CN110841219A - Fire monitoring and handling system and method in cable tunnel environment - Google Patents
Fire monitoring and handling system and method in cable tunnel environment Download PDFInfo
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- CN110841219A CN110841219A CN201911244668.XA CN201911244668A CN110841219A CN 110841219 A CN110841219 A CN 110841219A CN 201911244668 A CN201911244668 A CN 201911244668A CN 110841219 A CN110841219 A CN 110841219A
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
- A62C3/16—Fire prevention, containment or extinguishing specially adapted for particular objects or places in electrical installations, e.g. cableways
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/50—Testing or indicating devices for determining the state of readiness of the equipment
Abstract
The invention discloses a fire monitoring and disposing system and method under a cable tunnel environment, which comprises the following steps: the fire monitoring module is configured for acquiring tunnel environment monitoring data and cable monitoring data, and respectively judging whether tunnel fire early warning and cable fire early warning are generated according to the determined tunnel fire early warning rule and cable fire early warning rule; the fire confirmation module is configured for linking the fire-fighting robot to move to the vicinity of the early warning position after tunnel fire early warning or cable fire early warning is generated; linking a monitoring device in the cable tunnel to monitor the environment condition in the tunnel; simultaneously, the intelligent inspection robot is linked to operate to an early warning position to judge whether a fire occurs; and the fire handling module is configured to carry out emergency handling on the confirmed fire according to the fire handling plan after the fire occurs. The fire fighting inspection method can effectively improve the fire fighting inspection accuracy and improve the fire handling accuracy and the efficiency.
Description
Technical Field
The invention belongs to the technical field of cable tunnel fire monitoring, and particularly relates to a system and a method for monitoring and disposing fire in a cable tunnel environment.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
For a main power supply channel with concentrated cables, in order to guarantee safe and stable operation, multiple cable lines need to be reasonably placed in a cable tunnel. The power cable works in a high-voltage and high-temperature environment for a long time, insulation aging can be generated, breakdown and short circuit are caused, cable fire further occurs, due to the fact that the space of a cable tunnel is narrow, under the condition of fire, due to the fact that a large amount of smoke, toxic and harmful substances and high temperature are generated due to cable combustion, the cable tunnel is long in distance, narrow in channel and few in outlet, and rescue workers are difficult to approach to a fire source.
The existing cable tunnel fire detection method mainly comprises the steps of accessing fixedly installed environment detection equipment for environment detection through a fire monitoring host at a fixed position, uploading detection data to a system, judging suspected fire by the system, generating an alarm, and handing over the alarm to artificial confirmation processing. After a fire occurs, fire extinguishing devices such as intelligent robots carrying fire extinguishing bombs in tunnels and fire extinguishing bombs fixedly installed are mainly used for extinguishing fire.
However, the fire-fighting monitoring host installed in the cable tunnel is difficult to realize all-round monitoring of the cable tunnel, the fixedly installed fire extinguishing bomb is limited in coverage, and part of the fire extinguishing bomb does not have a monitoring function, and the firing state cannot be monitored when a fire occurs. The existing fire extinguishing bomb carrying robot mainly detects fire conditions through a sensor of the robot, the detection accuracy is limited, and the accuracy of locating the fire conditions is low. When a plurality of robots are deployed in the tunnel, the robots detect the robots respectively, and do not interact with a monitoring device fixedly installed in the tunnel, so that an effective unified deployment method is lacked. Therefore, the current work of confirming and disposing the fire in the cable tunnel is highly dependent on the familiarity of operation and maintenance personnel with the tunnel site.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a fire monitoring and handling system and a method under a cable tunnel environment, which are based on an intelligent inspection robot, are combined with an online monitoring device and a fire-fighting host, and intelligently analyze data such as infrared temperature, cable crust breaking, explosion-proof gas concentration and the like and generate fire early warning; and the fire is early warned, and the plurality of groups of inspection robots and the fixed point video monitoring are linked to confirm the fire.
In order to achieve the above purpose, in some embodiments, the following technical solutions are adopted:
a fire monitoring and handling system in a cable tunnel environment comprises:
the fire monitoring module is configured for acquiring tunnel environment monitoring data and cable monitoring data, and respectively judging whether tunnel fire early warning and cable fire early warning are generated according to the determined tunnel fire early warning rule and cable fire early warning rule;
the fire confirmation module is configured for linking the fire-fighting robot to move to the vicinity of the early warning position after tunnel fire early warning or cable fire early warning is generated; linking a monitoring device in the cable tunnel to monitor the environment condition in the tunnel; simultaneously, the intelligent inspection robot is linked to operate to an early warning position to judge whether a fire occurs;
and the fire handling module is configured to carry out emergency handling on the confirmed fire according to the fire handling plan after the fire occurs.
In other embodiments, the following technical solutions are adopted:
a fire monitoring and handling method in a cable tunnel environment comprises the following steps:
dividing the cable tunnel into a plurality of sections, and establishing an equipment relation model in each section;
establishing a tunnel fire early warning rule and a cable fire early warning rule in each section, monitoring tunnel environment data and cable data in real time, and judging whether fire early warning occurs in each section according to the early warning rules;
if fire early warning occurs, matching the nearest intelligent fire-fighting robot according to the position of the fire early warning point, and controlling the intelligent fire-fighting robot to run to the position close to the position of the fire early warning point; meanwhile, the intelligent inspection robot is called to run to a fire early warning point position, whether a high-temperature point meeting a fire condition exists or not is judged, if yes, the fire position point is located, a flame range is determined, and a fire handling plan is called to handle the fire.
The invention has the following beneficial effects:
the invention provides a comprehensive fire-fighting monitoring method combining various devices such as an intelligent patrol robot, an intelligent fire-fighting robot, an online monitoring device, a fixed point camera, a fire-fighting host and the like aiming at the environmental characteristics of a cable tunnel, and provides an all-round fire-fighting confirmation and disposal method according to an analysis result. Effectively improve fire control inspection accuracy, improve the accuracy and the time efficiency of fire behavior processing.
The system integrates various types of equipment such as an intelligent inspection robot, an intelligent fire-fighting robot, a fire-fighting host, a fixed point camera, an access control system, a tunnel environment monitoring device, ventilation equipment, lighting equipment, a cable online monitoring device and the like in a tunnel, and is used for comprehensively monitoring, confirming and emergently disposing fire. The tunnel is monitored in sections according to device distribution, data of each section are analyzed in a unified mode through the robot and the fixing device, monitoring accuracy is higher, and fire positioning accuracy is more accurate. After a fire occurs, the fire condition and the fire handling condition can be monitored more intuitively and comprehensively by various means of sensor data, visible light video and fixed point video.
According to the invention, a machine learning algorithm is adopted, environment data such as tunnel environment temperature and humidity, smoke concentration and the like are input, the characteristics of the environment data are extracted, environment condition parameters under different seasons and different weather conditions are trained, and different fire early warning thresholds are adapted according to different environment conditions.
The cable tunnel buries underground environment deeply and is special, and different tunnels receive each place environmental condition influence great, for example the difference of north and south weather leads to the tunnel in the big difference of environment humiture. Due to deep burying, the speed of the environment change in the single tunnel is low along with the change of the external climate, and the environment data tends to change linearly. The system extracts the environmental conditions and fire judgment basis suitable for the current tunnel according to historical environmental data in the tunnel; for example: for a tunnel which is dry throughout the year, a temperature threshold value and a gas threshold value are automatically extracted as main fire judgment threshold values, and humidity data are abandoned. For tunnels with large temperature changes in different seasons, the environment temperature is mainly characterized by dividing an environment temperature interval, configuring a plurality of groups of fire temperature thresholds, and combining a humidity value, a gas threshold and a tunnel brightness threshold as fire judgment bases. The method can automatically cope with the environmental change in the tunnel, reduce manual maintenance, improve the fire judgment accuracy and reduce false alarm.
According to the invention, the position of the holder is corrected through the infrared video of the robot, a holder servo method aiming at the fire is formed, and the fire point is accurately positioned to the image center of the robot.
The invention relates to a multi-robot scheduling method combined with a robot in fire treatment. A plurality of fire-fighting robots are used to take part in fire extinguishing by adopting a main and standby mode.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
Fig. 1 is a schematic structural diagram of a fire monitoring and handling system in a cable tunnel environment according to an embodiment of the present invention;
fig. 2 is a servo flow chart of the fire positioning cradle head of the inspection robot in the first embodiment of the invention;
FIG. 3 is a schematic diagram of a fire fighting robot positioning location in a fire handling system according to an embodiment of the present invention;
fig. 4 is a flowchart of a fire monitoring and handling method in a cable tunnel environment according to an embodiment of the present invention.
Detailed Description
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
Example one
In one or more embodiments, a fire monitoring and handling system in a cable tunnel environment is disclosed, which is based on an intelligent inspection robot, is combined with an online monitoring device and a fire-fighting host, and intelligently analyzes data such as infrared temperature, cable skin breaking and explosion-proof gas concentration and generates fire early warning; the early warning fire simultaneously links multiunit and patrols and examines robot, fixed point video monitoring and confirms the fire. The fire handling strategies comprise methods for controlling the intelligent fire-fighting robot to extinguish fire, monitoring a fixedly installed fire extinguishing device, linkage tunnel security equipment, linkage tunnel ventilation equipment, monitoring states of fire fighters and the like.
Referring to fig. 1, the fire monitoring and handling system in the cable tunnel environment of the present embodiment includes:
and (1-1) a system communication module which is responsible for connecting an intelligent inspection robot, an intelligent fire-fighting robot, a fire-fighting host, a fixed point camera, an electronic well lid, an access control system, a tunnel environment monitoring device, a fire door, ventilation equipment, lighting equipment and a cable online monitoring device in the tunnel into the system. The system defines a standard access communication specification based on a standard industry protocol. The access mode comprises the direct communication of the monitoring equipment and the communication of the monitoring equipment through the monitoring host.
And (1-2) a fire monitoring module for real-time data monitoring. Different fire early warning rules are customized for tunnels and cables.
According to the actual operation condition of the tunnel, part of daily monitored environment data is input into a machine learning algorithm to extract features for training, and a referable fire early warning rule is provided. Whether tunnel fire warning is generated or not is judged through comprehensive analysis of the position of the robot, the infrared temperature of the robot, tunnel environment data and the like.
And prefabricating various different cable fire alarm early warning rules according to conditions such as cable voltage grade, material and the like. Through the comprehensive analysis of data such as cable sheath detection, cable current monitoring, cable partial discharge current monitoring, toxic gas monitoring, cable temperature measurement, optical fiber temperature measurement and the like, whether cable fire warning is generated or not is judged.
(1-3) fire confirmation module: and the early warning device is responsible for linking the intelligent inspection robot and the fixed point camera. The inspection robot is called to be close to the fire point, and the distance of the fire high-temperature point is detected by combining the laser ranging of the inspection robot, a flame detector and other means. And calling the intelligent fire-fighting robot to move to a specific position for standby. Linkage fixed point surveillance camera head through the interior environmental aspect of video monitoring tunnel, includes: and monitoring the temperature and humidity, the smoke concentration and the concentration of the explosion-proof gas in the tunnel in real time. In the process of confirming the fire by the robot, the change of environmental data is continuously recorded, so that the change condition of the fire is conveniently analyzed. The concentration real-time change conditions of various gases such as carbon monoxide, hydrogen sulfide, methane and the like in the tunnel are continuously monitored, so that operation and maintenance personnel can be assisted to confirm possible fire causes.
(1-4) a fire handling module: and the fire monitoring system is responsible for carrying out emergency treatment on the confirmed fire and monitoring a treatment result. The fire handling plans include question-answering type handling plans, automatic handling plans and emergency handling plans.
The question-and-answer type disposal requires operation and maintenance personnel to confirm the fire situation, and the system can be called and executed after the fire extinguishing equipment is appointed.
The automatic treatment plan means that the system automatically selects nearby fire-fighting equipment to try to extinguish the fire according to the plan and automatically calls nearby monitoring equipment to monitor the fire. The starting of the automatic disposal plan needs to be set by operation and maintenance personnel in advance. The rights include: the method is fully automatically executed when a fire is found, and the user has the right to execute when no response is given, and has the right to execute after the user agrees.
The emergency treatment plan is default that the fire early warning is still monitored after the automatic treatment plan is completely executed, the emergency treatment plan is started to transfer manual control, and all available data are provided for assisting in manually extinguishing fire and monitoring the safety of fire fighters.
The operation and maintenance personnel have the highest control right during the period of automatically handling the fire, the user is allowed to interrupt, adjust and cancel the fire handling plan, and the operation and maintenance personnel are allowed to immediately start the emergency handling plan.
(1-5) a user interaction module: the system is responsible for user interaction, and the fire condition of main operation and maintenance personnel is reminded by adopting the modes of sound and light alarm, short message sending, mail sending, mobile phone message pushing and the like. And providing all accessible video, audio and monitoring data for the user to monitor the fire condition in real time.
Example two
In one or more embodiments, a fire monitoring and handling method in a cable tunnel environment is disclosed, and with reference to fig. 4, the method includes: the fire monitoring method, the fire confirming method and the fire disposing method.
(2-1) the fire monitoring method specifically comprises the following processes:
step 1, dividing tunnel segments according to the distribution condition of the devices in the tunnel. And considering that each segment contains different monitoring devices, and establishing a device relation model in the segment by taking the segment as a dimension.
And 2, establishing a tunnel fire early warning rule according to different equipment contained in each section, wherein the early warning rule contains fire threshold parameters under various environmental conditions, and the settable environmental conditions comprise climatic scenes such as spring and autumn seasons, summer, winter, dry weather, rainy weather and the like. The fire threshold comprises various types of data, and logical operation is adopted by default, namely each type of data participating in calculation needs to meet the fire threshold corresponding to the data, and the fire is judged to generate fire early warning. For example, "ambient maximum temperature > 50 ℃ and infrared temperature > 80 ℃; basic mathematical operations can be set up: addition, subtraction, multiplication and division. For example "((infrared thermometry-ambient temperature)/ambient temperature) > 0.5";
and establishing a mathematical model in each segment and establishing a machine learning training model. Extracting the characteristics of the tunnel environment temperature, the environment humidity, the smoke concentration, the oxygen concentration and the harmful gas concentration, performing data training on the existing historical environment data, and providing the environment condition data applicable to the current tunnel. For example: for the cable tunnel in the northeast region, extracting environmental condition data applicable in winter and summer and estimating available fire threshold parameters. For the cable tunnel in the south China, environmental condition data applicable to plum rain season, high temperature and high humidity are extracted, and fire threshold parameters for reference are estimated.
The machine learning algorithm is realized by adopting different algorithms aiming at different training data, wherein the climate season division is realized based on an SVM vector machine, temperature and humidity data in different time intervals are analyzed, after the data are flattened, a straight line is tried to be found, the points are divided into two groups, and the straight line is far away from all the points as far as possible. So as to clearly match the temperature and humidity boundary of each season of the current tunnel.
And 3, continuously accumulating tunnel environment data samples in the daily monitoring process. And the established machine learning training model is regularly adopted to extract features and continue training, so that the accuracy of environmental condition division is improved. And submitting the training result to operation and maintenance personnel, and determining whether to adjust the tunnel fire early warning rule or not by the operation and maintenance personnel.
And 4, monitoring tunnel environment data, reading data such as environment temperature, environment humidity, smoke concentration, oxygen concentration and harmful gas concentration through the inspection robot and the tunnel environment sensor, adapting to the current environment condition, and calculating whether fire early warning occurs according to the configured fire threshold.
And 5, establishing a cable fire early warning rule. And presetting a cable fire monitoring rule and a fire threshold template according to the material and the voltage grade of the cable. And establishing a data model of each cable in the tunnel, and respectively configuring fire early warning rules required by each cable.
And 6, monitoring cable real-time data, analyzing cable grounding current, cable partial discharge, robot infrared temperature measurement data and cable sheath damage identification data according to configured cable fire early warning rules, and calculating whether fire early warning occurs or not.
(2-2) the fire confirmation method specifically includes:
and 7, performing fire early warning, and executing related actions according to a prefabricated fire confirmation scheme.
Matching the nearest intelligent fire-fighting robot according to the position of the fire point, calling the position to be close to facilities such as a fireproof door, a firewall and the like nearest to the fire point, and referring to fig. 3; after the fire handling plan is started to be executed, the fire handling system can quickly run to an accurate fire point to handle the fire.
And 8, comprehensively analyzing the states of all equipment near the fire early warning position, calling the inspection robot to the fire early warning position if the current position is not provided with the inspection robot, and executing a pan-tilt servo algorithm to search for a high temperature point after the robot is in place. The fire positioning cloud platform servo flow of the inspection robot is as shown in the attached figure 2.
And 8-1, presetting a 360-degree spherical area in the rotatable range of the robot holder. And a certain number of observation directions are prefabricated according to the width of the tunnel and the visual field range of the robot video, so that the coverage of a spherical area is ensured.
8-2, sequentially calling the holder to observe the azimuth, calling the thermal infrared imager to search for a high-temperature point,
and 8-3, if high-temperature points appear in the image, calculating the number of pixels of the high-temperature points in the picture from the center point of the image, wherein the number of pixels comprises a horizontal pixel value X and a vertical pixel value Y.
And 8-4, converting the horizontal direction pixel value X and the vertical direction pixel value Y into a horizontal rotation angle AngelX and a vertical rotation angle AngelY of the holder according to the image view range of the thermal imager. Calling the corresponding angle of rotation of the pan-tilt
And 8-5, repeatedly calling 8-3 and 8-4 steps. Until a high temperature point appears in the center of the infrared image.
8-6, if all the prefabricated directions of the cloud platform are called, the high temperature points meeting the fire condition are not found. Judging that the fire is misinformed, and relieving the fire early warning. And continuing to monitor the fire according to the step 4 and the step 6.
And 9, if the inspection robot is provided with a flame detector, reading the accurate distance from the high-temperature central point and the flame range according to the function of the flame detector. According to data fed back by the flame detector, the inspection robot accurately moves to the position near the fire area by utilizing RFID positioning and laser sensor positioning, and keeps a safe distance with the fire position, and the safe range is determined according to the explosion-proof grade of the inspection robot. The position of the cloud deck of the robot is finely adjusted, so that the video of the robot is accurately positioned to a fire point.
And step 10, matching the nearby fixed point camera according to the final fire position confirmed in the steps 8 and 9. And selecting a prefabricating position which can possibly monitor the fire according to the prefabricating position information of the holder prefabricated by the camera, and rotating the fixed point camera.
And 11, matching the nearby fire extinguishing device fixedly installed according to the final fire position confirmed in the steps 8 and 9, and monitoring the firing state of the fire extinguishing device.
(2-3) the fire handling method specifically includes:
and 12, continuously executing the step 4 and the step 6 to monitor the fire, trying to dispose the fire according to the fire disposition plan, disposing the plan according to a question-answer mode, waiting for confirmation of personnel needing operation and maintenance, recording fire misinformation information and relieving fire early warning if the fire early warning does not appear in the waiting process. If the operation and maintenance personnel confirm the fire, the operation and maintenance personnel can decide the fire extinguishing equipment by themselves or immediately start an automatic fire handling plan to enter step 13 to attempt fire extinguishing. After judging the automatic disposition authority according to the automatic disposition plan, the process proceeds to step 13 to try to dispose the fire.
And step 13, starting an automatic disposal plan, trying to automatically dispose the fire, checking the state of the nearby fire-fighting robots according to the final fire positions confirmed in the steps 8 and 9, selecting a plurality of robots in the forward and backward directions of the tunnel, and taking the standby fire-fighting robot closest to the fire point as a main robot and the other standby robots as standby robots. And sequentially calling to the position near the fire point, wherein the Distance between the main fire-fighting robot and the fire point is required to be 1 less than the fire-fighting bomb coverage range Distance2 of the main fire-fighting robot. The standby fire-fighting robots are sequentially standby in a queue mode. The fire fighting robots are kept at a fixed Distance 3. The Distance3 is adjusted according to the actual length and width of the cable tunnel. Fire-fighting robot location example figure 3
And 14, after the main fire-fighting robot is in place, monitoring the fire extinguishing bomb striking state of the main fire-fighting robot, and continuously executing the step 4 and the step 6 to monitor the fire condition. If a fire is still present, the emergency treatment protocol is enabled, step 16 is entered.
And 15, linking the ventilation equipment. According to an automatic disposal plan, an exhaust fan, a vent and other ventilation equipment near a fire point are temporarily closed, harmful gas is temporarily sealed in a cable tunnel, and oxygen outside the tunnel is reduced from entering the tunnel. After the vent is closed, step 16 is entered to enable the emergency treatment protocol.
And step 16, starting the emergency treatment plan, transferring the control right to operation and maintenance personnel, and determining whether to start the standby fire-fighting robot or not by the operation and maintenance personnel. The linkage security system automatically selects a camera close to a fixed point and plays a video of the fixed point in real time when operation and maintenance personnel decide to open security equipment such as a fan and a fire door. When the fire fighter gets into in the tunnel, the linkage security protection system reads personnel's location data, tries to match the fixed point camera according to personnel's position to play real-time video.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (10)
1. A fire monitoring and handling system under cable tunnel environment, characterized by comprising:
the fire monitoring module is configured for acquiring tunnel environment monitoring data and cable monitoring data, and respectively judging whether tunnel fire early warning and cable fire early warning are generated according to the determined tunnel fire early warning rule and cable fire early warning rule;
the fire confirmation module is configured for linking the fire-fighting robot to move to the vicinity of the early warning position after tunnel fire early warning or cable fire early warning is generated; linking a monitoring device in the cable tunnel to monitor the environment condition in the tunnel; simultaneously, the intelligent inspection robot is linked to operate to an early warning position to judge whether a fire occurs;
and the fire handling module is configured to carry out emergency handling on the confirmed fire according to the fire handling plan after the fire occurs.
2. The fire monitoring and disposing system of claim 1, further comprising: the user interaction module is configured for notifying the operation and maintenance personnel of the monitored fire condition; and simultaneously, real-time monitoring data are provided for operation and maintenance personnel.
3. The system for monitoring and disposing of fire in cable tunnel environment according to claim 1, wherein the threshold of the tunnel fire warning parameter is determined according to the devices in the segment and different environmental conditions, specifically:
establishing a machine learning training model in each section;
performing data training on the existing historical environmental data by taking the tunnel environmental temperature, the environmental humidity, the smoke concentration, the oxygen concentration and the harmful gas concentration as characteristics, and extracting environmental condition data applicable to the current tunnel;
determining a tunnel fire early warning parameter threshold according to the extracted environmental condition data;
and determining a logic operation rule of the tunnel fire early warning parameter threshold value to form a tunnel fire early warning rule.
4. The fire monitoring and handling system in cable tunnel environment of claim 1, wherein the linkage intelligent inspection robot runs to the early warning position to judge whether the fire happens, specifically:
the intelligent inspection robot runs to an early warning position and searches for a high temperature point meeting the fire condition through cloud deck servo control; if the high-temperature point meeting the fire condition is not found, judging that the fire condition does not occur; otherwise, judging the occurrence of the fire and positioning the central position of the high-temperature point.
5. The fire monitoring and disposing system of claim 1, wherein the fire disposing plan comprises:
question-and-answer treatment protocol: receiving an instruction of an operation and maintenance worker, and calling set fire extinguishing equipment to execute a fire extinguishing action;
automatic treatment of the plan: automatically selecting nearby fire-fighting equipment to try to extinguish the fire, and automatically calling nearby monitoring equipment to monitor the fire; the ventilation equipment near the fire point is closed in a linkage manner, and the positions of fire fighters are automatically positioned;
emergency treatment protocol: and if the fire early warning is still monitored after the automatic disposal plan is executed, manual control is handed over, all available data are provided to assist in manual fire extinguishing, and the safety of fire fighters is monitored in real time.
6. A fire monitoring and handling method in a cable tunnel environment is characterized by comprising the following steps:
dividing the cable tunnel into a plurality of sections, and establishing an equipment relation model in each section;
establishing a tunnel fire early warning rule and a cable fire early warning rule in each section, monitoring tunnel environment data and cable data in real time, and judging whether fire early warning occurs in each section according to the early warning rules;
if fire early warning occurs, matching the nearest intelligent fire-fighting robot according to the position of the fire early warning point, and controlling the intelligent fire-fighting robot to run to the position close to the position of the fire early warning point; meanwhile, the intelligent inspection robot is called to run to a fire early warning point position, whether a high-temperature point meeting a fire condition exists or not is judged, if yes, the fire position point is located, a flame range is determined, and a fire handling plan is called to handle the fire.
7. The fire monitoring and handling method in the cable tunnel environment according to claim 6, wherein the tunnel fire early warning rule and the cable fire early warning rule in each section are established, and specifically:
the tunnel fire early warning rule is formulated according to the type of equipment in the tunnel and the current environmental condition;
the cable fire early warning rule is formulated according to the material and the voltage grade of the cable.
8. The fire monitoring and handling method in the cable tunnel environment according to claim 6, wherein the intelligent inspection robot is called to run to a fire early warning point position, and whether a high temperature point meeting fire conditions exists is judged, specifically:
prefabricating a set number of observation directions according to the width of the tunnel and the visual field range of the intelligent inspection robot;
sequentially calling the intelligent inspection robot holder to the corresponding observation position, and calling the thermal infrared imager to search for a high-temperature point;
if high-temperature points appear in the infrared image, calculating the number of pixels of the high-temperature points in the picture from the center point of the image;
controlling the cradle head to rotate by a corresponding angle according to the pixel number so that the high-temperature point appears at the central position of the infrared image;
if all the prefabricated azimuths of the holder are called, but high-temperature points meeting the fire condition are not found, the fire condition is judged to be misinformed, and the fire condition early warning is relieved.
9. The fire monitoring and handling method in the cable tunnel environment according to claim 6, wherein the nearby fixed fire extinguishing device is matched to extinguish fire according to the fire position point and the flame range located by the intelligent inspection robot, and the nearby fixed detection equipment is matched to monitor the fire position and the fire extinguishing state of the fire extinguishing device in real time.
10. The fire monitoring and handling method in a cable tunnel environment according to claim 6, wherein the fire handling plan includes:
question-and-answer treatment protocol: receiving an instruction of an operation and maintenance worker, and calling set fire extinguishing equipment to execute a fire extinguishing action;
automatic treatment of the plan: automatically selecting nearby fire-fighting equipment to try to extinguish a fire, automatically calling nearby monitoring equipment to monitor the fire, and linking to close ventilation equipment nearby the fire point to automatically position the positions of fire fighters;
emergency treatment protocol: and if the fire early warning is still monitored after the automatic disposal plan is executed, manual control is handed over, all available data are provided to assist in manual fire extinguishing, and the safety of fire fighters is monitored in real time.
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| CN111672045A (en) * | 2020-05-21 | 2020-09-18 | 国网湖南省电力有限公司 | Fire-fighting robot, fire-fighting system and fire-fighting control method |
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| CN113018728A (en) * | 2021-03-17 | 2021-06-25 | 国网湖南省电力有限公司 | Cable tunnel fire hazard classification studying and judging fire-fighting system |
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| CN113018728A (en) * | 2021-03-17 | 2021-06-25 | 国网湖南省电力有限公司 | Cable tunnel fire hazard classification studying and judging fire-fighting system |
| CN113362563A (en) * | 2021-06-03 | 2021-09-07 | 国网北京市电力公司 | Method and device for determining abnormal condition of power tunnel |
| CN113689651B (en) * | 2021-07-16 | 2023-01-31 | 国网江苏省电力有限公司电力科学研究院 | Early fire early warning method and device for cable channel, early warning monitoring platform and storage medium |
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| CN113616957A (en) * | 2021-08-10 | 2021-11-09 | 广东三水合肥工业大学研究院 | Fire control system and method for underground pipe-jacking tunnel |
| CN113566903A (en) * | 2021-09-28 | 2021-10-29 | 山东科华电力技术有限公司 | Distributed cable comprehensive online monitoring device and method |
| CN113566903B (en) * | 2021-09-28 | 2022-02-22 | 山东科华电力技术有限公司 | Distributed cable comprehensive online monitoring device and method |
| CN113975681A (en) * | 2021-10-22 | 2022-01-28 | 上海融和智电新能源有限公司 | Method and system for fire-fighting emergency treatment of power change station |
| CN114360221A (en) * | 2022-01-05 | 2022-04-15 | 中国人民解放军海军工程大学 | Multi-source real-time monitoring system for protecting sea optical cable |
| CN114360221B (en) * | 2022-01-05 | 2024-03-26 | 中国人民解放军海军工程大学 | Multi-source real-time monitoring system for protecting submarine optical cable |
| CN116386163A (en) * | 2023-06-02 | 2023-07-04 | 北京利达华信电子股份有限公司 | Method and system for patrol management, electronic equipment and storage medium |
| CN116386163B (en) * | 2023-06-02 | 2024-03-12 | 北京利达华信电子股份有限公司 | Method and system for patrol management, electronic equipment and storage medium |
| CN117282054A (en) * | 2023-11-16 | 2023-12-26 | 四川智慧高速科技有限公司 | Tunnel fire-fighting linkage system based on edge calculation |
| CN117282054B (en) * | 2023-11-16 | 2024-01-30 | 四川智慧高速科技有限公司 | Tunnel fire-fighting linkage system based on edge calculation |
| CN117688787A (en) * | 2024-02-04 | 2024-03-12 | 广东电网有限责任公司广州供电局 | Disaster simulation processing method and device for cable tunnel and electronic equipment |
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