CN115957468A - Photovoltaic robot for fire detection and fire extinguishment and control method thereof - Google Patents
Photovoltaic robot for fire detection and fire extinguishment and control method thereof Download PDFInfo
- Publication number
- CN115957468A CN115957468A CN202211726624.2A CN202211726624A CN115957468A CN 115957468 A CN115957468 A CN 115957468A CN 202211726624 A CN202211726624 A CN 202211726624A CN 115957468 A CN115957468 A CN 115957468A
- Authority
- CN
- China
- Prior art keywords
- fire
- central control
- control unit
- photovoltaic
- unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 114
- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000004140 cleaning Methods 0.000 claims abstract description 68
- 238000013024 troubleshooting Methods 0.000 claims abstract description 42
- 239000000779 smoke Substances 0.000 claims description 21
- 239000000843 powder Substances 0.000 claims description 18
- 230000002159 abnormal effect Effects 0.000 claims description 15
- 230000003749 cleanliness Effects 0.000 claims description 14
- 238000012544 monitoring process Methods 0.000 claims description 14
- 238000005507 spraying Methods 0.000 claims description 9
- 238000013459 approach Methods 0.000 claims description 5
- 230000005856 abnormality Effects 0.000 claims description 4
- 239000007921 spray Substances 0.000 claims description 3
- 238000011835 investigation Methods 0.000 abstract description 6
- 230000001629 suppression Effects 0.000 description 7
- 241001417527 Pempheridae Species 0.000 description 4
- 239000000443 aerosol Substances 0.000 description 4
- 239000000428 dust Substances 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Landscapes
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The invention discloses a photovoltaic robot for fire detection and fire extinguishing and a control method thereof, wherein the photovoltaic robot comprises: the central control unit is used for sending a detection control signal to the fire detection unit at regular time when the photovoltaic robot executes a task, and the task comprises the following steps: fire hazard troubleshooting tasks or standby tasks or cleaning tasks; the fire detection unit is used for detecting whether fire occurs around the fire detection unit when receiving the detection control signal and sending a feedback fire signal to the central control unit when detecting that the fire occurs; and the central control unit is also used for controlling the photovoltaic robot to execute a fire extinguishing task when receiving the feedback fire signal. The photovoltaic robot provided by the invention is provided with the fire extinguishing equipment, so that fire can be automatically extinguished, and the safe operation of a photovoltaic power station is maintained; the photovoltaic robot also has the function of timing fire hazard investigation, so that fire can be prevented from happening in advance; and the photovoltaic robot still possesses the function of cleaning, and the integrated level is high, easily deploys at photovoltaic power plant.
Description
Technical Field
The invention relates to fire protection maintenance of a robot in the photovoltaic field, in particular to a photovoltaic robot for fire detection and fire extinguishing and a control method thereof.
Background
The photovoltaic power station system occupies a large area, contains a large number of components, electrical equipment and connecting cables on the components can be a fire point, the components are possibly subjected to fire disasters due to installation problems, aging problems and design defects, and each panel and the diodes on the panel can also become fire hidden danger points due to hot spots. And the power station is generally built in the region of keeping away from the city, hardly in time detects these hidden danger points through artificial mode, in addition in case the conflagration breaks out also hardly finds the very first time to catch fire and in time put out a fire.
Disclosure of Invention
The invention provides a photovoltaic robot for fire detection and fire extinguishment and a control method thereof, and aims to solve the problems that a fire hidden trouble point of a photovoltaic power station is difficult to find and the fire is extinguished in time for the fire of the photovoltaic power station.
Specifically, the technical scheme of the invention is as follows:
in a first aspect, the present invention provides a photovoltaic robot for fire detection and extinguishment, comprising:
the central control unit is used for regularly sending a detection control signal to the fire detection unit when the photovoltaic robot executes a task, wherein the task comprises a fire hazard troubleshooting task or a standby task or a cleaning task;
the fire detection unit is connected with the central control unit and used for detecting whether a fire occurs around the fire detection unit when receiving the detection control signal, and the fire detection unit sends a fire feedback signal to the central control unit when detecting that the fire occurs;
the central control unit is also used for controlling the photovoltaic robot to execute a fire extinguishing task and sending a positioning signal to the positioning unit when receiving the feedback fire signal;
the positioning unit is connected with the central control unit and used for positioning the position where the fire occurs and feeding back the position information obtained by positioning to the central control unit when the positioning signal is received;
the central control unit is also used for sending fire extinguishing control signals to the fire extinguishing device and a power mechanism at the bottom of the photovoltaic robot according to the position information;
the power mechanism is connected with the central control unit and used for moving the photovoltaic robot to approach to the position where the fire occurs according to the received fire extinguishing control signal;
and the fire extinguishing device is connected with the central control unit and is used for extinguishing fire according to the received fire extinguishing control signal.
This embodiment provides a photovoltaic robot can discover the condition of a fire through the fire detection unit is automatic to remove to the position of starting a fire and put out a fire.
In some embodiments of a photovoltaic robot for fire detection and suppression, the fire suppression apparatus comprises:
the device comprises a dry powder storage mechanism for storing dry powder for fire extinguishing and a spraying rotating mechanism connected with the dry powder storage mechanism, wherein the spraying rotating mechanism is used for rotatably spraying the dry powder to extinguish fire according to the received fire extinguishing control signal;
and/or the fire blanket retracting and releasing mechanism is used for laying a fire blanket on the photovoltaic panel according to the fire extinguishing control signal so as to enable the photovoltaic robot to walk.
This embodiment provides photovoltaic robot mode of putting out a fire, and wherein the fire extinguishing mode of fire blanket can realize the outage of photovoltaic panel, guarantees personal safety.
In some embodiments of a photovoltaic robot for fire detection and suppression, the fire detection unit includes:
the smoke sensor is arranged on the photovoltaic robot and used for detecting peripheral smoke;
and/or, an infrared sensor is installed on the photovoltaic robot and used for detecting abnormal infrared phenomena.
This embodiment is through smoke transducer and/or the infrared sensor who sets up on photovoltaic robot, and whether the control photovoltaic power plant takes place the condition of a fire.
In some embodiments of the photovoltaic robot for fire detection and fire extinguishment, the central control unit is connected with the background and is further configured to control the photovoltaic robot to execute the fire hazard troubleshooting task according to a received hidden hazard troubleshooting instruction issued by the background or in a timed manner when the photovoltaic robot executes the standby task, and the central control unit issues a hidden hazard troubleshooting signal to the image acquisition unit;
the image acquisition unit comprises an infrared camera and a color camera and is also used for shooting images of preset hidden danger points when the hidden danger troubleshooting signal is received and sending the shot hidden danger point images to the central control unit;
the central control unit is also used for identifying whether the potential point images have abnormal temperature through an image identification algorithm, and issuing a positioning signal to the positioning unit when the potential point images are judged to have abnormal temperature;
the positioning unit is further configured to position the preset hidden danger point corresponding to the hidden danger point image when the positioning signal is received, and feed back location information of the hidden danger point obtained through positioning to the central control unit;
and the central control unit is also used for sending the position information of the hidden danger points and the hidden danger point images to the background so as to inform background staff of removing the hidden danger.
The photovoltaic robot of the embodiment can enter the fire hazard troubleshooting task at regular time or when corresponding instructions are issued at the background when the standby task is executed, and troubleshoots preset potential hazard points where fire hazard is likely to occur, so that the photovoltaic power station is prevented from generating the fire hazard.
In some embodiments of the photovoltaic robot for fire detection and fire extinguishing, the central control unit is further configured to issue a climate monitoring signal to the sensing unit and issue a photovoltaic panel cleanliness detection signal to the image acquisition unit when the photovoltaic robot executes the standby task;
the image acquisition unit is used for acquiring a photovoltaic panel image when receiving the detection signal of the cleanliness of the photovoltaic panel and sending the photovoltaic panel image to the central control unit;
the sensing unit comprises a meteorological sensor, the meteorological sensor is connected with the central control unit, and the sensing unit is used for analyzing real-time climate and feeding meteorological data obtained by analysis back to the central control unit when receiving the climate monitoring signal;
the central control unit is also used for judging whether the photovoltaic panel needs to be cleaned or not by using an image recognition algorithm on the photovoltaic panel image; and when the photovoltaic panel is judged to need to be cleaned, a cleaning strategy is set according to the meteorological data, and the cleaning device is controlled to execute the cleaning task according to the cleaning strategy.
In a second aspect, the present invention provides an embodiment of a control method of a photovoltaic robot for fire detection and extinguishment, comprising:
when the photovoltaic robot executes a task, the central control unit sends a detection control signal to the fire detection unit at regular time, wherein the task comprises a fire hazard troubleshooting task or a standby task or a cleaning task;
when the fire detection unit receives the detection control signal, whether a fire occurs around the fire detection unit is detected, and the fire detection unit sends a fire feedback signal to the central control unit when detecting that the fire occurs;
and when the central control unit receives the feedback fire signal, the photovoltaic robot is controlled to execute a fire extinguishing task.
In some embodiments, the method for controlling a photovoltaic robot for fire detection and fire extinguishing, the controlling the photovoltaic robot to perform a fire extinguishing task, includes:
the central control unit sends a positioning signal to the positioning unit;
the positioning unit positions the position where the fire occurs and feeds back the position information obtained by positioning to the central control unit;
the central control unit sends out fire extinguishing control signals to a fire extinguishing device and a power mechanism at the bottom of the photovoltaic robot according to the position information;
the power mechanism moves the photovoltaic robot to approach to the position where the fire occurs according to the received fire extinguishing control signal;
the fire extinguishing device rotationally sprays dry powder stored in the fire extinguishing device to extinguish fire according to the received fire extinguishing control signal; and/or paving a fire blanket on the photovoltaic panel according to the fire extinguishing control signal so as to enable the robot to walk.
In some embodiments of the method for controlling a photovoltaic robot for fire detection and fire extinguishing, the detecting whether a fire occurs around when the fire detecting unit receives the detection control signal includes:
according to the detection control signal received by the fire detection unit, controlling a smoke sensor in the fire detection unit to detect surrounding smoke and/or controlling an infrared sensor in the fire detection unit to detect abnormal infrared phenomena;
and judging whether a fire happens around according to the detection result of the smoke sensor and/or the infrared sensor.
In some embodiments, a method for controlling a photovoltaic robot for fire detection and extinguishment includes:
when the photovoltaic robot finishes the fire extinguishing task or the cleaning task or the fire hazard troubleshooting task, the central control unit controls the photovoltaic robot to execute the standby task.
In some embodiments, a method for controlling a photovoltaic robot for fire detection and extinguishment includes:
and when the photovoltaic robot executes the standby task, the central control unit controls the photovoltaic robot to execute the fire hazard troubleshooting task according to the received hidden hazard troubleshooting instruction issued by the background or in a timing mode.
In some embodiments of the control method for a photovoltaic robot for fire detection and fire extinguishment, the central control unit controls the photovoltaic robot to execute the task of fire hazard investigation according to the received hidden hazard investigation instruction issued by the background or according to the received hidden hazard investigation instruction issued by the background, and the method includes:
the central control unit issues hidden danger troubleshooting signals to the image acquisition unit;
when the image acquisition unit receives the hidden danger troubleshooting signal, shooting an image of a preset hidden danger point, and sending the shot hidden danger point image to the central control unit;
the central control unit identifies whether the potential point images have abnormal temperature or not through an image identification algorithm;
when the potential point image is identified to have abnormal temperature, a positioning signal is issued to the positioning unit;
the positioning unit positions the preset hidden danger points corresponding to the hidden danger point images and feeds back the position information of the hidden danger points obtained through positioning to the central control unit;
and the central control unit sends the position information of the hidden danger points and the hidden danger point images to the background so as to facilitate background workers to remove hidden dangers.
In some embodiments, a method for controlling a photovoltaic robot for fire detection and extinguishment includes:
when the photovoltaic robot executes the standby task, the central control unit issues a climate monitoring signal to the sensing unit and issues a photovoltaic panel cleanliness detection signal to the image acquisition unit;
when the image acquisition unit receives the detection signal of the cleanliness of the photovoltaic panel, the image acquisition unit acquires an image of the photovoltaic panel and sends the image of the photovoltaic panel to the central control unit;
when the sensing unit receives the climate monitoring signal, the sensing unit analyzes the real-time climate and feeds meteorological data obtained by analysis back to the central control unit;
the central control unit judges whether the photovoltaic panel needs to be cleaned or not by using an image recognition algorithm on the photovoltaic panel image;
when the photovoltaic panel is judged to need to be cleaned, the central control unit sets a cleaning strategy according to the meteorological data and controls the cleaning device to execute the cleaning task according to the cleaning strategy.
Compared with the prior art, the invention has at least one of the following beneficial effects:
1. the photovoltaic robot provided by the invention can automatically find a fire, position the fire, move to the fire position through the self power mechanism to execute a fire extinguishing task, can find the fire in time when a photovoltaic power station breaks out a fire, extinguish the fire at the first time, and avoid property loss increase and personal safety threat caused by expanded fire.
2. The invention provides a fire extinguishing mode of a photovoltaic robot, the photovoltaic robot uses a self-carried fire extinguishing device to carry out high-efficiency fire extinguishing, the fire extinguishing device can extinguish fire through dry powder or through covering of a fire blanket, the success rate of fire extinguishing is improved through various fire extinguishing modes, the power failure of a photovoltaic panel can be realized through the fire extinguishing mode of the fire blanket, the photovoltaic panel is prevented from generating electricity when a fire breaks out, and the personal safety is guaranteed.
3. The invention provides a photovoltaic robot which can monitor whether a photovoltaic power station generates fire or not through a smoke sensor and an infrared sensor arranged on the photovoltaic robot.
4. The invention provides a photovoltaic robot which can enter a fire hazard troubleshooting task at regular time or when a corresponding instruction is issued at the background when a standby task is executed, troubleshoot preset potential hazard points which possibly cause a fire through an infrared camera and a color camera, can troubleshoot potential safety hazards before the fire occurs, and avoids loss and casualties caused by the fire.
5. The invention provides a photovoltaic robot which can monitor a photovoltaic panel in real time in a standby state, judge whether cleaning is needed or not, and execute a cleaning task according to a cleaning strategy set by meteorological data obtained by a meteorological sensor when the cleaning is judged to be needed.
Drawings
The above features, technical features, advantages and modes of realisation of the present invention will be further described in the following detailed description of preferred embodiments thereof, which is to be read in connection with the accompanying drawings.
FIG. 1 is a system block diagram of one embodiment of a photovoltaic robot for fire detection and suppression of the present invention;
FIG. 2 is a drawing illustrating an embodiment of a photovoltaic robot and a control method thereof for fire detection and extinguishment according to the present invention;
FIG. 3 is a flow chart of one embodiment of a control method of a photovoltaic robot for fire detection and suppression of fires of the present invention;
FIG. 4 is a flow chart of one embodiment of a control method of a photovoltaic robot for fire detection and suppression of fires of the present invention;
fig. 5 is a flowchart of one embodiment of a control method of a photovoltaic robot for fire detection and extinguishment of the present invention.
The reference numbers illustrate: 10- -central control unit; 20- -background; 30-a fire detection unit; 31- -a smoke sensor; 32- -an infrared sensor; 40-a sensing unit; 41- -meteorological sensor; 42- -a physical sensor; 50- -a positioning unit; 60- -an image acquisition unit; 61- -an infrared camera; 62- -color camera; 70- -fire extinguishing means; 71-a dry powder storage mechanism; 72- -jet rotation mechanism; 73- -fire blanket retraction mechanism; 74- -Aerosol fire suppression device; 80- -cleaning mechanism; 81- -sweeper body; 82- -cleaning means; 83- -power mechanism; 84- -a securing mechanism; 90-a power supply unit; 91-robot with photovoltaic panel; 92- -accumulator.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
For the sake of simplicity, only the parts relevant to the invention are schematically shown in the drawings, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
In this context, it is to be understood that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not intended to indicate or imply relative importance.
In one embodiment, referring to the accompanying fig. 1 of the specification, the present invention provides a photovoltaic robot for fire detection and fire extinguishing, comprising:
the central control unit 10 is used for the photovoltaic robot to send detection control signals to the fire detection unit 30 at regular time when executing tasks, wherein the tasks comprise fire hazard troubleshooting tasks or standby tasks or cleaning tasks;
the fire detection unit 30 is connected with the central control unit 10 and used for detecting whether a fire occurs around the central control unit when receiving the detection control signal, and the fire detection unit 30 sends a feedback fire signal to the central control unit 10 when detecting that the fire occurs;
the central control unit 10 is further configured to control the photovoltaic robot to perform a fire extinguishing task and send a positioning signal to the positioning unit 50 when receiving the feedback fire signal;
the positioning unit 50 is connected with the central control unit 10 and used for positioning the position where the fire occurs when the positioning unit 50 receives the positioning signal and feeding back the position information obtained by positioning to the central control unit;
the central control unit 10 is further configured to send a fire extinguishing control signal to the power mechanism 83 located at the bottom of the photovoltaic robot in the fire extinguishing apparatus 70 and the cleaning mechanism 80 according to the position information;
a power mechanism 83 connected to the central control unit 10 for approaching to a location where a fire occurs according to the received fire extinguishing control signal;
the fire extinguishing device 70 is connected with the central control unit 10 and comprises a dry powder storage mechanism 71 used for storing dry powder used for fire extinguishing and a spraying rotating mechanism 72 connected with the dry powder storage mechanism, and the spraying rotating mechanism 72 is used for rotatably spraying the dry powder to extinguish fire according to a received fire extinguishing control signal;
and/or the fire blanket retracting mechanism 73 is further included and is used for laying a fire blanket to the photovoltaic panel according to the fire extinguishing control signal so as to enable the photovoltaic robot to walk.
And the power supply unit 90 is connected with the central control unit and comprises a robot own photovoltaic panel 91 for providing energy of the photovoltaic robot and a storage battery 92 connected with the robot own photovoltaic panel 91, and the storage battery is used for storing the energy provided by the robot own photovoltaic panel 91 to the photovoltaic robot.
This embodiment provides a photovoltaic robot can discover the condition of a fire automatically to moving to the position of starting a fire and putting out a fire, avoid monitoring photovoltaic power plant through the manual mode whether the condition of a fire appears, unable every corner of monitoring photovoltaic power plant constantly, lead to because of putting out a fire more loss of property that untimely caused. Particularly, an aerosol fire extinguishing device 74 is added in the fire extinguishing device 70, the aerosol fire extinguishing device 74 is connected with the physical sensor 42 in the sensing unit 40 and used for judging whether the photovoltaic robot has a fire or not according to data provided by the physical sensor 42, when the photovoltaic robot has a fire according to the judgment, the aerosol fire extinguishing device 74 can complete fire extinguishing work on the photovoltaic robot under the condition that the photovoltaic robot is powered off, the fire hazard of the photovoltaic robot per se is timely solved, and the problem that the photovoltaic robot cannot perform a fire extinguishing task due to fire of the photovoltaic robot per se is preferably avoided.
This embodiment is based on the previous embodiment, and the fire detection unit 30 includes: the smoke sensor 31 is installed on the photovoltaic robot, and the smoke sensor 31 is used for detecting surrounding smoke;
and/or, an infrared sensor 32 installed on the photovoltaic robot, the infrared sensor 32 being used for detecting abnormal infrared phenomena.
The embodiment monitors whether the photovoltaic power station generates fire or not through the smoke sensor 31 and the infrared sensor 32 which are arranged on the photovoltaic robot.
On the basis of the previous embodiment, referring to fig. 2 in the description, the central control unit is further configured to control the photovoltaic robot to execute a standby task when the photovoltaic robot completes a fire extinguishing task or a cleaning task or a fire hazard troubleshooting task.
The photovoltaic robot of this embodiment enters the standby state after the task that the well accuse unit was assigned is executed, can reduce photovoltaic robot's energy consumption.
In this embodiment, on the basis of the above embodiment, referring to fig. 2 in the specification, the central control unit 10 is connected to the background 20, and is further configured to, when the photovoltaic robot executes a standby task, control the photovoltaic robot to execute a fire hazard troubleshooting task according to a received hidden hazard troubleshooting instruction issued by the background 20 or at a fixed time, and send a hidden hazard troubleshooting signal to the image acquisition unit 60 by the central control unit 10;
the image acquisition unit 60 comprises an infrared camera 61 and is further used for shooting an infrared image of a preset hidden danger point when the sensing image acquisition unit 60 receives the hidden danger troubleshooting signal and sending the shot hidden danger point infrared image to the central control unit 10;
the central control unit 10 is further configured to identify whether the infrared image of the hidden danger point has temperature abnormality through an image identification algorithm, and send a positioning signal to the positioning unit 50 when it is determined that the preset hidden danger point has temperature abnormality;
the positioning unit 50 is further configured to, when receiving the positioning signal, position a preset hidden danger point corresponding to the hidden danger point image, and feed back location information of the hidden danger point obtained by positioning to the central control unit 10 and the image acquisition unit 60;
the image acquisition unit 60 comprises a color camera 62, and the color camera 62 is further configured to shoot a hidden danger point color image according to the hidden danger point position information and send the hidden danger point color image to the central control unit 10 when receiving the hidden danger point position information;
the central control unit 10 is further configured to send the position information of the hidden danger point and the hidden danger point color image to the background 20, so as to notify background staff to perform hidden danger elimination.
This embodiment provides a photovoltaic robot who carries out conflagration hidden danger investigation task, will arrange the hidden danger point upload relevant information to the backstage, remind the backstage to overhaul and get rid of hidden danger, can effectually avoid the conflagration to take place, for example: the preset hidden danger points are set as diodes on each photovoltaic panel, so that the diodes can be effectively prevented from being on fire due to hot spots.
On the basis of the above embodiment, referring to fig. 2 in the specification, the central control unit 10 is further configured to issue a climate monitoring signal to the sensing unit 40 and issue a photovoltaic panel cleanliness detection signal to the image acquisition unit 60 when the photovoltaic robot executes a standby task;
the image acquisition unit 60 is further configured to acquire a photovoltaic panel image when receiving the photovoltaic panel cleanliness detection signal, and send the photovoltaic panel image to the central control unit 10;
the sensing unit 40 further comprises a meteorological sensor 41, the meteorological sensor 41 is connected with the central control unit 10, and is used for analyzing the real-time climate and feeding meteorological data obtained by analysis back to the central control unit 10 when the sensing unit 40 receives a climate monitoring signal;
the central control unit 10 is further configured to use an image recognition algorithm for the photovoltaic panel image to determine whether the photovoltaic panel needs to be cleaned; when the photovoltaic panel is judged to need to be cleaned, a cleaning strategy is set according to meteorological data, and the cleaning device is controlled to execute a cleaning task according to the cleaning strategy.
The embodiment provides a photovoltaic robot which is switched from a standby task to a cleaning task, the cleanliness of a photovoltaic panel needs to be judged first, when a central control unit 10 recognizes that stains or dust exist on the photovoltaic panel, the photovoltaic robot is controlled to enter the cleaning task according to a cleaning strategy, cleaning is executed, and the cleaning strategy is formulated through real-time climate, for example: if the real-time weather is light rain, the cleaning strategy is to clean the photovoltaic panel immediately; and if the real-time weather is heavy rain, the cleaning strategy is to wait for the heavy rain weather to finish cleaning the photovoltaic panel. Preferably, the central control unit 10 further identifies foreign matters in the image of the photovoltaic panel, and when a large foreign matter is identified, the foreign matter is removed and then passes through the photovoltaic panel to ensure safe operation of the photovoltaic robot; secondly, the state of the photovoltaic panel image can be analyzed through an image recognition algorithm, for example, whether the photovoltaic panel is damaged or not is analyzed, when the photovoltaic panel state is found to have a problem, the position is determined through the positioning unit 50, and the position and the photovoltaic panel image are uploaded to the background 20 through the central control unit 10, so that a background worker can maintain the photovoltaic panel image conveniently.
On the basis of the above embodiments, the present embodiment provides a photovoltaic robot for fire detection and fire extinguishing, including:
a cleaning mechanism 80, which comprises a cleaning machine body 81, a cleaning device 82, a power mechanism 83 and a fixing structure 84;
the sweeper body 81 is used for fixing the central control unit 10, the fire detection unit 30, the sensing unit 40, the positioning unit 50, the image acquisition unit 60, the fire extinguishing device 70, the sweeping device 82, the power mechanism 83 and the power supply unit 90 on the sweeper body 81 through structural parts;
the cleaning device 82 comprises a rolling brush, rubber and sponge and is used for cleaning the photovoltaic panel;
and a fixing bracket 84 for fixing the sweeper body 81 to the photovoltaic panel.
In the present embodiment, the cleaning mechanism 80 is a carrier of all units and devices, and all units and devices are fixed on the cleaning mechanism 80, and the cleaning mechanism 80 is adapted to the photovoltaic panel through the fixing bracket 84.
In one embodiment, referring to fig. 3 in the specification, the invention provides a control method of a photovoltaic robot for fire detection and fire extinguishment, which comprises the following steps:
s110, when the photovoltaic robot executes a task, the central control unit sends a detection control signal to the fire detection unit at regular time, wherein the task comprises a fire hazard troubleshooting task or a standby task or a cleaning task;
s120, when the fire detection unit receives the detection control signal, whether a fire occurs around the fire detection unit is detected, and the fire detection unit sends a fire feedback signal to the central control unit when detecting that the fire occurs;
s130, when the central control unit receives the feedback fire signal, the photovoltaic robot is controlled to execute a fire extinguishing task.
This embodiment provides a photovoltaic robot can discover the condition of a fire automatically to remove to the position of starting a fire and put out a fire, it is more excellent, great in order to solve the intensity of a fire, photovoltaic robot is difficult to the condition of putting out a fire, can also set up audible-visual annunciator on photovoltaic robot, when well accuse unit received feedback condition of a fire signal, send actuating signal to audible-visual annunciator, when audible-visual annunciator received actuating signal, send alarm sound or warning light, play the effect of seeking help staff around the photovoltaic power plant. Meanwhile, the photovoltaic robot can also feed back a signal that the fire is difficult to extinguish through the photovoltaic robot to the central control unit, and a background is requested to give timely fire extinguishing assistance.
In this embodiment, referring to the attached fig. 4 of the specification, the photovoltaic robot is controlled to perform the fire extinguishing task, including:
s131, the central control unit sends a positioning signal to the positioning unit;
s132, the positioning unit positions the position where the fire occurs and feeds back the position information obtained by positioning to the central control unit;
s133, the central control unit sends out fire extinguishing control signals to the fire extinguishing device and a power mechanism at the bottom of the photovoltaic robot according to the position information;
s134, the power mechanism moves the photovoltaic robot to approach to a position where a fire occurs according to the received fire extinguishing control signal;
s135, the fire extinguishing device rotationally sprays dry powder stored in the fire extinguishing device to extinguish fire according to the received fire extinguishing control signal; and/or paving a fire blanket on the photovoltaic panel according to the fire extinguishing control signal for the photovoltaic robot to walk.
The embodiment accurately positions the position where a fire disaster occurs, controls the photovoltaic robot to move to a fire point, lays a fire blanket on the photovoltaic panel, and the fire blanket is automatically laid on the panel through a sweeper to isolate air when the panel is in the fire disaster, so that the photovoltaic panel is powered off, and the photovoltaic panel is prevented from working to generate electricity and expanding the fire; and the powder is sprayed to the ignition point for extinguishing fire, and the large-angle adjustability of the nozzle can be realized by electrically driving the nozzle in the fire extinguishing device.
In this embodiment, on the basis of the above embodiment, when the fire detection unit receives the detection control signal, the detecting whether a fire occurs around the fire detection unit in step 120 includes:
according to the detection control signal received by the fire detection unit, controlling a smoke sensor in the fire detection unit to detect surrounding smoke and/or controlling an infrared sensor in the fire detection unit to detect abnormal infrared phenomena;
and judging whether a fire occurs around according to the detection result of the smoke sensor and/or the infrared sensor.
The embodiment monitors whether the photovoltaic power station generates fire or not through the smoke sensor and/or the infrared sensor.
On the basis of the foregoing embodiments, the present embodiment provides a control method for a photovoltaic robot for fire detection and fire extinguishment, further including:
when the photovoltaic robot executes a fire extinguishing task or a cleaning task or a fire hazard troubleshooting task, the central control unit controls the photovoltaic robot to execute a standby task.
The photovoltaic robot of this embodiment enters standby state after the task that the well accuse unit assigned is carried out, can reduce photovoltaic robot's energy consumption.
The present embodiment provides a control method of a photovoltaic robot for fire detection and fire extinguishing based on the foregoing embodiments, including:
when the photovoltaic robot executes the standby task, the central control unit controls the photovoltaic robot to execute the fire hazard troubleshooting task according to the received hidden hazard troubleshooting instruction issued by the background or in a timing mode.
The embodiment provides a photovoltaic robot which is controlled by a central control unit to switch from a standby task to a fire hazard troubleshooting task.
Based on the previous embodiment, with reference to fig. 5 in the description, the central control unit controls the photovoltaic robot to execute a fire hazard troubleshooting task according to a received hidden hazard troubleshooting instruction issued by a background or in a timing manner, including:
s201, a central control unit issues hidden danger troubleshooting signals to an image acquisition unit;
s202, when the image acquisition unit receives a hidden danger troubleshooting signal, shooting an infrared image of a preset hidden danger point, and sending the shot infrared image of the hidden danger point to a central control unit;
s203, the central control unit identifies whether the infrared image of the hidden danger point has abnormal temperature through an image identification algorithm; when the infrared image of the hidden danger point is identified to have no temperature abnormality, the step S202 is returned, and the next preset hidden danger point is shot to obtain an infrared image;
s204, when the infrared image of the hidden danger point is identified to have abnormal temperature, a positioning signal is sent to a positioning unit;
s205, the positioning unit positions a preset hidden danger point corresponding to the infrared image of the hidden danger point and feeds back the position information of the hidden danger point obtained by positioning to the central control unit and the image acquisition unit;
s206, the image acquisition unit shoots a hidden danger point color image according to the position information of the hidden danger point and sends the hidden danger point color image to the central control unit;
and S207, the central control unit sends the position information of the hidden danger points and the hidden danger point color image to the background so that background workers can eliminate hidden dangers.
This embodiment provides the photovoltaic robot and carries out the concrete step of conflagration hidden danger investigation task on the basis of previous embodiment, will find out the hidden danger point upload relevant information to the backstage, remind the backstage to overhaul and get rid of the hidden danger, can effectually avoid the conflagration to take place, for example: the preset hidden danger points are set as the diodes on each photovoltaic panel, the fire hidden danger troubleshooting task can be executed at regular time through the photovoltaic robot, the images of the diodes can be detected at regular time, and the diodes on each panel can be prevented from being on fire due to the hot spot problem effectively in time.
The present embodiment provides a control method of a photovoltaic robot for fire detection and fire extinguishing based on the foregoing embodiments, including:
when the photovoltaic robot executes the standby task, the central control unit issues a climate monitoring signal to the sensing unit and issues a photovoltaic panel cleanliness detection signal to the image acquisition unit;
when the image acquisition unit receives a detection signal of the cleanliness of the photovoltaic panel, the image acquisition unit acquires an image of the photovoltaic panel and sends the image of the photovoltaic panel to the central control unit;
when the sensing unit receives the climate monitoring signal, the sensing unit analyzes the real-time climate and feeds the weather data obtained by analysis back to the central control unit;
the central control unit judges whether the photovoltaic panel needs to be cleaned or not by using an image recognition algorithm on the photovoltaic panel image;
when the photovoltaic panel is judged to need to be cleaned, the central control unit sets a cleaning strategy according to the meteorological data and controls the cleaning device to execute a cleaning task according to the cleaning strategy.
The embodiment provides a photovoltaic robot for switching from executing a standby task to executing a cleaning task, the cleanliness of a photovoltaic panel needs to be judged first, a central control unit recognizes that stains or dust exist on the photovoltaic panel, then the photovoltaic robot is controlled to enter the cleaning task and execute cleaning according to a cleaning strategy, the cleaning strategy is formulated through real-time climate, the cleaning strategy is better, images of the photovoltaic panel before and after cleaning acquired by an image acquisition unit can be compared through the central control unit, the cleaning times are formulated, for example, the central control unit judges that the stains are obviously reduced after cleaning, and then the central control unit controls the photovoltaic robot to clean the photovoltaic panel for 3 times; and when the central control unit judges that the stains are still much after cleaning, the central control unit controls the photovoltaic robot to clean the photovoltaic panel for 10 times.
It should be noted that the above embodiments can be freely combined as necessary. The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and embellishments can be made without departing from the principle of the present invention, and these modifications and embellishments should also be regarded as the protection scope of the present invention.
Claims (11)
1. A photovoltaic robot for fire detection and fire extinguishing, its characterized in that includes:
the central control unit is used for regularly sending a detection control signal to the fire detection unit when the photovoltaic robot executes a task, wherein the task comprises a fire hazard troubleshooting task or a standby task or a cleaning task;
the fire detection unit is connected with the central control unit and used for detecting whether a fire occurs around the fire detection unit when receiving the detection control signal, and the fire detection unit sends a fire feedback signal to the central control unit when detecting that the fire occurs;
the central control unit is also used for controlling the photovoltaic robot to execute a fire extinguishing task and sending a positioning signal to the positioning unit when receiving the feedback fire signal;
the positioning unit is connected with the central control unit and used for positioning the position where the fire occurs when the positioning signal is received and feeding back the position information obtained by positioning to the central control unit;
the central control unit is also used for sending fire extinguishing control signals to the fire extinguishing device and a power mechanism at the bottom of the photovoltaic robot according to the position information;
the power mechanism is connected with the central control unit and used for moving the photovoltaic robot to approach to the position where the fire occurs according to the received fire extinguishing control signal;
and the fire extinguishing device is connected with the central control unit and is used for extinguishing fire according to the received fire extinguishing control signal.
2. A photovoltaic robot for fire detection and extinguishment according to claim 1, wherein the fire extinguishing apparatus comprises:
the device comprises a dry powder storage mechanism for storing dry powder for fire extinguishing and a spraying rotating mechanism connected with the dry powder storage mechanism, wherein the spraying rotating mechanism is used for rotatably spraying the dry powder to extinguish fire according to the received fire extinguishing control signal;
and/or the fire blanket retracting and releasing mechanism is used for laying a fire blanket on the photovoltaic panel according to the fire extinguishing control signal so as to enable the photovoltaic robot to walk.
3. The photovoltaic robot for fire detection and extinguishment according to claim 1, wherein the fire detection unit comprises:
the smoke sensor is installed on the photovoltaic robot and used for detecting surrounding smoke;
and/or, an infrared sensor is installed on the photovoltaic robot and used for detecting abnormal infrared phenomena.
4. A photovoltaic robot for fire detection and extinguishing according to any of claims 1-3,
the central control unit is connected with the background and is further used for controlling the photovoltaic robot to execute the fire hazard troubleshooting task according to a received hidden danger troubleshooting instruction issued by the background or in a timing mode when the photovoltaic robot executes the standby task, and issuing a hidden danger troubleshooting signal to the image acquisition unit;
the image acquisition unit comprises an infrared camera and a color camera and is also used for shooting images of preset hidden danger points when the hidden danger troubleshooting signals are received and sending the shot images of the hidden danger points to the central control unit;
the central control unit is also used for identifying whether the temperature of the potential point image is abnormal or not through an image identification algorithm, and issuing a positioning signal to the positioning unit when the potential point image is judged to have the temperature abnormality;
the positioning unit is further configured to, when receiving the positioning signal, position the preset hidden danger point corresponding to the hidden danger point image, and feed back location information of the hidden danger point obtained by the positioning to the central control unit;
and the central control unit is also used for sending the position information of the hidden danger points and the images of the hidden danger points to the background so as to inform background workers to remove the hidden dangers.
5. A photovoltaic robot for fire detection and extinguishing according to any one of claims 1-3, characterized in that:
the central control unit is also used for issuing a climate monitoring signal to the sensing unit and issuing a photovoltaic panel cleanliness detection signal to the image acquisition unit when the photovoltaic robot executes the standby task;
the image acquisition unit is used for acquiring a photovoltaic panel image when receiving the detection signal of the cleanliness of the photovoltaic panel and sending the photovoltaic panel image to the central control unit;
the sensing unit comprises a meteorological sensor, the meteorological sensor is connected with the central control unit and is used for analyzing the real-time climate when the sensing unit receives the climate monitoring signal and feeding meteorological data obtained by analysis back to the central control unit;
the central control unit is also used for judging whether the photovoltaic panel needs to be cleaned or not by using an image recognition algorithm on the photovoltaic panel image; and when the photovoltaic panel is judged to need to be cleaned, a cleaning strategy is set according to the meteorological data, and the cleaning device is controlled to execute the cleaning task according to the cleaning strategy.
6. A control method of a photovoltaic robot for fire detection and extinguishment, comprising:
when the photovoltaic robot executes a task, the central control unit sends a detection control signal to the fire detection unit at regular time, wherein the task comprises a fire hazard troubleshooting task or a standby task or a cleaning task;
when the fire detection unit receives the detection control signal and detects whether a fire occurs around, the fire detection unit sends a fire feedback signal to the central control unit when detecting that the fire occurs;
when the central control unit receives the feedback fire signal, the photovoltaic robot is controlled to execute a fire extinguishing task.
7. The method as claimed in claim 6, wherein the controlling the photovoltaic robot to perform the fire extinguishing task comprises:
the central control unit sends a positioning signal to the positioning unit;
the positioning unit positions the position where the fire occurs and feeds back the position information obtained by positioning to the central control unit;
the central control unit sends out fire extinguishing control signals to a fire extinguishing device and a power mechanism at the bottom of the photovoltaic robot according to the position information;
the power mechanism moves the photovoltaic robot to approach to the position where the fire occurs according to the received fire extinguishing control signal;
the fire extinguishing device rotationally sprays dry powder stored in the fire extinguishing device to extinguish fire according to the received fire extinguishing control signal; and/or paving a fire blanket on the photovoltaic panel according to the fire extinguishing control signal so as to enable the photovoltaic robot to walk.
8. The method as claimed in claim 6, wherein the detecting of the surrounding fire when the fire detecting unit receives the detection control signal comprises:
according to the detection control signal received by the fire detection unit, controlling a smoke sensor in the fire detection unit to detect surrounding smoke and/or controlling an infrared sensor in the fire detection unit to detect abnormal infrared phenomena;
and judging whether a fire occurs around according to the detection result of the smoke sensor and/or the infrared sensor.
9. The control method of a photovoltaic robot for fire detection and extinguishing according to any one of claims 6 to 8, characterized by comprising:
and when the photovoltaic robot executes the standby task, the central control unit controls the photovoltaic robot to execute the fire hazard troubleshooting task according to the received hidden hazard troubleshooting instruction issued by the background or in a timing mode.
10. The control method of the photovoltaic robot for fire detection and extinguishment according to claim 9, wherein the central control unit controls the photovoltaic robot to execute the fire hazard troubleshooting task according to the received hidden hazard troubleshooting command issued by the background or in a timing manner, and comprises the following steps:
the central control unit issues hidden danger troubleshooting signals to the image acquisition unit;
when the image acquisition unit receives the hidden danger troubleshooting signal, shooting an image of a preset hidden danger point, and sending the shot hidden danger point image to the central control unit;
the central control unit identifies whether the potential point images have abnormal temperature or not through an image identification algorithm;
when the potential point image is identified to have abnormal temperature, a positioning signal is issued to the positioning unit;
the positioning unit positions the preset hidden danger points corresponding to the hidden danger point images and feeds back the position information of the hidden danger points obtained through positioning to the central control unit;
and the central control unit sends the position information of the hidden danger points and the images of the hidden danger points to the background so that background workers can remove the hidden dangers.
11. The control method of a photovoltaic robot for fire detection and extinguishment according to any one of claims 6 to 8, comprising:
when the photovoltaic robot executes the standby task, the central control unit issues a climate monitoring signal to the sensing unit and issues a photovoltaic panel cleanliness detection signal to the image acquisition unit;
when the image acquisition unit receives the detection signal of the cleanliness of the photovoltaic panel, the image acquisition unit acquires an image of the photovoltaic panel and sends the image of the photovoltaic panel to the central control unit;
when the sensing unit receives the climate monitoring signal, the sensing unit analyzes the real-time climate and feeds meteorological data obtained by analysis back to the central control unit;
the central control unit judges whether the photovoltaic panel needs to be cleaned or not by using an image recognition algorithm on the photovoltaic panel image;
and when the photovoltaic panel is judged to need to be cleaned, the central control unit configures a cleaning strategy according to the meteorological data and controls the cleaning device to execute the cleaning task according to the cleaning strategy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211726624.2A CN115957468A (en) | 2022-12-30 | 2022-12-30 | Photovoltaic robot for fire detection and fire extinguishment and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211726624.2A CN115957468A (en) | 2022-12-30 | 2022-12-30 | Photovoltaic robot for fire detection and fire extinguishment and control method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115957468A true CN115957468A (en) | 2023-04-14 |
Family
ID=87357511
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211726624.2A Pending CN115957468A (en) | 2022-12-30 | 2022-12-30 | Photovoltaic robot for fire detection and fire extinguishment and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115957468A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08276027A (en) * | 1995-04-04 | 1996-10-22 | Nohmi Bosai Ltd | Fire robot equipment with origin of fire detecting function |
| CN205056510U (en) * | 2015-09-09 | 2016-03-02 | 邹伟 | All -weather photovoltaic solar cell board cleans machine people |
| CN107137838A (en) * | 2017-05-08 | 2017-09-08 | 宁波华狮智能科技有限公司 | A kind of fire rescue closed-loop control system and method based on fire-fighting robot |
| CN110575637A (en) * | 2019-09-16 | 2019-12-17 | 大连工业大学 | highway emergency rescue and inspection robot |
| CN111558186A (en) * | 2020-06-22 | 2020-08-21 | 浙江正泰新能源开发有限公司 | Distributed photovoltaic power station roof fire treatment system |
| CN215309883U (en) * | 2021-06-23 | 2021-12-28 | 湖北达哲信息技术有限公司 | Power plant patrols and examines robot with multi-functional fire prevention intelligence |
| CN114221614A (en) * | 2021-12-09 | 2022-03-22 | 浙江库科自动化科技有限公司 | Intelligent photovoltaic power plant cleans control system |
| CN114669569A (en) * | 2022-04-28 | 2022-06-28 | 江苏巨天新能源有限公司 | Big data-based automatic cleaning system for photovoltaic module |
-
2022
- 2022-12-30 CN CN202211726624.2A patent/CN115957468A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08276027A (en) * | 1995-04-04 | 1996-10-22 | Nohmi Bosai Ltd | Fire robot equipment with origin of fire detecting function |
| CN205056510U (en) * | 2015-09-09 | 2016-03-02 | 邹伟 | All -weather photovoltaic solar cell board cleans machine people |
| CN107137838A (en) * | 2017-05-08 | 2017-09-08 | 宁波华狮智能科技有限公司 | A kind of fire rescue closed-loop control system and method based on fire-fighting robot |
| CN110575637A (en) * | 2019-09-16 | 2019-12-17 | 大连工业大学 | highway emergency rescue and inspection robot |
| CN111558186A (en) * | 2020-06-22 | 2020-08-21 | 浙江正泰新能源开发有限公司 | Distributed photovoltaic power station roof fire treatment system |
| CN215309883U (en) * | 2021-06-23 | 2021-12-28 | 湖北达哲信息技术有限公司 | Power plant patrols and examines robot with multi-functional fire prevention intelligence |
| CN114221614A (en) * | 2021-12-09 | 2022-03-22 | 浙江库科自动化科技有限公司 | Intelligent photovoltaic power plant cleans control system |
| CN114669569A (en) * | 2022-04-28 | 2022-06-28 | 江苏巨天新能源有限公司 | Big data-based automatic cleaning system for photovoltaic module |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206271140U (en) | A kind of intelligent fire monitoring and fire extinguishing system | |
| US20080000649A1 (en) | Method, system and sprinkler head for fire protection | |
| CN202078685U (en) | Glass ball sprinkler head and firefighting supervision system | |
| CN107807647A (en) | The cleaning method and sweeping robot of a kind of sweeping robot | |
| KR101664383B1 (en) | Fire Suppression System for rubber dust collector | |
| CN209848181U (en) | Full-automatic fire extinguishing system of wind generating set | |
| CN112544606A (en) | A jet-propelled intelligent bird repellent device for electric power transmission system | |
| CN111882802A (en) | Biomass safety control intelligent integrated system | |
| CN203264099U (en) | Engine room fire extinguishing system of large wind turbine generator set | |
| CN113541059A (en) | Cable bridge automatic monitoring execution system and working method thereof | |
| CN114699694A (en) | Automatic alarm and fire-fighting integrated system for unit | |
| CN115957468A (en) | Photovoltaic robot for fire detection and fire extinguishment and control method thereof | |
| CN212548073U (en) | Automatic fire extinguishing device for building fire safety | |
| CN110917682B (en) | Pressure filter monitoring device of unloading | |
| CN212016543U (en) | Monitoring system of underground pipe gallery suspension type dry powder extinguishing device | |
| CN210377124U (en) | Construction raise dust real-time supervision and control system | |
| CN112082658A (en) | Transformer infrared temperature measurement online monitoring system and method based on image recognition | |
| KR100480887B1 (en) | Fire extinguishing system for forecasting and diagnosing fire using digital real time | |
| CN115909647A (en) | Extra-high voltage transformer substation fire-fighting robot linkage system | |
| CN105727479A (en) | Self-patrolling detectable electric starting type automatic fire extinguishing robot | |
| CN207152914U (en) | Locomotive intelligent fire-pretection system | |
| CN112896101B (en) | Purging protection system and method for rail transit vehicle | |
| CN211798486U (en) | Power plant patrols and examines robot with multi-functional fire prevention intelligence | |
| CN204522091U (en) | A kind of fire-fighting spray device control system | |
| KR102360941B1 (en) | System and method for auto sprinkler driving Low-carbon using fire detection equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |