CN112516497B - Emergency rescue system based on hanger rail type inspection robot - Google Patents
Emergency rescue system based on hanger rail type inspection robot Download PDFInfo
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- CN112516497B CN112516497B CN202011400888.XA CN202011400888A CN112516497B CN 112516497 B CN112516497 B CN 112516497B CN 202011400888 A CN202011400888 A CN 202011400888A CN 112516497 B CN112516497 B CN 112516497B
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C27/00—Fire-fighting land vehicles
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/36—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device
- A62C37/38—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device by both sensor and actuator, e.g. valve, being in the danger zone
- A62C37/40—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device by both sensor and actuator, e.g. valve, being in the danger zone with electric connection between sensor and actuator
Abstract
The invention discloses an emergency rescue system based on a hanger rail type inspection robot, aiming at tunnel traffic accidents, the hanger rail robot reaches an accident site in the shortest time along a guide rail by utilizing the guide rail arranged at the arch position of a tunnel and carries out rescue; the two ends of the robot are connected with bullet-shaped power heads, so that the wind resistance is reduced, and the running energy consumption of the robot is reduced; the robot is provided with sensing equipment modules such as a sound sensor, an infrared image, a high-definition camera and environment detection, and the robot utilizes the track and calibration information thereof to study and judge the position of a traffic accident in the tunnel in real time in the dynamic routing inspection process; firstly, judging the direction of an accident based on an acoustic signal, driving the robot to rapidly move to an accident site along a track, and starting an infrared camera and a high-definition camera to analyze the accident site and perform emergency decision early warning. The traffic is commanded in real time through the remote intercom system for slight accidents, the fire extinguishing executing mechanism is triggered to extinguish fire for the accidents with fire disasters, and the wounded person can be rapidly transported out if the wounded person exists.
Description
Technical Field
The invention relates to the technical field of tunnel inner pipe control, in particular to an emergency rescue system based on a hanger rail type inspection robot.
Background
Along with the development of economy, more and more infrastructure roads are built, the terrain and topography of China are complex, so that more tunnels are built, the tunnels are in the mountain body due to the structure, the illumination and the external environment are poor, so that traffic accidents in the tunnels are frequent, and the tunnels are relatively narrow spaces, so that the tunnels are blocked after the traffic accidents happen, rescue cannot be rapidly achieved, and the optimal rescue time is delayed; especially, after a fire disaster occurs in the tunnel and people are injured, the conventional monitoring in the tunnel is blinded due to dense smoke and high temperature, the power system fails, and major accidents are likely to happen if measures cannot be taken in time at the moment, so that a rescue system capable of instantly playing a rescue role in the tunnel fire disaster is urgently needed.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an emergency rescue system based on a hanger rail type inspection robot, so that real-time monitoring and real-time processing in a tunnel are realized, and the emergency rescue efficiency in case of fire in the tunnel is improved.
In order to achieve the aim, the invention provides an emergency rescue system based on a hanger rail type inspection robot, which comprises a robot body, a guide rail arranged at the arch waist position of a tunnel, a plurality of wireless communication units and a remote real-time control terminal, wherein the guide rail is arranged at the arch waist position of the tunnel;
the remote real-time control terminal is used for receiving and processing the data information collected by the robot body in real time, displaying the collected data in real time and sending a control instruction to the robot body;
the robot body is used for running in a guide rail of a tunnel according to the control instruction and acquiring data in real time;
the wireless communication unit is used for ensuring the mutual communication between any position of the robot body in the tunnel and the remote real-time control terminal;
the robot body is connected to the guide rail in a sliding manner, wherein the robot body comprises a central processing unit, a data acquisition system and an execution mechanism; the central processing unit is used for processing the data of the data acquisition system and controlling the execution mechanism to execute actions; the data acquisition system comprises an infrared camera with two cameras, a sound pick-up, a smoke sensor, a temperature sensor, a gas detection probe and a voice broadcast device;
the sound pick-up is used for collecting traffic accident noise in the tunnel, the sound pick-up is arranged on the front side and the rear side of the robot and used for collecting traffic accident noise in the tunnel, such as car collision sound, sudden braking and the like, the direction and the distance of an accident are judged by utilizing sound spectrum analysis in the central processing unit, data are transmitted to the robot actuating mechanism, and the robot is driven to move to a traffic accident site.
The executing mechanism comprises a fire extinguishing part and a rescue part, and the fire extinguishing part and the rescue part are clamped through a clamping frame; the fire extinguishing part comprises a fire extinguishing chamber provided with a throwing type fire extinguishing ball, two sides of the fire extinguishing chamber are respectively connected with a throwing pipe, the throwing pipes are communicated with the fire extinguishing chamber, and an electric control valve is arranged at the joint of the throwing pipes and the fire extinguishing chamber;
the rescue part comprises a sliding shell, the sliding shell is connected to the guide rail in a sliding mode, and an energy supply device, a driving device, a speed reducing mechanism, a winding mechanism and a rollable rescue stretcher are arranged in the sliding shell; energy supply unit provides the electric energy for drive arrangement, winding mechanism includes main book portion and vice book portion, the both ends of rescue stretcher are respectively through the haulage rope winding on main book portion and vice book portion, the drive arrangement drive main book portion rotates, vice book portion pass through reduction gears with drive arrangement connects.
Preferably, the robot further comprises a tunnel distribution positioning system, the tunnel distribution positioning system comprises a fire fighting pipeline connected to two sides of the guide rail, a plurality of valve ports are arranged at equal intervals along the length direction of the fire fighting pipeline, each valve port is provided with an electromagnetic valve and an infrared sensor, each electromagnetic valve is connected with a controller used for receiving instructions of the robot body, the infrared emitting device is connected to the controller, the controller is electrically connected with the electromagnetic valves, and each controller is sequentially coded along the running direction of the robot body.
Preferably, still be connected with the unit head on the both ends of robot body respectively, this unit head is bullet-shaped structure, place in the energy supply device in the unit head, the bottom in storehouse of putting out a fire is connected with the dry powder automatic fire extinguisher of a suspension type.
Preferably, still fixedly connected with deflector in the storehouse of putting out a fire, the deflector slope sets up, and the deflector plate body is followed throw the pipe both sides slope.
Preferably, the joint frame includes fixed connection and is in one of the storehouse of putting out a fire is served first joint piece and fixed connection be in second joint piece on the slip casing, be connected with an electromagnetism fitting pin on the first joint piece, processing has a joint hole on the second joint piece, the electromagnetism fitting pin inserts realize the joint in the joint hole.
Preferably, an auxiliary processor with a remote control signal receiving part is further arranged in the rescue part, a control packet for placing a manual controller is correspondingly arranged at one end of the rescue stretcher near the auxiliary winding part, and the manual remote controller is matched with the remote control signal receiving part; and a wireless connection module which is used for being in wireless connection with the central processing unit is also arranged in the auxiliary processing unit.
Preferably, a plurality of the wireless communication units are arranged in the tunnel at intervals.
Preferably, the throwing tube is a hollow elbow pipe which is inclined downwards, and the throwing tube allows a single fire extinguishing ball to pass through.
Preferably, the rescue stretcher is made of composite plastic.
Preferably, the electromagnetic locking pin comprises a pin body, a return spring and an electromagnet, one end of the pin body freely extends out, the other end of the pin body is connected to the electromagnet through the return spring, and the attraction force of the electromagnet is larger than the elastic force of the return spring.
The invention has the beneficial effects that: the inspection robot and the distribution positioning system are arranged in the tunnel, aiming at fire accidents in the tunnel, the inspection robot can quickly reach the position of a fire in time, and can extinguish the fire in time through the accurate positioning of the distribution positioning system, the inspection robot is provided with an independent energy supply device (such as a storage battery), two ends of a robot body are also respectively connected with bullet-shaped power heads, the storage battery is arranged in the power heads, the bullet heads reduce the wind resistance in the operation process, the operation energy consumption of the whole mechanism is reduced, once the power system in the tunnel fails, the inspection robot can also provide fire extinguishing and rescue services, and the initial accurate and quick fire extinguishing is carried out through the fire extinguishing ball and the automatic fire extinguisher; for slight traffic accidents, a remote intercom system carried by a robot is used for conducting traffic in real time; for major traffic accidents with fire disasters, a thermal infrared imager is used for locking a fire source, and a fire extinguishing device on the robot is started and is linked with a tunnel fire extinguishing system to extinguish the fire. The robot emergency rescue stretcher can be put down for injured people who need emergency rescue, and the injured people can be rapidly transported out of the tunnel.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
Fig. 1 is an assembly view of a robot body and a guide rail according to an embodiment of the present invention;
FIG. 2 is a schematic layout of the robot body and the tunnel distribution positioning system of FIG. 1;
FIG. 3 is a front view of the robot body of the present invention;
FIG. 4 is a view showing the internal structure of the fire extinguishing chamber of the present invention;
FIG. 5 is a schematic view of the structure of the joint of the clamping frame of the present invention;
fig. 6 is a schematic structural view of the rescue stretcher when it falls down.
The reference numeral, guide rail 1, central processing unit 2, infrared camera 3, sound pick-up 4, smoke sensor 5, temperature sensor 6, gas detection probe 7, voice broadcaster 8, throwing pipe 9, dry powder automatic fire extinguisher 10, first joint piece 11, pin 111, reset spring 112, electro-magnet 113, second joint piece 12, slide housing 13, main roll portion 14, rescue stretcher 15, supporting shoe 16, control package 17, haulage rope 18, deflector 19, fire extinguishing ball 20, electric control valve 21, fire control pipeline 22, unit head 23, solenoid valve 221, valve port 222.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.
It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.
As shown in fig. 1 and 3, one embodiment of the emergency rescue system based on a hanger rail type inspection robot includes a robot body, a guide rail 1 arranged at the arch position of a tunnel, a plurality of wireless communication units and a remote real-time control terminal; the remote real-time control terminal is used for receiving and processing the data information collected by the robot body in real time, displaying the collected data in real time and sending a control instruction to the robot body; the robot body comprises a central processing unit 2, a data acquisition system and an execution mechanism; the central processing unit 2 is used for processing the data of the data acquisition system and controlling the execution mechanism to execute actions, and a wireless communication module is also arranged in the central processing unit 2 and is in communication connection with a wireless communication unit through the wireless communication module so as to be in communication connection with a remote real-time control terminal; a driving motor, a storage battery, a roller and a data acquisition system are arranged in the front end of the robot body, the roller is connected to the guide rail 1 in a sliding manner, the driving motor drives the roller to rotate so that the robot body slides along the guide rail 1, and the storage battery provides electric energy for the data acquisition system, the central processing unit 2, the driving motor and the execution mechanism of the robot body;
the two ends of the robot body are respectively connected with a power head 23, the power heads 23 are in bullet-shaped structures, batteries are mounted in the power heads 23, the structure of the power heads reduces wind resistance in the operation process and reduces the operation energy consumption of the whole mechanism, and the data acquisition system comprises an infrared camera 3 with double cameras, a sound pick-up 4, a smoke sensor 5, a temperature sensor 6, a gas detection probe 7 and a voice broadcaster 8; the sound pick-up 4 is used for collecting traffic accident noise in the tunnel, the sound pick-up 4 is arranged on the front side and the rear side of the robot and used for collecting traffic accident noise in the tunnel, such as car collision sound, sudden braking and the like, the direction and the distance of an accident are judged by utilizing sound spectrum analysis in the central processing unit 2, data are transmitted to the robot actuating mechanism, the robot is driven to move to a traffic accident site, position information is marked on a track, the robot reaches a corresponding position through the marked information, the position information is marked through the track, the existing common position marking technology is adopted, and the specific structure is not explained. One lens in the infrared camera is a high-definition video lens, and the traffic condition in the tunnel is recorded, and the other lens is an infrared lens, so that the scene condition can be recorded through the lens after a fire disaster generates dense smoke, and the recorded data is transmitted to the remote real-time control terminal. For a slight traffic accident, firstly, a voice reporter 8 is used for broadcasting prompt voice (when the traffic accident happens in the front, the driver is cautious to drive) to remind the driver behind to pay attention and leave orderly, and meanwhile, the voice reporter is communicated with a remote control terminal to form a remote talkback system, and the remote talkback system is used for controlling and commanding traffic in real time, so that the small traffic accident is better and faster solved. When a traffic accident is accompanied by fire, the smoke sensor 5, the temperature sensor 6 and the gas detection probe 7 jointly act to detect the real-time environment condition in the tunnel, when abnormal temperature is detected and a large amount of gas and smoke are generated, a fire signal is triggered, the central processing unit 2 sends a signal to start a fire extinguishing part in the actuating mechanism, and the fire extinguishing part is triggered to execute work after the fire signal is triggered.
Wherein, the portion of putting out a fire is including being equipped with the storehouse of putting out a fire of throwing formula ball 20, be connected with the throwing pipe 9 that allows single ball 20 of putting out a fire to pass through on the both sides in storehouse of putting out a fire respectively, throwing pipe 9 and the storehouse intercommunication of putting out a fire are provided with an automatically controlled valve 21 in throwing pipe 9 and the storehouse junction of putting out a fire, still are connected with a suspension type dry powder automatic extinguisher 10 in the bottom in storehouse of putting out a fire, and automatically controlled valve 21 opens after obtaining the central controller instruction for ball 20 of putting out a fire throws out through throwing pipe 9, makes just begin to put out a fire in the conflagration initial stage, and after the too big control of condition of a fire, the temperature rises, and suspension type dry powder automatic extinguisher 10 just automatic trigger of this moment puts in a large amount of dry powder and puts out a fire.
When a series of fire extinguishments on the robot cannot prevent the fire from rapidly increasing, a tunnel positioning distribution system is triggered at the moment, the tunnel positioning distribution system comprises fire fighting pipelines 22 connected to two sides of the guide rail 1, a plurality of valve ports 222 are arranged at equal intervals along the length direction of the fire fighting pipelines 22, an electromagnetic valve 221 and an infrared sensor are mounted on each valve port 222, each electromagnetic valve 221 is connected with a controller used for receiving instructions of a robot body, the infrared emitting device is connected to the controller, the controller is electrically connected with the electromagnetic valves 221, and each controller is sequentially coded along the running direction of the robot body.
As shown in fig. 2, the power of the whole tunnel distribution positioning system is provided as external power (for example, a connection wire), wherein the infrared sensor device is integrated on the controller circuit board, and after sensing the infrared ray on the robot through the infrared sensor, the controller sends the corresponding code to the central processor 2 in the robot through the controller, and then the code is sent to the remote real-time control terminal to be displayed; in case of fire, the robot moves to the location of the fire through the guide rail 1 rapidly and determines the code of the corresponding location, the robot then sends a command to the controller at the corresponding position through the code, which causes the solenoid valve 221 to open, thereby achieving active fire suppression at a precise position, wherein the distribution positioning system is combined with the information of the calibration position on the track, the fire extinguishing information of the fire-fighting liquid is more accurate, as shown in figure 2, for example, in case of fire at S1 in the tunnel, the robot starts moving to S1 according to the calibration information on the track, the robot obtains the code 01 of the controller at S1, then the controller with the code of 01 receives the instruction and opens the electromagnetic valve 221 to extinguish the fire, the arrangement of the fire-fighting pipeline 22 ensures that enough fire-fighting liquid correspondingly extinguishes the rapidly-growing fire (such as a tanker), and the practicability of the device is improved.
When the fire-fighting emergency rescue device has the capability of processing the fire in each stage, the fire-fighting emergency rescue device also has high-efficiency rescue capability, wherein the fire-fighting section is connected with the fire-fighting section through a clamping frame, the rescue section comprises a sliding shell 13, the sliding shell 13 is connected on the guide rail 1 in a sliding way, and an energy supply device, a driving device, a speed reducing mechanism, a winding mechanism and a rescue stretcher 15 made of rollable composite plastic are independently arranged in the sliding shell 13; energy supply device provides the electric energy for drive arrangement, winding mechanism includes main roll portion 14 and vice roll portion, and wherein vice roll portion rotates to be connected between two relative supporting shoe 16, rescue stretcher 15's both ends are respectively through haulage rope 18 winding on main roll portion 14 and vice roll portion, the drive arrangement drive main roll portion 14 rotates, vice roll portion pass through reduction gears with drive arrangement connects, wherein drive arrangement is driving motor, and energy supply device is the battery, and reduction gears's setting has guaranteed that the slew velocity of vice roll portion is slow with main roll portion 14, because the main roll has accomodate most rescue stretcher 15, for the levelness of guaranteeing rescue stretcher 15 that falls down for vice roll portion rotates slowly, has guaranteed that rescue stretcher 15 last haulage rope 18 length is unanimous, and the specific proportion of rotation is according to rescue stretcher 15's length decision.
In the above example, as shown in fig. 6, an auxiliary processor having a remote control signal receiving part is further provided in the rescue part, and a control packet 17 for placing a manual remote controller is provided corresponding to one end of the rescue stretcher 15 close to the auxiliary winding part, the manual remote controller being matched with the remote control signal receiving part; the auxiliary processor is also internally provided with a wireless connection module which is used for being wirelessly connected with the central processor 2; so that the feedback is passed through the infrared camera 3. When people are injured and need to be rescued, the rescuing part can be triggered, after the rescuing part is triggered, the clamping frame is separated, the rescuing part at the rear end independently moves and is controlled to be far away from a collecting end (5-10M) of the robot through a central controller zero, a driving device in the rescuing part is started after the rescuing part reaches a specified position, the rescuing stretcher 15 falls down, a controller arranged on the rescuing stretcher 15 is manually taken out after the rescuing stretcher 15 falls down, then the rescuing stretcher is fallen down, the wounded is transferred to the rescuing stretcher 15, then the rescuing stretcher is driven towards the direction of the hole opening by pressing a remote controller, when the advancing direction is blocked, the wounded can be transferred to the hole opening by adjusting a rolling mechanism to ascend to cross the block, the applicability of the invention is improved, when the hole opening is not far or not blocked, the wounded can be transferred to the hole opening by manually pulling a traction rope 18, the wounded can be transferred under each condition, so that the applicability of the wounded is improved; the stretcher body of the rescue stretcher 15 in the above embodiment is made of the existing rescue stretcher 15 material, and the material thereof is made of plastic composite material, and the weight bearing capacity of the stretcher is about 120KG, which is enough for transporting an adult.
Preferably, as shown in fig. 4, a guide plate 19 is further fixedly connected in the fire extinguishing chamber, the guide plate 19 is arranged in an inclined manner, and the plate body of the guide plate 19 is inclined along two sides of the throwing pipe 9, so that the fire extinguishing balls 20 are not stacked in the fire extinguishing chamber, and the fire extinguishing balls 20 are smoothly thrown.
Preferably, as fig. 5, the joint frame includes fixed connection and is in one of the storehouse of putting out a fire is served first joint piece 11 and fixed connection and is in second joint piece 12 on the slip casing 13, be connected with an electromagnetism fitting pin on the first joint piece 11, processing has a joint hole on the second joint piece 12, the electromagnetism fitting pin inserts realize the joint in the joint hole, wherein the electromagnetism fitting pin includes round pin body 111, reset spring 112 and electro-magnet 113, round pin body 111 one end is freely stretched out, and the round pin body 111 other end is connected through reset spring 112 on the electro-magnet 113, wherein electro-magnet 113's suction is greater than reset spring 112's elasticity for it makes the breaking away from of joint frame to have guaranteed through electro-magnet 113 circular telegram that round pin body 111 removes.
Preferably, a plurality of the wireless communication units are arranged in a tunnel at intervals, and the wireless communication units are used for ensuring the mutual communication between the robot body and the remote real-time control terminal at any position in the tunnel.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (9)
1. The utility model provides an emergency rescue system based on machine people is patrolled and examined to hanger rail formula which characterized in that: the robot comprises a robot body, a guide rail arranged at the arch waist position of a tunnel, a plurality of wireless communication units and a remote real-time control terminal;
the remote real-time control terminal is used for receiving and processing the data information collected by the robot body in real time, displaying the collected data in real time and sending a control instruction to the robot body;
the robot body is used for running in a guide rail of the tunnel according to the control instruction and acquiring data in real time;
the wireless communication unit is used for ensuring the mutual communication between any position of the robot body in the tunnel and the remote real-time control terminal;
the robot body is connected to the guide rail in a sliding mode, and comprises a central processing unit, a data acquisition system and an execution mechanism; the central processing unit is used for processing the data of the data acquisition system and controlling the execution mechanism to execute actions; the data acquisition system comprises an infrared camera with two cameras, a sound pick-up, a smoke sensor, a temperature sensor, a gas detection probe and a voice broadcast device;
the sound pick-up is used for collecting traffic accident noise in the tunnel, and the central processing unit analyzes and judges the direction and distance of the accident and transmits data to the actuating mechanism;
the executing mechanism comprises a fire extinguishing part and a rescue part, and the fire extinguishing part and the rescue part are clamped through a clamping frame; the fire extinguishing part comprises a fire extinguishing chamber provided with a throwing type fire extinguishing ball, two sides of the fire extinguishing chamber are respectively connected with a throwing pipe, the throwing pipes are communicated with the fire extinguishing chamber, an electric control valve is arranged at the joint of the throwing pipes and the fire extinguishing chamber, and the bottom of the fire extinguishing chamber is connected with a suspended dry powder automatic fire extinguisher;
the rescue part comprises a sliding shell, the sliding shell is connected to the guide rail in a sliding mode, and an energy supply device, a driving device, a speed reducing mechanism, a winding mechanism and a rollable rescue stretcher are arranged in the sliding shell; the energy supply device provides electric energy for the driving device, the winding mechanism comprises a main winding part and an auxiliary winding part, two ends of the rescue stretcher are wound on the main winding part and the auxiliary winding part respectively through a traction rope, the driving device drives the main winding part to rotate, and the auxiliary winding part is connected with the driving device through a speed reduction mechanism;
the robot comprises a guide rail and is characterized by further comprising a tunnel distribution positioning system, wherein the tunnel distribution positioning system comprises fire fighting pipelines connected to two sides of the guide rail, a plurality of valve ports are arranged at equal intervals along the length direction of the fire fighting pipelines, each valve port is provided with an electromagnetic valve and an infrared sensor, each electromagnetic valve is connected with a controller used for receiving instructions of a robot body, the infrared emitting device is connected onto the controller, the controller is electrically connected with the electromagnetic valves, and each controller is sequentially coded along the running direction of the robot body.
2. The emergency rescue system based on the hanger rail type inspection robot according to claim 1, characterized in that: the power heads are connected to two ends of the robot body respectively and are of bullet-shaped structures, and the energy supply device is arranged in the power heads.
3. The emergency rescue system based on the hanger rail type inspection robot according to claim 1, characterized in that: still fixedly connected with deflector in the storehouse of putting out a fire, the deflector slope sets up, and the deflector plate body is followed throw the slope of pipe both sides.
4. The emergency rescue system based on the hanger rail type inspection robot according to claim 1, characterized in that: the joint frame includes fixed connection and is in one of storehouse of putting out a fire is served first joint piece and fixed connection be in second joint piece on the slip casing, be connected with an electromagnetism fitting pin on the first joint piece, processing has a joint hole on the second joint piece, the electromagnetism fitting pin inserts realize the joint in the joint hole.
5. The emergency rescue system based on the hanger rail type inspection robot according to claim 1, characterized in that: an auxiliary processor with a remote control signal receiving part is also arranged in the rescue part, a control packet for placing a manual controller is arranged on one end of the rescue stretcher, which is close to the auxiliary winding part and is connected with the control packet, and the manual controller is matched with the remote control signal receiving part; and a wireless connection module which is used for being in wireless connection with the central processing unit is also arranged in the auxiliary processing unit.
6. The emergency rescue system based on the hanger rail type inspection robot according to claim 1, characterized in that: a plurality of the wireless communication units are arranged in the tunnel at intervals.
7. The emergency rescue system based on the hanger rail type inspection robot according to claim 1, characterized in that: the throwing pipe is a hollow bent pipe which inclines downwards, and the throwing pipe allows a single fire extinguishing ball to pass through.
8. The emergency rescue system based on the hanger rail type inspection robot according to any one of claims 1 or 5, characterized in that: the rescue stretcher is made of composite plastic.
9. An emergency rescue system based on a hanger rail type inspection robot according to claim 4, characterized in that: the electromagnetic locking pin comprises a pin body, a reset spring and an electromagnet, one end of the pin body freely extends out, the other end of the pin body is connected to the electromagnet through the reset spring, and the attraction force of the electromagnet is larger than the elastic force of the reset spring.
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| CN113209525A (en) * | 2021-06-02 | 2021-08-06 | 倍得福机械科技(常州)股份有限公司 | Tunnel fire-extinguishing and rescue integrated system based on terahertz spectrum-stacking sensing |
| CN114530045B (en) * | 2022-02-16 | 2022-09-16 | 刘孟旭 | Comprehensive information acquisition and processing system |
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| JPH09122263A (en) * | 1995-10-30 | 1997-05-13 | Shinko Electric Co Ltd | Tunnel maintenance system |
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| CN105327470A (en) * | 2015-11-13 | 2016-02-17 | 重庆交通大学 | Hanging type tunnel disaster prevention, rescue and maintenance device |
| CN106512266A (en) * | 2016-10-27 | 2017-03-22 | 中国矿业大学 | Hanging rail type fire controlling and routing inspection robot |
| CN208264564U (en) * | 2017-12-04 | 2018-12-21 | 宁夏普创科技有限公司 | A kind of fire-fighting unmanned plane |
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