CN219681537U

CN219681537U - Comprehensive fire rescue robot for transformer substation

Info

Publication number: CN219681537U
Application number: CN202223255211.9U
Authority: CN
Inventors: 任崇广
Original assignee: Shandong Fuyue Electrical Co ltd
Current assignee: Shandong Fuyue Electrical Co ltd
Priority date: 2022-12-02
Filing date: 2022-12-02
Publication date: 2023-09-15
Anticipated expiration: 2032-12-02

Abstract

The utility model provides a transformer substation comprehensive fire rescue robot, which comprises: the upper computer and the fire-fighting robot; the singlechip receives a walking path sent by the upper computer through the wireless communication module, acquires current position information through the positioner, and controls the motor driving module to drive the motor and the wheels to run according to the walking path preset by the upper computer, so that the fire-fighting robot walks according to the preset walking path; when the equipment temperature information exceeds a preset first equipment temperature threshold value, the singlechip controls the control valve to be opened, and the extinguishing agent is sprayed to the area where the equipment temperature information exceeds the threshold value to extinguish the fire; the fire extinguishing device is used for rapidly extinguishing the sudden fire, controlling the spread of the initial fire, and winning time for rescue work. The system enhances early fire prevention and suppression, and more effectively improves the fire safety condition of the transformer substation.

Description

Comprehensive fire rescue robot for transformer substation

Technical Field

The utility model relates to the technical field of transformer substation comprehensive fire-fighting rescue robots, in particular to a transformer substation comprehensive fire-fighting rescue robot.

Background

With the development of social economy, the fire-fighting problem of the transformer substation is gradually highlighted when a large number of transformer stations are put into service. The high-voltage and high-current production equipment in the transformer substation is easy to cause fire disaster due to equipment faults, insulation aging, overload overcurrent, spontaneous combustion or external factors and the like along with the increase of service life, the equipment is damaged when the equipment is light, the power supply is interrupted when the equipment is heavy, and the social production and life are greatly influenced.

At present, the fire-fighting facilities of the transformer substation mainly comprise an automatic fire alarming system, an oil and nitrogen discharging and injecting fire extinguishing system, a water mist fire extinguishing system, a fireproof blocking system, a small amount of mobile fire-fighting systems and the like, and the current fire-extinguishing mode can be mainly performed in a fixed mode. I.e. to install the extinguishing device in an area or corresponding location where a fire is to be caused, the sensor is installed. When the sensor senses fire state or has smoke and temperature change, if the sensor judges that the fire state exists, the fire extinguishing device is controlled to be started for extinguishing fire. And some areas cannot be provided with a fixed fire extinguishing detection device and a fire extinguishing system, so that effective fire extinguishing operation cannot be performed. The fire extinguishing device is operated to extinguish fire under the condition that fire is monitored, and the fire extinguisher is operated manually to extinguish fire, so that the personal safety of fire extinguishing personnel is dangerous. And the fire extinguishing detection device cannot be installed and fixed, so that the fire condition state cannot be detected, monitoring lag is also easily caused, the reaction speed is low, and the problems of untimely rescue and the like are solved.

Disclosure of Invention

The comprehensive fire-fighting rescue robot for the transformer substation can be used for detecting fire in the operation place of the transformer substation and putting out fire in time when a fire occurs.

The comprehensive fire rescue robot of transformer substation includes: the upper computer and the fire-fighting robot;

the fire-fighting robot is provided with a vehicle body, a fire extinguishing box is arranged in the vehicle body, and a fire extinguishing agent is arranged in the fire extinguishing box;

the bottom of the vehicle body is provided with a chassis, wheels are arranged on the chassis, the wheels are connected with a motor, and the motor is connected with a motor driving module;

the vehicle body is provided with a control box;

the control box is connected with a lifting adjusting device, the top of the lifting adjusting device is connected with a cradle head, and the cradle head is provided with a camera group, a temperature sensor and a fire extinguisher spray pipe;

the fire extinguisher spray pipe is communicated with the fire extinguishing box through a conduit, and a control valve is arranged on the conduit;

the control box is internally provided with a singlechip, a locator and a wireless communication module;

the singlechip is respectively connected with the motor driving module, the camera group, the control valve, the lifting adjusting device, the cradle head, the positioner, the temperature sensor and the wireless communication module;

the singlechip receives a walking path sent by the upper computer through the wireless communication module, acquires current position information through the positioner, and controls the motor driving module to drive the motor and the wheels to run according to the walking path preset by the upper computer, so that the fire-fighting robot walks according to the preset walking path;

the single chip microcomputer is also used for acquiring equipment temperature information and equipment image information of the walking path through the camera group and the temperature sensor, controlling a control valve to be opened by the single chip microcomputer when the equipment temperature information exceeds a preset first equipment temperature threshold value, spraying fire extinguishing agent to an equipment temperature information exceeding threshold value area for extinguishing fire, and transmitting the acquired equipment temperature information, equipment image information and position information to the upper computer through the wireless communication module;

the upper computer is used for sending a control instruction to the singlechip, controlling the fire-fighting robot to walk in all directions, receiving the equipment temperature information, the image information and the position information sent by the singlechip, and displaying the equipment temperature information, the image information and the position information in real time through the display screen.

The vehicle body is provided with an ultrasonic detection device, the singlechip is connected with the ultrasonic detection device, and the ultrasonic detection device is used for detecting the distance information between the vehicle body and a front obstacle and the distance information between the vehicle body and an ignition source;

when extinguishing a fire, the singlechip controls the fire extinguishing distance according to the distance information detected by the ultrasonic detection device.

The fire-fighting robot is characterized in that a power module is further arranged on the vehicle body and supplies power to electric elements in the fire-fighting robot;

the power supply module adopts a direct current industrial storage battery and can also adopt a DC/DC isolation voltage stabilizing module to supply power to the singlechip after voltage stabilization.

It is further to be noted that the vehicle body is also provided with an alarm module, the alarm module is connected with a singlechip, and the singlechip controls the alarm module to send an alarm signal when detecting that the temperature information of the equipment exceeds a threshold value area.

It should be further noted that, the singlechip is further used for comparing the equipment temperature information acquired on the walking path with a preset second temperature threshold, the second temperature threshold is smaller than the first temperature threshold, if the equipment temperature information is smaller than the first temperature threshold and larger than the second temperature threshold, the alarm module sends an alarm signal, and meanwhile the singlechip sends an abnormal high-temperature alarm signal to the upper computer.

It should be further noted that the system also comprises a radio remote controller and a control panel;

the wireless remote controller is used for sending a control instruction to the singlechip through keys and controlling the operation of the fire-fighting robot; the user controls the fire-fighting robot to move, the camera group and the fire extinguisher spray pipe to lift and the cradle head to rotate through the radio remote controller;

the control panel is used for displaying the operation information of the fire-fighting robot and receiving control instructions input by a user.

From the above technical scheme, the utility model has the following advantages:

the comprehensive fire-fighting rescue robot for the transformer substation is improved from the structural design, the operation mechanism, the electrical elements, the control mode and the communication mode of the fire-fighting robot, and finally the remote control fire-fighting robot for the transformer substation is formed. The utility model satisfies the basic functions of movement, fire extinguishment, remote control and the like and has the characteristics of flexibility, economy, practicability and the like. The fire-fighting robot realizes high-efficiency fire extinguishment by finding fire, rapidly moving to the vicinity of a fire scene, rapidly extinguishing fire and the like. The robot based on the navigation device has the advantages of strong bearing capacity, high moving speed, rapid adjustment, stable movement and high energy utilization rate; the fire extinguishing device is used for rapidly extinguishing the sudden fire, controlling the spread of the initial fire, and winning time for rescue work. The system enhances early fire prevention and suppression, and more effectively improves the fire safety condition of the transformer substation.

The comprehensive firefighting rescue robot for the transformer substation provided by the utility model can automatically carry out omnibearing inspection of the transformer substation, judge the equipment temperature information exceeding a threshold value area based on the equipment temperature information acquired in real time, and further automatically and quickly respond to extinguishment. The personal safety is greatly ensured, the contradiction between the personal risk and equipment loss existing in the fire scene in the transformer substation can be effectively solved, the early fire prevention and the fire suppression of the transformer substation are enhanced, and the time is won for rescue work.

Drawings

In order to more clearly illustrate the technical solutions of the present utility model, the drawings that are needed in the description will be briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a comprehensive firefighting rescue robot of a transformer substation;

fig. 2 is a schematic diagram of an embodiment of a substation comprehensive fire rescue robot.

Detailed Description

The following description of the embodiments of the present utility model 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 utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

The utility model provides a transformer substation comprehensive fire rescue robot, as shown in figures 1 to 2, the system comprises: the upper computer 1 and the fire-fighting robot 2; the fire-fighting robot 2 is provided with a vehicle body 3, a fire extinguishing box is arranged in the vehicle body 3, and a fire extinguishing agent is arranged in the fire extinguishing box; the fire extinguishing agent can adopt carbon dioxide or dry powder as a fire extinguishing mode.

The bottom of the vehicle body 3 is provided with a chassis, wheels 4 are arranged on the chassis, the wheels 4 are connected with a motor, and the motor is connected with a motor driving module 15; the motor driving module 15 may control the motor in a PWM control manner. The vehicle body 3 is provided with a control box 5; the control box 5 is connected with a lifting adjusting device 6, the top of the lifting adjusting device 6 is connected with a cradle head 7, and the cradle head 7 is provided with a camera group 148 and a fire extinguisher spray pipe 9; the fire extinguisher spray pipe 9 is communicated with the fire extinguishing box through a conduit, and a control valve 16 is arranged on the conduit. The fire extinguisher spray pipe 9 is rotationally connected with the cradle head 7, can rotate up and down according to the control signal of the singlechip 10, and aims at the temperature information exceeding threshold area of equipment to extinguish fire.

By way of example, the design requirements can be met by using the wheels 4, considering that the road surface conditions in the substation are better, basically turf or cement roads. In order to enable the fire-fighting robot 2 to reach a fire scene stably and quickly, the utility model adopts a four-wheel four-drive chassis mechanism. The four-wheel drive mode has good stability and large bearing capacity, and is suitable for high-speed walking. The chassis is light and firm in material selection, so that the requirements of robot movement and acceleration are met. The size of the movable chassis is 180cm 90cm, the bearing capacity is 200KG, the maximum speed reaches 2.33m/s, and the movable chassis is made of high-temperature resistant materials and completely meets the fire-fighting requirements.

The lifting adjusting device 6 of the utility model uses an electric telescopic rod lifting mechanism, and the mechanism occupies small space, has simple structure, high reliability and strong bearing capacity. The upper end of the cradle head 7 is a rotary platform, a common dry powder fire extinguisher control structure is placed on the rotary platform, and the upper end platform is driven to rotate by an electric motor.

The control box 5 is internally provided with a singlechip 10, a positioner 11 and a wireless communication module 12; the singlechip 10 is used for receiving a walking path sent by the upper computer 1 through the wireless communication module 12, acquiring current position information through the positioner 11, and controlling the motor driving module 15 to drive the motor and the wheels 4 to run according to the preset walking path of the upper computer 1 by the singlechip 10 so as to enable the fire-fighting robot 2 to walk according to the preset walking path;

the singlechip is respectively connected with the motor driving module 15, the camera group 14, the control valve 16, the lifting adjusting device, the cradle head, the positioner, the temperature sensor 13 and the wireless communication module;

the single chip microcomputer 10 is further configured to obtain device temperature information and device image information of the walking path through the camera set 148, when the device temperature information exceeds a preset first device temperature threshold, the single chip microcomputer 10 controls the control valve 16 to open, sprays fire extinguishing agent to a region where the device temperature information exceeds a threshold to extinguish fire, and sends the obtained device temperature information, device image information and position information to the upper computer 1 through the wireless communication module 12;

the singlechip 10 is a core device of the fire-fighting robot 2, and the singlechip 10 is provided with corresponding connection interface hardware and software programs. The vehicle body 3 is also provided with a power supply module which supplies power to the electric elements inside the fire-fighting robot 2. The power supply module adopts a direct current industrial storage battery, and can also adopt a DC/DC isolation voltage stabilizing module to stabilize voltage and then supply power for the singlechip 10. The power supply module has good electromagnetic compatibility and extremely low ripple noise, and the voltage stabilizing precision is high. In order to ensure reliable operation of the fire-fighting robot 2, the battery pack is charged periodically to extend the service life.

Illustratively, when electrical equipment in the transformer substation is in fire, the fire-fighting robot 2 acquires equipment temperature information and equipment image information of a walking path through the camera group 148, and when the equipment temperature information exceeds a preset first equipment temperature threshold value, the singlechip 10 controls the control valve 16 to be opened, and the fire extinguishing agent is sprayed to an equipment temperature information over-threshold area to extinguish the fire. The fire-fighting robot 2 adopts a carbon dioxide fire extinguisher or a dry powder fire extinguisher to extinguish fire. According to the fire-fighting allocation condition in the station, the fire-extinguishing mechanism takes the dry powder fire extinguisher as the fire-extinguishing medium, and performs fire-extinguishing operation by controlling the pitching of the spray pipe and the opening and closing of the valve. The dry powder fire extinguisher is arranged on the cradle head 7 and can rotate and lift, so that the fire extinguisher spray pipe 9 can perform pitching operation to accurately align the ignition point in order to increase the control precision and the mechanical arm and the joint.

The utility model also aims at the characteristic that the dry powder fire extinguisher valve needs to be manually controlled, and realizes the automatic control of the fire extinguisher valve by controlling the opening and closing of the push rod motor control pressure handle, and the structure of the existing dry powder fire extinguisher is not required to be changed, so that the dry powder fire extinguisher is convenient and economical to use. Meanwhile, the installed camera is a thermal camera, the position of a fire source can be identified through the heat distribution image, and the deflection of the spray head in the super-specific direction can be automatically controlled, so that the fire extinguishing process is more efficient.

In the embodiment of the utility model, an ultrasonic detection device is arranged on the vehicle body 3, the singlechip 10 is connected with the ultrasonic detection device, and the ultrasonic detection device is used for detecting the distance information between the vehicle body 3 and a front obstacle and the distance information between the vehicle body 3 and an ignition source; when extinguishing a fire, the singlechip 10 controls the fire extinguishing distance according to the distance information detected by the ultrasonic detection device. Thus, the fire-fighting robot has the function of extinguishing the fire on the ignition point, and can protect the fire-fighting robot 2 from being burnt by the fire source and damage.

The upper computer 1 is used for sending a control instruction to the singlechip 10, controlling the fire-fighting robot 2 to walk in all directions, receiving equipment temperature information, image information and position information sent by the singlechip 10, and displaying the equipment temperature information, the image information and the position information in real time through the display screen.

The singlechip 10 of the utility model receives the upper computer 1 through the wireless communication module 12, and the upper computer 1 can receive the image information and the related information uploaded by the fire-fighting robot 2. The upper computer 1 can also send a control instruction to the fire-fighting robot 2 to control the fire-fighting robot 2 to operate, namely, a monitoring person remotely controls the fire-fighting robot 2 to operate to monitor or extinguish fire.

The utility model can also be provided with a radio remote controller and a display screen; the wireless remote controller is used for sending a control instruction to the singlechip 10 through keys and controlling the operation of the fire-fighting robot 2; the user controls the fire-fighting robot 2 to move, the camera group 148 and the fire extinguisher spray pipe 9 to lift and the cradle head 7 to rotate through the wireless remote controller; and the display screen is used for displaying the operation information of the fire-fighting robot 2, and the acquired equipment image information, temperature information and position information.

Illustratively, the radio remote control may employ an infrared remote control, i.e., a point-to-point remote control, which is limited by a distance of no more than 7 meters. The utility model can also adopt Bluetooth or WIFI and other modes to realize nondirectionality, can not be controlled in a face-to-face manner, and can reach tens of meters or even kilometers.

Specifically, the main functions of the fire-fighting robot 2 instruction transmitting module include encoding remote control commands of operators and transmitting control panels designed according to various functions of the fire-fighting robot 2 and combining specific fire-extinguishing actions of the fire-fighting robot 2. Four directions in the circle on the right part of the control panel are the four directions of the chassis motion of the fire-fighting robot 2; the four directions in the circle at the left part of the control panel are the four directions of rotation and lifting of the cradle head 7. When the 'gun lifting' button is pressed, the mechanical arm drives the fire extinguisher spray pipe 9 to lift, and similarly, when the 'gun lowering' button is pressed, the mechanical arm drives the fire extinguisher spray pipe 9 to descend. When the 'spraying' button is pressed, the valve of the dry powder fire extinguisher is opened, the fire extinguishing agent is sprayed, and when the 'stopping' button is pressed, the fire extinguishing agent stops spraying.

The control box 5 is internally provided with a receiving circuit which decodes the received control instruction to form a serial coded pulse signal, and then outputs the control pulse signal meeting the address code condition to the singlechip 10, so that the singlechip 10 executes the corresponding control instruction to control the fire-fighting robot 2.

The following is an embodiment of a fire-fighting method for a transformer substation provided by the embodiment of the present disclosure, where the fire-fighting method for a transformer substation and the transformer substation comprehensive fire-fighting rescue robot of the above embodiments belong to the same inventive concept, and details of the embodiment of the fire-fighting method for a transformer substation, which are not described in detail, may refer to the embodiment of the transformer substation comprehensive fire-fighting rescue robot.

The fire-fighting method for the transformer substation comprises the following steps:

the singlechip 10 shoots images through the camera group 148 to form equipment image information;

the singlechip 10 transmits the equipment image information to the upper computer 1 through the wireless communication module 12;

the upper computer 1 carries out A/D conversion on the equipment image information, and the obtained digital image information is processed and identified;

the equipment image information also enables the live image of the working environment to be displayed on a display through the video processing card;

the upper computer 1 sends a control instruction to the fire-fighting robot 2; the singlechip 10 of the fire-fighting robot 2 decodes the control instruction, and controls the motor driving module 15 to drive the motor to realize the omnibearing walking of the robot body 3 after decoding; performing fuzzy control processing according to surrounding environment information; after the single chip microcomputer 10 module processes, a driving pulse is output to control the movement of the robot, the robot changes the external environment relatively when the robot moves one step, and the robot makes corresponding adjustment according to the environment change.

In one embodiment of the utility model, a possible embodiment of which will be described without limitation below, based on a substation fire extinguishing method.

The method is based on fuzzy control processing and consists of a fuzzy input interface, a fuzzy reasoning module and a fuzzy output interface, wherein the function of the fuzzy input interface is to realize fuzzification of accurate quantity, namely, the accurate value of physical quantity is converted into a language variable value; the main function of the fuzzy reasoning module is to simulate the thinking characteristics of a person, carry out fuzzy processing according to the language control plan obtained by summarizing the manual control strategy, and decide the fuzzy output control quantity.

The upper computer 1 is based on the singlechip 10 and the motor driving module 15 of the fire-fighting robot 2, and can be also configured with a corresponding photoelectric encoder and a CDD module to execute a control process. In the execution process of the fire-fighting robot 2, distance information can be measured through an ultrasonic sensor and an infrared sensor, and fuzzy control processing is performed.

The singlechip 10 can be based on an initialization module, an I/O port read-write module and a motion control and realization module; to realize the initial state configuration of chip information setting, data storage and program; the I/O port read-write module provides a channel for information transmission of each functional block of the robot, and the robot motion control and realization module is responsible for controlling the motion of the robot.

The method also relates to a real-time monitoring module which comprises a state monitoring module, a fault alarm module and a sensor management module; the state monitoring module is responsible for normal display, patterning or storage of each state data of the robot; the fault alarm module monitors the operation of each module and is responsible for alarming when abnormality occurs.

The information management of the fire-fighting robot 2 can comprise a communication management module, a control instruction analysis module and an information base management module, and the information management module is used for providing programming management of the whole information service program, and starting and stopping the program. When the robot is in practical application, the sensing module of the robot module can detect according to external environment changes, and is conveyed to the upper computer 1 module through the wireless communication and video transmission module, so that real-time display is conveniently carried out through the display screen, the operation and control of people are more convenient, the robot control efficiency is improved, and the safety and the use of the robot are facilitated.

Further, as a refinement and extension of the specific implementation manner of the foregoing embodiment, for fully describing the specific implementation process in this embodiment, the method includes: the fire-fighting robot 2 receives a walking path sent by the upper computer 1, and the upper computer 1 acquires the current position information of the fire-fighting robot 2 and controls the fire-fighting robot 2 to walk according to a preset walking path;

the method comprises the steps that an upper computer 1 acquires equipment temperature information and equipment image information of a walking path, when the equipment temperature information exceeds a preset first equipment temperature threshold value, a fire-fighting robot 2 moves to an equipment temperature information exceeding threshold value area, and when a preset distance is reached, a fire extinguishing agent is sprayed to the equipment temperature information exceeding threshold value area to extinguish fire, and the acquired equipment temperature information, equipment image information and position information are sent to the upper computer 1;

the upper computer 1 controls the fire-fighting robot 2 to move according to the change of the equipment temperature information so as to ensure that the distance between the fire-fighting robot 2 and the equipment temperature information over-threshold area is always within a preset distance range, and adjusts the height of the cradle head 7 and the direction of the fire extinguisher spray pipe 9 according to the azimuth of the equipment temperature information over-threshold area and controls the fire extinguisher spray pipe 9 to lift and align to the equipment temperature information over-threshold area.

The units and algorithm steps of each example described in the embodiments disclosed in the transformer substation comprehensive fire-fighting rescue robot and the fire-fighting fire-extinguishing method provided by the utility model can be implemented in electronic hardware, computer software or a combination of the two, and in order to clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been generally described in terms of functions in the above description. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present utility model.

The flowcharts and block diagrams in the figures of the substation comprehensive firefighting rescue robot and firefighting method illustrate the architecture, functionality, and operation of possible implementations of devices, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. Two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The substation comprehensive fire rescue robot and the fire fighting method are the units and algorithm steps of the examples described in connection with the embodiments disclosed herein, can be implemented in electronic hardware, computer software or a combination of both, and to clearly illustrate the interchangeability of hardware and software, the components and steps of the examples have been generally described in terms of functionality in the foregoing description. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present utility model.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present utility model is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A comprehensive firefighting rescue robot for a substation, comprising: the upper computer and the fire-fighting robot;

the vehicle body is provided with a control box;

2. The comprehensive firefighting rescue robot of a transformer substation according to claim 1, wherein an ultrasonic detection device is mounted on a vehicle body, the single chip microcomputer is connected with the ultrasonic detection device, and the ultrasonic detection device is used for detecting distance information between the vehicle body and a front obstacle and distance information between the vehicle body and an ignition source;

3. The comprehensive firefighting rescue robot of a transformer substation according to claim 1,

the vehicle body is also provided with a power supply module which supplies power to the internal electric elements of the fire-fighting robot;

the power supply module adopts a direct current industrial storage battery or adopts a DC/DC isolation voltage stabilizing module to stabilize voltage and then supply power to the singlechip.

4. The comprehensive firefighting rescue robot of a transformer substation according to claim 1,

the vehicle body is also provided with an alarm module which is connected with the singlechip, and the singlechip controls the alarm module to send an alarm signal when detecting that the temperature information of the equipment exceeds a threshold value area.

5. The comprehensive firefighting rescue robot of a transformer substation according to claim 1,

the single chip microcomputer is also used for comparing the equipment temperature information acquired on the walking path with a preset second temperature threshold value, the second temperature threshold value is smaller than the first temperature threshold value, if the equipment temperature information is smaller than the first temperature threshold value and larger than the second temperature threshold value, the alarm module sends an alarm signal, and meanwhile, the single chip microcomputer sends an equipment abnormal high temperature alarm signal to the upper computer.

6. The comprehensive firefighting rescue robot of a transformer substation according to claim 1,

the wireless remote controller and the control panel are also included;