CN110864925A

CN110864925A - Image deduction simulation equipment and method for disaster site

Info

Publication number: CN110864925A
Application number: CN201911147806.2A
Authority: CN
Inventors: 陈超; 潘霄; 李楠; 董慧; 陈雨娟; 方亮; 易皓瑜; 王旭东; 陈嘉欣; 高睿喆
Original assignee: North China Institute of Science and Technology
Current assignee: North China Institute of Science and Technology
Priority date: 2019-11-21
Filing date: 2019-11-21
Publication date: 2020-03-06
Anticipated expiration: 2039-11-21
Also published as: CN110864925B

Abstract

The invention provides an image deduction simulation device for a disaster site, which is applied to the disaster site with a walking surface and can be lifted to a proper position as required to acquire images in a visual field range. The image simulation equipment comprises an image acquisition vehicle (10), a lifting component (13), a camera cloud platform (23), an environment temperature and humidity acquisition device, a slam navigation device (202), an acquisition controller (100), a remote simulation processor, a heating or refrigerating device and a humidifying device. The image acquisition vehicle can move on a walking surface and comprises a frame (11) and a rotating part. The frame has a support surface that can be parallel to the walking surface. The rotating part comprises a driving shaft, a pair of traveling wheels (12) and a traveling driving motor. The invention also provides an image deduction simulation method for the disaster site.

Description

Image deduction simulation equipment and method for disaster site

Technical Field

The invention belongs to the field of detection technology, and particularly relates to image deduction simulation equipment and method for a disaster site.

Background

At present, after natural disasters such as earthquake and fire disasters occur, rescue workers need to be dispatched to survey disaster sites, and repair plans need to be made for rescuing wounded according to site damage conditions. The existing detection vehicle is generally provided with a camera device and a wireless communication device, can shoot the situation of a disaster site and returns to a control end through wireless equipment for rescue workers to refer to, but when encountering a large obstacle, the detection vehicle is difficult to cross the obstacle, the height of the detection vehicle is limited, the field range of the camera device is also covered by the obstacle, the camera device is difficult to shoot the clear site situation, and the detection vehicle is not beneficial to the rescue workers to survey the site.

Disclosure of Invention

The invention provides image deduction simulation equipment and method for disaster sites, aiming at the problem that a detection device is difficult to cross a limited obstacle shooting range.

In a first aspect, to achieve the above object, the present invention provides an image deduction simulation device for a disaster site, which is applied to a disaster site having a walking surface and can be lifted to a proper position as required to acquire an image within a visual field. The image simulation equipment comprises an image acquisition vehicle, a lifting component, a camera head, an environment temperature and humidity acquisition device, a slam navigation device, an acquisition controller, a remote simulation processor, a heating or refrigerating device and a humidifying device.

The image acquisition vehicle can move on a walking surface and comprises a machine frame and a rotating part. The frame has a support surface that can be parallel to the walking surface. The rotating part comprises a driving shaft, a pair of traveling wheels and a traveling driving motor. The driving shaft is rotatably arranged on the frame. The axis of the drive shaft is parallel to the support surface. The walking wheel is coaxially arranged on the driving shaft. The walking driving motor is provided with a power shaft capable of outputting torque, is in transmission connection with the driving shaft and can drive the driving shaft to rotate around the axis of the driving shaft. The walking driving motor is also provided with a walking driving interface capable of driving the walking driving motor to rotate.

The lifting assembly comprises a storage plate, a lead screw, a sliding rod, a sliding block, a lifting driving motor and a folding unit. The object placing plate is positioned on the direction of the supporting surface departing from the walking surface. The object placing plate is provided with an object placing surface which can be parallel to the supporting surface. The lead screw is rotatably arranged on the supporting surface. The axis of the screw is parallel to the support surface. The slide bar is arranged on the supporting surface and is parallel to the lead screw. The slider forms a screw hole which can rotate in a matched manner with the screw. The sliding block is rotatably arranged on the lead screw through the lead screw hole and slidably arranged on the sliding rod. The slide can be moved along the axis of the spindle from a rest position coordinate to a second position as the spindle rotates. The lifting driving motor is provided with a driving shaft capable of outputting torque and a lifting driving interface capable of driving the lifting driving motor to rotate. The drive shaft is in transmission connection with the screw rod and can drive the screw rod to rotate around the axis.

The folding unit includes a first folding bar and a second folding bar. The first folding bar has both ends in the extending direction thereof. One end of the first folding rod is movably connected to the sliding block. The other end of the first folding rod is movably connected with the object placing plate. The second folding bar has both ends in the extending direction thereof. The second folding bar is connected to the first folding bar about an axis of rotation parallel to the support surface. One end of the second folding rod is movably connected to the frame. The other end of the second folding rod is slidably arranged on the object placing plate.

When the driving shaft drives the screw rod to rotate, the sliding block moves to the second position from the stopping position coordinate, and one end of the first folding rod connected with the sliding block and one end of the second folding rod connected with the rack are gradually drawn close to enable the object placing plate to stop at a plurality of set heights in one lifting direction. The lifting direction is vertical to the supporting surface.

The camera shooting cloud platform is arranged on the object placing surface. The camera shooting cloud platform is provided with a camera, a shooting control end and an image output interface. The camera can acquire images within the orientation range of the camera and generate an acquired image file. The camera shooting cloud platform can transmit the collected image file to the image output interface.

The environment temperature and humidity acquisition device comprises a temperature sensor, a humidity sensor and a wireless transmission module. The temperature sensor is arranged on the object placing surface and is provided with a temperature sensing output interface. The temperature sensor collects a current temperature value and can send the current temperature value to the temperature sensing output interface. The humidity sensor is arranged on the object placing surface and is provided with a humidity sensing output interface. Humidity transducer gathers current humidity value and can send current humidity value to humidity response output interface. The wireless transmission module is provided with a plurality of input ends and a transmission end. The plurality of input ends are respectively connected with the temperature sensing output interface and the humidity sensing output interface. The wireless transmission module can send the current temperature information and the current humidity information received by the plurality of input ends to a remote place from the transmission end.

And the slam navigation device is arranged on the object placing plate. The slam navigation device can acquire a navigation path according to the edge of the walking surface.

The acquisition controller is provided with a plurality of input interfaces and a plurality of output interfaces.

The first input interface is connected with the image output interface in a wireless transmission mode.

The second input interface connects to the slam navigation device and receives the navigation path.

The first output interface is connected with the walking driving interface.

The second output interface is connected with the lifting driving interface.

And the third output interface is connected with the shooting control end.

The fourth output interface is wirelessly connected with the remote simulation processor.

The acquisition controller generates a plurality of dwell position coordinates in the navigation path. The acquisition controller generates current motor driving information according to the next stop position information. The acquisition controller sends the current motor driving information to the walking driving interface. And the walking driving motor moves to the next stopping position according to the current motor driving information.

The acquisition controller judges whether the current position is a stop position coordinate or not, and if so, the acquisition controller sends lifting driving information to the lifting driving interface, and the lifting driving information comprises a plurality of continuous lifting position information. When the lifting driving motor drives the lifting driving motor to continuously reach each lifting position according to a plurality of continuous lifting position information in the lifting driving information, the acquisition controller sends the shooting driving information to the shooting control end, and after the camera receives the shooting information, the camera acquires images at positions corresponding to the plurality of continuous lifting position information and generates a plurality of current acquired image files. The plurality of current collected image files comprise a stopping position coordinate and current lifting position information. And the acquisition controller sends the current acquired image file to the remote simulation processor.

A remote emulation processor having a drive output. The remote simulation processor can splice a plurality of currently acquired image files corresponding to the position information according to the received stop position coordinates and acquire images of the disaster site corresponding to the stop position coordinates according to the plurality of lifting position information.

The remote simulation processor can receive the current temperature information and the current humidity information sent by the wireless transmission module. The remote simulation processor can generate temperature control driving information and humidity driving information according to the current temperature information and the current humidity information. The remote simulation processor can send the temperature control driving information and the humidity driving information to the driving output end.

And the heating or cooling device is connected with the driving output end of the remote simulation processor. The heating or cooling device can heat or cool according to the temperature control driving information.

And the humidifying device is connected with the driving output end of the remote simulation processor. The humidifying device can humidify according to the humidity driving information.

In another embodiment of the image deduction simulation device at the disaster site, the camera head further comprises a rotating device. The rotating device is fixed on the object placing surface. The rotating device can drive the camera to swing along the direction perpendicular to the supporting surface, or the rotating device can drive the camera to swing along the direction parallel to the supporting surface.

After receiving the shooting information, the camera swings along the direction vertical to the supporting surface to acquire images at the positions corresponding to the continuous lifting position information and generates a plurality of current vertically acquired image files; or the camera swings along the direction parallel to the supporting surface to acquire the image and generates a plurality of current horizontal acquired image files.

And the remote simulation processor splices and acquires the images of the disaster site corresponding to the stop position coordinates according to the plurality of lifting position information by using the plurality of current horizontally acquired image files and the plurality of current vertically acquired image files corresponding to the position information according to the received stop position coordinates.

In another embodiment of the image derivation simulation apparatus for a disaster site, the image derivation simulation apparatus for a disaster site further includes an ejection device. The ejection device is arranged on the camera holder and comprises an ejection barrel, a ball storage barrel, a plurality of ejection balls, an electromagnetic piece and an ejection spring.

The shooting pot has a pot axis. The cylinder axis can be rotatably connected with the object placing surface. The ejection cylinder is provided with an ejection hole along the cylinder axis, and an orifice of the ejection hole is formed at one end of the ejection cylinder. The charge hole is capable of receiving a plurality of shot balls arranged in sequence along the barrel axis.

The ball storage barrel has a ball storage cavity formed along an axis thereof. The ball storage barrel is fixed in the radial direction of the ejection barrel. The ball storage cavity is communicated with the charge hole and inclines towards the direction of the hole opening of the charge hole. The ball storage cavity forms a ball inlet hole on the hole wall of the bullet hole, and the distance between the ball inlet hole and the bottom of the bullet hole is a set ejection distance.

A plurality of shot balls can be sequentially arranged along the axial direction of the ball storage cavity and can enter the shot holes from the ball inlet holes. The plurality of ejection balls are respectively provided with an on-site temperature sensor, an on-site humidity sensor, an on-site gas sensor, an on-site GPS acquisition module and an on-site wireless communication module. The acquisition output end of the on-site temperature sensor, the acquisition output end of the on-site humidity sensor, the acquisition output end of the on-site gas sensor and the acquisition output end of the on-site GPS acquisition module are connected with the input end of the on-site wireless communication module.

The electromagnetic piece is arranged at the bottom of the charge hole.

The ejection spring is fixed at the bottom of the ejection hole. The ejection spring is provided with a magnetic part which can form magnetic attraction with the electromagnetic part in the direction deviating from the bottom. The ejection spring can be compressed to a set ejection distance and can continuously apply ejection force to the ejection ball. When the electromagnetic piece is electrified, the electromagnetic piece is made to attract the magnetic force piece, the magnetic force piece drives the ejection spring to compress to a set ejection distance, and the ejection ball enters the ejection hole from the ball inlet hole. The ejection spring continuously applies ejection force to the ejection ball. When the electromagnetic piece loses power, the ejection spring releases ejection force, and the ejection ball is ejected from the opening of the ejection hole.

In another embodiment of the image deduction simulation device at the disaster site, the image capturing cart further comprises a plurality of routing modules, a routing drop device, and a drop controller. The plurality of routing modules can provide wireless communication links for the field wireless communication modules, so that the data output ends of the field wireless communication modules can remotely transmit field humidity information, field temperature information and field gas information to the remote simulation processor through the data acquired by the acquisition input ends through the wireless communication links.

The route dropping device is arranged on the rack and is provided with a placement hole perpendicular to the object placement surface. The hole opening of the placing hole faces the direction of the road wheels. The route device that drops still includes a plurality of route electromagnetism pieces. The plurality of routing electromagnetic attracting parts are sequentially arranged along the extending direction of the placing hole. The routing electromagnetic attraction piece can generate suction force for the routing modules and can fix the routing modules in the arrangement holes in sequence through the suction force along the extension direction of the arrangement holes.

The input end of the falling controller is connected with the output end of the collecting controller, and the output end of the falling controller is respectively connected with the input ends of the plurality of routing electromagnetic attraction pieces. When the linear distance between the current staying position coordinate and the last staying position coordinate exceeds the set distance, the power-off driving information of the routing electromagnetic attraction piece is sent to the output end of the falling controller, and the routing electromagnetic attraction pieces enable the routing modules to fall off according to the power-off driving information.

In another embodiment of the image deduction simulation device at the disaster site, the remote simulation processor generates the VR recognizable file from the image of the disaster site corresponding to the stay position coordinates.

In another embodiment of the image deduction simulation device for the disaster site, the disaster site further comprises a GPS acquisition module, which is disposed on the object placing plate. The GPS acquisition module can acquire current GPS position information. The GPS acquisition module is provided with a GPS acquisition information output end which can output the current GPS position information. The acquisition controller also has a third input interface which is connected to the GPS acquisition information output terminal and can receive current GPS position information. And a fourth output interface of the acquisition controller is connected to the remote simulation processor and can output the current GPS position information to the remote simulation processor. And the remote simulation processor generates an image of the disaster site according to the current GPS position information and the navigation path.

In a second aspect, the present invention further provides a method for simulating image deduction of a disaster site, the method including:

step S101, the acquisition controller generates a plurality of stopping position coordinates on the navigation path. The acquisition controller generates current motor driving information according to the next stop position information. The acquisition controller sends the current motor driving information to the walking driving interface. And the walking driving motor moves to the next stopping position according to the current motor driving information.

And S102, judging whether the current position is a stopping position coordinate or not by the acquisition controller, if so, sending lifting driving information to the lifting driving interface by the acquisition controller, wherein the lifting driving information comprises a plurality of continuous lifting position information. When the lifting driving motor drives the lifting driving motor to continuously reach each lifting position according to a plurality of continuous lifting position information in the lifting driving information, the acquisition controller sends the shooting driving information to the shooting control end. And after receiving the shooting information, the camera collects images at positions corresponding to a plurality of continuous lifting position information and generates a plurality of current collected image files. The plurality of current collected image files comprise a stopping position coordinate and current lifting position information. And the acquisition controller sends the current acquired image file to the remote simulation processor. And

and step S103, splicing a plurality of currently acquired image files corresponding to the position information according to a plurality of lifting position information by the remote simulation processor according to the received stopping position coordinates to acquire images of the disaster site corresponding to the stopping position coordinates.

In another enhanced embodiment of the method of the present invention, the camera head further comprises a rotating device. The rotating device is fixed on the object placing surface. The rotating device can drive the camera to swing along the direction perpendicular to the supporting surface, or the rotating device can drive the camera to swing along the direction parallel to the supporting surface.

In another enhanced embodiment of the method, step S102 further includes, after the camera receives the shooting information, at a position corresponding to the plurality of continuous lifting position information, the camera swings in a direction perpendicular to the supporting surface to capture an image and generate a plurality of current vertically captured image files, or swings in a direction parallel to the supporting surface to capture an image and generate a plurality of current horizontally captured image files.

In another enhanced embodiment of the method of the present invention, step S103 further includes that the remote simulation processor splices and acquires the images of the disaster site corresponding to the stop position coordinates according to the received stop position coordinates by using the plurality of current horizontally-acquired image files and the plurality of current vertically-acquired image files corresponding to the position information and according to the plurality of lifting position information.

In another enhanced embodiment of the method of the present invention, step S103 is followed by step S104, wherein the remote simulation processor generates a VR recognizable file according to the image of the disaster site corresponding to the parking position coordinates. And the remote simulation processor generates an image of the disaster site according to the current GPS position information and the navigation path.

In another enhanced embodiment of the method of the present invention, step S102 further comprises throwing a plurality of projectile balls into a plurality of throwing positions. And acquiring the on-site humidity information, the on-site temperature information and the on-site gas information at each casting position coordinate by the acquisition controller. Step S103 further includes that the remote simulation processor obtains a scene graph of the corresponding disaster site according to the received site humidity information, the site temperature information, and the information of the plurality of casting positions corresponding to the site gas information.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic structural view of an image capturing vehicle according to the present invention.

Fig. 2 is a schematic structural view of the side of the image capturing vehicle of the present invention.

Fig. 3 is a schematic structural diagram of the ejection device of the present invention.

Fig. 4 is a schematic structural diagram of the temperature and humidity acquisition device of the present invention.

Fig. 5 is a schematic diagram of the interface connection relationship of the acquisition controller according to the present invention.

Fig. 6 is a schematic diagram of information conversion of the acquisition controller according to the present invention.

Fig. 7 is a schematic diagram of a first embodiment of the invention.

Description of the reference symbols

10 image acquisition vehicle

11 frame

12 road wheel

13 lifting assembly

14 shelf

15 bearing surface

16 lead screw

17 sliding bar

18 sliding block

19 lifting driving motor

20 folding unit

21 first folding bar

22 second folding bar

23 Camera pan-tilt

24 camera

30 rotating device

40 ejection device

41 shooting cylinder

42 ball storage cylinder

43 shooting ball

44 electromagnetic element

45 ejection spring

46 magnetic force piece

50 routing module

100 acquisition controller

101 first input interface

102 second input interface

103 third input interface

104 first output interface

105 second output interface

106 third output interface

107 fourth output interface

201 image output interface

202 slam navigation device

203 GPS collected information output end

204 walking drive interface

205 lifting drive interface

206 shooting control terminal

207 remote simulation processor

300 humiture acquisition device

301 temperature sensor

302 moisture sensor

303 wireless transmission module

D direction of lifting

Q1 dwell position information

Q2 Motor drive information

Q3 Lift drive information

Q4 photographing driving information

Q5 acquisition image file

W initial rest position

X first stop position

Y second stop position

Z third dwell position

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

In a first aspect, the invention provides an image deduction simulation device for a disaster site, which is applied to a disaster site with a walking surface and can be lifted to a proper position as required to acquire images in a visual field range, aiming at the problem that a detection device is difficult to cross an obstacle and has a limited shooting range. The image simulation equipment comprises an image acquisition vehicle 10, a lifting component 13, a camera holder 23, an environment temperature and humidity acquisition device, a slam navigation device 202, an acquisition controller, a remote simulation processor 207, a heating or refrigerating device and a humidifying device.

The image capturing carriage 10 is capable of moving on a traveling surface and includes a frame 11 and a rotating member. The frame 11 has a support surface 15 which can be parallel to the walking surface. The rotating member includes a driving shaft, a pair of traveling wheels 12, and a traveling driving motor. The driving shaft is rotatably arranged on the frame 11. The axis of the axle shaft is parallel to the support surface 15. The traveling wheels 12 are coaxially arranged on the driving shaft. The walking driving motor is provided with a power shaft capable of outputting torque, is in transmission connection with the driving shaft and can drive the driving shaft to rotate around the axis of the driving shaft. The walking drive motor also has a walking drive interface 204 capable of driving the walking drive motor to rotate.

Fig. 1 is a schematic structural view of an image capturing vehicle according to the present invention. Referring to fig. 1, the lifting assembly 13 includes a storage plate 14, a lead screw 16, a slide bar 17, a slide block 18, a lifting driving motor 19, and a folding unit 20. The object placing plate 14 is positioned in the direction of the supporting surface 15 departing from the walking surface. The object placing plate 14 has an object placing surface which can be parallel to the supporting surface 15. The lead screw 16 is rotatably provided on the support surface 15. The axis of the lead screw 16 is parallel to the support surface 15. The slide bar 17 is arranged on the support surface 15 and parallel to the screw 16. The slider 18 defines a lead screw 16 aperture that is capable of rotating in cooperation with the lead screw 16. The slider 18 is rotatably disposed on the lead screw 16 through the lead screw 16 hole and slidably disposed on the slide bar 17. The slide 18 is movable along the axis of the screw 16 with rotation of the screw 16 from a rest position coordinate to a second position. The elevation driving motor 19 has a driving shaft capable of outputting torque and an elevation driving interface 205 capable of driving the rotation thereof. The drive shaft is drivingly connected to the lead screw 16 and is capable of driving the lead screw 16 in rotation about an axis.

Fig. 2 is a schematic structural view of the side of the image capturing vehicle of the present invention. Referring to fig. 1 and 2, the folding unit 20 includes a first folding bar 21 and a second folding bar 22. The first folding bar 21 has both ends in its extending direction. One end of the first folding rod 21 is movably connected to the slide block 18. The other end of the first folding rod 21 is movably connected to the object placing plate 14. The second folding bar 22 has both ends in the extending direction thereof. The second folding bar 22 is connected to the first folding bar 21 about an axis of rotation parallel to the support surface 15. One end of the second folding rod 22 is movably connected to the frame 11. The other end of the second folding rod 22 is slidably disposed on the object placing plate 14.

When the driving shaft drives the screw rod 16 to rotate, the slider 18 moves to the second position from the stop position coordinate, and one end of the first folding rod 21 connected with the slider 18 and one end of the second folding rod 22 connected with the rack 11 gradually get close to each other, so that the storage plate 14 can stop at a plurality of set heights in one lifting direction D. The lifting direction D is perpendicular to the support surface 15.

And a camera platform 23 arranged on the object placing surface. The camera head 23 has a camera 24, a shooting control terminal 206 and an image output interface 201. The camera 24 is capable of capturing images within its range of camera 24 orientations and generating a captured image file Q5. The camera head 23 can transmit the captured image file Q5 to the image output interface 201.

Fig. 4 is a schematic structural diagram of the temperature and humidity acquisition device of the present invention. Referring to fig. 4, the ambient temperature and humidity acquisition device 300 includes a temperature sensor 301, a humidity sensor 302, and a wireless transmission module 303. The temperature sensor 301 is disposed on the object plane 14 and has a temperature sensing output interface. Temperature sensor 301 collects a current temperature value and is capable of sending the current temperature value to the temperature sensing output interface. The humidity sensor 302 is disposed on the object plane 14 and has a humidity sensing output interface. Humidity sensor 302 collects the current humidity value and is able to send the current humidity value to the humidity sensing output interface. The wireless transmission module 303 has a plurality of input terminals and a transmission terminal. The plurality of input ends are respectively connected with the temperature sensing output interface and the humidity sensing output interface. The wireless transmission module 303 can transmit the current temperature information and the current humidity information received by the plurality of input terminals to a remote location from the transmission terminal.

And the slam navigation device 202 is arranged on the object placing plate 14. The slam navigation device 202 can obtain a navigation path from the edge of the walking surface.

Fig. 5 is a schematic diagram of the interface connection relationship of the acquisition controller according to the present invention. Referring to fig. 5, the acquisition controller has a plurality of input interfaces and a plurality of output interfaces.

The first input interface 101 is connected to the image output interface 201 by wireless transmission.

The second input interface 102 connects the slam navigation device 202 and receives the navigation path.

The first output interface 104 is connected to the travel drive interface 204.

The second output interface 105 is connected to the elevation drive interface 205.

The third output interface 106 is connected to the shooting control terminal 206.

The fourth output interface 107 is wirelessly connected to the remote emulation processor 207.

Fig. 6 is a schematic diagram of information conversion of the acquisition controller according to the present invention. Referring to fig. 6, the acquisition controller generates a plurality of dwell position coordinates in the navigation path. The acquisition controller will generate current motor drive information Q2 from the next stop position information Q1. The acquisition controller sends the current motor drive information Q2 to the travel drive interface 204. The travel driving motor moves to the next stop position according to the current motor driving information Q2.

The acquisition controller determines whether the current position is the stop position coordinate, and if so, the acquisition controller sends lifting driving information Q3 to the lifting driving interface 205, where the lifting driving information Q3 includes a plurality of continuous lifting position information. When the lifting driving motor 19 drives the lifting driving motor 19 to continuously reach each lifting position according to a plurality of continuous lifting position information in the lifting driving information Q3, the acquisition controller sends the shooting driving information Q4 to the shooting control terminal 206, and after the camera 24 receives the shooting driving information Q4, the camera acquires images at positions corresponding to a plurality of continuous lifting position information and generates a plurality of currently acquired image files Q5. The plurality of currently acquired image files Q5 include coordinates of a stop position and information on a current lift position. The acquisition controller sends the current acquisition image file Q5 to the remote simulation processor 207.

A remote emulation processor 207 having a drive output. The remote simulation processor 207 may splice the plurality of currently-acquired image files Q5 corresponding to the position information according to the received stop position coordinates, and obtain an image of the disaster site corresponding to the stop position coordinates according to the plurality of lifting position information.

The remote simulation processor 207 can receive the current temperature information and the current humidity information sent by the wireless transmission module. The remote simulation processor 207 can generate temperature control driving information and humidity driving information according to the current temperature information and the current humidity information. The remote simulation processor 207 can send the temperature control drive information and the humidity drive information to the drive output.

A heating or cooling device connected to the drive output of the remote emulation processor 207. The heating or cooling device can heat or cool according to the temperature control driving information.

And the humidifying device is connected with the driving output end of the remote simulation processor 207. The humidifying device can humidify according to the humidity driving information.

In the embodiment of the image deduction simulation device at the disaster site, the model of the temperature and humidity sensor is LM35D, the model of the wireless transmission module is ESP8266WiFi, and the model of the refrigerating plate is TEC 1-12703.

In another embodiment of the image deduction simulation device at the disaster site, the camera head 23 further comprises a rotating device 30. The rotating device 30 is fixed on the object placing surface. The rotating device 30 can drive the camera 24 to swing in a direction perpendicular to the supporting surface 15, or the rotating device 30 can drive the camera 24 to swing in a direction parallel to the supporting surface 15. The angle by which the rotating means 30 rotates forms the swing range of the camera 24.

After the camera 24 receives the shooting information, at the positions corresponding to a plurality of continuous lifting position information, the camera 24 swings along the direction vertical to the supporting surface 15 to collect images and generates a plurality of current vertically collected image files Q5; or the camera 24 swings the picked-up image in a direction parallel to the supporting surface 15 and generates a plurality of current horizontal picked-up image files Q5.

And the remote simulation processor 207 splices the plurality of current horizontally acquired image files Q5 and the plurality of current vertically acquired image files Q5 corresponding to the position information according to the received stop position coordinates to acquire images of the disaster site corresponding to the stop position coordinates.

Fig. 3 is a schematic structural diagram of the ejection device of the present invention. Referring to fig. 3, in another embodiment of the image derivation simulation apparatus for a disaster site, the image derivation simulation apparatus for a disaster site further includes an ejector 40. The ejection device 40 is disposed on the camera platform 23, and the ejection device 40 includes an ejection cylinder 41, a ball storage cylinder 42, a plurality of ejection balls 43, an electromagnetic member 44, and an ejection spring 45.

The shooting pot 41 has a pot axis. The cylinder axis can be rotatably connected with the object placing surface. The shooting pot 41 is provided with a shooting hole along the pot axis, and the opening of the shooting hole is formed at one end of the shooting pot 41. The charge holes are capable of receiving a plurality of shot balls 43 in a sequential arrangement along the axis of the cartridge.

The ball storage barrel 42 has a ball storage cavity formed along its axis. The ball storage cylinder 42 is fixed in the radial direction of the shooting cylinder 41. The ball storage cavity is communicated with the charge hole and inclines towards the direction of the hole opening of the charge hole. The ball storage cavity forms a ball inlet hole on the hole wall of the bullet hole, and the distance between the ball inlet hole and the bottom of the bullet hole is a set ejection distance.

A plurality of shot balls 43 can be arranged in sequence along the axial direction of the ball storage chamber and can enter the shot holes from the ball inlet. The plurality of ejection balls 43 are respectively provided with an on-site temperature sensor, an on-site humidity sensor, an on-site gas sensor, an on-site GPS acquisition module, and an on-site wireless communication module. The acquisition output end of the on-site temperature sensor, the acquisition output end of the on-site humidity sensor, the acquisition output end of the on-site gas sensor and the acquisition output end of the on-site GPS acquisition module are connected with the input end of the on-site wireless communication module.

The electromagnetic member 44 is disposed at the bottom of the charge hole.

An ejection spring 45 is fixed to the bottom of the ejection hole. The ejection spring 45 is provided with a magnetic member 46 which is arranged away from the bottom and can form a magnetic attraction with the electromagnetic member 44. The ejection spring 45 can be compressed to a set ejection distance and can continuously apply an ejection force to the ejection ball 43. When the electromagnetic element 44 is energized to magnetically attract the electromagnetic element 44 to the magnetic element 46, the magnetic element 46 drives the ejection spring 45 to compress to a set ejection distance, and the ejection ball 43 enters the ejection hole from the ball inlet. The ejection spring 45 continuously applies an ejection force to the ejection ball 43. When the electromagnetic member 44 is de-energized, the ejection spring 45 releases the ejection force and the ejection ball 43 is ejected from the aperture of the ejection hole.

In another embodiment of the image derivation simulation apparatus at a disaster site, the cart 10 further includes a plurality of routing modules 50, a routing drop device, and a drop controller. The plurality of routing modules 50 are capable of providing a wireless communication link to the in-situ wireless communication module such that the data output of the in-situ wireless communication module is capable of remotely transmitting the in-situ humidity information, the in-situ temperature information, and the in-situ gas information to the remote simulation processor via the wireless communication link from the data acquired at the acquisition input.

The route dropping device is arranged on the rack 11 and is provided with a placement hole perpendicular to the object placement surface. The hole opening of the placing hole faces the direction of the road wheels. The route device that drops still includes a plurality of route electromagnetism pieces. The plurality of routing electromagnetic attracting parts are sequentially arranged along the extending direction of the placing hole. The routing electromagnetic attraction piece can generate suction force for the routing module 50 and can fix the routing modules 50 in the arrangement holes in sequence through the suction force along the extending direction of the arrangement holes.

The input end of the falling controller is connected with the output end of the collecting controller, and the output end of the falling controller is respectively connected with the input ends of the plurality of routing electromagnetic attraction pieces. When the linear distance between the current staying position coordinate and the last staying position coordinate exceeds the set distance, the power-off driving information of the routing electromagnetic attraction piece is sent to the output end of the falling controller, and the routing modules 50 fall off by the routing electromagnetic attraction pieces according to the power-off driving information.

In another embodiment of the image deduction simulation device for the disaster site, the remote simulation processor 207 generates a VR recognizable file from the image of the disaster site corresponding to the stay position coordinates.

In another embodiment of the image derivation simulation apparatus for disaster sites, a GPS acquisition module is further included and is disposed on the object placing plate 14. The GPS acquisition module can acquire current GPS position information. The GPS acquisition module has a GPS acquisition information output 203 capable of outputting current GPS location information. The acquisition controller also has a third input interface 103 connected to the GPS acquisition information output 203 and capable of receiving current GPS location information. The fourth output interface 107 of the acquisition controller is connected to the remote simulation processor 207 and is capable of outputting the current GPS position information to the remote simulation processor 207. The remote simulation processor 207 generates an image of the disaster site based on the current GPS location information and the navigation path.

step S101, the acquisition controller generates a plurality of stopping position coordinates on the navigation path. The acquisition controller will generate current motor drive information Q2 from the next stop position information Q1. The acquisition controller sends the current motor drive information Q2 to the travel drive interface 204. The travel driving motor moves to the next stop position according to the current motor driving information Q2.

In step S102, the acquisition controller determines whether the current position is the stop position coordinate, and if so, the acquisition controller sends lifting driving information Q3 to the lifting driving interface 205, where the lifting driving information Q3 includes a plurality of continuous lifting position information. When the elevation driving motor 19 drives the elevation driving motor 19 to reach each elevation position continuously according to a plurality of continuous elevation position information in the elevation driving information Q3, the acquisition controller sends the photographing driving information Q4 to the photographing control terminal 206. After receiving the shooting information, the camera 24 captures images at positions corresponding to a plurality of consecutive pieces of elevating position information, and generates a plurality of currently captured image files Q5. The plurality of currently acquired image files Q5 include coordinates of a stop position and information on a current lift position. The acquisition controller sends the current acquisition image file Q5 to the remote simulation processor 207. And

in step S103, the remote simulation processor 207 splices the plurality of currently-acquired image files Q5 corresponding to the position information according to the received stop position coordinates and acquires images of the disaster site corresponding to the stop position coordinates according to the plurality of lifting position information.

In another enhanced embodiment of the method of the invention, the camera head 23 further comprises a rotating device 30. The rotating device 30 is fixed on the object placing surface. The rotating device 30 can drive the camera 24 to swing in a direction perpendicular to the supporting surface 15, or the rotating device 30 can drive the camera 24 to swing in a direction parallel to the supporting surface 15.

Step S102 further includes that after the camera 24 receives the shooting information, at the position corresponding to the plurality of continuous lifting position information, the camera 24 swings the captured image in the direction perpendicular to the supporting surface 15 and generates a plurality of current vertically captured image files Q5, or the camera 24 swings the captured image in the direction parallel to the supporting surface 15 and generates a plurality of current horizontally captured image files Q5.

The step S103 further includes that the remote simulation processor 207 splices the plurality of current horizontally-collected image files Q5 and the plurality of current vertically-collected image files Q5 corresponding to the position information according to the received stop position coordinates, and acquires images of the disaster site corresponding to the stop position coordinates according to the plurality of lifting position information.

In another enhanced embodiment of the method of the present invention, step S103 is followed by step S104, in which the remote simulation processor 207 generates a VR recognizable file according to the image of the disaster site corresponding to the staying position coordinates. And the remote simulation processor generates an image of the disaster site according to the current GPS position information and the navigation path.

In another enhanced embodiment of the method of the present invention, step S102 further comprises throwing the plurality of projectile balls 43 to a plurality of throwing positions. The acquisition controller 100 acquires field humidity information, field temperature information, and field gas information at each casting position coordinate. Step S103 further includes that the remote simulation processor 207 acquires a scene graph of the corresponding disaster site according to the received site humidity information, the site temperature information, and the multiple cast position information corresponding to the site gas information. The different field humidity information, the field temperature information and the field gas information can be represented in a scene graph through legends or different color renderings. Therefore, the on-site humidity information, the on-site temperature information and the on-site gas information can be judged through the simulation image.

The disaster scene graph consists of a plurality of display particles, and the display particles are generated in two ways, which are respectively realized by the following steps:

in a first mode, the particle system realizes:

step 1: defining a variable;

step 2: setting the color and transparency of the particles according to different temperature ranges;

and step 3: establishing a cube by using the particles according to the set boundary, and setting the initial positions of the particles;

and 4, step 4: initializing the particle system in the Start () method;

and 5: updating and calling each frame in the Update () method, establishing a particle cube, and endowing different colors to the particles according to different temperatures;

step 6: visualization is accomplished using a particle system.

And the second mode is that the algorithm is realized as follows:

step 1: detecting temperature values/co concentration values of eight vertexes of the cubic space;

step 2: establishing a cubic space model based on the eight vertexes, and performing a trilinear interpolation (trilinear-inter-polarization) algorithm based on the cubic space model;

and step 3: except eight vertexes, the measured real data are uniformly distributed in the space, and points in the cube are assigned (temperature/co concentration);

and 4, step 4: calculating the average temperature/co concentration value of all points in a cubic space formed by eight vertexes by linear interpolation from the x, y and z axes respectively, and updating the temperature/co concentration value of each point in the space (assigning no more to the point to which the initial value is assigned);

and 5: and finally, restoring the approximate distribution of the temperature in the whole cubic space according to the measured real temperature values of a small number of points, and restoring by using a nity particle system to realize visualization.

Fig. 7 is a schematic diagram of a first embodiment of the invention. Referring to fig. 7, in the first embodiment:

step 1: the image capturing vehicle 10 is placed on a disaster site, and the image capturing vehicle 10 walks once on a walking surface to generate a navigation path. The acquisition controller generates a plurality of dwell position coordinates from the navigation path. The acquisition controller generates current motor drive information Q2 from the next stop position information Q1. The acquisition controller sends the current motor drive information to the travel drive interface 204. The travel driving motor moves from the initial stop position W to the first stop position X according to the current motor driving information.

Step 2: the acquisition controller determines whether the current position is the first stop position X, and if so, the acquisition controller sends lifting driving information to the lifting driving interface 205, where the lifting driving information includes a plurality of continuous lifting position information. The lifting driving motor 19 forms lifting driving information according to the height of the obstacle, the lifting driving motor 19 drives the lifting driving motor 19 to reach a lifting position according to the lifting driving information, and the acquisition controller sends shooting driving information Q4 to the shooting control terminal 206.

And step 3: after the camera 24 receives the shooting information, the rotating device 30 drives the camera 24 to swing along a direction parallel to or perpendicular to the supporting surface 15, so as to generate a plurality of parallel or perpendicular acquisition image files. The acquisition controller sends the current acquired image file to the remote simulation processor 207.

And 4, step 4: and the remote simulation processor 207 splices the received staying position coordinates and a plurality of currently acquired image files corresponding to the position information according to the plurality of lifting position information to acquire images of the disaster site corresponding to the staying position coordinates.

And 5: after the image acquisition at the first stopping position X is finished, the walking driving motor moves to the next stopping position and the second stopping position Y according to the current motor driving information.

Step 6: the acquisition controller determines whether the current position is the second stop position Y, and if so, the acquisition controller sends lifting driving information to the lifting driving interface 205, where the lifting driving information includes a plurality of continuous lifting position information. The lifting driving motor 19 forms lifting driving information according to the height of the obstacle, the lifting driving motor 19 drives the lifting driving motor 19 to reach a lifting position according to the lifting driving information, and the acquisition controller sends shooting driving information Q4 to the shooting control terminal 206.

And 7: after the camera 24 receives the shooting information, the rotating device 30 drives the camera 24 to swing along a direction parallel to or perpendicular to the supporting surface 15, so as to generate a plurality of parallel or perpendicular acquisition image files. The acquisition controller sends the current acquired image file to the remote simulation processor 207.

And 8: and the remote simulation processor 207 splices the received staying position coordinates and a plurality of currently acquired image files corresponding to the position information according to the plurality of lifting position information to acquire images of the disaster site corresponding to the staying position coordinates.

And step 9: after the image acquisition at the second stopping position Y is finished, the walking driving motor moves to the next stopping position and the third stopping position Z according to the current motor driving information.

Step 10: the acquisition controller determines whether the current position is the third stopping position Z, and if so, the acquisition controller sends lifting driving information to the lifting driving interface 205, where the lifting driving information includes a plurality of continuous lifting position information. The lifting driving motor 19 forms lifting driving information according to the height of the obstacle, the lifting driving motor 19 drives the lifting driving motor 19 to reach a lifting position according to the lifting driving information, and the acquisition controller sends shooting driving information Q4 to the shooting control terminal 206.

Step 11: after the camera 24 receives the shooting information, the rotating device 30 drives the camera 24 to swing along a direction parallel to or perpendicular to the supporting surface 15, so as to generate a plurality of parallel or perpendicular acquisition image files. The acquisition controller sends the current acquired image file to the remote simulation processor 207.

Step 12: and the remote simulation processor 207 splices the received staying position coordinates and a plurality of currently acquired image files corresponding to the position information according to the plurality of lifting position information to acquire images of the disaster site corresponding to the staying position coordinates.

Step 13: and repeating the steps until the image acquisition vehicle 10 acquires images of all the stop position coordinates.

Step 14: the remote simulation processor 207 generates a VR identifiable file from the image of the disaster site corresponding to the stop position coordinates. Finally, the file can be identified through VR to form a disaster scene image.

Example two:

on the premise of the first embodiment, the image deduction simulation device at the disaster site further comprises an ejection device 40. The ejection device 40 is disposed on the camera platform 23, and the ejection device 40 includes an ejection cylinder 41, a ball storage cylinder 42, a plurality of ejection balls 43, an electromagnetic member 44, and an ejection spring 45.

The truck 10 also includes a plurality of routing modules 50, a routing drop device, and a drop controller. The plurality of routing modules 50 are capable of providing a wireless communication link to the in-situ wireless communication module such that the data output of the in-situ wireless communication module is capable of remotely transmitting the in-situ humidity information, the in-situ temperature information, and the in-situ gas information to the remote simulation processor via the wireless communication link from the data acquired at the acquisition input.

The plurality of shot balls 43 are thrown in a plurality of shot positions. The acquisition controller 100 acquires field humidity information, field temperature information, and field gas information at each casting position coordinate. The remote simulation processor 207 acquires a scene graph of a corresponding disaster site according to the received site humidity information, site temperature information and a plurality of cast position information corresponding to the site gas information.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may be modified or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. An image deduction simulation apparatus for a disaster site, which is applied to a disaster site having a walking surface, the image simulation apparatus comprising,

an image-capturing trolley (10) movable on the walking surface, the image-capturing trolley (10) comprising,

a frame (11) having a support surface (15) capable of being parallel to the walking surface;

a rotating member, which comprises a rotating body,

a driving shaft which is rotatably arranged on the frame (11), and the axis of the driving shaft is parallel to the supporting surface (15);

a pair of traveling wheels (12) coaxially provided to the drive shaft; and

a travel drive motor having:

the power shaft is connected with the driving shaft in a transmission way and can drive the driving shaft to rotate around the axis of the driving shaft, and the walking driving interface can drive the driving shaft to rotate;

a lifting assembly (13) comprising,

a storage plate (14) which is arranged in the direction of the supporting surface (15) departing from the walking surface, wherein the storage plate (14) is provided with a storage surface which can be parallel to the supporting surface (15);

a lead screw (16) rotatably arranged on the supporting surface (15), wherein the axis of the lead screw (16) is parallel to the supporting surface (15);

a slide bar (17) arranged on the support surface (15) and parallel to the screw (16);

a slide block (18) forming a lead screw (16) hole capable of rotating in cooperation with the lead screw (16), the slide block (18) being rotatably arranged on the lead screw (16) through the lead screw (16) hole and slidably arranged on the slide rod (17), the slide block (18) being capable of moving along the axis of the lead screw (16) from a stop position coordinate to a second position along the axis of the lead screw (16) with the rotation of the lead screw (16);

the lifting driving motor (19) is provided with a driving shaft capable of outputting torque and a lifting driving interface capable of driving the driving shaft to rotate, and the driving shaft is in transmission connection with the lead screw (16) and can drive the lead screw (16) to rotate around the axis; and

a folding unit (20) comprising,

a first folding rod (21) having two ends in the extending direction, wherein one end of the first folding rod (21) is movably connected to the sliding block (18), and the other end of the first folding rod (21) is movably connected to the object placing plate (14); and

a second folding rod (22) having two ends in an extending direction, wherein the second folding rod (22) is connected to the first folding rod (21) around a rotation axis parallel to the supporting surface (15), one end of the second folding rod (22) is movably connected to the rack (11), and the other end of the second folding rod (22) is slidably arranged on the object placing plate (14);

when the driving shaft drives the screw rod (16) to rotate, the sliding block (18) moves to the second position from the stopping position coordinate, one end of the first folding rod (21) connected with the sliding block (18) and one end of the second folding rod (22) connected with the rack (11) gradually draw close to each other, so that the object placing plate (14) can stop at a plurality of set heights in one lifting direction, and the lifting direction is perpendicular to the supporting surface (15);

the camera head (23) is arranged on the object placing surface, the camera head (23) is provided with a camera (24), a shooting control end and an image output interface, the camera (24) can collect images within the facing range of the camera (24) and generate collected image files, and the camera head (23) can transmit the collected image files to the image output interface;

an environment temperature and humidity acquisition device () comprising:

the temperature sensor is arranged on the object placing surface and is provided with a temperature sensing output interface, and the temperature sensor collects a current temperature value and can send the current temperature value to the temperature sensing output interface;

the humidity sensor is arranged on the object placing surface and is provided with a humidity sensing output interface; the humidity sensor collects a current humidity value and can send the current humidity value to the humidity sensing output interface;

the wireless transmission module is provided with a plurality of input ends and a transmission end, and the plurality of input ends are respectively connected with the temperature sensing output interface and the humidity sensing output interface; the wireless transmission module can transmit the current temperature information and the current humidity information received by the plurality of input ends to a remote place from the transmission end;

the slam navigation device is arranged on the object placing plate (14) and can acquire a navigation path according to the edge of the walking surface;

an acquisition controller having;

the first input interface is connected with the image output interface in a wireless transmission mode;

the second input interface is connected with the slam navigation device and receives the navigation path;

the first output interface is connected with the walking driving interface;

the second output interface is connected with the lifting driving interface;

the third output interface is connected with the shooting control end;

the fourth output interface is wirelessly connected with the remote simulation processor;

the acquisition controller generates a plurality of stopping position coordinates in the navigation path, and the acquisition controller generates current motor driving information according to the next stopping position information; the acquisition controller sends the current motor driving information to the walking driving interface; the walking driving motor moves to the next stopping position according to the current motor driving information;

the acquisition controller judges whether the current position is the stopping position coordinate or not, and if so, the acquisition controller sends lifting driving information to the lifting driving interface, wherein the lifting driving information comprises a plurality of continuous lifting position information; when the lifting driving motor (19) drives the lifting driving motor (19) to continuously reach each lifting position according to the plurality of continuous lifting position information in the lifting driving information, the acquisition controller sends shooting driving information to the shooting control end, and after the camera (24) receives the shooting information, images are acquired at positions corresponding to the plurality of continuous lifting position information and a plurality of current acquired image files are generated; the plurality of current collected image files comprise the stopping position coordinates and current lifting position information; the acquisition controller sends the current acquisition image file to the remote simulation processor;

a remote emulation processor having a drive output; according to the received coordinates of the stopping position, a plurality of current collected image files corresponding to the position information are acquired; splicing and acquiring images of the disaster site corresponding to the stopping position coordinates according to the plurality of lifting position information;

the remote simulation processor can receive the current temperature information and the current humidity information sent by the wireless transmission module; the remote simulation processor can generate temperature control driving information and humidity driving information according to the current temperature information and the current humidity information; the remote simulation processor can send the temperature control driving information and the humidity driving information to the driving output end; and

the heating or refrigerating device is connected with the driving output end of the remote simulation processor and can heat or refrigerate according to the temperature control driving information;

and the humidifying device is connected with the driving output end of the remote simulation processor and can humidify according to the humidity driving information.

2. The image deduction simulation device for a disaster site according to claim 1, wherein the camera head (23) further comprises,

the rotating device (30) is fixed on the object placing surface, the rotating device (30) can drive the camera (24) to swing along the direction vertical to the supporting surface (15), or the rotating device (30) can drive the camera (24) to swing along the direction parallel to the supporting surface (15);

after the camera (24) receives the shooting information, at the position corresponding to the continuous lifting position information, the camera (24) swings along the direction vertical to the supporting surface (15) to acquire an image and generate a plurality of current vertically acquired image files, or the camera (24) swings along the direction parallel to the supporting surface (15) to acquire an image and generate a plurality of current horizontally acquired image files;

and the remote simulation processor (207) splices the plurality of current horizontally acquired image files and the plurality of current vertically acquired image files corresponding to the position information according to the received stop position coordinates to acquire images of the disaster site corresponding to the stop position coordinates.

3. The image deduction simulation device for the disaster site according to claim 1, further comprising,

an ejector (40) arranged on the camera head (23), the ejector (40) comprising,

a shooting pot (41) having a pot axis; the cylinder axis can be rotatably connected with the object placing surface; the ejection cylinder (41) is provided with an ejection hole along the cylinder axis, and an orifice of the ejection hole is formed at one end of the ejection cylinder (41); said charge holes capable of containing said plurality of shot balls (43) in a sequential arrangement along said cartridge axis;

a ball storage barrel (42), said ball storage barrel (42) having a ball storage cavity formed along its axis; the ball storage barrel (42) is fixed in the radial direction of the ejection barrel (41), and the ball storage cavity is communicated with the ejection hole and is inclined towards the direction of the hole opening of the ejection hole; the ball storage cavity forms a ball inlet on the wall of the bullet hole, and the distance between the ball inlet and the bottom of the bullet hole is a set ejection distance;

a plurality of shot balls (43) which can be arranged in sequence along the axial direction of the ball storage cavity and can enter the shot holes from the ball inlet holes; the plurality of ejection balls (43) are respectively provided with an on-site temperature sensor, an on-site humidity sensor, an on-site gas sensor, an on-site GPS acquisition module and an on-site wireless communication module; the acquisition output end of the on-site temperature sensor, the acquisition output end of the on-site humidity sensor, the acquisition output end of the on-site gas sensor and the acquisition output end of the on-site GPS acquisition module are connected with the input end of the on-site wireless communication module;

an electromagnetic member (44) disposed at the bottom of the charge hole;

an ejection spring (45) fixed to the bottom of the ejection hole; a magnetic force piece (46) capable of forming magnetic attraction with the electromagnetic piece (44) is arranged in the direction of the ejection spring (45) deviating from the bottom; the ejection spring (45) can be compressed to the set ejection distance and can continuously apply ejection force to the ejection ball (43);

when the electromagnetic piece (44) is electrified, and the electromagnetic piece (44) is magnetically attracted to the magnetic piece (46), the magnetic piece (46) drives the ejection spring (45) to compress to the set ejection distance, and the ejection ball (43) enters the ejection hole from the ball inlet; the ejection spring (45) continuously applies ejection force to the ejection ball (43);

when the electromagnetic member (44) is de-energized, the ejection spring (45) releases the ejection force and the ejection ball (43) is ejected from the aperture of the ejection hole.

4. The image deduction simulation device for a disaster site according to claim 3, wherein the image capturing truck (10) further comprises,

a plurality of routing modules (50) capable of providing wireless communication links to the on-site wireless communication modules; so that the data output end of the on-site wireless communication module can remotely transmit on-site humidity information, on-site temperature information and on-site gas information to the remote simulation processor (207) through the wireless communication link according to the data acquired by the acquisition input end;

the route falling device is arranged on the rack (11), and is provided with a placement hole perpendicular to the placement surface; the hole opening of the placing hole faces the direction of the travelling wheel (12);

the route dropping device also comprises a plurality of route electromagnetic attracting pieces; the plurality of routing electromagnetic attracting parts are sequentially arranged along the extending direction of the placing hole; the routing electromagnetic attraction piece can generate attraction force on the routing modules (50) and can sequentially fix the routing modules (50) in the arrangement holes through the attraction force along the extension direction of the arrangement holes;

the input end of the falling controller is connected with the output end of the acquisition controller (100), the output end of the falling controller is respectively connected with the input ends of the plurality of routing electromagnetic attracting pieces, and when the linear distance between the current staying position coordinate and the last staying position coordinate exceeds a set distance, the falling controller sends the power-off driving information of the routing electromagnetic attracting pieces to the output end of the falling controller; the plurality of routing electromagnetic attracting parts enable the plurality of routing modules (50) to fall according to the power-off driving information.

5. The image deduction simulation device for the disaster site according to claim 1, wherein the remote simulation processor generates a VR identifiable file from the image of the disaster site corresponding to the stay position coordinates.

6. The image deduction simulation device for a disaster site according to claim 1, further comprising,

the GPS acquisition module is arranged on the object placing plate (14), can acquire current GPS position information and is provided with a GPS acquisition information output end capable of outputting the current GPS position information;

the acquisition controller is also provided with a third input interface which is connected with the GPS acquisition information output end and can receive the current GPS position information;

a fourth output interface of the acquisition controller is connected to the remote simulation processor and can output the current GPS position information to the remote simulation processor;

and the remote simulation processor generates an image of the disaster site according to the current GPS position information and the navigation path.

7. An image deduction simulation method for disaster site, which is implemented by the image deduction simulation device for disaster site of any one of claims 1 to 6, the image deduction simulation method for disaster site comprises,

step S101, an acquisition controller generates a plurality of stop position coordinates in a navigation path, and the acquisition controller generates current motor driving information according to the next stop position information; the acquisition controller sends the current motor driving information to a walking driving interface; the walking driving motor moves to the next stopping position according to the current motor driving information;

step S102, the acquisition controller judges whether the current position is the stopping position coordinate, if so, the acquisition controller sends lifting driving information to a lifting driving interface, and the lifting driving information comprises a plurality of continuous lifting position information; when the lifting driving motor (19) drives the lifting driving motor (19) to continuously reach each lifting position according to the plurality of continuous lifting position information in the lifting driving information, the acquisition controller sends shooting driving information to a shooting control end, and after receiving the shooting information, the camera (24) acquires images at positions corresponding to the plurality of continuous lifting position information and generates a plurality of current acquired image files; the plurality of current collected image files comprise a stopping position coordinate and current lifting position information; the acquisition controller sends the current acquisition image file to a remote simulation processor; and

and step S103, the remote simulation processor splices the plurality of currently acquired image files corresponding to the position information according to the plurality of lifting position information to acquire images of the disaster site corresponding to the stopping position coordinates according to the received stopping position coordinates.

8. The image deduction simulation method for the disaster site according to claim 7, wherein the camera platform (23) further comprises a rotating device (30), the rotating device (30) is fixed on the object placing surface, the rotating device (30) can drive the camera (24) to swing in a direction perpendicular to the supporting surface (15), or the rotating device (30) can drive the camera (24) to swing in a direction parallel to the supporting surface (15);

the step S102 further includes that, after the camera (24) receives the shooting information, at the position corresponding to the plurality of continuous lifting position information, the camera (24) swings in the direction perpendicular to the supporting surface (15) to acquire an image and generate a plurality of current vertically acquired image files, or the camera (24) swings in the direction parallel to the supporting surface (15) to acquire an image and generate a plurality of current horizontally acquired image files;

the step S103 further includes that the remote simulation processor splices the plurality of current horizontally acquired image files and the plurality of current vertically acquired image files corresponding to the position information according to the received stop position coordinates, and acquires images of the disaster site corresponding to the stop position coordinates according to the plurality of lifting position information.

9. The image deduction simulation method for disaster sites according to claim 7 or 8, further comprising, after the step S103, a step S104 of generating, by the remote simulation processor, a VR identifiable file according to the image of the disaster site corresponding to the staying position coordinates; and the remote simulation processor generates an image of the disaster site according to the current GPS position information and the navigation path.

10. The image deduction simulation method for disaster site according to claim 7, wherein the step S102 further comprises throwing a plurality of shot balls (43) at a plurality of throwing positions; the acquisition controller (100) acquires field humidity information, field temperature information and field gas information at each casting position coordinate; the step S103 further includes that the remote simulation processor (207) acquires a scene graph of a corresponding disaster site according to the received information of the plurality of casting positions corresponding to the site humidity information, the site temperature information, and the site gas information.