CN111080937A - Intelligent fire-fighting robot with functions of inducing evacuation and voice recognition - Google Patents
Intelligent fire-fighting robot with functions of inducing evacuation and voice recognition Download PDFInfo
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- CN111080937A CN111080937A CN201911252359.7A CN201911252359A CN111080937A CN 111080937 A CN111080937 A CN 111080937A CN 201911252359 A CN201911252359 A CN 201911252359A CN 111080937 A CN111080937 A CN 111080937A
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B3/00—Audible signalling systems; Audible personal calling systems
- G08B3/10—Audible signalling systems; Audible personal calling systems using electric transmission; using electromagnetic transmission
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
Abstract
The invention discloses an intelligent fire-fighting robot capable of inducing evacuation and recognizing voice, which comprises a number acquisition terminal, a processing module, a personnel counting module, an evacuation storage database, a guidance escape module, a voice acquisition module, a voice broadcast module, a fire monitoring module and a fire extinguishing execution module. According to the invention, through the number obtaining terminal and the personnel counting module, the estimated escape quantity and the actual escape quantity of personnel at each exit channel in a factory building or a fire engineering field can be judged, and the number of the personnel escaping from each exit channel is balanced and regulated by combining the guiding escape module, so that the stable evacuation quantity of the personnel at each exit channel is ensured, the induced evacuation is realized, the casualties and trampling events caused by the disordered escape of the personnel when a fire disaster occurs are reduced, the voice acquisition and identification can be carried out on the fire scene, the fire fighting safety is greatly improved, and the efficiency of dredging the personnel at the exit channels is ensured to be improved.
Description
Technical Field
The invention belongs to the technical field of fire fighting, and relates to an intelligent fire fighting robot with evacuation induction and voice recognition functions.
Background
Among the prior art, the sparse emergency light that mainly adopts of fire control guides and instructs with safe mark, and the emergency light mainly includes stand alone type emergency light and two kinds of forms of centralized emergency light, and there is a large amount of potential safety hazards in the sparse in-process of guide in current emergency light, for example, the emergency light drops or damages at inside components and parts, causes the unable normal guide illumination of emergency light trouble.
When a large amount of personnel guide evacuation according to emergency light and safety sign, easily cause the unordered the gushing of personnel to same escape way, cause the scene to flee the confusion and personnel and trample the accident, increased the risk of personnel among the process of fleing, can't be effectively according to the reasonable security personnel of conflagration condition induction evacuation, reduce the crowded degree in the evacuation.
Disclosure of Invention
The invention aims to provide an intelligent fire-fighting robot with evacuation induction and voice recognition, which solves the problems that people cannot be reasonably induced to evacuate in the existing fire-fighting evacuation process, an escape channel is too crowded, the probability of casualties is increased, and voice recognition cannot be performed, and has low safety in fire-fighting escape.
The purpose of the invention can be realized by the following technical scheme:
an intelligent fire-fighting robot capable of inducing evacuation and having voice recognition function comprises a number acquisition terminal, a processing module, a personnel counting module, an evacuation storage database, a guiding escape module, a voice acquisition module, a voice broadcast module, a fire monitoring module and a fire extinguishing execution module;
the processing module is respectively connected with the number obtaining terminal, the personnel counting module, the guiding escape module, the voice acquisition module, the voice broadcasting module and the fire monitoring module, and the guiding storage database is respectively connected with the processing module and the voice acquisition module;
the number obtaining terminals are respectively installed in each sub-area and used for obtaining the number of people in each sub-area in real time and sending the obtained number of people to the processing module;
personnel count the module and are used for real-time detection personnel to pass through exit channel's quantity to send the personnel quantity of process to processing module in each exit channel who will gather, wherein, infrared emission end transmission infrared ray is received through infrared receiving terminal, when someone passes through exit channel, the infrared light of infrared emission end transmission is blocked by personnel, infrared receiving terminal can't receive the infrared light that infrared emission end sent, when nobody when passing through exit channel, the infrared light of infrared emission end transmission is directly received by infrared receiving terminal.
The voice acquisition module is used for acquiring voice information around the fire-fighting robot in real time, preprocessing the acquired voice information, removing noise in the voice information, and respectively sending the preprocessed voice information to the processing module and the guide storage database;
the guide storage database is used for storing the number of outlet channels in a factory building or a fire engineering site, the outlet channels are numbered, and are respectively A, B and so, the outlet channels are divided into A1, A2, so, Ax, B1, B2, so, Bx and Ax which are the x-th sub-regions closest to the A outlet channel according to the distance between each sub-region and each outlet channel, and the Bx is the x-th sub-region closest to the B outlet channel;
the fire monitoring module is respectively arranged in a factory building or a fire engineering field and is used for detecting whether a fire disaster happens in the factory building or the fire engineering field in real time, and once the fire disaster is detected, fire disaster information is sent to the processing module;
the processing module is used for receiving fire information sent by the fire monitoring module, sending a control command to the voice broadcasting module according to the fire information, carrying out voice broadcasting, receiving voice information sent by the voice acquisition module, carrying out recognition and analysis processing on the received voice information, extracting content in the voice information, and having a voice recognition effect;
and the fire extinguishing execution module is used for receiving the fire extinguishing control instruction sent by the processing module and extinguishing the fire source.
The system further comprises a guiding escape module, wherein the guiding escape module is used for receiving the number of the people predicted to pass through each exit channel and the number of the people currently passing through the exit channel, which are sent by the processing module, predicting the escape proportion of the people in each exit channel according to the predicted total number of the people passing through and the number of the people currently passing through, and guiding the people to carry out balanced evacuation on the number of the people in each exit channel.
Further, the method for guiding people to evacuate by the escape module comprises the following steps:
s1, acquiring the number of people in each subarea;
s2, screening the accumulated sum of the number of people in each sub-area passing through the same exit passage from the guide storage database to be used as the total number of expected pedestrian trafficers;
s3, judging whether the total number of the expected pedestrians passing through each exit passage exceeds a set exit people number threshold value, if so, comparing the number of the expected pedestrians passing through the exit passage exceeding the set exit people number threshold value with the set exit people number threshold value to obtain the number of the exceeded pedestrians;
s4, extracting sub-areas corresponding to the exit passages exceeding the set exit people number threshold in the step S3, screening out the sub-area farthest away from the exit passages from the sub-areas, and extracting the number of people in the sub-areas;
s5, comparing the extracted number of people with the number of people exceeding the number of people, if the extracted number of people is more than the number of people exceeding the number of people, dividing the people in the sub-area into other exit channels, and if the extracted number of people is less than the number of people exceeding the number of people, executing the step S6;
s6, sequentially extracting the number of people in the sub-area which is the second distance away from the exit channel until the number of the people in the extracted sub-area is larger than the number of people, and dividing the extracted sub-area until the number of the people is smaller than the set exit people number threshold;
s7, counting the total number of people passing through each exit channel again, acquiring the number of people passing through each exit channel, and comparing the number of people passing through each exit channel with the total number of people passing through the exit channel to obtain an escape ratio;
s8, averaging the escape proportions corresponding to the exit channels to obtain an average escape proportion, subtracting the escape proportion corresponding to the exit channels from the average escape proportion to obtain a relative escape proportion difference, if the relative escape proportion difference corresponding to the exit channels is smaller than a preset escape proportion difference threshold value, not processing, and if the relative escape proportion difference corresponding to the exit channels is larger than a preset escape proportion difference threshold value, executing the step S9;
and S9, evacuating the people corresponding to the exit passage with the escape proportion difference smaller than the preset escape proportion difference threshold value to the exit passage with the escape proportion difference larger than the preset escape proportion difference threshold value so as to guide and shunt the people.
Further, the number of people acquiring terminal comprises an image acquiring module, a storage database and a personnel positioning matching module, wherein the personnel positioning matching module is respectively connected with the image acquiring module and the storage database;
the image acquisition module is used for acquiring personnel images in each sub-area in real time, preprocessing the acquired personnel images and sending the processed images to the personnel positioning and matching module;
the storage database is used for storing the standard image information of the personnel standing at different positions with different personnel numbers in the sub-region;
the personnel positioning and matching module is used for receiving the personnel images sent by the image acquisition module, comparing the received personnel images with the personnel standard images one by one to acquire the quantity of personnel in the acquired personnel images, and sending the acquired quantity of personnel to the processing module.
Further, still include regional division module, regional division module is used for carrying out regional division to factory building or fire engineering place, divides into a plurality of subregions that a plurality of areas are equal, numbers each subregion according to the order of setting for respectively, is 1,2 respectively.
The invention has the beneficial effects that:
the invention provides an intelligent fire-fighting robot capable of inducing evacuation and recognizing voices, which can judge the estimated escape quantity and the actual escape quantity of people at each exit channel in a factory building or a fire engineering field through a people number acquisition terminal and a people counting module, and can balance and adjust the escape quantity of people at each exit channel by combining a guide escape module, thereby ensuring the stable escape quantity of people at each exit channel, realizing the induced evacuation, reducing the casualties and trampling events caused by the confusion escape of people when the people are in a fire disaster, in addition, the voices in-process escape of the people can be collected and the voices can be prompted and broadcasted through a voice collection module and a voice broadcast module, the collected voices can be recognized and analyzed by a processing module, the intelligent fire-fighting robot can guide and shunt the fire scene, reduce the accidents caused by the congestion and recognize the voices at the scene, the fire-fighting safety is greatly improved, and the efficiency of dredging personnel of the outlet channel is guaranteed to be improved.
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 only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic diagram of an intelligent fire-fighting robot with evacuation induction and voice recognition according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, an intelligent fire-fighting robot with evacuation induction and voice recognition functions comprises a region division module, a people number acquisition terminal, a processing module, a personnel counting module, an evacuation storage database, an escape guidance module, a voice acquisition module, a voice broadcast module, a fire monitoring module and a fire extinguishing execution module;
the processing module is respectively connected with the number obtaining terminal, the personnel counting module, the guiding escape module, the voice acquisition module, the voice broadcasting module, the fire monitoring module and the fire extinguishing execution module, and the guiding storage database is respectively connected with the processing module, the voice acquisition module and the guiding escape module;
the area division module is used for carrying out area division on a factory building or a fire engineering field, dividing the area into a plurality of sub-areas with equal areas, and numbering the sub-areas according to a set sequence, wherein the number is 1,2,. once, i,. once.n;
the number obtaining terminal is respectively installed in each sub-area and used for obtaining the number of people in each sub-area in real time and sending the obtained number of people to the processing module, the number obtaining terminal comprises an image obtaining module, a storage database and a person positioning and matching module, and the person positioning and matching module is respectively connected with the image obtaining module and the storage database;
the image acquisition module is used for acquiring personnel images in each sub-area in real time, preprocessing the acquired personnel images and sending the processed images to the personnel positioning and matching module;
the storage database is used for storing the standard image information of the personnel standing at different positions with different personnel numbers in the sub-region;
the personnel positioning and matching module is used for receiving the personnel images sent by the image acquisition module, comparing the received personnel images with the personnel standard images one by one to acquire the quantity of personnel in the acquired personnel images, and sending the acquired quantity of personnel to the processing module.
Personnel statistics module adopts infrared emission end and infrared receiving terminal, infrared emission end and infrared receiving terminal set up respectively on the wall of exit channel both sides, a quantity for real-time detection personnel pass through exit channel, and send the personnel quantity of process in each exit channel who will gather to processing module, wherein, infrared emission end transmission infrared ray is received through infrared receiving terminal, when someone is through exit channel, the infrared light of infrared emission end transmission is blocked by personnel, the infrared receiving terminal can't receive the infrared light that infrared emission end sent, when nobody is when exit channel, the infrared light of infrared emission end transmission is directly received by infrared receiving terminal.
The voice acquisition module is used for acquiring voice information around the fire-fighting robot in real time, preprocessing the acquired voice information, removing noise in the voice information, and respectively sending the preprocessed voice information to the processing module and the guide storage database;
the guide storage database is used for storing the number of outlet channels in a factory building or a fire engineering site, the outlet channels are numbered, and are respectively A, B and.
The fire monitoring module is respectively arranged in a factory building or a fire engineering field and is used for detecting whether a fire disaster happens in the factory building or the fire engineering field in real time, and once the fire disaster is detected, sending fire disaster information to the processing module;
the processing module is used for receiving the fire information sent by the fire monitoring module, sending a control command to the voice broadcasting module according to the fire information for voice broadcasting, receiving the voice information sent by the voice acquisition module, identifying and analyzing the received voice information, extracting the content in the voice information, and having the function of voice identification, meanwhile, the processing module receives the number of people in each sub-area sent by the people number acquisition terminal, predicts the total number of people passing through each exit channel according to the guide storage database, sends the predicted number of people passing through each exit channel to the guide escape module, receives the number of people passing through detected by the people counting module at each exit channel, sends the number of people passing through each exit channel to the guide escape module and the cloud server, and sends a fire extinguishing control command to the fire extinguishing execution module according to the received fire information, for controlling fire.
The guiding escape module is used for receiving the number of people predicted to pass through each exit channel and the number of people passing through the current exit channel sent by the processing module, predicting the escape proportion of people in each exit channel according to the predicted total number of people passing through and the number of people passing through at present, guiding the people to balance the number of people in each exit channel, improving the evacuation guiding efficiency of the people and reducing the probability of trampling accidents.
The method for guiding people to evacuate by the escape module comprises the following steps:
s1, acquiring the number of people in each subarea;
s2, screening the accumulated sum of the number of people in each sub-area passing through the same exit passage from the guide storage database to be used as the total number of expected pedestrian trafficers;
s3, judging whether the total number of the expected pedestrians passing through each exit passage exceeds a set exit people number threshold value, if so, comparing the number of the expected pedestrians passing through the exit passage exceeding the set exit people number threshold value with the set exit people number threshold value to obtain the number of the exceeded pedestrians;
s4, extracting sub-areas corresponding to the exit passages exceeding the set exit people number threshold in the step S3, screening out the sub-area farthest away from the exit passages from the sub-areas, and extracting the number of people in the sub-areas;
s5, comparing the extracted number of people with the number of people exceeding the number of people, if the extracted number of people is more than the number of people exceeding the number of people, dividing the people in the sub-area into other exit channels, and if the extracted number of people is less than the number of people exceeding the number of people, executing the step S6;
s6, sequentially extracting the number of people in the sub-area which is the second distance away from the exit channel until the number of the people in the extracted sub-area is larger than the number of people, and dividing the extracted sub-area until the number of the people is smaller than the set exit people number threshold;
s7, counting the total number of people passing through each exit channel again, acquiring the number of people passing through each exit channel, and comparing the number of people passing through each exit channel with the total number of people passing through the exit channel to obtain an escape ratio;
s8, averaging the escape proportions corresponding to the exit channels to obtain an average escape proportion, subtracting the escape proportion corresponding to the exit channels from the average escape proportion to obtain a relative escape proportion difference, if the relative escape proportion difference corresponding to the exit channels is smaller than a preset escape proportion difference threshold value, not processing, and if the relative escape proportion difference corresponding to the exit channels is larger than a preset escape proportion difference threshold value, executing the step S9;
s9, evacuating people corresponding to the exit passage with the escape proportion difference smaller than the preset escape proportion difference threshold to the exit passage with the escape proportion difference larger than the preset escape proportion difference threshold so as to conduct guiding and shunting and reduce accidents caused by crowding.
The fire extinguishing execution module is used for receiving the fire extinguishing control instruction sent by the processing module and controlling a water outlet pipe valve of the fire extinguishing robot so as to extinguish a fire source.
The foregoing is merely exemplary and illustrative of the principles of the present invention and various modifications, additions and substitutions of the specific embodiments described herein may be made by those skilled in the art without departing from the principles of the present invention or exceeding the scope of the claims set forth herein.
Claims (5)
1. The utility model provides an intelligence fire-fighting robot with induce sparse and have speech recognition which characterized in that: the system comprises a number obtaining terminal, a processing module, a personnel counting module, an evacuation storage database, a guiding escape module, a voice acquisition module, a voice broadcasting module, a fire monitoring module and a fire extinguishing execution module;
the processing module is respectively connected with the number obtaining terminal, the personnel counting module, the guiding escape module, the voice acquisition module, the voice broadcasting module and the fire monitoring module, and the guiding storage database is respectively connected with the processing module and the voice acquisition module;
the number obtaining terminals are respectively installed in each sub-area and used for obtaining the number of people in each sub-area in real time and sending the obtained number of people to the processing module;
the personnel counting module is used for detecting the number of personnel passing through the outlet channels in real time and sending the collected number of the personnel passing through each outlet channel to the processing module;
the voice acquisition module is used for acquiring voice information around the fire-fighting robot in real time, preprocessing the acquired voice information, removing noise in the voice information, and respectively sending the preprocessed voice information to the processing module and the guide storage database;
the guide storage database is used for storing the number of outlet channels in a factory building or a fire engineering site, the outlet channels are numbered, and are respectively A, B and so, the outlet channels are divided into A1, A2, so, Ax, B1, B2, so, Bx and Ax which are the x-th sub-regions closest to the A outlet channel according to the distance between each sub-region and each outlet channel, and the Bx is the x-th sub-region closest to the B outlet channel;
the fire monitoring module is respectively arranged in a factory building or a fire engineering field and is used for detecting whether a fire disaster happens in the factory building or the fire engineering field in real time, and once the fire disaster is detected, fire disaster information is sent to the processing module;
the processing module is used for receiving fire information sent by the fire monitoring module, sending a control command to the voice broadcasting module according to the fire information, carrying out voice broadcasting, receiving voice information sent by the voice acquisition module, carrying out recognition and analysis processing on the received voice information, extracting content in the voice information, and having a voice recognition effect;
and the fire extinguishing execution module is used for receiving the fire extinguishing control instruction sent by the processing module and extinguishing the fire source.
2. An intelligent fire fighting robot with evacuation induction and voice recognition functions as claimed in claim 1, wherein: the system also comprises a guiding escape module, wherein the guiding escape module is used for receiving the number of the persons predicted to pass through each exit channel and the number of the persons passing through the current exit channel sent by the processing module, predicting the escape proportion of the persons in each exit channel according to the predicted total number of the persons passing through and the number of the persons passing through at present, and guiding the persons to carry out balanced evacuation on the number of the persons in each exit channel.
3. An intelligent fire fighting robot with evacuation induction and voice recognition according to claim 2, characterized in that: the method for guiding people to evacuate by the escape module comprises the following steps:
s1, acquiring the number of people in each subarea;
s2, screening the accumulated sum of the number of people in each sub-area passing through the same exit passage from the guide storage database to be used as the total number of expected pedestrian trafficers;
s3, judging whether the total number of the expected pedestrians passing through each exit passage exceeds a set exit people number threshold value, if so, comparing the number of the expected pedestrians passing through the exit passage exceeding the set exit people number threshold value with the set exit people number threshold value to obtain the number of the exceeded pedestrians;
s4, extracting sub-areas corresponding to the exit passages exceeding the set exit people number threshold in the step S3, screening out the sub-area farthest away from the exit passages from the sub-areas, and extracting the number of people in the sub-areas;
s5, comparing the extracted number of people with the number of people exceeding the number of people, if the extracted number of people is more than the number of people exceeding the number of people, dividing the people in the sub-area into other exit channels, and if the extracted number of people is less than the number of people exceeding the number of people, executing the step S6;
s6, sequentially extracting the number of people in the sub-area which is the second distance away from the exit channel until the number of the people in the extracted sub-area is larger than the number of people, and dividing the extracted sub-area until the number of the people is smaller than the set exit people number threshold;
s7, counting the total number of people passing through each exit channel again, acquiring the number of people passing through each exit channel, and comparing the number of people passing through each exit channel with the total number of people passing through the exit channel to obtain an escape ratio;
s8, averaging the escape proportions corresponding to the exit channels to obtain an average escape proportion, subtracting the escape proportion corresponding to the exit channels from the average escape proportion to obtain a relative escape proportion difference, if the relative escape proportion difference corresponding to the exit channels is smaller than a preset escape proportion difference threshold value, not processing, and if the relative escape proportion difference corresponding to the exit channels is larger than a preset escape proportion difference threshold value, executing the step S9;
and S9, evacuating the people corresponding to the exit passage with the escape proportion difference smaller than the preset escape proportion difference threshold value to the exit passage with the escape proportion difference larger than the preset escape proportion difference threshold value so as to guide and shunt the people.
4. An intelligent fire fighting robot with evacuation induction and voice recognition functions as claimed in claim 1, wherein: the number obtaining terminal comprises an image obtaining module, a storage database and a personnel positioning matching module, and the personnel positioning matching module is respectively connected with the image obtaining module and the storage database;
the image acquisition module is used for acquiring personnel images in each sub-area in real time, preprocessing the acquired personnel images and sending the processed images to the personnel positioning and matching module;
the storage database is used for storing the standard image information of the personnel standing at different positions with different personnel numbers in the sub-region;
the personnel positioning and matching module is used for receiving the personnel images sent by the image acquisition module, comparing the received personnel images with the personnel standard images one by one to acquire the quantity of personnel in the acquired personnel images, and sending the acquired quantity of personnel to the processing module.
5. An intelligent fire fighting robot with evacuation induction and voice recognition functions as claimed in claim 1, wherein: still include the regionalization module, the regionalization module is used for carrying out the regionalization to factory building or fire engineering place, divides into a plurality of subregions that a plurality of areas are equal, numbers each subregion according to the order of setting for respectively, is 1,2,.
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| CN201911252359.7A CN111080937A (en) | 2019-12-09 | 2019-12-09 | Intelligent fire-fighting robot with functions of inducing evacuation and voice recognition |
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| CN201911252359.7A CN111080937A (en) | 2019-12-09 | 2019-12-09 | Intelligent fire-fighting robot with functions of inducing evacuation and voice recognition |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113192503A (en) * | 2021-04-28 | 2021-07-30 | 深圳市金画王技术有限公司 | Intelligent voice control system of water surface lifesaving robot |
| CN113823050A (en) * | 2021-08-19 | 2021-12-21 | 广州铁路职业技术学院（广州铁路机械学校） | Emergency evacuation guiding method and system for public places |
| CN114140953A (en) * | 2021-11-04 | 2022-03-04 | 郑州轻工业大学 | Intelligent fire-fighting evacuation robot with voice recognition function |
| CN117892978A (en) * | 2024-03-14 | 2024-04-16 | 四川弘和数智集团有限公司 | Dangerous chemical leakage personnel evacuation management method, system, electronic equipment and medium |
-
2019
- 2019-12-09 CN CN201911252359.7A patent/CN111080937A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113192503A (en) * | 2021-04-28 | 2021-07-30 | 深圳市金画王技术有限公司 | Intelligent voice control system of water surface lifesaving robot |
| CN113823050A (en) * | 2021-08-19 | 2021-12-21 | 广州铁路职业技术学院（广州铁路机械学校） | Emergency evacuation guiding method and system for public places |
| CN114140953A (en) * | 2021-11-04 | 2022-03-04 | 郑州轻工业大学 | Intelligent fire-fighting evacuation robot with voice recognition function |
| CN114140953B (en) * | 2021-11-04 | 2023-08-15 | 郑州轻工业大学 | Intelligent fire-fighting evacuation robot with voice recognition function |
| CN117892978A (en) * | 2024-03-14 | 2024-04-16 | 四川弘和数智集团有限公司 | Dangerous chemical leakage personnel evacuation management method, system, electronic equipment and medium |
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