CN116095888B - Emergency control method, system, equipment and medium for highway tunnel inspection robot - Google Patents
Emergency control method, system, equipment and medium for highway tunnel inspection robot Download PDFInfo
- Publication number
- CN116095888B CN116095888B CN202310078624.4A CN202310078624A CN116095888B CN 116095888 B CN116095888 B CN 116095888B CN 202310078624 A CN202310078624 A CN 202310078624A CN 116095888 B CN116095888 B CN 116095888B
- Authority
- CN
- China
- Prior art keywords
- base station
- inspection robot
- tunnel
- terminal
- control center
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 205
- 238000000034 method Methods 0.000 title claims abstract description 49
- 238000004891 communication Methods 0.000 claims abstract description 97
- 238000012216 screening Methods 0.000 claims abstract description 18
- 238000004590 computer program Methods 0.000 claims description 15
- 230000004048 modification Effects 0.000 claims description 7
- 238000012986 modification Methods 0.000 claims description 7
- 230000000694 effects Effects 0.000 abstract description 3
- 230000006870 function Effects 0.000 description 6
- 238000012544 monitoring process Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000012797 qualification Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 230000007480 spreading Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W76/00—Connection management
- H04W76/50—Connection management for emergency connections
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/04—Arrangements for maintaining operational condition
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/70—Services for machine-to-machine communication [M2M] or machine type communication [MTC]
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/90—Services for handling of emergency or hazardous situations, e.g. earthquake and tsunami warning systems [ETWS]
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W76/00—Connection management
- H04W76/10—Connection setup
- H04W76/18—Management of setup rejection or failure
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Business, Economics & Management (AREA)
- Health & Medical Sciences (AREA)
- Emergency Management (AREA)
- Environmental & Geological Engineering (AREA)
- Public Health (AREA)
- Alarm Systems (AREA)
Abstract
The application relates to an emergency control method and a control system of a highway tunnel inspection robot, wherein the emergency control method comprises the steps that when a base station terminal in a tunnel is disconnected with a control center, identity information of the disconnected base station terminal is obtained; based on the identity information, identifying and screening out a target base station terminal closest to the disconnected base station terminal, wherein the target base station terminal is a base station terminal which is not disconnected from the control center; when configuration line information preset by the control center terminal is received, a link starting instruction is sent to the preselected inspection robot, so that the inspection robot is in communication connection with the target base station terminal according to the configuration line information. The application has the effect of improving the communication reliability of the inspection robot and the control center.
Description
Technical Field
The application relates to the technical field of tunnel emergency treatment, in particular to an emergency control method of a highway tunnel inspection robot.
Background
In the related art, inspection robots are installed in a long tunnel of a highway at intervals; the control of the coverage of the expressway long tunnel is realized, a worker located in the inspection robot control center can remotely monitor the inside of the tunnel through the inspection robot in the tunnel, and when tunnel accidents occur, such as fire, car accidents and collapse, remote alarm can be realized through the inspection robot, and meanwhile, the worker can remotely command and evacuate the scene through the inspection robot.
Because the signals in the tunnel are poor, the inspection robot and the control center communicate in a local area network mode, and local area network base stations are arranged at intervals in the tunnel, and the communication between the base stations is ensured to be kept with the control center in the long tunnel by a wired wireless link mode.
However, when the lan base station is damaged or fails, the control center and the inspection robot communication terminal are liable to be caused, so that serious effects are caused on tunnel rescue and tunnel inspection, and improvement is required.
Disclosure of Invention
In order to improve the communication reliability of the inspection robot and the control center; the application provides an emergency control method and system for a highway tunnel inspection robot.
The first object of the present application is achieved by the following technical solutions:
an emergency control method of a highway tunnel inspection robot comprises the following steps:
when the base station terminal in the tunnel is disconnected with the control center, acquiring the identity information of the disconnected base station terminal;
based on the identity information, identifying and screening out a target base station terminal closest to the disconnected base station terminal, wherein the target base station terminal is a base station terminal which is not disconnected from the control center;
when configuration line information preset by the control center terminal is received, a link starting instruction is sent to the preselected inspection robot, so that the inspection robot is in communication connection with the target base station terminal according to the configuration line information.
Through adopting above-mentioned technical scheme, when the tunnel accident takes place to lead to the base station terminal trouble in the tunnel to lose communication function, at first can be through the last target base station terminal that has normal communication function of the base station terminal of automatic identification disconnection communication, further reconfigure the circuit of inside LAN, with the preselected robot of patrolling and examining and target base station terminal communication connection, patrol and examine the robot as the communication base station of removal promptly, when the communication line appears breaking in the tunnel, patrol and examine the robot cooperation and cooperate target base station terminal to form wireless self-healing link, can reply the data transmission between tunnel inside and the control center fast, promote the reliability of patrolling and examining robot and control center communication, rescue, the uninterrupted going on of patrolling and examining the task has been guaranteed.
The present application is in a preferred example: when receiving configuration line information preset by a control center terminal, the method sends a link starting instruction to a preselected inspection robot so that the inspection robot is in communication connection with a target base station terminal according to the configuration line information, and comprises the following steps:
when a line configuration request of a control center terminal is received, positioning information of a base station terminal for disconnecting communication is obtained;
acquiring serial number information of the inspection robot close to the base station terminal disconnected from communication based on the positioning information;
taking the inspection robot corresponding to the acquired serial number information as a preselected inspection robot;
and generating configuration line information based on the preselected inspection robot and the target base station terminal, and sending the configuration line information to the control center terminal.
By adopting the technical scheme, when the control center terminal sends out a line configuration request, the positioning information of the base station terminal disconnected from communication is automatically acquired, the number information of the target base station terminal and the inspection robot serving as the mobile base station is determined by the positioning information, namely, the pre-selected inspection robot and the target base station terminal are automatically determined to generate the line configuration information, the self-healing efficiency of the local area network link is improved, and the control center is convenient to switch the communication configuration line.
The present application is in a preferred example: if all the base station terminals in the tunnel are disconnected, after the step of acquiring the identity information of the disconnected base station terminal when the base station terminal in the tunnel is disconnected from the control center, the following steps are executed:
all inspection robots in the tunnel are in communication connection;
the inspection robot closest to the tunnel portal moves to the tunnel portal;
and receiving a link starting instruction from the control center terminal so as to enable the inspection robot positioned at the tunnel portal to be in communication connection with the control center terminal.
Through adopting above-mentioned technical scheme, if all base station terminals in the tunnel all with control center when breaking communication, the communication between the inspection robot that sets up through the interval in the tunnel to through the inspection robot of tunnel mouth department with control center terminal network communication, make when all base station terminals all break communication, control center's staff still can be through inspection robot real-time supervision tunnel inside, also make the tunnel rescue task be difficult for being influenced simultaneously.
The present application is in a preferred example: if any inspection robot in the tunnel breaks down and fails to work normally, the emergency control method of the highway tunnel inspection robot further comprises the following steps:
acquiring coordinate information of the failed inspection robot;
based on the coordinate information, a scheduling instruction from the control center terminal is received to move the inspection robot nearest to the failed inspection robot to the accident scene.
Through adopting above-mentioned technical scheme, if any inspection robot in the tunnel breaks down, the staff at control center terminal can in time screen out another inspection robot that is closest to this trouble inspection robot according to the coordinate position of the inspection robot of trouble to realize inspection robot removal in the tunnel through the dispatch instruction, another dispatch inspection robot can replace the inspection robot of this trouble to accomplish the inspection task or accomplish the control in tunnel accident scene promptly, make the interior inspection task or rescue of tunnel be difficult for receiving the influence.
The present application is in a preferred example: when receiving configuration line information preset by a control center terminal, sending a link starting instruction to a preselected inspection robot so that the inspection robot is in communication connection with a target base station terminal according to the configuration line information, and then executing the following steps:
acquiring position information of a patrol robot positioned at an accident site;
screening matched public security systems and medical systems from a pre-associated public security and medical database based on the position information;
the relevant information of the screened public security system and the medical system is sent to a control center terminal;
when receiving the support request message sent by the control center terminal, the support request message is sent to the selected public security system and medical system.
Through adopting above-mentioned technical scheme, when the accident appears in the tunnel, can fix a position the positional information at accident scene through the position of inspection robot, based on positional information, can select matched public security and medical system in the public security, the medical database that associate in advance, can screen out public security and medical system nearest to the tunnel accident scene, send public security, medical system's relevant information to the control center terminal, the staff of convenient control center can in time send the support request with public security, the medical institution nearest to the accident scene for the rescue of tunnel accident is more timely.
The present application is in a preferred example: after the steps of generating configuration line information based on the preselected inspection robot and the target base station terminal and sending the configuration line information to the control center terminal, the following steps are executed:
when receiving a modification request from the control center terminal, transmitting an input port for modifying the target base station terminal and the preselected inspection robot to the control center terminal;
and updating the configuration line based on the received target base station terminal input by the control center terminal and/or the pre-selected inspection robot.
By adopting the technical scheme, after the configuration line is sent to the control center, the staff can change the target base station terminal or the preselected inspection robot in the configuration line according to the scene accident situation, such as the situation that the fire spreading in the tunnel possibly affects the target base station terminal or the preselected inspection robot, so as to keep uninterrupted monitoring on the scene of the tunnel accident.
The second object of the present application is achieved by the following technical solutions:
an emergency control system of a highway tunnel inspection robot, comprising:
the identity acquisition module is used for acquiring the identity information of the base station terminal disconnected with the communication when the base station terminal positioned in the tunnel is disconnected with the control center;
the target base station screening module is used for identifying and screening out the target base station terminal closest to the disconnected base station terminal based on the identity information, wherein the target base station terminal refers to the base station terminal which is not disconnected from the control center;
the line configuration module is used for sending a link starting instruction to the preselected inspection robot when configuration line information preset by the control center terminal is received, so that the inspection robot is in communication connection with the target base station terminal according to the configuration line information.
Through adopting above-mentioned technical scheme, when the tunnel accident takes place to lead to the base station terminal trouble in the tunnel to lose communication function, at first can be through the last target base station terminal that has normal communication function of the base station terminal of automatic identification disconnection communication, further reconfigure the circuit of inside LAN, with the preselected robot of patrolling and examining and target base station terminal communication connection, patrol and examine the robot as the communication base station of removal promptly, when the communication line appears breaking in the tunnel, patrol and examine the robot cooperation and cooperate target base station terminal to form wireless self-healing link, can reply the data transmission between tunnel inside and the control center fast, promote the reliability of patrolling and examining robot and control center communication, rescue, the uninterrupted going on of patrolling and examining the task has been guaranteed.
Optionally, the method further comprises:
the base station positioning acquisition module is used for acquiring positioning information of the base station terminal disconnected from communication when receiving a line configuration request of the control center terminal;
the number acquisition module is used for acquiring the number information of the inspection robot close to the base station terminal disconnected from the communication based on the positioning information;
the selecting module is used for taking the inspection robot corresponding to the acquired serial number information as a preselected inspection robot;
the line generation module is used for generating configuration line information based on the preselected inspection robot and the target base station terminal and sending the configuration line information to the control center terminal.
By adopting the technical scheme, when the control center terminal sends out a line configuration request, the positioning information of the base station terminal disconnected from communication is automatically acquired, the number information of the target base station terminal and the inspection robot serving as the mobile base station is determined by the positioning information, namely, the pre-selected inspection robot and the target base station terminal are automatically determined to generate the line configuration information, the self-healing efficiency of the local area network link is improved, and the control center is convenient to switch the communication configuration line.
The third object of the present application is achieved by the following technical solutions:
a computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the emergency control method of a road tunnel inspection robot described above when executing the computer program.
The fourth object of the present application is achieved by the following technical solutions:
a computer readable storage medium storing a computer program which when executed by a processor implements the steps of a method for emergency control of a highway tunnel inspection robot described above.
In summary, the present application includes at least one of the following beneficial technical effects:
1. when a communication line in a tunnel is interrupted, the patrol robot cooperates with a target base station terminal to form a wireless self-healing link, so that data transmission between the inside of the tunnel and a control center can be quickly recovered, the communication reliability of the patrol robot and the control center is improved, and uninterrupted performance of rescue and patrol tasks is ensured;
2. when the control center terminal sends out a line configuration request, positioning information of the base station terminal disconnected from communication is automatically obtained, the number information of the target base station terminal and the inspection robot to be used as a mobile base station is determined through the positioning information, namely, the pre-selected inspection robot and the target base station terminal are automatically determined to generate line configuration information, the self-healing efficiency of a local area network link is improved, and the control center is convenient to switch the communication configuration lines;
3. if all base station terminals in the tunnel are disconnected from the control center, through communication among inspection robots arranged at intervals in the tunnel and through network communication between the inspection robots at the tunnel entrance and the control center terminal, when all base station terminals are disconnected from the communication, staff in the control center can still monitor the inside of the tunnel in real time through the inspection robots, and meanwhile, tunnel rescue tasks are not easily affected;
4. after the configuration line is sent to the control center, the staff can change the target base station terminal or the preselected inspection robot in the configuration line according to the scene accident situation, such as the situation that the fire spreading in the tunnel possibly affects the target base station terminal or the preselected inspection robot, so as to keep uninterrupted monitoring on the scene of the tunnel accident.
Drawings
FIG. 1 is a flow chart of an embodiment of an emergency control method of a highway tunnel inspection robot according to the present application;
FIG. 2 is an illustration of a configuration line in an emergency control method of a highway tunnel inspection robot according to the present application;
FIG. 3 is a flowchart showing an implementation of the emergency control method of the highway tunnel inspection robot according to the present application before step S30;
FIG. 4 is a flowchart showing an implementation of the emergency control method of the highway tunnel inspection robot according to the present application after step S10;
FIG. 5 is a flowchart showing an implementation of the emergency control method of the highway tunnel inspection robot according to the present application after step S30;
fig. 6 is a schematic block diagram of a computer device of the present application.
Detailed Description
The application is described in further detail below with reference to fig. 1-6.
In an embodiment, as shown in fig. 1, the application discloses an emergency control method of a highway tunnel inspection robot, which specifically comprises the following steps:
s10: when the base station terminal in the tunnel is disconnected with the control center, acquiring the identity information of the disconnected base station terminal;
in this embodiment, the base station terminal is a communication base station device disposed in a tunnel, and when an accident occurs in the tunnel or the base station terminal itself fails, and the communication between the base station terminal and the control center is disconnected, and when the inspection robot runs near the base station terminal with the disconnected communication, the communication between the inspection robot and the control center is disconnected, so that the inspection robot cannot be used for tunnel monitoring.
The identity information of the base station terminal refers to information such as the number and position of the base station.
Specifically, when any one of the base station terminals located in the tunnel fails and the communication between the base station terminal and the control center is disconnected, information such as the number and the position of the disconnected base station terminal is acquired.
Further, if the disconnected base station terminal includes two or more base station terminals, information such as the number and position of the failed base station terminal closest to the non-failed base station terminal is acquired.
S20: based on the identity information, identifying and screening out a target base station terminal closest to the disconnected base station terminal, wherein the target base station terminal is a base station terminal which is not disconnected from the control center;
in this embodiment, the target base station terminal refers to a base station terminal for a communication link to be reorganized, which is still capable of communicating and data transmitting with the control center.
Specifically, based on the identity information of the disconnected base station terminal, identifying and screening out the target base station terminal closest to the disconnected base station terminal, namely selecting a plurality of base station terminals closest to two sides of the disconnected base station terminal as the target base station terminal.
S30: when configuration line information preset by the control center terminal is received, a link starting instruction is sent to the preselected inspection robot, so that the inspection robot is in communication connection with the target base station terminal according to the configuration line information.
In this embodiment, the control center terminal refers to a PC terminal or a mobile terminal for remotely controlling the inspection robot in the tunnel.
The configuration line information is line data sent by the control center for reconstructing the local area network line inside the tunnel.
The preselected inspection robot is used for a mobile base station that serves as a communication link for two target base station terminals.
Specifically, when receiving the configuration line information of the local area network inside the tunnel re-preset by the control center, a link starting instruction is sent to the routing inspection robot which is pre-selected as the mobile base station, so that the routing inspection robot is in communication connection with the target base station terminals on two sides of the base station terminal with the fault.
Further, when no operator signal exists in the tunnel due to an accident in the tunnel, an emergency wireless starting signal is sent to the pre-selected mobile base station, so that the pre-selected mobile base station provides wireless network signals for other devices in the tunnel, and normal operation of the devices in the tunnel and communication between personnel in the tunnel and the outside are ensured.
In an embodiment, referring to fig. 2, communication disconnection in wired, wireless or other manners occurs between 6 base station terminals, and two inspection robots in a tunnel are used as preselected inspection robots, communication is established between the two inspection robots, and a target base station terminal is in communication connection with the two inspection robots, so that reconfiguration of local area network lines in the tunnel is completed.
In one embodiment, referring to fig. 3, prior to step S30, the following steps are performed:
s301: when a line configuration request of a control center terminal is received, positioning information of a base station terminal for disconnecting communication is obtained;
s302: acquiring serial number information of the inspection robot close to the base station terminal disconnected from communication based on the positioning information;
s303: taking the inspection robot corresponding to the acquired serial number information as a preselected inspection robot;
s304: and generating configuration line information based on the preselected inspection robot and the target base station terminal, and sending the configuration line information to the control center terminal.
In this embodiment, the number information of the inspection robot closest to the base station terminal disconnected from the communication can be obtained through the positioning information of the base station terminal, and the inspection robot serving as the preselected inspection robot can complete the communication connection of the configuration line in time.
Specifically, when a skin-restraining line request of a control center terminal is received, the specific position of a base station terminal for disconnecting communication is automatically obtained, and the number information of the inspection robot closest to the base station terminal for disconnecting communication is screened through the specific position, so that the inspection robot is selected as a mobile base station.
Further, based on the pre-selected inspection robot and the target base station terminal, the configuration line information is produced and sent to the control center terminal, so that a worker can know the modified configuration line or manually modify the configuration line.
In an embodiment, all base station terminals in the tunnel are disconnected, referring to fig. 4, after step S10, the following steps are performed:
s11: all inspection robots in the tunnel are in communication connection;
s12: the inspection robot closest to the tunnel portal moves to the tunnel portal;
s13: and receiving a link starting instruction from the control center terminal so as to enable the inspection robot positioned at the tunnel portal to be in communication connection with the control center terminal.
In this embodiment, if all base station terminals in the tunnel fail to disconnect communication, the inspection robots arranged at intervals in the tunnel can serve as mobile base stations, and the inspection robot closest to the tunnel opening automatically moves to the tunnel opening, and communication with the control center terminal is realized through a 4G/5G network, so that monitoring of accident sites in the tunnel can be realized, and communication reliability between the inspection robot and the control center terminal is ensured.
Specifically, when all base station terminals in the tunnel are disconnected from communication, all inspection robots in the tunnel are in communication connection with each other, namely the inspection robot is in communication connection with another adjacent inspection robot, and the robot closest to the tunnel portal moves to the tunnel portal, the 4G/5G network is started to restore communication with the control center terminal, so that a worker of the control center can quickly restore monitoring of the accident scene in the tunnel.
In an embodiment, if any inspection robot in the tunnel fails to work normally due to failure, the emergency control method of the highway tunnel inspection robot further includes the steps of:
s40: acquiring coordinate information of the failed inspection robot;
s50: based on the coordinate information, a scheduling instruction from the control center terminal is received to move the inspection robot nearest to the failed inspection robot to the accident scene.
In this embodiment, if a tunnel accident occurs in a tunnel, and the inspection robot at the accident site fails, or if the inspection robot fails to work normally due to the failure of the inspection robot, the coordinate position of the inspection robot in the tunnel is obtained, and based on the coordinate position, a worker at the control center dispatches the inspection robot closest to the failed inspection robot to the accident site, that is, dispatches the inspection robot at the failed inspection robot, thereby replacing the failed inspection robot to inspect, or maintaining the monitoring of the accident site.
Specifically, a specific coordinate position of the failed inspection robot in the tunnel is obtained, and based on the coordinate position, a control center worker sends a scheduling instruction through a control center terminal to move another inspection robot to the failed inspection robot.
In one embodiment, referring to fig. 5, after step S30, the following steps are performed:
s31: acquiring position information of a patrol robot positioned at an accident site;
s32: screening matched public security systems and medical systems from a pre-associated public security and medical database based on the position information;
s33: the relevant information of the screened public security system and the medical system is sent to a control center terminal;
s34: when receiving the support request message sent by the control center terminal, the support request message is sent to the selected public security system and medical system.
In this embodiment, the location information of the inspection robot refers to the geographic location of the inspection robot, and the public security and medical database includes introduction information such as the geographic location, contact information, qualification conditions, etc. of the public security organ and the medical institution.
The matched public security system and medical system refer to public security institutions and medical institutions which are nearest to the position information and have rescue conditions. The related information refers to introduction information such as geographical locations, contact ways, qualification conditions and the like of public security authorities and medical institutions.
The support request message may be a voice message, a text message, or a video message.
Specifically, when major accidents occur in the tunnel and require timely support of public security authorities and medical institutions, the geographical position of the inspection robot at the accident site is acquired, and the public security authorities, the geographical position of the medical institutions, the contact mode, the qualification conditions and other introduction information of the composite rescue conditions nearest to the accident site are selected through public security and medical databases stored in advance; for example, a three-medical hospital with a higher level is used for medical equipment capable of on-site emergency treatment, and a hospital system with a higher level is preferentially screened out if the three-medical hospital with a lower level does not have the medical equipment.
Further, the selected public security and the related introduction information of the medical system are sent to the control center terminal, and a worker of the control center sends a support request message to request support of the tunnel accident.
In one embodiment, after step S304, the following steps are further performed:
s305: when receiving a modification request from the control center terminal, transmitting an input port for modifying the target base station terminal and the preselected inspection robot to the control center terminal;
s306: and updating the configuration line based on the received target base station terminal input by the control center terminal and/or the pre-selected inspection robot.
In this embodiment, a worker in the control center may actively modify the configuration line according to the disaster condition of the tunnel accident scene, for example, the fire is in a delayed state, and the worker may change the target base station terminal in the configuration line to a target base station terminal to which the fire is not easily spread in order to avoid communicating with the inspection robot terminal again.
Specifically, when a modification request instruction from the control center is received, an input port for modifying the target base station terminal and the two pre-selected inspection robots is sent to the control center terminal, and the configuration line is updated based on the received target base station terminal and/or the pre-selected inspection robots input by the control center terminal.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.
In an embodiment, an emergency control system of a highway tunnel inspection robot is provided, where the emergency control system of the highway tunnel inspection robot corresponds to the emergency control method of the highway tunnel inspection robot in the foregoing embodiment. The emergency control system of the highway tunnel inspection robot comprises:
the identity acquisition module is used for acquiring the identity information of the base station terminal disconnected with the communication when the base station terminal positioned in the tunnel is disconnected with the control center;
the target base station screening module is used for identifying and screening out the target base station terminal closest to the disconnected base station terminal based on the identity information, wherein the target base station terminal refers to the base station terminal which is not disconnected from the control center;
the line configuration module is used for sending a link starting instruction to the preselected inspection robot when configuration line information preset by the control center terminal is received, so that the inspection robot is in communication connection with the target base station terminal according to the configuration line information.
Optionally, the method further comprises:
the base station positioning acquisition module is used for acquiring positioning information of the base station terminal disconnected from communication when receiving a line configuration request of the control center terminal;
the number acquisition module is used for acquiring the number information of the inspection robot close to the base station terminal disconnected from the communication based on the positioning information;
the selecting module is used for taking the inspection robot corresponding to the acquired serial number information as a preselected inspection robot;
the line generation module is used for generating configuration line information based on the preselected inspection robot and the target base station terminal and sending the configuration line information to the control center terminal.
Optionally, the method further comprises:
the robot connecting module is used for communication connection among all the inspection robots in the tunnel;
the control module is used for connecting the inspection robot closest to the tunnel portal to move to the tunnel portal;
and the network communication module is used for receiving a link starting instruction from the control center terminal so as to enable the inspection robot positioned at the tunnel portal to be in communication connection with the control center terminal.
Optionally, the method further comprises:
the coordinate acquisition module is used for acquiring coordinate information of the fault inspection robot;
and the scheduling module is used for receiving a scheduling instruction from the control center terminal based on the coordinate information so as to move the inspection robot nearest to the failed inspection robot to the accident scene.
Optionally, the method further comprises:
the position acquisition module is used for acquiring the position information of the inspection robot positioned at the accident scene;
the association screening module is used for screening matched public security systems and medical systems from a pre-associated public security and medical database based on the position information;
the related information sending module is used for sending the related information of the screened public security system and the medical system to the control center terminal;
and the support request module is used for sending the support request message to the screened public security system and the medical system when receiving the support request message sent by the control center terminal.
Optionally, the method further comprises:
the modification request module is used for sending an input port for modifying the target base station terminal and the preselected inspection robot to the control center terminal when receiving a modification request from the control center terminal;
the line updating module is used for updating the configuration line based on the received target base station terminal input by the control center terminal or/and the preselected inspection robot.
The specific limitation of the emergency control system of a highway tunnel inspection robot can be referred to above for the limitation of the emergency control method of a highway tunnel inspection robot, and will not be described herein. The modules in the emergency control system of the highway tunnel inspection robot can be all or partially realized by software, hardware and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 6. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is used for storing identity information, positioning information, number information, coordinate information, position information and public security and medical database. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program when executed by the processor is used for realizing an emergency control method of the highway tunnel inspection robot.
In one embodiment, a computer device is provided that includes a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing a method for emergency control of a highway tunnel inspection robot when executing the computer program.
In one embodiment, a computer readable storage medium having a computer program stored thereon, the computer program when executed by a processor implementing a method of emergency control of a highway tunnel inspection robot is provided.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions.
The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (10)
1. An emergency control method of a highway tunnel inspection robot is characterized by comprising the following steps of: the method comprises the following steps:
when the base station terminal in the tunnel is disconnected with the control center, acquiring the identity information of the disconnected base station terminal;
based on the identity information, identifying and screening out a target base station terminal closest to the disconnected base station terminal, wherein the target base station terminal is a base station terminal which is not disconnected from the control center;
when configuration line information preset by a control center terminal is received, a link starting instruction is sent to a preselected inspection robot, so that the inspection robot is in communication connection with a target base station terminal according to the configuration line information;
based on the identity information of the disconnected base station terminal, identifying and screening out the target base station terminal closest to the disconnected base station terminal, namely selecting a plurality of base station terminals closest to the two sides of the disconnected base station terminal as target base station terminals;
the configuration line information is line data sent by the control center and used for reconstructing a local area network line in the tunnel, and the preselected routing inspection robot is used as a mobile base station of a communication link of two target base station terminals;
when receiving configuration line information of the local area network in the tunnel, which is re-preset by the control center, sending a link starting instruction to a routing inspection robot which is pre-selected as a mobile base station, so that the routing inspection robot is in communication connection with target base station terminals on two sides of a base station terminal with a fault;
when no operator signal exists in the tunnel due to the occurrence of accidents in the tunnel, an emergency wireless starting signal is sent to the pre-selected mobile base station, so that the pre-selected mobile base station provides wireless network signals for other devices in the tunnel, and normal operation of the devices in the tunnel and communication between personnel in the tunnel and the outside are ensured.
2. The emergency control method of the highway tunnel inspection robot according to claim 1, wherein the emergency control method comprises the following steps: when receiving configuration line information preset by a control center terminal, the method sends a link starting instruction to a preselected inspection robot so that the inspection robot is in communication connection with a target base station terminal according to the configuration line information, and comprises the following steps:
when a line configuration request of a control center terminal is received, positioning information of a base station terminal for disconnecting communication is obtained;
acquiring serial number information of the inspection robot close to the base station terminal disconnected from communication based on the positioning information;
taking the inspection robot corresponding to the acquired serial number information as a preselected inspection robot;
and generating configuration line information based on the preselected inspection robot and the target base station terminal, and sending the configuration line information to the control center terminal.
3. The emergency control method of the highway tunnel inspection robot according to claim 1, wherein the emergency control method comprises the following steps: if all the base station terminals in the tunnel are disconnected, after the step of acquiring the identity information of the disconnected base station terminal when the base station terminal in the tunnel is disconnected from the control center, the following steps are executed:
all inspection robots in the tunnel are in communication connection;
the inspection robot closest to the tunnel portal moves to the tunnel portal;
and receiving a link starting instruction from the control center terminal so as to enable the inspection robot positioned at the tunnel portal to be in communication connection with the control center terminal.
4. The emergency control method of the highway tunnel inspection robot according to claim 1, wherein the emergency control method comprises the following steps: if any inspection robot in the tunnel fails and fails to work normally, the emergency control method of the highway tunnel inspection robot further comprises the following steps:
acquiring coordinate information of the failed inspection robot;
based on the coordinate information, a scheduling instruction from the control center terminal is received to move the inspection robot nearest to the failed inspection robot to the accident scene.
5. The emergency control method of the highway tunnel inspection robot according to claim 1, wherein the emergency control method comprises the following steps: when receiving configuration line information preset by a control center terminal, sending a link starting instruction to a preselected inspection robot so that the inspection robot is in communication connection with a target base station terminal according to the configuration line information, and then executing the following steps:
acquiring position information of a patrol robot positioned at an accident site;
screening matched public security systems and medical systems from a pre-associated public security and medical database based on the position information;
the relevant information of the screened public security system and the medical system is sent to a control center terminal;
when receiving the support request message sent by the control center terminal, the support request message is sent to the selected public security system and medical system.
6. The emergency control method of the highway tunnel inspection robot according to claim 2, wherein the emergency control method comprises the following steps: after the steps of generating configuration line information based on the preselected inspection robot and the target base station terminal and sending the configuration line information to the control center terminal, the following steps are executed:
when receiving a modification request from the control center terminal, transmitting an input port for modifying the target base station terminal and the preselected inspection robot to the control center terminal;
and updating the configuration line based on the received target base station terminal input by the control center terminal and/or the pre-selected inspection robot.
7. An emergency control system of a highway tunnel inspection robot, comprising:
the identity acquisition module is used for acquiring the identity information of the base station terminal disconnected with the communication when the base station terminal positioned in the tunnel is disconnected with the control center;
the target base station screening module is used for identifying and screening out the target base station terminal closest to the disconnected base station terminal based on the identity information, wherein the target base station terminal refers to the base station terminal which is not disconnected from the control center;
the line configuration module is used for sending a link starting instruction to the preselected inspection robot when receiving configuration line information preset by the control center terminal, so that the inspection robot is in communication connection with the target base station terminal according to the configuration line information;
based on the identity information of the disconnected base station terminal, identifying and screening out the target base station terminal closest to the disconnected base station terminal, namely selecting a plurality of base station terminals closest to the two sides of the disconnected base station terminal as target base station terminals;
the configuration line information is line data sent by the control center and used for reconstructing a local area network line in the tunnel, and the preselected routing inspection robot is used as a mobile base station of a communication link of two target base station terminals;
when receiving configuration line information of the local area network in the tunnel, which is re-preset by the control center, sending a link starting instruction to a routing inspection robot which is pre-selected as a mobile base station, so that the routing inspection robot is in communication connection with target base station terminals on two sides of a base station terminal with a fault;
when no operator signal exists in the tunnel due to the occurrence of accidents in the tunnel, an emergency wireless starting signal is sent to the pre-selected mobile base station, so that the pre-selected mobile base station provides wireless network signals for other devices in the tunnel, and normal operation of the devices in the tunnel and communication between personnel in the tunnel and the outside are ensured.
8. The emergency control system of a highway tunnel inspection robot according to claim 7, further comprising:
the base station positioning acquisition module is used for acquiring positioning information of the base station terminal disconnected from communication when receiving a line configuration request of the control center terminal;
the number acquisition module is used for acquiring the number information of the inspection robot close to the base station terminal disconnected from the communication based on the positioning information;
the selecting module is used for taking the inspection robot corresponding to the acquired serial number information as a preselected inspection robot;
the line generation module is used for generating configuration line information based on the preselected inspection robot and the target base station terminal and sending the configuration line information to the control center terminal.
9. Computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, carries out the steps of a method for emergency control of a road tunnel inspection robot according to any one of claims 1 to 6.
10. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of a method for emergency control of a road tunnel inspection robot according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310078624.4A CN116095888B (en) | 2023-02-03 | 2023-02-03 | Emergency control method, system, equipment and medium for highway tunnel inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310078624.4A CN116095888B (en) | 2023-02-03 | 2023-02-03 | Emergency control method, system, equipment and medium for highway tunnel inspection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116095888A CN116095888A (en) | 2023-05-09 |
| CN116095888B true CN116095888B (en) | 2023-11-07 |
Family
ID=86200564
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310078624.4A Active CN116095888B (en) | 2023-02-03 | 2023-02-03 | Emergency control method, system, equipment and medium for highway tunnel inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116095888B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1506795A2 (en) * | 2003-08-11 | 2005-02-16 | Mirafin AG | Method and apparatus for providing protection and communication in underground construction sites |
| CN102083236A (en) * | 2009-11-27 | 2011-06-01 | 中国科学院自动化研究所 | Underground positioning and safety monitoring system on basis of communication network |
| CN106851698A (en) * | 2015-12-04 | 2017-06-13 | 中兴通讯股份有限公司 | A kind of method for communicating disaster tolerance, device and base station |
| CN107465612A (en) * | 2017-06-06 | 2017-12-12 | 中富通股份有限公司 | A kind of Radio Link backup scenario based on MANET |
| CN109005500A (en) * | 2018-07-09 | 2018-12-14 | 京信通信系统（中国）有限公司 | Emergency rescue method, apparatus, system, computer storage medium and equipment |
| CN109951835A (en) * | 2019-02-28 | 2019-06-28 | 重庆大学 | Disaster edges of regions network emergency transmission method, base station and terminal |
| CN212671858U (en) * | 2020-01-15 | 2021-03-09 | 陕西新汇华数字科技有限公司 | Mining 5G wireless communication system |
| CN113163431A (en) * | 2021-04-26 | 2021-07-23 | 中国矿业大学(北京) | Mine wireless relay emergency communication system |
| CN216752108U (en) * | 2022-01-26 | 2022-06-14 | 开滦（集团）有限责任公司电信分公司 | Mining mobile communication network system device based on 5G technology |
| CN115361675A (en) * | 2022-08-20 | 2022-11-18 | 浙江极客桥智能装备股份有限公司 | Emergency information transmission method, system and medium based on temporary communication link |
-
2023
- 2023-02-03 CN CN202310078624.4A patent/CN116095888B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1506795A2 (en) * | 2003-08-11 | 2005-02-16 | Mirafin AG | Method and apparatus for providing protection and communication in underground construction sites |
| CN102083236A (en) * | 2009-11-27 | 2011-06-01 | 中国科学院自动化研究所 | Underground positioning and safety monitoring system on basis of communication network |
| CN106851698A (en) * | 2015-12-04 | 2017-06-13 | 中兴通讯股份有限公司 | A kind of method for communicating disaster tolerance, device and base station |
| CN107465612A (en) * | 2017-06-06 | 2017-12-12 | 中富通股份有限公司 | A kind of Radio Link backup scenario based on MANET |
| CN109005500A (en) * | 2018-07-09 | 2018-12-14 | 京信通信系统（中国）有限公司 | Emergency rescue method, apparatus, system, computer storage medium and equipment |
| CN109951835A (en) * | 2019-02-28 | 2019-06-28 | 重庆大学 | Disaster edges of regions network emergency transmission method, base station and terminal |
| CN212671858U (en) * | 2020-01-15 | 2021-03-09 | 陕西新汇华数字科技有限公司 | Mining 5G wireless communication system |
| CN113163431A (en) * | 2021-04-26 | 2021-07-23 | 中国矿业大学(北京) | Mine wireless relay emergency communication system |
| CN216752108U (en) * | 2022-01-26 | 2022-06-14 | 开滦（集团）有限责任公司电信分公司 | Mining mobile communication network system device based on 5G technology |
| CN115361675A (en) * | 2022-08-20 | 2022-11-18 | 浙江极客桥智能装备股份有限公司 | Emergency information transmission method, system and medium based on temporary communication link |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116095888A (en) | 2023-05-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103869219A (en) | Fault handling method and device for power transmission network | |
| CN116095888B (en) | Emergency control method, system, equipment and medium for highway tunnel inspection robot | |
| KR102322449B1 (en) | Equipment Power Monitoring Apparatus and Driving Method Thereof | |
| CN105763378B (en) | A kind of relayed surveillanced network address distribution method based on passenger information system | |
| CN106027313B (en) | Network link disaster tolerance system and method | |
| CN114222321B (en) | Access control system and method for wireless network | |
| CN114157350B (en) | Optical fiber misconnection detection method and system | |
| CN101958925A (en) | Method and device for controlling remote equipment | |
| CN111786806B (en) | Network element exception handling method and network management system | |
| CN110532012B (en) | Distributed system software upgrading method and device | |
| KR101835522B1 (en) | A water installations remote control apparatus for containing site data compensating function | |
| CN103781082B (en) | The means of communication, apparatus and system | |
| JP2016167108A (en) | Failure verification equipment, failure verification method, verification object equipment, wireless communication system, and computer program | |
| JP2002064490A (en) | Method for separating failed part | |
| JP7475651B2 (en) | Railroad vehicle monitoring system, railroad vehicle, monitoring device, and program | |
| CN113507699B (en) | Information collecting method and vehicle-mounted antenna | |
| KR101519068B1 (en) | Communication access management apparatus and control method thereof | |
| KR20180111488A (en) | Monitoring system | |
| CN113596754B (en) | Automatic message forwarding method and device suitable for each interface, intelligent terminal and medium | |
| RU130099U1 (en) | AUTOMATED REPAIR SYSTEM OF COMPLEX TECHNICAL OBJECTS IN THE PLACES OF THEIR DISLOCATION | |
| US20140243032A1 (en) | Site Scan for Mobile Base Stations | |
| CN117850394A (en) | Linkage method of traditional comprehensive monitoring system and comprehensive monitoring system | |
| CN118300971A (en) | Method, equipment and medium for external interface of main and standby control centers of train signal system | |
| JP2016091337A (en) | Plant monitoring control system and plant monitoring control method | |
| CN118138478A (en) | Automatic change unusual inspection system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |