CN110864925A - Image deduction simulation equipment and method for disaster scene - Google Patents

Abstract

The invention provides an image deduction and simulation device for a disaster scene, which is applied to a disaster scene with a walking surface, and can be lifted and lowered to a suitable position to collect images within the field of view as required. The image simulation device includes an image acquisition vehicle (10), a lift assembly (13), a camera head (23), an ambient temperature and humidity acquisition device, a slam navigation device (202), an acquisition controller (100), A remote emulation processor, a heating or cooling unit and a humidifying unit. The image acquisition vehicle can move on the walking surface, and includes a frame (11) and a rotating part. The frame has a support surface that can be parallel to the running surface. The rotating part includes a driving shaft, a pair of traveling wheels (12) and a traveling driving motor. The invention also provides an image deduction simulation method for disaster scene.

Description

Image deduction simulation equipment and method for disaster scene

technical field

The invention belongs to the field of detection technology, and in particular relates to an image deduction simulation device and method of a disaster scene.

Background technique

At present, after the occurrence of natural disasters such as earthquakes and fires, it is necessary to dispatch rescue personnel to survey the disaster site, rescue the wounded, and formulate a repair plan according to the damage on the site. It is also difficult for personnel to enter, so detection vehicles are usually used to assist in detection. Existing detection vehicles usually have a camera device and a wireless communication device, which can photograph the situation of the disaster site and return to the control terminal through wireless equipment for the reference of rescuers. The height of the car itself is limited, and the field of view of the camera device is also blocked by obstacles.

SUMMARY OF THE INVENTION

Aiming at the problem that it is difficult for the detection device to cross obstacles and the shooting range is limited, the invention proposes an image deduction simulation device and method for a disaster scene.

In the first aspect, in order to achieve the above object, the present invention provides an image deduction simulation device for disaster scene, which is applied to a disaster scene with a walking surface, and can be raised and lowered to a suitable position to collect images within the field of view as required. The image simulation equipment includes an image acquisition vehicle, a lifting assembly, a camera head, an ambient temperature and humidity acquisition device, a slam navigation device, an acquisition controller, a remote simulation processor, a heating or cooling device, and a humidification device. device.

The image acquisition vehicle can move on the walking surface, which includes a frame and a rotating part. The frame has a support surface that can be parallel to the running surface. The rotating part includes 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 traveling wheel is coaxially arranged on the driving shaft. The traveling drive motor has a power shaft capable of outputting torque, which is connected to the driving shaft in transmission and can drive the driving shaft to rotate around its axis. The travel drive motor also has a travel drive interface capable of driving it to rotate.

The lifting assembly includes a storage board, a lead screw, a sliding rod, a sliding block, a lifting driving motor and a folding unit. The storage board is located in the direction of the support surface away from the walking surface. The storage board has a storage surface that can be parallel to the support surface. The lead screw is rotatably arranged on the support surface. The axis of the screw is parallel to the support surface. The sliding rod is arranged on the support surface and is parallel to the lead screw. The slider forms a screw hole that can be matched with the screw to rotate. The slider is rotatably arranged on the lead screw and slidably arranged on the sliding rod through the lead screw hole. The slider can move from a rest position coordinate to a second position along the axis of the screw with the rotation of the screw. The lift drive motor has a drive shaft capable of outputting torque and a lift drive interface capable of driving it to rotate. The drive shaft is connected to the lead screw and can drive the lead screw to rotate around the axis.

The folding unit includes a first folding rod and a second folding rod. The first folding rod has both ends in the extending direction thereof. One end of the first folding rod is movably connected to the slider. The other end of the first folding rod is movably connected to the storage board. The second folding rod has both ends in the extending direction thereof. The second folding rod is connected to the first folding rod about a rotation axis 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 storage board.

Wherein, when the drive shaft drives the lead screw to rotate, the slider moves from the stop position coordinate to the second position, and one end of the first folding rod connecting the slider and the end of the second folding rod connecting to the frame gradually move closer, so that the storage board can be Stay at multiple set heights in one lift direction. The lifting direction is perpendicular to the support surface.

The camera head is set on the object placement surface. The camera head has a camera, a shooting control terminal and an image output interface. The camera can capture images within the range of its camera orientation and generate captured image files. The camera head can transmit the captured image files to the image output interface.

The ambient temperature and humidity collection device includes a temperature sensor, a humidity sensor and a wireless transmission module. The temperature sensor is arranged on the object surface and has a temperature sensing output interface. The temperature sensor collects the current temperature value and can send the current temperature value to the temperature sensing output interface. The humidity sensor is arranged on the object surface and has a humidity sensing output interface. The humidity sensor collects the current humidity value and can send the current humidity value to the humidity sensing output interface. The wireless transmission module has multiple input ends and a transmission end. The plurality of input ends are respectively connected to the temperature sensing output interface and the humidity sensing output interface. The wireless transmission module can send the current temperature information and current humidity information received by the multiple input terminals from the transmission terminal to the remote.

slam navigation device, which is arranged on the storage board. The slam navigation device can obtain the navigation path according to the edge of the walking surface.

The acquisition controller has multiple input interfaces and multiple output interfaces.

The first input interface is connected with the image output interface through wireless transmission.

The second input interface is connected to the slam navigation device and receives a navigation path.

The first output interface is connected with the traveling drive interface.

The second output interface is connected with the lift drive interface.

The third output interface is connected with the shooting control terminal.

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

The acquisition controller generates a plurality of stop position coordinates on the navigation path. The acquisition controller will generate the current motor drive information according to the next stop position information. The acquisition controller sends the current motor drive information to the walking drive interface. The next stop position to which the travel drive motor moves according to the current motor drive information.

The collection controller judges whether the current position is the stop position coordinate, and if so, the collection controller sends the lift drive information to the lift drive interface, and the lift drive information has a plurality of continuous lift position information. When the elevating drive motor drives the elevating drive motor to reach each elevating position continuously according to the multiple continuous elevating position information in the elevating drive information, the acquisition controller sends the shooting drive information to the shooting control terminal. Images are collected at positions corresponding to the continuous lifting position information and a plurality of currently collected image files are generated. The plurality of currently collected image files include stop position coordinates and current lift position information. The acquisition controller sends the current acquisition image file to the remote simulation processor.

A remote emulation processor with a driver output. The remote simulation processor can splicing a plurality of currently collected image files corresponding to the position information according to the received coordinates of the stay position, and obtains images of the disaster site corresponding to the coordinates of the stay position according to the plurality of lift 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 drive information and humidity drive information to the drive output.

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

The humidification device is connected to the drive output of the remote emulation 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 includes a rotating device. The rotating device is fixed on the object placement surface. The rotating device can drive the camera to swing in a direction perpendicular to the support surface, or the rotating device can drive the camera to swing in a direction parallel to the support surface.

After the camera receives the shooting information, at the positions corresponding to multiple continuous lifting position information, the camera oscillates along the direction perpendicular to the support surface to collect images and generates multiple currently vertically collected image files; or the camera moves along the direction parallel to the support surface. Swing to acquire images and generate multiple current level acquisition image files.

The remote simulation processor, according to the received coordinates of the stay position, splices the multiple current horizontally collected image files and multiple current vertically collected image files corresponding to the position information, and obtains the coordinates of the stay position according to the multiple lifting position information. The corresponding image of the disaster scene.

In another embodiment of the image deduction simulation device at the disaster site, the image deduction simulation device at the disaster site further includes an ejection device. The ejection device is arranged on the camera head, and the ejection device includes an ejection cylinder, a ball storage cylinder, a plurality of ejection balls, an electromagnetic component and an ejection spring.

The ejection barrel has a barrel axis. The cylinder axis can be rotatably connected to the object placement surface. The ejection barrel is provided with an ejection hole along the axis of the barrel, and the orifice of the ejection hole is formed at one end of the ejection barrel. The ejection holes can accommodate a plurality of ejection balls arranged in sequence along the cylinder axis.

The ball storage cylinder has a ball storage cavity formed along its axis. The ball storage cylinder is fixed on the radial direction of the ejection cylinder. The ball storage cavity communicates with the ejection hole and is inclined toward the direction of the orifice of the ejection hole. The ball storage cavity forms a ball entry hole on the hole wall of the ejection hole, and the ball entry hole is a set ejection distance from the bottom of the ejection hole.

A plurality of ejection balls can be arranged in sequence along the axial direction of the ball storage cavity and can enter the ejection hole from the ball inlet hole. A field temperature sensor, a field humidity sensor, a field gas sensor, a field GPS acquisition module, and a field wireless communication module are respectively set on the plurality of catapult balls. The collection output end of the field temperature sensor, the collection output end of the field humidity sensor, the collection output end of the field gas sensor and the collection output end of the field GPS acquisition module are connected with the input end of the field wireless communication module.

The electromagnet is arranged at the bottom of the ejection hole.

The ejection spring is fixed to the bottom of the ejection hole. A magnetic force member capable of forming magnetic attraction with the electromagnetic member is disposed on the ejection spring away from the bottom direction. The ejection spring can be compressed to the set ejection distance and can continuously apply the ejection force to the ejection ball. When the electromagnet is energized to make the electromagnet magnetically attract the magnet, the magnet drives the ejection spring to compress to the set ejection distance, and the ejection ball enters the ejection hole from the ball entry hole. The ejection spring continuously applies the ejection force to the ejection ball. When the electromagnet is de-energized, the ejection spring releases the ejection force, and the ejection ball is ejected from the orifice of the ejection hole.

In another embodiment of the image deduction simulation device at the disaster site, the image acquisition vehicle further includes a plurality of routing modules, a routing drop device and a drop controller. Multiple routing modules can provide wireless communication links for the on-site wireless communication module, 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.

The route drop device is arranged on the rack, and the route drop device has a placement hole perpendicular to the object storage surface. The orifice of the placement hole faces the direction of the running wheel. The routing drop device also includes a plurality of routing electromagnetic attraction parts. A plurality of routing electromagnetic attraction members are arranged in sequence along the extending direction of the placement hole. The routing electromagnetic suction member can generate suction to the routing module, and can sequentially fix a plurality of routing modules in the placement hole through suction along the extending direction of the placement hole.

The input end of the drop controller is connected with the output end of the collection controller, and the output ends of the drop controller are respectively connected with the input ends of the plurality of routing electromagnetic attraction pieces. When the straight-line distance between the coordinates of the current stop position and the coordinates of the previous stop position exceeds the set distance, the power-loss drive information of the routing electromagnetic attraction will be sent to the output of the drop controller, and the multiple routing electromagnetic attraction will be driven according to the power loss. Information drops multiple routing modules.

In another embodiment of the image deduction simulation device at the disaster site, the remote simulation processor generates a VR identifiable file according to the image of the disaster site corresponding to the coordinates of the stop position.

In another embodiment of the image deduction simulation device at the disaster site, it further includes a GPS acquisition module, which is arranged on the object storage board. The GPS acquisition module can collect current GPS location information. The GPS acquisition module has a GPS acquisition information output terminal capable of outputting current GPS position information. The acquisition controller also has a third input interface, which is connected to the GPS acquisition information output end and can receive current GPS position information. The 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. The remote simulation processor generates an image of the disaster site according to the current GPS location information and the navigation path.

In a second aspect, the present invention also provides an image deduction simulation method at a disaster site, the method comprising:

Step S101, the acquisition controller generates a plurality of stop position coordinates on the navigation path. The acquisition controller will generate the current motor drive information according to the next stop position information. The acquisition controller sends the current motor drive information to the walking drive interface. The walking drive motor moves to the next stop position according to the current motor drive information.

Step S102, the collection controller determines whether the current position is the stop position coordinate, and if so, the collection controller sends the lift drive information to the lift drive interface, and the lift drive information includes multiple continuous lift position information. When the elevating drive motor drives the elevating drive motor to reach each elevating position continuously according to a plurality of continuous elevating position information in the elevating drive information, the acquisition controller sends the shooting driving information to the shooting control terminal. After the camera receives the shooting information, it collects images at positions corresponding to a plurality of continuous lifting and lowering position information, and generates a plurality of currently collected image files. The plurality of currently collected image files include stop position coordinates and current lift position information. The acquisition controller sends the current acquisition image file to the remote simulation processor. as well as

Step S103, according to the received coordinates of the stay position, the remote simulation processor splices a plurality of currently collected image files corresponding to the position information according to the plurality of lift position information to obtain an image of the disaster site corresponding to the coordinates of the stay position.

In another enhanced embodiment of the method of the present invention, the camera head further includes a rotating device. The rotating device is fixed on the object placement surface. The rotating device can drive the camera to swing in a direction perpendicular to the support surface, or the rotating device can drive the camera to swing in a direction parallel to the support surface.

In another enhanced embodiment of the method of the present invention, step S102 further includes: after the camera receives the shooting information, at the positions corresponding to the plurality of continuous lifting position information, the camera oscillates along the direction perpendicular to the support surface to collect image and generate multiple current vertical acquisition image files, or the camera swings in a direction parallel to the support surface to acquire images and generates multiple current horizontal acquisition image files.

In another enhanced embodiment of the method of the present invention, step S103 further includes that, according to the received coordinates of the stay position, the remote simulation processor collects a plurality of current horizontally collected image files and a plurality of Currently, the image files are collected vertically, and the images of the disaster site corresponding to the coordinates of the stop position are obtained by splicing according to the information of multiple lifting positions.

In another enhanced embodiment of the method of the present invention, after step S103, the method further includes, step S104, the remote simulation processor generates a VR identifiable file according to the image of the disaster site corresponding to the coordinates of the stop position. The remote simulation processor generates an image of the disaster site according to the current GPS location information and the navigation path.

In another enhanced embodiment of the method of the present invention, the step S102 further includes, projecting a plurality of projectile balls and placing them in a plurality of projecting positions. The acquisition controller obtains on-site humidity information, on-site temperature information and on-site gas information at the coordinates of each projection position. Step S103 further includes that the remote simulation processor obtains a corresponding scene graph of the disaster site according to the received site humidity information, site temperature information, and multiple projection position information corresponding to the site gas information.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

FIG. 1 is a schematic structural diagram of an image acquisition vehicle of the present invention.

FIG. 2 is a schematic structural diagram of the side surface of the image acquisition 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 a temperature and humidity collection device according to the present invention.

FIG. 5 is a schematic diagram of the interface connection relationship of the acquisition controller of the present invention.

FIG. 6 is a schematic diagram of information conversion of the acquisition controller of the present invention.

FIG. 7 is a schematic diagram of Embodiment 1 of the present invention.

Label description

10 Image Acquisition Cart

11 racks

12 travel wheels

13 Lifting components

14 Shelves

15 Support surface

16 lead screw

17 Slider

18 Sliders

19 Lifting drive motor

20 Folding Units

21 First folding rod

22 Second folding rod

23 Camera head

24 cameras

30 Rotary device

40 catapult

41 Catapult

42 Ball reservoir

43 Bounce Ball

44 Electromagnetic parts

45 Ejection spring

46 Magnetic parts

50 Routing Module

100 Acquisition Controller

101 The first input interface

102 Second input interface

103 The third input interface

104 The first output interface

105 Second output interface

106 The third output interface

107 Fourth output interface

201 Image output interface

202 slam navigation device

203 GPS acquisition information output terminal

204 Travel drive interface

205 Lifting drive interface

206 Shooting console

207 Remote Emulation Processor

300 temperature and humidity acquisition device

301 Temperature sensor

302 Humidity Sensor

303 wireless transmission module

D Lifting direction

Q1 stop position information

Q2 Motor drive information

Q3 Lifting drive information

Q4 Shooting driver information

Q5 Collect image files

W Initial stop position

X first stop position

Y Second stop position

Z third stop position

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

In the first aspect, in view of the problem that the detection device is difficult to cross obstacles and the shooting range is limited, the present invention provides an image deduction simulation device for a disaster scene. Image. The image simulation device includes an image acquisition vehicle 10, a lift assembly 13, a camera pan/tilt 23, an ambient temperature and humidity acquisition device, a slam navigation device 202, an acquisition controller, a remote simulation processor 207, a heating or Refrigeration unit and a humidification unit.

The image acquisition vehicle 10 can move on the walking surface, and includes a frame 11 and a rotating member. The frame 11 has a support surface 15 which can be parallel to the running surface. The rotating part 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 drive shaft is parallel to the support surface 15 . The traveling wheel 12 is coaxially arranged on the driving shaft. The traveling drive motor has a power shaft capable of outputting torque, which is connected to the driving shaft in transmission and can drive the driving shaft to rotate around its axis. The travel drive motor also has a travel drive interface 204 capable of driving it to rotate.

FIG. 1 is a schematic structural diagram of an image acquisition vehicle of the present invention. Referring to FIG. 1 , the lifting assembly 13 includes a storage board 14 , a lead screw 16 , a sliding rod 17 , a sliding block 18 , a lifting driving motor 19 and a folding unit 20 . The storage board 14 is located in the direction of the support surface 15 away from the walking surface. The storage board 14 has a storage surface which can be parallel to the support 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 sliding rod 17 is disposed on the support surface 15 and is parallel to the lead screw 16 . The slider 18 forms a screw 16 hole that can be rotated in cooperation with the screw 16 . The slider 18 is rotatably arranged on the lead screw 16 and slidably arranged on the sliding rod 17 through the hole of the lead screw 16 . The slider 18 can move from a rest position coordinate to a second position along the axis of the lead screw 16 with the rotation of the lead screw 16 . The lift drive motor 19 has a drive shaft capable of outputting torque and a lift drive interface 205 capable of driving it to rotate. The drive shaft is drivingly connected to the lead screw 16 and can drive the lead screw 16 to rotate around the axis.

FIG. 2 is a schematic structural diagram of the side surface of the image acquisition vehicle of the present invention. 1 and 2 , the folding unit 20 includes a first folding rod 21 and a second folding rod 22 . The first folding rod 21 has both ends in the extending direction thereof. One end of the first folding rod 21 is movably connected to the slider 18 . The other end of the first folding rod 21 is movably connected to the storage board 14 . The second folding rod 22 has both ends in the extending direction thereof. The second folding rod 22 is connected to the first folding rod 21 about a rotation axis 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 storage board 14 .

Wherein, when the drive shaft drives the lead screw 16 to rotate, the slider 18 moves from the stop position coordinate to the second position, and the end of the first folding rod 21 connected to the slider 18 and the end of the second folding rod 22 connected to the frame 11 are gradually moved closer together , so that the storage board 14 can stay at a plurality of set heights in one lifting direction D. The lifting direction D is perpendicular to the support surface 15 .

The camera head 23 is arranged on the object placement 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 the range in which the camera 24 is oriented 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 a temperature and humidity collection device according to the present invention. Referring to FIG. 4 , the ambient temperature and humidity collection 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 placement surface 14 and has a temperature sensing output interface. The temperature sensor 301 collects the current temperature value and can send the current temperature value to the temperature sensing output interface. The humidity sensor 302 is disposed on the object placement surface 14 and has a humidity sensing output interface. The humidity sensor 302 collects the current humidity value and can 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 to the temperature sensing output interface and the humidity sensing output interface. The wireless transmission module 303 can send the current temperature information and the current humidity information received by the multiple input terminals from the transmission terminal to the remote.

The slam navigation device 202 is provided on the storage board 14 . The slam navigation device 202 can acquire a navigation route according to the edge of the walking surface.

FIG. 5 is a schematic diagram of the interface connection relationship of the acquisition controller of the present invention. Referring to FIG. 5 , the acquisition controller has multiple input interfaces and multiple output interfaces.

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

The second input interface 102 is connected to the slam navigation device 202 and receives a navigation path.

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

The second output interface 105 is connected to the lift driving 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 simulation processor 207 .

FIG. 6 is a schematic diagram of information conversion of the acquisition controller of the present invention. Referring to FIG. 6 , the acquisition controller generates a plurality of stop position coordinates on the navigation path. The acquisition controller will generate the current motor drive information Q2 according to the next stop position information Q1. The acquisition controller sends the current motor drive information Q2 to the walking drive interface 204 . The walking drive motor moves to the next stop position according to the current motor drive information Q2.

The collection controller determines whether the current position is the stop position coordinate, and if so, the collection controller sends the lift drive information Q3 to the lift drive interface 205 , and the lift drive information Q3 has multiple continuous lift position information. When the elevating drive motor 19 drives the elevating drive motor 19 to reach each elevating position continuously according to the multiple continuous elevating position information in the elevating drive information Q3, the acquisition controller sends the shooting driving information Q4 to the shooting control terminal 206, and the camera 24 receives the shooting After the information Q4 is driven, images are collected at positions corresponding to a plurality of consecutive ascending and descending position information, and a plurality of currently collected image files Q5 are generated. The plurality of currently collected image files Q5 include stop position coordinates and current lift position information. The acquisition controller sends the currently acquired image file Q5 to the remote simulation processor 207 .

Remote emulation processor 207, which has a driver output. The remote simulation processor 207 can splicing multiple currently collected image files Q5 corresponding to the position information according to the received stop position coordinates to obtain images of the disaster site corresponding to the stop position coordinates according to the multiple lift 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 driving information and the humidity driving information to the driving output terminal.

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

A humidification device, which is connected to the drive output terminal of the remote simulation processor 207 . The humidifying device can humidify according to the humidity driving information.

In the implementation of the image deduction simulation device at the disaster site, the temperature and humidity sensor model is LM35D, the wireless transmission module model is ESP8266WiFi, and the cooling chip model is TEC1-12703.

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

After the camera 24 receives the shooting information, the camera 24 swings along the direction perpendicular to the support surface 15 to capture images and generates a plurality of currently vertically captured image files Q5 at positions corresponding to a plurality of continuous lifting and lowering position information; The captured image is swung in the direction of the support surface 15 and a plurality of current horizontal captured image files Q5 are generated.

The remote simulation processor 207, according to the received stop position coordinates, splices the multiple current horizontal acquisition image files Q5 and the multiple current vertical acquisition image files Q5 corresponding to the position information according to the multiple lifting position information to obtain the stop position. An image of the disaster site corresponding to the location 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 deduction simulation device at the disaster site, the image deduction simulation device at the disaster site further includes an ejection device 40 . The ejection device 40 is disposed on the camera platform 23 . 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 ejection barrel 41 has a barrel axis. The cylinder axis can be rotatably connected to the object placement surface. The ejection barrel 41 is provided with an ejection hole along the axis of the barrel, and the orifice of the ejection hole is formed at one end of the ejection barrel 41 . The ejection holes can accommodate a plurality of ejection balls 43 arranged in sequence along the cylinder axis.

The ball storage barrel 42 has a ball storage cavity formed along its axis. The ball storage cylinder 42 is fixed to the radial direction of the ejection cylinder 41 . The ball storage cavity communicates with the ejection hole and is inclined toward the direction of the orifice of the ejection hole. The ball storage cavity forms a ball entry hole on the hole wall of the ejection hole, and the ball entry hole is a set ejection distance from the bottom of the ejection hole.

A plurality of ejection balls 43 can be arranged in sequence along the axial direction of the ball storage cavity and can enter the ejection hole from the ball inlet hole. A field temperature sensor, a field humidity sensor, a field gas sensor, a field GPS acquisition module, and a field wireless communication module are respectively set on the plurality of catapult balls 43 . The collection output end of the field temperature sensor, the collection output end of the field humidity sensor, the collection output end of the field gas sensor and the collection output end of the field GPS acquisition module are connected with the input end of the field wireless communication module.

The electromagnet 44 is arranged at the bottom of the ejection hole.

The ejection spring 45 is fixed to the bottom of the ejection hole. The ejection spring 45 is provided with a magnetic member 46 away from the bottom direction, which 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 electromagnet 44 is energized to magnetically attract the magnet 46, the magnet 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 entry hole. The ejection spring 45 continuously applies the ejection force to the ejection ball 43 . When the electromagnet 44 is de-energized, the ejection spring 45 releases the ejection force, and the ejection ball 43 is ejected from the orifice of the ejection hole.

In another embodiment of the image deduction simulation device at the disaster site, the image acquisition vehicle 10 further includes a plurality of routing modules 50, a routing drop device and a drop controller. The plurality of routing modules 50 can provide wireless communication links for the on-site wireless communication module, so that the data output end of the on-site wireless communication module can remotely transmit the on-site humidity information to the remote simulation processor through the wireless communication link. , On-site temperature information and on-site gas information.

The routing drop device is arranged on the rack 11 , and the routing drop device has a placement hole perpendicular to the storage surface. The orifice of the placement hole faces the direction of the running wheel. The routing drop device also includes a plurality of routing electromagnetic attraction parts. A plurality of routing electromagnetic attraction members are arranged in sequence along the extending direction of the placement hole. The routing electromagnetic suction member can generate suction to the routing module 50 and can sequentially fix a plurality of routing modules 50 in the placement hole by suction along the extending direction of the placement hole.

The input end of the drop controller is connected with the output end of the collection controller, and the output ends of the drop controller are respectively connected with the input ends of the plurality of routing electromagnetic attraction pieces. When the straight-line distance between the coordinates of the current stop position and the coordinates of the previous stop position exceeds the set distance, the power-loss drive information of the routing electromagnetic attraction will be sent to the output of the drop controller, and the multiple routing electromagnetic attraction will be driven according to the power loss. The information drops multiple routing modules 50 .

In another embodiment of the image deduction simulation device at the disaster site, the remote simulation processor 207 generates a VR identifiable file according to the image of the disaster site corresponding to the coordinates of the stop position.

In another embodiment of the image deduction simulation device at the disaster site, it further includes a GPS acquisition module, which is arranged on the object storage board 14 . The GPS acquisition module can collect current GPS location information. The GPS acquisition module has a GPS acquisition information output terminal 203 capable of outputting current GPS position information. The acquisition controller also has a third input interface 103, which is connected to the GPS acquisition information output end 203 and can receive current GPS position information. The fourth output interface 107 of the acquisition controller is connected to the remote simulation processor 207 and can output the current GPS position information to the remote simulation processor 207 . The remote simulation processor 207 generates an image of the disaster site according to the current GPS position information and the navigation route.

In a second aspect, the present invention also provides an image deduction simulation method at a disaster site, the method comprising:

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

In step S102, the collection controller determines whether the current position is the stop position coordinate, and if so, the collection controller sends the lift drive information Q3 to the lift drive interface 205, and the lift drive information Q3 has multiple continuous lift position information. When the elevating drive motor 19 drives the elevating drive motor 19 to reach each elevating position continuously according to a plurality of continuous elevating position information in the elevating drive information Q3 , the acquisition controller sends the shooting driving information Q4 to the shooting control terminal 206 . After receiving the shooting information, the camera 24 collects images at positions corresponding to a plurality of consecutive ascending and descending position information, and generates a plurality of currently collected image files Q5. The plurality of currently collected image files Q5 include stop position coordinates and current lift position information. The acquisition controller sends the currently acquired image file Q5 to the remote simulation processor 207 . as well as

In step S103, the remote simulation processor 207 splices a plurality of currently collected image files Q5 corresponding to the position information according to the received coordinates of the stay position according to the plurality of lift position information to obtain an image of the disaster site corresponding to the coordinates of the stay position.

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

Step S102 also includes that, after the camera 24 receives the shooting information, at the positions corresponding to the plurality of continuous lifting and lowering position information, the camera 24 oscillates along the direction perpendicular to the support surface 15 to capture images and generates a plurality of current vertical capture image files Q5. , or the camera 24 swings in a direction parallel to the support surface 15 to capture images and generate a plurality of current horizontal captured image files Q5.

Step S103 also includes that the remote simulation processor 207, according to the received coordinates of the stop position, converts a plurality of current horizontally collected image files Q5 and a plurality of current vertical collected image files Q5 corresponding to the position information according to a plurality of lifting positions. Information stitching obtains the image of the disaster site corresponding to the coordinates of the stop position.

In another enhanced embodiment of the method of the present invention, after step S103, the method further includes, in step S104, the remote simulation processor 207 generates a VR identifiable file according to the image of the disaster site corresponding to the stop position coordinates. The remote simulation processor generates an image of the disaster site according to the current GPS location information and the navigation path.

In another enhanced embodiment of the method of the present invention, step S102 further includes, projecting a plurality of projectile balls 43 and placing them in a plurality of projecting positions. The acquisition controller 100 acquires on-site humidity information, on-site temperature information and on-site gas information at the coordinates of each projection position. Step S103 further includes that the remote simulation processor 207 obtains a scene graph of the corresponding disaster site according to the received site humidity information, site temperature information, and multiple projection position information corresponding to the site gas information. The above-mentioned different on-site humidity information, on-site temperature information and on-site gas information can be represented by legends or different color renderings in the scene graph. Therefore, the above-mentioned on-site humidity information, on-site temperature information and on-site gas information can be determined through the simulation image.

The above disaster scene scene graph is composed of multiple display particles. There are two ways to generate display particles, which are realized through the following steps:

Method 1, the particle system realizes:

Step 1: Define variables;

Step 2: Set the color and transparency of the particles according to different temperature ranges;

Step 3: Use the particles to build a cube according to the set boundary, and set the initial position of the particles at the same time;

Step 4: Initialize the particle system in the Start() method;

Step 5: In the Update() method, each frame is updated and called to create a particle cube, and at the same time, assign different colors to the particles according to different temperatures;

Step 6: Use the particle system to complete the visualization.

Method 2, algorithm implementation:

Step 1: Detect the temperature value/co concentration value of the eight vertices of the cube space;

Step 2: Based on the eight vertices, establish a cube space model, and perform a trilinear-inter-polation algorithm based on this cube;

Step 3: In addition to the eight vertices, evenly distribute the measured real data in the space, and assign values to the points in the cube (temperature/co concentration);

Step 4: Calculate the average temperature/co concentration value of all points in the cube space composed of eight vertices from linear interpolation on the x, y, and z axes, and update the temperature/co concentration value of each point in the space, ( For the point that has been assigned the initial value, the assignment will not be updated);

Step 5: Finally, the approximate temperature distribution in the entire cube space is restored according to the real temperature values of a small number of points measured, and the visualization is realized by restoring the nity particle system.

FIG. 7 is a schematic diagram of Embodiment 1 of the present invention. Referring to Figure 7, Embodiment 1:

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

Step 2: The collection controller determines whether the current position is the first stop position X, and if so, the collection controller sends the lift drive information to the lift drive interface 205, and the lift drive information includes multiple continuous lift position information. The lift drive motor 19 generates lift drive information according to the height of the obstacle, and the lift drive motor 19 drives the lift drive motor 19 to a lift position according to the lift drive information.

Step 3: After the camera 24 receives the shooting information, the rotating device 30 drives the camera 24 to swing in a direction parallel or perpendicular to the support surface 15 to generate multiple parallel or vertical captured image files. The acquisition controller sends the currently acquired image file to the remote simulation processor 207 .

Step 4: The remote simulation processor 207 obtains an image of the disaster site corresponding to the stay location coordinates by splicing multiple currently collected image files corresponding to the location information according to the received stay location coordinates according to the multiple lift location information.

Step 5: After the image acquisition at the first stop position X is completed, the walking drive motor moves to the next stop position, the second stop position Y, according to the current motor drive information.

Step 6: The collection controller determines whether the current position is the second stop position Y, and if so, the collection controller sends the lift drive information to the lift drive interface 205, and the lift drive information includes multiple continuous lift position information. The lift drive motor 19 generates lift drive information according to the height of the obstacle, and the lift drive motor 19 drives the lift drive motor 19 to a lift position according to the lift drive information.

Step 7: After the camera 24 receives the shooting information, the rotating device 30 drives the camera 24 to swing in a direction parallel or perpendicular to the support surface 15 to generate multiple parallel or vertical captured image files. The acquisition controller sends the currently acquired image file to the remote simulation processor 207 .

Step 8: The remote simulation processor 207 obtains an image of the disaster site corresponding to the stay location coordinates by splicing multiple currently collected image files corresponding to the location information according to the received stay location coordinates according to the multiple lift location information.

Step 9: After the image acquisition at the second stop position Y is completed, the walking drive motor moves to the next stop position, the third stop position Z, according to the current motor drive information.

Step 10: The collection controller determines whether the current position is the third stop position Z, and if so, the collection controller sends the lift drive information to the lift drive interface 205, and the lift drive information includes multiple continuous lift position information. The lift drive motor 19 generates lift drive information according to the height of the obstacle, and the lift drive motor 19 drives the lift drive motor 19 to a lift position according to the lift drive information.

Step 11: After the camera 24 receives the shooting information, the rotating device 30 drives the camera 24 to swing in a direction parallel or perpendicular to the support surface 15 to generate multiple parallel or vertical captured image files. The acquisition controller sends the currently acquired image file to the remote simulation processor 207 .

Step 12: The remote simulation processor 207 splices, according to the received coordinates of the stay position, and multiple currently collected image files corresponding to the position information, obtains images of the disaster site corresponding to the coordinates of the stay position according to the plurality of lift position information.

Step 13: Repeat the above steps until the image capturing vehicle 10 has collected all the images of the stop position coordinates.

Step 14: The remote simulation processor 207 generates a VR identifiable file according to the image of the disaster site corresponding to the stop position coordinates. Finally, a disaster scene image is formed through VR-recognizable files.

Embodiment 2:

Under the premise of the above-mentioned first embodiment, the image deduction simulation device at the disaster scene further includes an ejection device 40 . The ejection device 40 is disposed on the camera platform 23 . 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 .

A plurality of ejection balls 43 can be arranged in sequence along the axial direction of the ball storage cavity and can enter the ejection hole from the ball inlet hole. A field temperature sensor, a field humidity sensor, a field gas sensor, a field GPS acquisition module, and a field wireless communication module are respectively set on the plurality of catapult balls 43 . The collection output end of the field temperature sensor, the collection output end of the field humidity sensor, the collection output end of the field gas sensor and the collection output end of the field GPS acquisition module are connected with the input end of the field wireless communication module.

The ejection spring 45 is fixed to the bottom of the ejection hole. The ejection spring 45 is provided with a magnetic member 46 away from the bottom direction, which 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 electromagnet 44 is energized to magnetically attract the magnet 46, the magnet 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 entry hole. The ejection spring 45 continuously applies the ejection force to the ejection ball 43 . When the electromagnet 44 is de-energized, the ejection spring 45 releases the ejection force, and the ejection ball 43 is ejected from the orifice of the ejection hole.

The image capture vehicle 10 also includes a plurality of routing modules 50, a routing drop device and a drop controller. The plurality of routing modules 50 can provide wireless communication links for the on-site wireless communication module, so that the data output end of the on-site wireless communication module can remotely transmit the on-site humidity information to the remote simulation processor through the wireless communication link. , On-site temperature information and on-site gas information.

The routing drop device is arranged on the rack 11 , and the routing drop device has a placement hole perpendicular to the storage surface. The orifice of the placement hole faces the direction of the running wheel. The routing drop device also includes a plurality of routing electromagnetic attraction parts. A plurality of routing electromagnetic attraction members are arranged in sequence along the extending direction of the placement hole. The routing electromagnetic suction member can generate suction to the routing module 50 and can sequentially fix a plurality of routing modules 50 in the placement hole by suction along the extending direction of the placement hole.

The input end of the drop controller is connected with the output end of the collection controller, and the output ends of the drop controller are respectively connected with the input ends of the plurality of routing electromagnetic attraction pieces. When the straight-line distance between the coordinates of the current stop position and the coordinates of the previous stop position exceeds the set distance, the power-loss drive information of the routing electromagnetic attraction will be sent to the output of the drop controller, and the multiple routing electromagnetic attraction will be driven according to the power loss. The information drops multiple routing modules 50 .

A plurality of ejection balls 43 are ejected and placed in a plurality of ejection positions. The acquisition controller 100 acquires on-site humidity information, on-site temperature information and on-site gas information at the coordinates of each projection position. The remote simulation processor 207 acquires the corresponding scene graph of the disaster site according to the received site humidity information, site temperature information, and site gas information corresponding to multiple projection positions.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand: it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. The image deduction simulation equipment of disaster scene, it is applied to the disaster scene with walking surface, and described image simulation equipment comprises, An image acquisition vehicle (10) capable of moving on the walking surface, the image acquisition vehicle (10) comprising, a frame (11) having a support surface (15) capable of being parallel to the running surface; a rotating member, which includes, 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 running wheels (12) coaxially arranged on the drive shaft; and A travel drive motor with: A power shaft capable of outputting torque, which is connected to the drive shaft and can drive the drive shaft to rotate around its axis, and a walking drive interface that can drive the drive shaft to rotate; A lift assembly (13) comprising, a storage board (14), which is located in the direction of the support surface (15) away from the walking surface, and the storage board (14) has a storage surface that can be parallel to the support surface (15); a lead screw (16), which is rotatably arranged on the support surface (15), and the axis of the lead screw (16) is parallel to the support surface (15); a sliding rod (17), which is arranged on the support surface (15) and is parallel to the lead screw (16); A sliding block (18), which forms a screw (16) hole that can cooperate with the screw (16) to rotate, and the sliding block (18) is rotatably arranged on the screw (16) hole through the screw (16) hole. The lead screw (16) is slidably arranged on the sliding rod (17), and the sliding block (18) can stay from one position along the axis of the lead screw (16) along with the rotation of the lead screw (16). The position coordinates are moved to a second position; A lift drive motor (19), which has a drive shaft capable of outputting torque and a lift drive interface capable of driving it to rotate, the drive shaft is drivingly connected to the lead screw (16) and can drive the lead screw (16) Rotation about an axis; and A folding unit (20) comprising, A first folding rod (21) has two ends in the extending direction, one end of the first folding rod (21) is movably connected to the sliding block (18), and the first folding rod (21) has two ends. The other end is movably connected to the storage board (14); and A second folding rod (22), which has two ends in the extending direction, the second folding rod (22) is connected to the first folding rod (22) about a rotation axis parallel to the supporting surface (15) 21), one end of the second folding rod (22) is movably connected to the frame (11), and the other end of the second folding rod (22) is slidably arranged on the storage board (14); Wherein, when the drive shaft drives the lead screw (16) to rotate, the slider (18) moves from the stop position coordinate to the second position, and the first folding rod (21) is connected to the second position. One end of the slider (18) and the end of the second folding rod (22) connected to the frame (11) are gradually moved closer together, so that the storage board (14) can stay in a plurality of devices in one lifting direction. The height is fixed, and the lifting direction is perpendicular to the supporting surface (15); A camera head (23), which is arranged on the object placement surface, the camera head (23) has a camera (24), a shooting control terminal and an image output interface, and the camera (24) can capture the A camera (24) faces an image within a range and generates a captured image file, and the camera head (23) can transmit the captured image file to the image output interface; An ambient temperature and humidity collection device () comprising: a temperature sensor, which is arranged on the object storage surface and has a temperature sensing output interface, the temperature sensor collects the current temperature value and can send the current temperature value to the temperature sensing output interface; a humidity sensor, which is arranged on the storage surface and has a humidity sensing output interface; the humidity sensor collects the current humidity value and can send the current humidity value to the humidity sensing output interface; A wireless transmission module, which has a plurality of input ends and a transmission end, the plurality of input ends are respectively connected to the temperature sensing output interface and the humidity sensing output interface; the wireless transmission module can transmit the multiple input ends The current temperature information and the current humidity information received by the terminal are sent from the transmission terminal to the remote; A slam navigation device, which is arranged on the storage board (14), and the slam navigation device can obtain a navigation path according to the edge of the walking surface; an acquisition controller having; the first input interface is connected to the image output interface through wireless transmission; the second input interface is connected to the slam navigation device and receives the navigation path; the first output interface is connected with the walking drive interface; the second output interface is connected with the lift drive interface; the third output interface is connected with the shooting control terminal; the fourth output interface is wirelessly connected to the remote emulation processor; The acquisition controller generates a plurality of stop position coordinates in the navigation path, and the acquisition controller will generate current motor drive information according to the next stop position information; the acquisition controller sends the current motor drive information to the travel drive interface; the next stop position to which the travel drive motor moves according to the current motor drive information; Wherein, the acquisition controller judges whether the current position is the coordinate of the stop position, and if so, the acquisition controller sends up and down driving information to the up and down drive interface, and the up and down driving information has a plurality of continuous up and down positions information; when the elevating drive motor (19) drives the elevating drive motor (19) to continuously reach each elevating position according to the plurality of continuous elevating position information in the elevating drive information, the collection controller sends the The shooting control terminal sends shooting driving information, and after receiving the shooting information, the camera (24) collects images at positions corresponding to the plurality of continuous ascending and descending position information and generates a plurality of currently collected image files; The plurality of currently collected image files include the stop position coordinates and current lifting position information; the collection controller sends the currently collected image files to the remote simulation processor; A remote simulation processor, which has a drive output; it collects a plurality of currently collected image files corresponding to the position information according to the received coordinates of the stop position; stitches and obtains all the image files according to the plurality of lifting position information. The image of the disaster scene corresponding to the coordinates of the stop position; 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 according to the current temperature information and the current humidity information. drive information and humidity drive information; the remote emulation processor can send the temperature control drive information and the humidity drive information to the drive output; and A heating or cooling device, which is connected to the drive output end of the remote simulation processor, and the heating or cooling device can heat or cool according to the temperature control driving information; A humidification device is connected to the driving output end of the remote simulation processor, and the humidification device can humidify according to the humidity driving information. 2. The image deduction simulation device of the disaster scene according to claim 1, wherein the camera head (23) further comprises, A rotating device (30), the rotating device (30) is fixed on the object placement surface, and the rotating device (30) can drive the camera (24) to swing in a direction perpendicular to the support surface (15), Or the rotating device (30) can drive the camera head (24) to swing in a direction parallel to the support surface (15); After the camera (24) receives the shooting information, the camera (24) swings along a direction perpendicular to the support surface (15) at positions corresponding to the plurality of continuous lifting position information to collect images And generate a plurality of current vertical capture image files, or the camera (24) swings along a direction parallel to the support surface (15) to capture images and generate a plurality of current horizontal capture image files; The remote simulation processor (207), according to the received coordinates of the stop position, converts the plurality of current horizontally collected image files and the plurality of current vertically collected image files corresponding to the position information according to the The multiple lifting position information is spliced to obtain an image of the disaster site corresponding to the stop position coordinates. 3. The image deduction simulation device of the disaster scene according to claim 1, further comprising, An ejection device (40), which is arranged on the camera head (23), the ejection device (40) comprising, An ejection cylinder (41), which has a cylinder axis; the cylinder axis can be rotatably connected to the storage surface; the ejection cylinder (41) is provided with an ejection hole along the cylinder axis, and the ejection hole has an ejection hole. An orifice is formed at one end of the ejection cylinder (41); the ejection hole can accommodate the plurality of ejection balls (43) arranged in sequence along the cylinder axis; A ball storage cylinder (42), the ball storage cylinder (42) has a ball storage cavity formed along its axis; the ball storage cylinder (42) is fixed in the radial direction of the ejection cylinder (41), the The ball storage cavity communicates with the ejection hole and is inclined toward the direction of the orifice of the ejection hole; the ball storage cavity forms a ball-in hole on the hole wall of the ejection hole, and the ball-in hole is far from the ejection hole The bottom of is a set ejection distance; A plurality of ejection balls (43), which can be arranged in sequence along the axial direction of the ball storage cavity and can enter the ejection hole from the ball entry hole; an on-site temperature sensor is respectively provided for the plurality of ejection balls (43) , an on-site humidity sensor, a on-site gas sensor, a on-site GPS acquisition module, and a 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 all The acquisition output end of the on-site GPS acquisition module is connected with the input end of the on-site wireless communication module; an electromagnet (44), which is arranged at the bottom of the ejection hole; an ejection spring (45), which is fixed on the bottom of the ejection hole; the ejection spring (45) is provided with a magnetic element (46) that can form a magnetic attraction with the electromagnetic element (44) in a direction away from the bottom; the The ejection spring (45) can be compressed to the set ejection distance and can continuously apply an ejection force to the ejection ball (43); Wherein, when the electromagnet (44) is energized, so that the electromagnet (44) magnetically attracts the magnetic member (46), the magnetic member (46) drives the ejection spring (45) to compress to the device The ejection distance is fixed, the ejection ball (43) enters the ejection hole from the ball entry hole; the ejection spring (45) continuously exerts an ejection force on the ejection ball (43); When the electromagnet (44) loses power, the ejection spring (45) releases the ejection force, and the ejection ball (43) is ejected from the orifice of the ejection hole. 4. The image deduction simulation device of the disaster site according to claim 3, wherein the image acquisition vehicle (10) further comprises: A plurality of routing modules (50), which can provide wireless communication links for the on-site wireless communication modules; so that the data output end of the on-site wireless communication module can collect data obtained by the input end through the wireless communication link Remotely transmit on-site humidity information, on-site temperature information and on-site gas information to the remote simulation processor (207); A routing drop device, which is arranged on the frame (11), the routing drop device has a placement hole perpendicular to the storage surface; the orifice of the placement hole faces the walking wheel (12) direction; The routing drop device further includes a plurality of routing electromagnetic attracting parts; the routing electromagnetic attracting members are arranged in sequence along the extending direction of the placement hole; the routing electromagnetic attracting members can generate the routing module (50) Suction, and can fix the plurality of routing modules (50) in the installation holes in sequence through suction along the extending direction of the installation holes; A drop controller, the input end of which is connected to the output end of the collection controller (100), the output ends of the drop controller are respectively connected to the input ends of the plurality of routing electromagnetic attraction parts, when the When the straight-line distance between the coordinates of the current stop position and the coordinates of the previous stop position exceeds the set distance, the power-loss driving information of the routing electromagnetic attraction is sent to the output end of the drop controller; the multiple routing electromagnetic attraction is based on The power-loss driving information causes the plurality of routing modules (50) to drop. 5 . The image deduction simulation device of a disaster site according to claim 1 , wherein the remote simulation processor generates a VR identifiable file according to the image of the disaster site corresponding to the coordinates of the stop position. 6 . 6. The image deduction simulation device of the disaster site according to claim 1, the image deduction simulation device of the disaster site further comprises: a GPS acquisition module, which is arranged on the storage board (14), the GPS acquisition module is capable of acquiring current GPS position information, and the GPS acquisition module has a GPS acquisition information output terminal capable of outputting the current GPS position information; The acquisition controller also has a third input interface, which is connected to the GPS acquisition information output end and can receive the current GPS position information; The 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; The remote simulation processor generates an image of the disaster site according to the current GPS location information and the navigation path. 7. The image deduction simulation method of the disaster scene, the method is realized by the image deduction simulation equipment of the disaster scene in any one of the above claims 1-6, the image deduction simulation method of the disaster scene comprises, Step S101, the collection controller generates a plurality of stop position coordinates in the navigation path, and the collection controller will generate current motor drive information according to the next stop position information; the collection controller sends the current motor drive information to the walking drive. interface; the walking drive motor moves to the next stop position according to the current motor drive information; Step S102, the acquisition controller judges whether the current position is the coordinates of the stop position, and if so, the acquisition controller sends the lifting driving information to the lifting driving interface, and the lifting driving information has a plurality of continuous lifting position information ; When the elevating drive motor (19) drives the elevating drive motor (19) to reach each elevating position continuously according to the plurality of continuous elevating position information in the elevating drive information, the acquisition controller sends the shooting control terminal Sending photographing drive information, after receiving the photographing information, the camera (24) collects images at positions corresponding to the multiple continuous lifting and lowering position information and generates multiple currently collected image files; the multiple currently collected image files including the stop position coordinates, the current lifting position information; the acquisition controller sends the current acquisition image file to the remote simulation processor; and Step S103, according to the received coordinates of the stop position, the remote simulation processor splices the plurality of currently collected image files corresponding to the position information according to the plurality of lift position information to obtain the coordinates of the stop position. The corresponding image of the disaster scene. 8. The image deduction simulation method of a disaster site according to claim 7, wherein the camera head (23) further comprises a rotating device (30), the rotating device (30) is fixed on the object placement surface, and the rotating The device (30) can drive the camera head (24) to swing in a direction perpendicular to the support surface (15), or the rotating device (30) can drive the camera head (24) to swing in a direction parallel to the support surface (15) swing in the direction; The step S102 further includes that after the camera (24) receives the shooting information, at the positions corresponding to the plurality of continuous lifting and lowering position information, the camera (24) is perpendicular to the support surface. Swing in the direction of (15) to capture images and generate a plurality of current vertical capture image files, or the camera (24) swing in a direction parallel to the support surface (15) to capture images and generate a plurality of current horizontal capture image files; The step S103 also includes: the remote simulation processor, according to the received coordinates of the stop position, collects the plurality of current horizontal image files and the plurality of current vertical image files corresponding to the position information. An image file is collected, and an image of the disaster site corresponding to the coordinates of the stay position is obtained by splicing according to the plurality of lifting position information. 9. The image deduction simulation method of a disaster site according to claim 7 or 8, further comprising after step S103, step S104, wherein the remote simulation processor generates an image of the disaster site corresponding to the coordinates of the stop position to generate VR identifiable files; the remote simulation processor generates an image of the disaster site according to the current GPS location information and the navigation path. 10. The image deduction simulation method of a disaster site according to claim 7, wherein the step S102 further comprises: throwing a plurality of ejection balls (43) and placing them in a plurality of projection positions; the acquisition controller (100) is in each The projectile position coordinates obtain on-site humidity information, on-site temperature information and on-site gas information; the step S103 further includes, the remote simulation processor (207) according to the received on-site humidity information, on-site temperature information and on-site gas information The corresponding pieces of projection position information are obtained from the scene graph of the corresponding disaster scene.

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