CN106873560B - A kind of Tunnel Fire initial stage rescue mode - Google Patents
A kind of Tunnel Fire initial stage rescue mode Download PDFInfo
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- CN106873560B CN106873560B CN201710236169.0A CN201710236169A CN106873560B CN 106873560 B CN106873560 B CN 106873560B CN 201710236169 A CN201710236169 A CN 201710236169A CN 106873560 B CN106873560 B CN 106873560B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/4185—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the network communication
- G05B19/41855—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the network communication by local area network [LAN], network structure
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
Abstract
The invention discloses a kind of Tunnel Fire initial stages to rescue auxiliary system, which is characterized in that system includes: sniffing robot platform；It is equipped on embedded control unit on the sniffing robot platform, detecting signal unit, label and launches unit；Man-machine interactive system；And wireless router device.The man-machine interactive system includes master console and intelligent mobile terminal；Fire information that the man-machine interactive system real-time reception embedded control unit transmits simultaneously is assessed it, is handled, and live rescue worker can obtain front situation in real time by intelligent mobile terminal and make a response in advance.This system is designed based on embedded development platform, and helps rescue personnel to determine trapped person position in advance under severe rescue environment using reasonable track rendering algorithm, and rescue personnel is helped to look for secure path as early as possible, formulates reasonable rescue plan.
Description
Technical field
The present invention relates to rescue system and method, in particular to a kind of Tunnel Fire initial stage rescue auxiliary system and side
Method.
Background technique
China is that vcehicular tunnel quantity is most in the world, the longest country of mileage.During vcehicular tunnel operation management,
Tunnel fire hazard is the maximum a kind of disaster of harm, tunnel " elongated tubular " structure determine tunnel fire hazard accident can only reduce and can not
It avoids completely.Once fire occurs in tunnel, the intensity of a fire will be expanded rapidly, it is likely that lead to the illumination, monitoring, air draft of tunnel internal
Etc. equipment destroyed, the smog of generation of burning can be along tunnel top longitudinal diffusion, and the personnel waited for rescue will have asphyxia to endanger
Danger, if the vehicle of fire is caused to be the transport vehicle of hypertoxic hazardous chemical, the dense smoke for generation of burning may have certain
The hope of toxicity, trapped person's existence will more allow of no optimist, and rescue personnel is also difficult to sue and labour in first time into scene
And it is unfolded to evacuate work.In Tunnel Fire early period of origination, in the case where no rescue, there is the driver and conductor of self-saving ability
Need to be dispersed into safety zone as early as possible in safety time, without the wounded of self-saving ability, costive the elderly,
The trapped persons such as children are then difficult the self-escape in safety time, fireman can only be waited to rescue in time.It is domestic at present related
Rescue auxiliary system product is very rare, does not occur the auxiliary system for the rescue of vcehicular tunnel initial fire disaster of technology maturation also
System.
Summary of the invention
It is auxiliary the invention aims to provide a kind of Tunnel Fire initial stage rescue in view of deficiency existing for prior art
Auxiliary system and method search and rescue risk, raising search efficiency to reduce.
To achieve the goals above, technical solution of the present invention is as follows:
A kind of Tunnel Fire initial stage rescues auxiliary system, which is characterized in that system includes:
Sniffing robot platform；
It is equipped on embedded control unit on the sniffing robot platform, detecting signal unit, label and launches unit；
The embedded control unit collects the sniffing robot platform operation information；The embedded control unit and the signal
Detection unit is launched unit with label and is connected, and the embedded control unit receives and handle what the detecting signal unit was sent
Fire information simultaneously controls the label dispensing unit movement, and it includes stepper motor and illuminator marker that the label, which launches unit,
Delivery device；
Man-machine interactive system, the man-machine interactive system include the master console and use for real-time display effective information
In providing the intelligent mobile terminal of guidance program for live rescue worker；The master console real-time reception embedded control unit
The fire information that transmits simultaneously is assessed it, is handled, and it is whole that fire information and assessment result be transferred to the intelligent mobile
End, commanding can pass through master console manual control whole system；Live rescue worker can also pass through intelligent sliding simultaneously
Dynamic terminal obtains front situation in real time and makes a response in advance, and can control whole system by intelligent mobile terminal；
And wireless router device.
Further, the detecting signal unit includes:
Infrared USB camera, the infrared USB camera are used to capture scene of fire image information, and according to scene
Ambient light power automatically switches infrared and non-infrared two kinds of operating modes；
Microwave radar human detection module, the microwave radar human detection module is to real-time monitoring certain model around it
Whether there is life entity in enclosing, high level is exported if detecting life entity, otherwise exports low level；
Environmental detection sensor group, the environmental detection sensor group include: toxic gas detection sensor, fuel gas
Detection sensor, temperature sensor, oxygen sensor.
Further, when temperature, which reaches system, can bear the upper limit or have life entity around detecting, the explorer
Device people platform is remote control mode by automatic obstacle-avoiding pattern switching.
Further, the embedded control unit includes one or more controllers.
Further, the sniffing robot platform operation information includes the corner information and advance of sniffing robot platform
Velocity information.
Another object of the present invention is to provide for a kind of Tunnel Fire initial stage rescue mode based on above system, special
Sign is, includes the following steps:
S1: hardware device needed for sniffing robot platform equipped system enters tunnel fire hazard initial stage with automatic obstacle-avoiding mode
Scene, the hardware device include embedded control unit, detecting signal unit, label dispensing unit；
S2: the sniffing robot platform executes following steps parallel:
(1) a certain range of complaint message in front of sniffing robot detection of platform, and judge whether to need avoidance, if you need to
Then to execute S3；Otherwise S2 is executed；
(2) infrared USB camera acquires image information in front and in real time by acquired image through embedded control unit
It is transferred to man-machine interactive system, while the embedded control unit carries out image procossing to acquired image information and divides
Analysis, analysis content include:
Judge whether there is flame in acquired image, is to execute S4, otherwise returns to S2；
Judge whether there is smog in acquired image, is to execute S5, otherwise returns to S2；
(3) whether the search of microwave radar human detection module has trapped person, is, executes S6；Otherwise S2 is returned；
(4) concentration of toxic gases in toxic gas detection sensor detection ambient enviroment, and in real time through embedded Control
Data are transferred to man-machine interactive system by WIFI by unit；
(5) combustable gas concentration in fuel gas detection sensor detection ambient enviroment, and in real time through embedded Control
Data are transferred to man-machine interactive system by WIFI by unit；
(6) temperature of temperature sensor detection ambient enviroment, and data are passed through into WIFI through embedded control unit in real time
It is transferred to man-machine interactive system；
(7) oxygen concentration of oxygen sensor detection ambient enviroment, and in real time pass through data through embedded control unit
WIFI is transferred to man-machine interactive system；
(8) gyroscope real-time detection robot platform corner information, embedded control unit pass through to real-time angle data
And the forward speed of sniffing robot platform carries out COMPREHENSIVE CALCULATING to fit sniffing robot platform path track, to realize
Operator positions sniffing robot platform real-time tracking；
S3: robot platform executes avoidance program, returns to S2；
S4: embedded control unit executes flame alert program, and judges whether environment temperature reaches by temperature sensor
The temperature upper limit that can bear to system hardware is actively to switch to remote control scheme control sniffing robot platform, no
Then return to S2；
S5: operator's remote control robot platform to face tunnel cross section is remain stationary, embedded control unit
Smog ground height and its subsidence velocity determining program are executed, smog is predicted and sinks down into the height to cause damages to trapped person
The time of degree, and predictive information is reached into man-machine interactive system, return to S2；
S6: trapped person's specific location is confirmed by infrared USB camera, switches to sniffing robot platform after confirmation
Remote control mode, operator control after robot platform reaches trapped person position and execute S7, otherwise return to S6；
S7: operator launches instruction by master console or intelligent mobile terminal publication, and embedded control unit receives
And the instruction is executed, starting stepper motor driving illuminator marker delivery device throws next illuminator marker, grasps simultaneously
Make personnel and draw Interface Mark placement position in man-machine interactive system track, returns to S2.
Further, wireless router device is arranged to fixed IP, the gateway of embedded controller is arranged to and no route
By fixation IP of the device under same gateway, master console and intelligent mobile terminal and embedded each controller are connected into wireless routing
Device IP, to form the local area network under fixed IP.
Compared with prior art, beneficial effects of the present invention:
The present invention is based on embedded development platform and mode identification technologys, can be realized flame and smog ground height
And its intelligent decision of subsidence velocity is to its extent of injury caused by trapped person of look-ahead, and uses reasonable track
Rendering algorithm enables rescue personnel is determining in the case where rescuing bad environments to be rescued personnel's specific location, and in rescue people
Member helps rescue personnel to look for secure path as early as possible in the case where can not searching and rescuing at the first time into tunnel, formulates reasonable rescue
Plan, greatly shortens tunnel fire hazard rescue time, improves the safety guarantee of rescue worker, especially dangerous product leakage
Tunnel fire hazard avoids unnecessary sacrifice.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the structural block diagram of system of the present invention；
Fig. 2 is the flow chart of the method for the invention；
Fig. 3 is the structural block diagram of system described in embodiment 1；
Fig. 4 is the instance graph of system described in embodiment 1.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
The extensive use in tunnel brings huge fire safety evaluating hidden danger, scene of a fire inner case it is complicated and changeable, not only make
Must put out a fire low efficiency of recovering, or even be also possible to threaten the inherently safe of rescue personnel.Based on the above background, the present invention devises one
Kind Tunnel Fire initial stage rescue auxiliary system and method, with reference to the accompanying drawing and specific embodiment further illustrates this hair
Bright technical solution:
A kind of Tunnel Fire initial stage as shown in Figure 1 rescues auxiliary system, system include: sniffing robot platform,
Embedded control unit, detecting signal unit, label launch unit, man-machine interactive system and wireless router device.
The sniffing robot platform is used to carry hardware device necessary to searching and rescuing auxiliary system, and such as infrared USB is imaged
Head, embedded controller (storage battery power supply) and various kinds of sensors etc..The sniffing robot platform can pass through programming
It realizes automatic obstacle-avoiding and long-range remote control function, and two kinds of Working moulds of automatic obstacle-avoiding mode and remote control mode may be implemented
The arbitrary switch of formula, inside be mounted with automatic obstacle-avoiding program and remote control program.Sniffing robot platform enters work
Automatic obstacle-avoiding mode is used when region, can bear the upper limit or detect around have life entity when ambient temperature reaches system hardware
When, sniffing robot platform is actively remote control mode by automatic obstacle-avoiding pattern switching.
The embedded control unit, detecting signal unit, label dispensing unit are equipped on the sniffing robot and put down
Platform.The embedded control unit collects the sniffing robot platform operation information, the sniffing robot platform operation letter
Breath includes the corner information and forwarding speed information of sniffing robot platform.The embedded control unit and the signal detection
Unit is launched unit with label and is connected, and the embedded control unit receives and handle the fire that the detecting signal unit is sent
Information simultaneously controls the label and launches unit movement, and the label dispensing unit includes stepper motor and driven by stepper motors
Illuminator marker delivery device；It issues and throws from man-machine interactive system to embedded control unit as system discovery trapped person
Instruction is put, controller further controls stepper motor driving illuminator marker delivery device and actively casts illuminator marker,
It remains to search trapped person under dark surrounds in tunnel quickly convenient for rescue worker.
The embedded control unit includes one or more embedded controllers, and single controller is in data-handling efficiency
Aspect is likely difficult to reach humanized requirement, therefore can improve information handling rate by the way that multiple controllers are arranged.It is described
Embedded controller is used to handle the information datas such as image information and the collected ambient enviroment of sensor, and makes corresponding
Judgement, while can also realize the control to sniffing robot platform.
The detecting signal unit includes: infrared USB camera, and the infrared USB camera is used to capture scene of fire
Image information, and light intensity can automatically switch infrared and non-infrared two kinds of operating modes depending on the site environment；Microwave thunder
Up to human detection module, the microwave radar human detection module has around real-time monitoring whether have life in a certain range
Body, and detection range still will not be greatly affected when there is shelter.The corresponding delivery outlet if detecting life entity
High level is exported, low level is otherwise exported；Environmental detection sensor group, the environmental detection sensor group includes: toxic gas
Detection sensor, fuel gas detection sensor, temperature sensor, oxygen sensor.A series of above-mentioned sensors are in type selecting
The requirement of scene of fire environment must be reached, each sensor should be able to work normally at the scene.Various kinds of sensors can be passed according to itself
The digital I/O or simulation I/O of the characteristics of transmission of data and embedded controller are directly connected to.
The man-machine interactive system includes for the master console of real-time display effective information and for searching and rescuing for scene
The intelligent mobile terminal of personnel's offer guidance program.The master console and intelligent mobile terminal is used to collection in front of real-time reception
The information transmitted at embedded controller makes correct judgement for commanding, and commanding can also be grasped by master console
Vertical whole system；The rescue worker into scene can understand front situation in real time by intelligent mobile terminal and make in advance simultaneously
Reaction, and whole system can be controlled by intelligent mobile terminal.The master console has been installed to be shown with image procossing, image
And the LABVIEW software of the functions such as real-time track drafting.The intelligent mobile terminal installation is shown with image and environment
Data information such as shows at the APP software of functions.Computer can be used in master console, and smart phone can be used in intelligent mobile terminal.
It is communicated wirelessly between multiple embedded controllers and man-machine interactive system by wireless router and WIFI, by
Man-machine interactive system unified management.Since system function is abundant, single controller is likely difficult to reach in terms of data-handling efficiency
It is required to hommization, needs multiple controllers to improve information handling rate, therefore just need to coordinate using wireless router
Master-slave relationship realizes the communication mode of " one master and multiple slaves " between man-machine interactive system and multiple embedded controllers；And for
From the aspect of WIFI signal transmission range in tunnel, WIFI signal transmission range can be improved by addition gateway；For
Real-time Transmission effective information.
A kind of working method of rescue of Tunnel Fire initial stage auxiliary system as shown in Figure 2, includes the following steps:
S1: hardware device needed for sniffing robot platform equipped system enters tunnel fire hazard initial stage with automatic obstacle-avoiding mode
Scene, the hardware device include embedded control unit, detecting signal unit, label dispensing unit；
S2: the sniffing robot platform executes following steps parallel:
(1) a certain range of complaint message in front of sniffing robot detection of platform, and judge whether to need avoidance, if you need to
Then to execute S3；Otherwise S2 is executed；
(2) infrared USB camera acquires image information in front and in real time by acquired image through embedded control unit
It is transferred to man-machine interactive system, while the embedded control unit carries out image procossing to acquired image information and divides
Analysis, analysis content include:
Judge whether there is flame in acquired image, is to execute S4, otherwise returns to S2；
Judge whether there is smog in acquired image, is to execute S5, otherwise returns to S2；
(3) whether the search of microwave radar human detection module has trapped person, is, executes S6；Otherwise S2 is returned；
(4) concentration of toxic gases in toxic gas detection sensor detection ambient enviroment, and in real time through embedded Control
Data are transferred to man-machine interactive system by WIFI by unit；
(5) combustable gas concentration in fuel gas detection sensor detection ambient enviroment, and in real time through embedded Control
Data are transferred to man-machine interactive system by WIFI by unit；
(6) temperature of temperature sensor detection ambient enviroment, and data are passed through into WIFI through embedded control unit in real time
It is transferred to man-machine interactive system；
(7) oxygen concentration of oxygen sensor detection ambient enviroment, and in real time pass through data through embedded control unit
WIFI is transferred to man-machine interactive system；
(8) gyroscope real-time detection robot platform corner information, embedded control unit pass through to real-time angle data
And the forward speed of sniffing robot platform carries out COMPREHENSIVE CALCULATING to fit sniffing robot platform path track, to realize
Operator positions sniffing robot platform real-time tracking；
S3: robot platform executes avoidance program, returns to S2；
S4: embedded control unit executes flame alert program, and judges whether environment temperature reaches by temperature sensor
The temperature upper limit that can bear to system hardware is actively to switch to remote control scheme control sniffing robot platform, no
Then return to S2；
S5: operator's remote control robot platform to face tunnel cross section is remain stationary, embedded control unit
Smog ground height and its subsidence velocity determining program are executed, smog is predicted and sinks down into the height to cause damages to trapped person
The time of degree, and predictive information is reached into man-machine interactive system, return to S2；
S6: trapped person's specific location is confirmed by infrared USB camera, switches to sniffing robot platform after confirmation
Remote control mode, operator control after robot platform reaches trapped person position and execute S7, otherwise return to S6；
S7: operator launches instruction by master console or intelligent mobile terminal publication, and embedded control unit receives
And the instruction is executed, starting stepper motor driving illuminator marker delivery device throws next illuminator marker, grasps simultaneously
Make personnel and draw Interface Mark placement position in man-machine interactive system track, returns to S2.
Also need for wireless router device to be arranged to fixed IP before step S1, the gateway of multiple embedded controllers is set
It is set to and fixation IP of the wireless router device under same gateway, man-machine interactive system (master console or intelligent mobile terminal)
It is connected into wireless router IP with each embedded controller, forms the local area network under fixed IP.
Embodiment 1
As shown in figure 3, passing through number I/O and mould between sniffing robot platform and embedded controller described in the present embodiment
Quasi- I/O is connected, and as the preferred embodiment of present embodiment, embedded control unit includes two embedded Controls in the present embodiment
Device.Respectively embedded controller 1 and embedded controller 2；Described two embedded controllers and master console and intelligent sliding
Dynamic terminal carries out WIFI wireless connection by router；The stepping electricity of embedded controller 1 and illuminator marker delivery device
Machine is connected by motor-driven I/O, passes through USB wired connection with infrared USB camera；Embedded controller 2 passes through number
I/O or simulation I/O (depending on data transmission) are connected with environment detection sensor group, while the embedded controller 2
It can control sniffing robot platform and switch between remote control mode and automatic obstacle-avoiding mode.The infrared USB camera is caught
Catching image rate is 30 frames/second, guarantees the real-time reliable of image data, the flame identification algorithm fortune that embedded controller 1 loads
With the moving target in frame differential method detection image sequence, frame difference binary map is obtained, and is removed and is moved by Morphological scale-space
Residual noise and small objects in image, are then masked image and determine moving region, counted according to flame color
Model is divided to obtain doubtful flame region, and extracts its LBP first moment, circularity, area change rate characteristic value, finally therefrom selects
Sample data is selected for training SVM classifier learning model, to judge in video with the presence or absence of flame；Smog recognizer passes through
Mixed Gauss model background subtraction method extracts moving region, and carries out the post processing of image such as median filtering, expansion, corrosion to it,
Divide to obtain doubtful smoke region according to smog Color Statistical model, and extracts its LBP texture, irregular form, stablizes diffusion
Characteristic value, finally therefrom selection sample data is for training SVM classifier learning model, to judge in video with the presence or absence of cigarette
Mist；Smog ground height and its subsidence velocity judge algorithm by tunnel area complete in selected digital image, to judge that this is solid
Smog lower boundary distance and its decrease speed from the ground are determined in region, to cook up reasonable rescue time.When system normally opens
When dynamic operation, each sensor that environmental detection sensor group is included carries out data acquisition simultaneously, and embedded controller 1 passes through red
After outer USB camera real-time image acquisition information, realtime graphic is transmitted to master console by WIFI first and intelligent mobile is whole
End, the mating APP of intelligent mobile terminal have the function of that Real-time image display, data are shown and remote control etc..Microwave radar people
Body detecting module, which is searched, whether there is life entity in surrounding a certain range, once detecting life entity, operator can be remote
Journey Manipulation of the machine people platform searches trapped person by realtime graphic, and embedded controller 1 passes through image information at the same time
Flame and smog are judged whether there is by image recognition algorithm after processing.In automatic obstacle-avoiding mode after the starting of sniffing robot platform
Lower operation, if embedded controller 1 detects flame and ambient temperature reaches on the temperature value that system hardware can bear
Limit or have been acknowledged that trapped person substantially orientation then can switch to manual-remote remote control mode, to avoid flame high temperature from burning out being
System accidentally avoids trapped person as barrier.Once it is determined that trapped person position, operator can remote control machine
The illuminator marker delivery device that people's platform carries launches an illuminator marker, thus to enter the rescue worker at scene
Trapped person is quickly found out to give a clue；Various kinds of sensors is run simultaneously during this period, acquires the environmental data letter of scene of fire
Breath, and real-time Transmission is to master console and intelligent mobile terminal, so that master console and the rescuer for holding intelligent mobile terminal
The timely grasp internal environmental information of member, the gyroscope real-time detection robot platform corner information that sniffing robot platform carries,
Embedded controller 2 carries out COMPREHENSIVE CALCULATING by the forward speed to real-time angle data and embedded robot platform to intend
Robot platform real-time route track is closed out, to realize that operator positions robot platform real-time tracking.System is according to
The specific location for positioning trapped person draws interface real-time mark trapped person's specific location in track.
A kind of Tunnel Fire initial stage rescue auxiliary system and method provided by the invention, combine embedded technology with
Mode identification technology intelligent decision flame, smog ground height and its subsidence velocity, thus look-ahead its to trapped person
Caused by the extent of injury；Enable rescue personnel true in the case where rescuing bad environments using reasonable track rendering algorithm
It is fixed to be rescued personnel's specific location, and can not enter at the first time in the case that tunnel is searched and rescued in rescue personnel and help rescue personnel most
Secure path is looked for fastly, and auxiliary formulates reasonable rescue plan, greatly shortens tunnel fire hazard rescue time, mention for rescue worker
For safety guarantee and intellectual support.Especially in the tunnel scene of a fire of dangerous product leakage, casualty loss loss is significantly reduced, is kept away
Unnecessary sacrifice is exempted from, while application of the invention greatly improves the intelligent level of scene of a fire search and rescue.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (3)
1. a kind of Tunnel Fire initial stage rescue mode is applied to Tunnel Fire initial stage rescue auxiliary system, the public affairs
Road tunnel fire hazard initial stage rescues auxiliary system
Sniffing robot platform；
It is equipped on embedded control unit on the sniffing robot platform, detecting signal unit, label and launches unit；It is described
Embedded control unit includes one or more controllers, and the detecting signal unit includes:
Infrared USB camera, the infrared USB camera are used to capture scene of fire image information, and depending on the site environment
Light intensity automatically switches infrared and non-infrared two kinds of operating modes；
Microwave radar human detection module, the microwave radar human detection module is to real-time monitoring around it in a certain range
Whether there is life entity, high level is exported if detecting life entity, otherwise exports low level；
Environmental detection sensor group, the environmental detection sensor group include: toxic gas detection sensor, fuel gas detection
Sensor, temperature sensor, oxygen sensor；
The embedded control unit collects the sniffing robot platform operation information；The embedded control unit with it is described
Detecting signal unit is launched unit with label and is connected, and the embedded control unit receives and handle the detecting signal unit hair
The fire information sent simultaneously controls the label and launches unit movement, when temperature reaches around system can bear the upper limit or detect
When having life entity, the sniffing robot platform is remote control mode by automatic obstacle-avoiding pattern switching；The label is launched single
Member includes stepper motor and illuminator marker delivery device；
Man-machine interactive system, the man-machine interactive system include for real-time display effective information master console and for for
Live rescue worker provides the intelligent mobile terminal of guidance program；The master console real-time reception embedded control unit transmits
Fire information and it is assessed, is handled, and fire information and assessment result are transferred to the intelligent mobile terminal, referred to
The personnel of waving can pass through master console manual control whole system；Live rescue worker can also pass through intelligent mobile terminal simultaneously
Front situation is obtained in real time and is made a response in advance, and can control whole system by intelligent mobile terminal；
And wireless router device, man-machine interactive system and sniffing robot platform are established by wifi signal and are wirelessly connected；
It is characterized in that, its step of the Tunnel Fire initial stage rescue mode includes:
S1: it is existing that hardware device needed for sniffing robot platform equipped system with automatic obstacle-avoiding mode enters tunnel fire hazard initial stage
, the hardware device includes embedded control unit, detecting signal unit, label dispensing unit；
S2: the sniffing robot platform executes following steps parallel:
(1) a certain range of complaint message in front of sniffing robot detection of platform, and judge whether to need avoidance, if needing
Execute S3；Otherwise S2 is executed；
(2) infrared USB camera acquires image information in front and in real time transmits acquired image through embedded control unit
To man-machine interactive system, while the embedded control unit carries out image procossing to acquired image information and analyzes, point
Analysing content includes:
Judge whether there is flame in acquired image, is to execute S4, otherwise returns to S2；
Judge whether there is smog in acquired image, is to execute S5, otherwise returns to S2；
(3) whether the search of microwave radar human detection module has trapped person, is, executes S6；Otherwise S2 is returned；
(4) concentration of toxic gases in toxic gas detection sensor detection ambient enviroment, and in real time through embedded control unit
Data are transferred to man-machine interactive system by WIFI；
(5) combustable gas concentration in fuel gas detection sensor detection ambient enviroment, and in real time through embedded control unit
Data are transferred to man-machine interactive system by WIFI；
(6) temperature of temperature sensor detection ambient enviroment, and in real time transmit data by WIFI through embedded control unit
To upper man-machine interactive system；
(7) oxygen concentration of oxygen sensor detection ambient enviroment, and data are passed through into WIFI through embedded control unit in real time
It is transferred to man-machine interactive system；
(8) gyroscope real-time detection robot platform corner information, embedded control unit by real-time angle data and
The forward speed of sniffing robot platform carries out COMPREHENSIVE CALCULATING to fit sniffing robot platform path track, to realize operation
Personnel position sniffing robot platform real-time tracking；
S3: robot platform executes avoidance program, returns to S2；
S4: embedded control unit executes flame alert program, and judges whether environment temperature reaches by temperature sensor and be
The temperature upper limit that system hardware can bear, is actively to switch to remote control scheme control sniffing robot platform, otherwise returns
Return S2；
S5: operator's remote control robot platform to face tunnel cross section is remain stationary, and embedded control unit executes
Smog ground height and its subsidence velocity determining program predict smog and sink down into the height to cause damages to trapped person
Time, and predictive information is reached into man-machine interactive system, return to S2；
S6: trapped person's specific location is confirmed by infrared USB camera, switches to sniffing robot platform remotely after confirmation
Remote control mode, operator control after robot platform reaches trapped person position and execute S7, otherwise return to S6；
S7: operator launches instruction by master console or intelligent mobile terminal publication, and embedded control unit is received and held
The row instruction, starting stepper motor driving illuminator marker delivery device throw next illuminator marker, while operator
Member draws Interface Mark placement position in man-machine interactive system track, returns to S2.
2. Tunnel Fire initial stage rescue mode according to claim 1, which is characterized in that the sniffing robot is flat
The gyroscope real-time detection robot platform corner information that platform carries, embedded control unit by real-time angle data and
The forward speed of sniffing robot platform carries out COMPREHENSIVE CALCULATING to fit sniffing robot platform path track, to realize operation
Personnel position sniffing robot platform real-time tracking.
3. Tunnel Fire initial stage rescue mode according to claim 1, it is characterised in that: in advance fill wireless routing
It installs and is set to fixed IP, the gateway of each controller of embedded control unit is arranged to and wireless router device is under same gateway
Fixed IP, master console and intelligent mobile terminal and each controller are connected into wireless router device IP, to form under fixed IP
Local area network.
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| CN113701820B (en) * | 2021-08-31 | 2024-04-09 | 石家庄铁道大学 | Device suitable for carrying out image investigation and infrared water exploration fire exploration on tunnel structure in operation |
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| CN114363812A (en) * | 2022-01-20 | 2022-04-15 | 广东隧辰地下空间科技有限公司 | Intelligent rescue and emergency transportation system for tunnel operation |
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