connecting sleeve 26 through a hose, and the fire extinguishing connecting sleeve 26 is in sleeved fit with an outlet part of the fire extinguishing tank 25.
The fire extinguishing robot supplies power to the driving motor through the battery pack, so that the wheels 23 are driven to rotate, the whole robot is driven to a fire extinguishing position, then the battery pack is used for supplying power to the fire extinguishing on-off valve 27, the fire extinguishing on-off valve 27 is opened during fire extinguishing operation, so that fire extinguishing substances (foam fire extinguishing agent and the like) in the fire extinguishing tank 25 can be sprayed out from the fire extinguishing spray pipe 28 after passing through the fire extinguishing connecting sleeve 26, the hose and the fire extinguishing on-off valve 27, further fire extinguishing is performed, after the fire extinguishing is completed, the fire extinguishing robot is required to replace the fire extinguishing tank, specifically, the fire extinguishing connecting sleeve 26 is loosened from the outlet of the fire extinguishing tank 25, then the fire extinguishing tank 25 is taken out from the fire extinguishing tank mounting frame 24 and put into a new fire extinguishing tank 25, then the outlet of the fire extinguishing tank is communicated with the fire extinguishing connecting sleeve 26, and the outlet valve of the fire extinguishing tank is pulled open, so that the fire extinguishing on-off valve 27 becomes a control valve for controlling whether the fire extinguishing substances are sprayed out; a separate fire extinguishing controller is provided in the fire extinguishing robot for wirelessly receiving signals from the central control module and controlling the actuation of the drive motor and the fire extinguishing on-off valve 27.
As shown in fig. 7-8, the bottom of the ditch cavity 2 is provided with a slide rail 10, the bottom of the robot mounting block 13 is provided with a mounting block chute 30 matched with the slide rail 10, two sides of the slide rail 10 are provided with slide rail arc blocks 29, the slide rail arc blocks 29 are tangentially matched with the inner wall of the mounting block chute 30, the inner wall of the mounting block chute 30 is embedded with an induction counter 31 which can be in contact with the slide rail arc blocks 29 and generate counting information, the slide rail arc blocks 29 on the slide rail 10 are uniformly distributed, the distance is 200mm, the slide rail arc blocks 29 on two sides of the slide rail 10 are arranged in a staggered manner, and the staggered distance is 100mm.
In specific application, smoke alarm 8 and picture shooting ware 9 can feed back out accurate conflagration position, according to the position of conflagration, well accuse module can analyze the robot distance of marcing of putting out a fire, if the robot of putting out a fire is march 2300mm after putting out a fire, can make driving motor drive wheel 23 march after receiving the signal to the controller of fire robot 11, at the in-process both sides response counter 31 that goes on can last the production induction signal, also can set for the first count induction signal that produces of the response counter 31 of signal first at first, fire extinguishing robot march 200mm, then march 2300mm and then produce 10 induction signals after the count inductor 31 that produces after also produce and stop march, so can ensure that the robot of putting out a fire has march 2300mm, can feed back accurate conflagration position through smoke alarm 8 picture shooting ware 9, realize accurate fire extinguishing robot through the cooperation of fire robot and slide rail and march the position, so can carry out accurate fire, ensure effect and the speed of putting out a fire.
As shown in fig. 7 and 9, the side of the robot main body 21 is further provided with an unmanned aerial vehicle mounting port 33, the unmanned aerial vehicle comprises an unmanned aerial vehicle main body 34, the high-definition camera 35 is mounted on the upper portion of the unmanned aerial vehicle main body 34, the lower portion of the unmanned aerial vehicle main body 4 is provided with an unmanned aerial vehicle support 36 and an unmanned aerial vehicle charging post 37, the lower portion of the unmanned aerial vehicle support 36 is a vertical block, the center of the lower surface of the unmanned aerial vehicle mounting port 33 is provided with an unmanned aerial vehicle charging plug 38 communicated with a battery pack in the robot main body 21, and the lower surface of the unmanned aerial vehicle mounting port 33 is further provided with a bracket slot which is spliced and matched with the vertical portion of the unmanned aerial vehicle support 36, when the unmanned aerial vehicle support 36 is completely inserted into the bracket slot, the unmanned aerial vehicle charging post 37 is electrically communicated with the unmanned aerial vehicle charging plug 38 and charges the unmanned aerial vehicle, and a unmanned aerial vehicle protection frame 14 for placing the unmanned aerial vehicle is arranged on a ditch wall opposite to the unmanned aerial vehicle shielding block 12.
Unmanned aerial vehicle can be bigger under the circumstances of operation, power consumption can be bigger, even the operation of interval 5-10d is once, its duration relative temperature sensor 7 and picture shooting ware 9 still can exist great difference, and this application is with unmanned aerial vehicle and fire-fighting robot cooperation design, can charge unmanned aerial vehicle through fire-fighting robot's group battery, and then promote unmanned aerial vehicle's duration, relative also can improve whole cable fire control linked system's based on multisensor fuses duration, specific operation that charges is that unmanned aerial vehicle enters into unmanned aerial vehicle installing port 33 earlier, then make unmanned aerial vehicle descend, make unmanned aerial vehicle support 36's vertical part insert the bracket inslot completely, so can realize unmanned aerial vehicle charging plug 38 and unmanned aerial vehicle charging post 37's electric communication, and then charge unmanned aerial vehicle.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present invention and its core ideas. The foregoing is merely illustrative of the preferred embodiments of this invention, and it is noted that there is objectively no limit to the specific structure disclosed herein, since numerous modifications, adaptations and variations can be made by those skilled in the art without departing from the principles of the invention, and the above-described features can be combined in any suitable manner; such modifications, variations and combinations, or the direct application of the inventive concepts and aspects to other applications without modification, are contemplated as falling within the scope of the present invention.
Claims (8)
1. The cable fire-fighting linkage system based on multi-sensor fusion comprises a trench wall, a trench cavity and an inspection ladder communicated with the trench cavity, wherein not less than three cable frames are arranged in the trench cavity, cables are installed on the cable frames, and the cable fire-fighting linkage system is characterized in that a smoke alarm is arranged in the center of each cable frame, a temperature sensor matched with the cable installed on each cable frame is arranged on each cable frame, a picture shooting device which runs vertically to the cables is arranged at the position of the trench wall between the two cable frames, a fire-fighting robot and an unmanned aerial vehicle are arranged at the bottom of the trench cavity, an upward-shooting high-definition camera is installed on the unmanned aerial vehicle, the smoke alarm, the temperature sensor, the picture shooting device, the fire-fighting robot, the unmanned aerial vehicle and the high-definition camera are all communicated with a central control module in a wireless mode through wireless communication, the cable frames are installed on the cable frames through fixed cable clamping blocks, the cables are symmetrically arranged on the cable frames in a V-shaped mode, and picture shooting devices are arranged on the two walls of the area between the two cable frames, and the picture shooting devices are distributed in a staggered mode; the temperature sensor and the picture shooting device are operated for one time at intervals of 2h-3h, the measured temperature and the shot pictures are transmitted to the central control module, the unmanned aerial vehicle and the high-definition camera thereon are operated for one time at intervals of 5-10d, video shooting is carried out on the cable in the cable trench, the shot video content is transmitted to the central control module, the smoke alarm is in an operation state at all times, the operation of the sensor is matched with the central control module, the central control module has two modes, one mode is a fire extinguishing mode, the smoke alarm generates smoke alarm signals and transmits the smoke alarm signals to the central control module, the central control module controls the picture shooting devices at two sides of the smoke alarm to be started and shot in an emergency mode, the shot result is transmitted to the central control module through wireless communication, the central control module obtains an accurate fire position, and then the fire extinguishing robot is controlled to be started to perform fire extinguishing operation; and secondly, in a health assessment mode, measuring the temperature of the cable through a temperature sensor every 2-3 hours, shooting the state of the cable through a picture shooting device, analyzing whether the temperature is in a safe zone, judging whether the cable falls down or not, driving a high-definition camera to shoot the cable through an unmanned aerial vehicle every 5-10d, judging the number and the size of cracks of the unit area of the cable through the shot video, further assessing the health state of the cable, and if the temperature is not falling down in the safe zone or the cable, driving the high-definition camera to shoot the cable by emergency starting unmanned aerial vehicle, judging the number and the size of the cracks of the unit area of the cable through the shot video, and further assessing the health state of the cable.
2. The cable fire-fighting linkage system based on multi-sensor fusion according to claim 1, wherein the inner wall of the trench wall is provided with a robot shielding block, the upper surface of the robot shielding block is an inclined plane, the trench bottom below the robot shielding block is provided with a robot mounting block, the part of the robot mounting block, which is right below the robot shielding block, is a flat plate, the part, which exceeds the part right below the robot shielding block, is an inclined plate inclined downwards outwards, and the fire-extinguishing robot is arranged on the flat plate of the robot mounting block.
3. The cable fire-fighting linkage system based on multi-sensor fusion according to claim 2, wherein the fire-fighting robot comprises a robot main body, a battery pack is arranged in the robot main body for supplying power, two sides of the lower part of the robot main body are provided with robot installation side plates, wheels with driving motors are arranged on the inner sides of the robot installation side plates, a fire-extinguishing tank installation cavity with a side opening is formed in the left side of the robot main body, a fire-extinguishing tank installation frame is arranged in the fire-extinguishing tank installation cavity, and a fire-extinguishing tank is placed in the fire-extinguishing tank installation frame and communicated with a fire-extinguishing spray pipe arranged on the robot main body through a pipeline structure.
4. A multi-sensor fusion-based cable fire-fighting linkage system according to claim 3, wherein the pipeline structure comprises a fire-fighting on-off valve installed in the robot body and powered by a battery pack, the upper part of the fire-fighting on-off valve is communicated with a fire-fighting spray pipe, the lower part of the fire-fighting on-off valve is connected with a fire-fighting connecting sleeve through a hose, and the fire-fighting connecting sleeve is in sleeve joint fit with the outlet part of a fire-fighting tank.
5. The cable fire-fighting linkage system based on multi-sensor fusion according to claim 3, wherein a sliding rail is arranged at the bottom of the ditch cavity, and a mounting block sliding groove matched with the sliding rail is arranged at the bottom of the robot mounting block.
6. The cable fire-fighting linkage system based on multi-sensor fusion according to claim 5, wherein two side surfaces of the sliding rail are provided with sliding rail arc blocks, the sliding rail arc blocks are tangentially matched with the inner wall of the installation block sliding groove, and an induction counter which can be contacted with the sliding rail arc blocks and generate counting information is embedded in the inner wall of the installation block sliding groove.
7. The cable fire-fighting linkage system based on multi-sensor fusion according to claim 6, wherein the arc blocks of the sliding rail on the sliding rail are uniformly distributed and have a spacing of 200mm, and the arc blocks of the sliding rail on two sides of the sliding rail are arranged in a staggered manner, and the staggered spacing is 100mm.
8. The cable fire control linked system based on multisensor fuses according to claim 3, wherein, the side of robot main part still seted up unmanned aerial vehicle installing port, unmanned aerial vehicle include the unmanned aerial vehicle main part, high definition digtal camera install in the upper portion of unmanned aerial vehicle main part, the lower part of unmanned aerial vehicle main part be provided with unmanned aerial vehicle support and unmanned aerial vehicle charging post, the lower part of unmanned aerial vehicle support be vertical piece, the lower surface center of unmanned aerial vehicle installing port be provided with the unmanned aerial vehicle charging plug that communicates with the group battery in the robot main part, and the lower surface of unmanned aerial vehicle installing port still seted up with the vertical part grafting complex bracket groove of unmanned aerial vehicle support, when the unmanned aerial vehicle support inserts the bracket groove completely, unmanned aerial vehicle charging post and unmanned aerial vehicle charging plug electric connection and charge for unmanned aerial vehicle, be provided with the unmanned aerial vehicle protection frame that is used for placing unmanned aerial vehicle on the ditch wall opposite with the robot shielding piece.
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| CN205582180U (en) * | 2016-02-25 | 2016-09-14 | 深圳市国电投资有限公司 | Power cable fire alarm and linked system |
| CN205670367U (en) * | 2016-04-07 | 2016-11-02 | 湖南湘能电力勘测设计有限公司 | A kind of cable duct temp measuring system based on robot |
| US9753461B1 (en) * | 2016-04-07 | 2017-09-05 | Google Inc. | Autonomous aerial cable inspection system |
| CN108295407B (en) * | 2017-12-21 | 2021-05-18 | 康威通信技术股份有限公司 | Robot cable pipe gallery on-site fire early warning and fire extinguishing method, device and system |
| CN109540834A (en) * | 2018-12-13 | 2019-03-29 | 深圳市太赫兹科技创新研究院 | A kind of cable aging monitoring method and system |
| CN110940895A (en) * | 2019-12-17 | 2020-03-31 | 四川赛康智能科技股份有限公司 | Cable joint explosion-proof fire-extinguishing and temperature, partial discharge comprehensive on-line monitoring device |
| CN213781155U (en) * | 2020-12-31 | 2021-07-23 | 无锡亚天光电科技有限公司 | Cable pit calamity intelligent monitoring and processing system |
| CN113694434B (en) * | 2021-09-03 | 2022-07-22 | 国网安徽省电力有限公司滁州供电公司 | Transformer substation cable trench fire extinguishing system and fire extinguishing method |
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