CN112363553A - Urban tunnel emergency processing method and system - Google Patents
Urban tunnel emergency processing method and system Download PDFInfo
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- CN112363553A CN112363553A CN202010938087.2A CN202010938087A CN112363553A CN 112363553 A CN112363553 A CN 112363553A CN 202010938087 A CN202010938087 A CN 202010938087A CN 112363553 A CN112363553 A CN 112363553A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/20—Movements or behaviour, e.g. gesture recognition
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B19/00—Alarms responsive to two or more different undesired or abnormal conditions, e.g. burglary and fire, abnormal temperature and abnormal rate of flow
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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
Abstract
The application belongs to the technical field of tunnel inspection, and particularly relates to an urban tunnel emergency processing method and system. The method comprises the steps of acquiring an image in the tunnel acquired by the mobile robot; matching and identifying the images in the tunnel with template matching models in an emergency condition monitoring database, a tunnel body monitoring database and a road surface monitoring database respectively, wherein the template matching models comprise a plurality of tunnel abnormal images; and transmitting the matched and identified abnormal image to a background control end and giving an alarm. This application passes through the robot mobile monitoring, combines together multiple emergent situation discernment, has very strong mobility on the one hand, can discover and react the very first time after on the other hand accident disaster takes place, commands through the robot intelligence, has practiced thrift the human cost.
Description
Technical Field
The application belongs to the technical field of tunnel inspection, and particularly relates to an urban tunnel emergency processing method and system.
Background
The intelligent tunnel inspection robot is an intelligent platform applied to on-line detection of underground tunnels. The robot independently moves in the tunnel, realizes functions such as tunnel cable body running state monitoring, cable tunnel internal environment monitoring, multisensor linkage in the cable tunnel, cable tunnel security protection, synthesizes promotion to pipeline operational environment perception and operating condition aassessment ability, promotes the convenience and the quick response ability of tunnel management.
At present, the urban emergency system is slowly developed to intensification, traffic violation monitoring in the tunnel is monitored and detected by a fixed camera, partial dead angles cannot be monitored, certain limitation exists, only vehicles come in and go out in the tunnel due to the environment of the tunnel, and the accident situation can only be found by the camera or people. And the emergency response to the accident in the tunnel often has a great time delay due to the reasons that the signal in the tunnel is very poor or even none, and the signal is difficult to contact with the outside in time, and the like.
Disclosure of Invention
In order to solve at least one of the technical problems, the application provides an emergency treatment method and system for an urban tunnel, and the emergency treatment of the urban tunnel is realized by means of a mobile robot through combination of identification of various emergency conditions.
The application provides an emergency treatment method for an urban tunnel in a first aspect, which comprises the following steps:
acquiring an image in a tunnel acquired by a mobile robot;
matching and identifying the images in the tunnel with template matching models in an emergency condition monitoring database, a tunnel body monitoring database and a road surface monitoring database respectively, wherein the template matching models comprise a plurality of tunnel abnormal images;
and transmitting the matched and identified abnormal image to a background control end and giving an alarm.
Preferably, the emergency condition monitoring database includes a fire template matching model, a flood template matching model, a personnel illegal gathering template matching model, a personnel illegal loitering template matching model, and a personnel illegal invasion template matching model.
Preferably, the tunnel body monitoring database comprises a tunnel wall settlement template matching model, a tunnel wall falling template matching model and a tunnel fixing equipment damage template matching model.
Preferably, the road surface monitoring database comprises a road surface left article template matching model, a road surface hollow template matching model and a tunnel entrance/exit slope landslide template matching model.
Preferably, the emergency processing method further includes:
respectively acquiring environmental parameters in the tunnel through a plurality of sensors, wherein the environmental parameters at least comprise noise, brightness, temperature and humidity and harmful gas parameters;
automatically adjusting the illumination intensity in the tunnel according to the brightness parameter and a preset tunnel brightness adjustment parameter table;
and automatically adjusting the ventilation time and intensity in the tunnel according to the temperature and humidity, the harmful gas parameters and a preset tunnel ventilation adjusting parameter table.
Preferably, for the abnormal image identified by matching, the method further comprises:
and checking whether the template matching model corresponding to the abnormal image is associated with voice alarm information, and if the voice alarm information exists, playing the voice alarm information in the tunnel, wherein the voice alarm information comprises prompt information for personnel in the tunnel or dispersion information for vehicles in the tunnel.
The application second aspect provides a city tunnel emergency treatment system, including mobile robot, mobile robot is last to be provided with:
the image acquisition module is used for acquiring images in the tunnel acquired by the mobile robot;
the image identification module is used for respectively matching and identifying the images in the tunnel with template matching models in an emergency condition monitoring database, a tunnel body monitoring database and a road surface monitoring database, wherein the template matching models comprise a plurality of tunnel abnormal images;
and the alarm module is used for transmitting the matched and identified abnormal image to the background control end and giving an alarm.
Preferably, the emergency processing system further includes:
the sensor data acquisition module is used for respectively acquiring environmental parameters in the tunnel through a plurality of sensors, wherein the environmental parameters at least comprise noise, brightness, temperature and humidity and harmful gas parameters;
the illumination intensity adjusting module is used for automatically adjusting the illumination intensity in the tunnel according to the brightness parameter and a preset tunnel interior brightness adjusting parameter table;
and the ventilation adjusting module is used for automatically adjusting the ventilation time and intensity in the tunnel according to the temperature and humidity, the harmful gas parameters and a preset tunnel internal ventilation adjusting parameter table.
Preferably, the alarm module includes:
and the voice alarm unit is used for checking whether the template matching model corresponding to the abnormal image is associated with voice alarm information or not, and playing the voice alarm information in the tunnel if the voice alarm information exists, wherein the voice alarm information comprises prompt information for personnel in the tunnel or evacuation information for vehicles in the tunnel.
This application passes through the robot mobile monitoring, combines together multiple emergent situation discernment, has very strong mobility on the one hand, can discover and react the very first time after on the other hand accident disaster takes place, commands through the robot intelligence, has practiced thrift the human cost.
Drawings
Fig. 1 is a flowchart of an emergency treatment method for an urban tunnel according to the present application.
Fig. 2 is a template matching model architecture diagram of the urban tunnel emergency processing system according to the present application.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the accompanying drawings in the embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all embodiments of the present application. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application, and should not be construed as limiting the present application. All other embodiments obtained by a person of ordinary skill in the art without any inventive work based on the embodiments in the present application are within the scope of protection of the present application. Embodiments of the present application will be described in detail below with reference to the drawings.
A first aspect of the present application provides an emergency processing method for an urban tunnel, as shown in fig. 1, which mainly includes:
step S1, acquiring images in the tunnel collected by the mobile robot;
step S2, matching and identifying the images in the tunnel with template matching models in an emergency condition monitoring database, a tunnel body monitoring database and a road surface monitoring database respectively, wherein the template matching models comprise a plurality of tunnel abnormal images;
and step S3, transmitting the matched and identified abnormal image to a background control end and giving an alarm.
This application is patrolled, is patrolled in turn surely to the tunnel through mobile robot, can be comprehensive monitor the tunnel, react to the unexpected situation of discovery at any time.
In some optional embodiments, the emergency condition monitoring database comprises a fire template matching model, a flood template matching model, a person illegal gathering template matching model, a person illegal loitering template matching model, a person illegal intrusion template matching model.
In some optional embodiments, the tunnel body monitoring database includes a tunnel wall settlement template matching model, a tunnel wall falling template matching model, and a tunnel fixture breakage template matching model.
In this embodiment, tunnel wall body can also be monitored out through the spirit level, and if the discovery has when subsiding, the robot can send alarm signal to the backstage.
In some optional embodiments, the road surface monitoring database comprises a road surface left article template matching model, a road surface pothole template matching model and a tunnel entrance/exit slope landslide template matching model.
In some optional embodiments, the emergency treatment method further comprises:
s4, acquiring environmental parameters in the tunnel through a plurality of sensors respectively, wherein the environmental parameters at least comprise noise, brightness, temperature and humidity and harmful gas parameters;
step S5, automatically adjusting the illumination intensity in the tunnel according to the brightness parameter and a preset tunnel brightness adjustment parameter table;
and step S6, automatically adjusting the ventilation time and intensity in the tunnel according to the temperature and humidity, the harmful gas parameters and a preset tunnel ventilation adjusting parameter table.
In some optional embodiments, matching the identified abnormal image further comprises:
step S31, checking whether the template matching model corresponding to the abnormal image is associated with voice alarm information, and if the voice alarm information exists, playing the voice alarm information in the tunnel, wherein the voice alarm information comprises prompt information for people in the tunnel or evacuation information for vehicles in the tunnel.
In this embodiment, when the robot discerned the occurence of failure or when about to take place, can in time indicate personnel in the tunnel to vehicle situation carries out in good time dredging in the tunnel according to the tunnel, prevents the further expansion of harm.
The second aspect of the application provides an emergency treatment system for urban tunnels corresponding to the method, which comprises a mobile robot, wherein the mobile robot is provided with:
the image acquisition module is used for acquiring images in the tunnel acquired by the mobile robot;
the image identification module is used for respectively matching and identifying the images in the tunnel with template matching models in an emergency condition monitoring database, a tunnel body monitoring database and a road surface monitoring database, wherein the template matching models comprise a plurality of tunnel abnormal images;
and the alarm module is used for transmitting the matched and identified abnormal image to the background control end and giving an alarm.
In some optional embodiments, the emergency treatment system further comprises:
the sensor data acquisition module is used for respectively acquiring environmental parameters in the tunnel through a plurality of sensors, wherein the environmental parameters at least comprise noise, brightness, temperature and humidity and harmful gas parameters;
the illumination intensity adjusting module is used for automatically adjusting the illumination intensity in the tunnel according to the brightness parameter and a preset tunnel interior brightness adjusting parameter table;
and the ventilation adjusting module is used for automatically adjusting the ventilation time and intensity in the tunnel according to the temperature and humidity, the harmful gas parameters and a preset tunnel internal ventilation adjusting parameter table.
In some optional embodiments, the alarm module comprises:
and the voice alarm unit is used for checking whether the template matching model corresponding to the abnormal image is associated with voice alarm information or not, and playing the voice alarm information in the tunnel if the voice alarm information exists, wherein the voice alarm information comprises prompt information for personnel in the tunnel or evacuation information for vehicles in the tunnel.
As shown in fig. 2, city tunnel emergency treatment comprises four plates of economic status monitoring, tunnel body monitoring, road surface detection, environmental monitoring, patrols and examines by the robot, and the accident that easily takes place inside and outside to the tunnel if: the system can be used for carrying out patrol monitoring on fire, flood, illegal gathering, wall surface falling, road surface remaining suspicious objects and the like, identifying and giving an alarm for emergencies at the first time, and giving out early warning information for potential safety hazards in time to remind workers to deal with the emergencies as soon as possible. The AI intelligent voice function is utilized to carry out early warning and emergency treatment on hidden troubles and accidents in the tunnel, and can also prompt other people inside and outside the tunnel to pay attention to safety, select a proper separation scheme and command the people in the tunnel to avoid or evacuate.
In some alternative embodiments, the field personnel may wish to send an alarm signal to the station via the emergency alert device, while being able to communicate with the background brief description in a voice.
This application passes through the robot mobile monitoring, combines together multiple emergent situation discernment, has very strong mobility on the one hand, can discover and react the very first time after on the other hand accident disaster takes place, commands through the robot intelligence, has practiced thrift the human cost.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (9)
1. An emergency treatment method for urban tunnels is characterized by comprising the following steps:
acquiring an image in a tunnel acquired by a mobile robot;
matching and identifying the images in the tunnel with template matching models in an emergency condition monitoring database, a tunnel body monitoring database and a road surface monitoring database respectively, wherein the template matching models comprise a plurality of tunnel abnormal images;
and transmitting the matched and identified abnormal image to a background control end and giving an alarm.
2. The urban tunnel emergency processing method according to claim 1, wherein the emergency situation monitoring database includes a fire template matching model, a flood template matching model, a personnel illegal gathering template matching model, a personnel illegal loitering template matching model, a personnel illegal intrusion template matching model.
3. The urban tunnel emergency treatment method according to claim 1, wherein the tunnel ontology monitoring database comprises a tunnel wall settlement template matching model, a tunnel wall falling template matching model, and a tunnel fixture breakage template matching model.
4. The urban tunnel emergency treatment method according to claim 1, wherein the road surface monitoring database comprises a road surface left article template matching model, a road surface pothole template matching model, and a tunnel entrance/exit slope landslide template matching model.
5. The urban tunnel emergency treatment method according to claim 1, wherein the emergency treatment method further comprises:
respectively acquiring environmental parameters in the tunnel through a plurality of sensors, wherein the environmental parameters at least comprise noise, brightness, temperature and humidity and harmful gas parameters;
automatically adjusting the illumination intensity in the tunnel according to the brightness parameter and a preset tunnel brightness adjustment parameter table;
and automatically adjusting the ventilation time and intensity in the tunnel according to the temperature and humidity, the harmful gas parameters and a preset tunnel ventilation adjusting parameter table.
6. The urban tunnel emergency processing method according to claim 1, wherein for matching the identified abnormal image, further comprising:
and checking whether the template matching model corresponding to the abnormal image is associated with voice alarm information, and if the voice alarm information exists, playing the voice alarm information in the tunnel, wherein the voice alarm information comprises prompt information for personnel in the tunnel or dispersion information for vehicles in the tunnel.
7. The urban tunnel emergency treatment system is characterized by comprising a mobile robot, wherein the mobile robot is provided with:
the image acquisition module is used for acquiring images in the tunnel acquired by the mobile robot;
the image identification module is used for respectively matching and identifying the images in the tunnel with template matching models in an emergency condition monitoring database, a tunnel body monitoring database and a road surface monitoring database, wherein the template matching models comprise a plurality of tunnel abnormal images;
and the alarm module is used for transmitting the matched and identified abnormal image to the background control end and giving an alarm.
8. The urban tunnel emergency treatment system of claim 7, wherein the emergency treatment system further comprises:
the sensor data acquisition module is used for respectively acquiring environmental parameters in the tunnel through a plurality of sensors, wherein the environmental parameters at least comprise noise, brightness, temperature and humidity and harmful gas parameters;
the illumination intensity adjusting module is used for automatically adjusting the illumination intensity in the tunnel according to the brightness parameter and a preset tunnel interior brightness adjusting parameter table;
and the ventilation adjusting module is used for automatically adjusting the ventilation time and intensity in the tunnel according to the temperature and humidity, the harmful gas parameters and a preset tunnel internal ventilation adjusting parameter table.
9. The urban tunnel emergency treatment system of claim 7, wherein the alarm module comprises:
and the voice alarm unit is used for checking whether the template matching model corresponding to the abnormal image is associated with voice alarm information or not, and playing the voice alarm information in the tunnel if the voice alarm information exists, wherein the voice alarm information comprises prompt information for personnel in the tunnel or evacuation information for vehicles in the tunnel.
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| CN202010938087.2A CN112363553A (en) | 2020-09-09 | 2020-09-09 | Urban tunnel emergency processing method and system |
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| CN202010938087.2A CN112363553A (en) | 2020-09-09 | 2020-09-09 | Urban tunnel emergency processing method and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114898569A (en) * | 2022-07-15 | 2022-08-12 | 山东金宇信息科技集团有限公司 | Tunnel traffic emergency processing method and device |
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