CN103309323A - Method and system for monitoring tunnel environment inspection equipment - Google Patents
Method and system for monitoring tunnel environment inspection equipment Download PDFInfo
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- CN103309323A CN103309323A CN2013102224144A CN201310222414A CN103309323A CN 103309323 A CN103309323 A CN 103309323A CN 2013102224144 A CN2013102224144 A CN 2013102224144A CN 201310222414 A CN201310222414 A CN 201310222414A CN 103309323 A CN103309323 A CN 103309323A
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- 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
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Abstract
The invention discloses a method and a system for monitoring tunnel environment inspection equipment. The method includes: receiving cruise monitoring data acquired by at least one of the inspection equipment, wherein the cruise monitoring data include data information for at least one item among infrared ray object detection, ultrasonic objection detection, temperature detection, humidity detection and gas composition detection; acquiring position information generated when every inspection equipment triggers a position sensor preset at a monitoring points; and displaying the cruise monitoring data of the selected inspection equipment and the position information of the inspection equipment on a control panel, performing classified statistic according to the position information, and displaying the cruise monitoring data of historical records of every monitoring point in a tunnel. By the aid of the method and the system, the tunnel can be comprehensively monitored in real time by means of modern science and technology, and meanwhile, timely discovering of sudden accidents happened in an electric power tunnel can be realized step by step, so that effective treating measurements can be taken in the first time.
Description
Technical field
The present invention relates to the tunnel monitoring technology, what particularly relate to tunnel environment patrols and examines apparatus monitoring method and system.
Background technology
At present, mainly based on manual inspection, make an inspection tour personnel's regular visit for the routine inspection mode in tunnel, it is single and to make an inspection tour work efficiency lower to make an inspection tour action.
In order to improve the ability of preventing and reducing natural disasters of electric power tunnel, realize monitoring in real time comprehensively on-the-spot in the tunnel, ensure the safe operation of high-tension cable net, prior art has a kind of improved way, a camera is installed in the tunnel exactly at a certain distance, and the picture that in the pulpit camera is photographed is monitored.
But the visual angle of camera is single, even also may have the visual angle blind spot.In case have an accident, can't in the pulpit, see on-the-spot situation clearly.And the scene of the accident may also can be accompanied by situations such as distributing toxic gas, subsequent explosion.If send the maintenance personal toward the scene immediately, might personnel's life be threatened.
Moreover very long when the tunnel, camera on the way has good hundreds of individual.For the monitoring in the pulpit, also be difficult to very first time discovery accident, reduce the loss.
Summary of the invention
Based on this, be necessary that at the problems referred to above what a kind of tunnel environment was provided patrols and examines apparatus monitoring method and system, can grasp tunnel environment, discovery accident in time in real time, all sidedly.
A kind of tunnel environment patrol and examine apparatus monitoring method, comprising:
Receive the Monitoring Data of cruising that at least one equipment of patrolling and examining collects, the described Monitoring Data of cruising comprises that at least one item number in infrared ray object detection, ultrasound wave object detection, temperature detection, humidity detection, the gas componant detection it is believed that breath;
Gather the positional information that produces when each patrols and examines the device trigger alignment sensor default in the monitoring point;
On control panel, show that the described Monitoring Data of cruising of the equipment of choosing of patrolling and examining is patrolled and examined the equipment current position information with this, carry out statistic of classification according to described positional information, show the described Monitoring Data of cruising of the historical record of each monitoring point in the tunnel.
Correspondingly, a kind of tunnel environment patrol and examine equipment monitoring system, comprising:
Data acquisition unit, be used for receiving the Monitoring Data of cruising that at least one equipment of patrolling and examining collects, the described Monitoring Data of cruising comprises that at least one item number in infrared ray object detection, ultrasound wave object detection, temperature detection, humidity detection, the gas componant detection it is believed that breath;
The tunnel positioning unit be used for to be gathered the positional information that produces when each patrols and examines the device trigger alignment sensor default in the monitoring point;
The global monitoring unit that links to each other respectively with described data acquisition unit and described tunnel positioning unit, be used at control panel, the described Monitoring Data of cruising that shows the equipment of choosing of patrolling and examining is patrolled and examined the equipment current position information with this, carry out statistic of classification according to described positional information, show the described Monitoring Data of cruising of the historical record of each monitoring point in the tunnel.
The invention belongs to the supervisory system of a tunnel environment, can record the Monitoring Data that the equipment of patrolling and examining collects on the way, along with the equipment of patrolling and examining each monitoring point of cruising, carry out statistic of classification according to each monitoring point in the tunnel, obtain the Monitoring Data of the tunnel overall situation all sidedly.By the monitoring of fixed point camera multipicture comprehensive, the present invention can grasp on-the-spot various environmental parameters exactly, grasps position and the corresponding Monitoring Data of the equipment of patrolling and examining in real time, is convenient in time find the location of accident and location of accident point than conventional art.
Description of drawings
Fig. 1 patrols and examines the apparatus monitoring method process flow diagram for tunnel environment of the present invention;
Fig. 2 is the first embodiment process flow diagram of patrolling and examining apparatus monitoring method of tunnel environment of the present invention;
Fig. 3 is the second embodiment process flow diagram of patrolling and examining apparatus monitoring method of tunnel environment of the present invention;
Fig. 4 is the synoptic diagram of patrolling and examining equipment monitoring system of tunnel environment of the present invention;
Fig. 5 is the first embodiment synoptic diagram of patrolling and examining equipment monitoring system of tunnel environment of the present invention;
Fig. 6 is the second embodiment synoptic diagram of patrolling and examining equipment monitoring system of tunnel environment of the present invention.
Embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, the present invention is described in further detail below in conjunction with accompanying drawing.
Fig. 1 patrols and examines the apparatus monitoring method process flow diagram for tunnel environment of the present invention, comprising:
S101: receive the Monitoring Data of cruising that at least one equipment of patrolling and examining collects, the described Monitoring Data of cruising comprises that at least one item number in infrared ray object detection, ultrasound wave object detection, temperature detection, humidity detection, the gas componant detection it is believed that breath;
S102: gather the positional information that produces when each patrols and examines the device trigger alignment sensor default in the monitoring point;
S103: on control panel, show that the described Monitoring Data of cruising of the equipment of choosing of patrolling and examining is patrolled and examined the equipment current position information with this;
S104: carry out statistic of classification according to described positional information, show the described Monitoring Data of cruising of the historical record of each monitoring point in the tunnel.
The present invention adopts the equipment of patrolling and examining to replace artificial inspection, compares with artificial inspection, and the present invention can grasp in the process of cruising exactly, the various Monitoring Data of cruising in the tunnel.For example, data messages such as infrared ray object detection, ultrasound wave object detection, temperature detection, humidity detection, gas componant detection.Burst accident in time takes place, and also can not damage personnel.Compare with the fixed point camera of prior art, obviously, the information that native system is gathered is more comprehensive.Described infrared ray object detection and described ultrasound wave object detection are the information of collecting according to radar detedtor, and whether analyze has barrier; Described temperature is surveyed and described humidity is surveyed, and is the information of collecting according to temperature/humidity sensor, analysis water logging, ponding, situation such as leak; Described gas componant is surveyed, and is the information of collecting according to gas monitor, analyzes situations such as fire, Gas Pipe leakage.
The described equipment of patrolling and examining is to patrol automatically according to predetermined path, and preferably, this path can be the track of laying along the tunnel direction, can be positioned at ground, wall, even be suspended to the top, tunnel.Adopt pre-buried position transducer on the way, the working position, bend, the well head place of dodging that set are accurately located.Bearing accuracy: 0.1 meter.The stepper motor step size computation mode in the equipment of patrolling and examining, 1 meter of bearing accuracy are adopted in other positions.Thereby, the position that just can grasp the equipment of patrolling and examining in real time, and the corresponding Monitoring Data in each monitoring point.
In the tunnel, statistic of classification is carried out according to its position in each monitoring point, shows the described Monitoring Data of cruising of the historical record of each monitoring point.When in one section tunnel, several monitoring points being set, can grasp the environmental parameter in the tunnel comprehensively, in real time.Can be divided into several zones by the location in the tunnel, the equipment of patrolling and examining can be set in each location cruise back and forth, when having an accident, can on control panel, patrol and examine the distance of equipment and accident origination point according to each, show the Monitoring Data of cruising.The described Monitoring Data of cruising of the equipment of choosing according to demonstration of patrolling and examining determines whether to send the maintenance personal again.
Only rely on the picture of observing each camera artificially to judge with tradition and compare, the present invention's discovery accident quickly reduces property loss.Take the most effective treatment measures in the very first time, arrange and the scheduling maintenance personal, guarantee personnel's life security.
The watch-dog that the technical program is used the is integrated acquisition function of multiple information is compared the collecting unit that multiple spot distributes, and the reliability of its equipment work is higher, can effectively reduce plant maintenance workload and maintenance cost.
Preferably, the present invention is particularly useful for the cable tunnel, and the cable in the tunnel is maked an inspection tour.Perhaps, also be applicable to other similar narrow elongate, the tunnel that personnel's inconvenience enters.Realize real-time, the comprehensively environmental monitoring in tunnel, and can assist the emergency processing to burst accident.
Fig. 2 is the first embodiment process flow diagram of patrolling and examining apparatus monitoring method of tunnel environment of the present invention.Compared to Figure 1, the embodiment of Fig. 2 can realize automatic warning function, and the nearest equipment of patrolling and examining in grasp and place where the accident occurred, therein in the middle of embodiment, can also be set to manual control by one of them equipment of patrolling and examining, environment to the scene monitors earlier, after having grasped field condition, determines next step processing mode again.
S201: receive the Monitoring Data of cruising that at least one equipment of patrolling and examining collects, the described Monitoring Data of cruising comprises that at least one item number in infrared ray object detection, ultrasound wave object detection, temperature detection, humidity detection, the gas componant detection it is believed that breath;
S202: when in the described Monitoring Data of cruising wherein an item number it is believed that breath exceeds the preset threshold value scope time, display alarm information on described control panel, and sign the patrol and examine equipment nearest with this warning message generation position;
S203: gather the positional information that produces when each patrols and examines the device trigger alignment sensor default in the monitoring point;
S204: on control panel, show that the described Monitoring Data of cruising of the equipment of choosing of patrolling and examining is patrolled and examined the equipment current position information with this, and/or,
S205: carry out statistic of classification according to described positional information, show the described Monitoring Data of cruising of the historical record of each monitoring point in the tunnel;
S206: one of them equipment of patrolling and examining is set to surveillance equipment;
S207: the electric weight or the speed that show described surveillance equipment feedback at the status window of described control panel; And/or,
S208 shows video or the image of described surveillance equipment feedback at the video window of described control panel; And/or,
S209: the voice signal of playing described surveillance equipment feedback at the intercommunication window of described control panel.
In the middle of prior art, if tens up to a hundred cameras are installed in the tunnel on the way, so, only rely on manually to monitor at screen, ignored picture impression, discovery accident in time because of fatigue easily.The present invention, since by the equipment of patrolling and examining some predetermined Monitoring Data of cruising are monitored, obtain the accuracy of data and supported further analysis and the early warning of the present invention for these Monitoring Data, when in the described Monitoring Data of cruising wherein an item number it is believed that breath exceeds the preset threshold value scope time, display alarm information on described control panel.Preferably, can eject the alarm frame at the interface, can very first time discovery accident the monitor staff of pulpit.Usually, the equipment of cruising that collects this unusual Monitoring Data of cruising is nearest from the place where the accident occurred, can identify the Position Approximate of place where the accident occurred by identifying this equipment of patrolling and examining.
The method of operation of patrolling and examining equipment comprises patrols and examines and manually two kinds of controls automatically, wherein, patrols and examines namely according to default program the predetermined path monitoring of cruising in the tunnel automatically.Be in the way when running into barrier, perhaps the place ahead water logging is perhaps found just can to stop automatically, and send a warning to the pulpit under the situations such as fire hazard aerosol fog.Described manual control comprises manual supervision.When the monitor staff finds alarm in the pulpit, can be set to surveillance equipment by one of them equipment of patrolling and examining, preferably, above-mentioned the patrol and examine equipment nearest from the place where the accident occurred is set to surveillance equipment, grasps field condition by this surveillance equipment.Status window at described control panel shows the electric weight that described surveillance equipment feeds back, and when this patrols and examines equipment electric weight deficiency, can choose other the equipment of patrolling and examining as surveillance equipment.Therefore, the present invention can coordinate and dispatches a plurality of equipment of patrolling and examining, and is difficult to the view data analysis of self is compared with a plurality of cameras, and the present invention can be according to patrolling and examining the data that equipment receives, discovery accident accurately and rapidly.
A plurality of when patrolling and examining equipment when being provided with in the tunnel, if require each to patrol and examine equipment all in real time toward pulpit transmitting video image information, then data volume can be very big, and system response speed also can be slack-off.Preferably, present embodiment when a certain equipment of patrolling and examining is set to surveillance equipment, is just opened its video camera, receives and show video, image or the voice signal of feedback.
Fig. 3 is the second embodiment process flow diagram of patrolling and examining apparatus monitoring method of tunnel environment of the present invention.Compare with Fig. 1 or Fig. 2, the embodiment of Fig. 3 can also send the place where the accident occurred with the controlled equipment of patrolling and examining except can realizing automatic warning function, perhaps sends a certain work monitoring ground to, assists on-the-spot processing.
S301: receive the Monitoring Data of cruising that at least one equipment of patrolling and examining collects, the described Monitoring Data of cruising comprises that at least one item number in infrared ray object detection, ultrasound wave object detection, temperature detection, humidity detection, the gas componant detection it is believed that breath;
S302: when in the described Monitoring Data of cruising wherein an item number it is believed that breath exceeds the preset threshold value scope time, display alarm information on described control panel, and sign the patrol and examine equipment nearest with this warning message generation position;
S303: gather the positional information that produces when each patrols and examines the device trigger alignment sensor default in the monitoring point;
S304: on control panel, show that the described Monitoring Data of cruising of the equipment of choosing of patrolling and examining is patrolled and examined the equipment current position information with this, and/or,
S305: carry out statistic of classification according to described positional information, show the described Monitoring Data of cruising of the historical record of each monitoring point in the tunnel;
S306: one of them equipment of patrolling and examining is set to controlled plant;
S307: the electric weight or the speed that show described controlled plant feedback at the status window of described control panel; And/or,
S308 shows video or the image of described controlled plant feedback at the video window of described control panel; And/or,
S309: the voice signal of playing described controlled plant feedback at the intercommunication window of described control panel.
What need supplementary notes is that the present invention can also be to patrolling and examining the equipment sending controling instruction except can receiving the signal of patrolling and examining the equipment feedback.When having an accident, send a certain equipment of patrolling and examining to go to the spot earlier, accident is carried out pre-service.Further whether decision sends the maintenance personal to go to again, support personnel's life security.Simultaneously, also can assist on-the-spot staff to carry out the rescue of accident.
Wherein, advancement commands is used for the startup that the stepper motor of equipment is patrolled and examined in control, make this controlled plant near or away from observation; Cutoff command is used for the stall that the stepper motor of equipment is patrolled and examined in control, makes the observation of stopping of this controlled plant; Rate control instruction is used for the rotating speed that the stepper motor of equipment is patrolled and examined in control, when having an accident, can send a certain controlled plant and promptly go to accident ground; The instruction of houselights intensity is used for the illuminating lamp that equipment is patrolled and examined in control, assists video camera to obtain environmental images clearly; Aperture focuses on instruction, image amplifies and dwindle instruction, camera rotation command are are all patrolled and examined equipment for control rotatable camera, comprehensive, the on-the-spot observation of realization with multi-angle.
To described controlled plant, send the sound signal of intercommunication.When having an accident, can realize the broadcasting to the scene, assist the evacuation crowd.If cooperate the sound feedback among the last embodiment, can realize intercommunication function, the monitor staff of being convenient to the pulpit commands or instructs the staff at scene.
In sum, the present invention can receive the real-time information that image, sound signal and various kinds of sensors collect in the pulpit, rely on computer server and the network equipment, can realize functions such as the patrolling and examining automatically of intelligent patrol detection equipment, image data, abnormal conditions alarm.By the location, position of each monitoring point in the tunnel, and the automatic Monitoring Data of gathering of patrol plan, form and patrol and examine report, show the described Monitoring Data of cruising of the historical record of each monitoring point in the tunnel.Further, by the access of radio communication, the dispatcher in the pulpit can pass through the language intercommunication, and the on-the-spot maintenance personal of commander carries out accident and speedily carries out rescue work.
Wireless signal Transmit-Receive Unit of the present invention transmits data in the mode of wireless signal, goes to realize by setting up the wireless base station.This network system adopts the 2.4GHz frequency band signals, lays optical fiber to middle screw alley by communications equipment room, the wireless base station by reveal cable as antenna along the tunnel all standing.Communication protocol adopts the TCP/IP procotol.
Fig. 4 is the synoptic diagram of patrolling and examining equipment monitoring system of tunnel environment of the present invention, comprising:
Data acquisition unit, be used for receiving the Monitoring Data of cruising that at least one equipment of patrolling and examining collects, the described Monitoring Data of cruising comprises that at least one item number in infrared ray object detection, ultrasound wave object detection, temperature detection, humidity detection, the gas componant detection it is believed that breath;
The tunnel positioning unit be used for to be gathered the positional information that produces when each patrols and examines the device trigger alignment sensor default in the monitoring point;
The global monitoring unit that links to each other respectively with described data acquisition unit and described tunnel positioning unit, be used at control panel, the described Monitoring Data of cruising that shows the equipment of choosing of patrolling and examining is patrolled and examined the equipment current position information with this, carry out statistic of classification according to described positional information, show the described Monitoring Data of cruising of the historical record of each monitoring point in the tunnel.
Fig. 4 is corresponding with Fig. 1, identical among the figure in the method for operation of each unit and the method.
Fig. 5 is the first embodiment synoptic diagram of patrolling and examining equipment monitoring system of tunnel environment of the present invention;
As shown in Figure 5, in the middle of embodiment, also comprise therein:
The alarm generating unit, be used for the described Monitoring Data of cruising wherein an item number it is believed that breath exceeds the preset threshold value scope time, display alarm information on described control panel, and sign the patrol and examine equipment nearest with this warning message generation position.
As shown in Figure 5, described global monitoring unit comprises:
The manual monitoring unit is used for one of them equipment of patrolling and examining and is set to surveillance equipment;
Status display unit is used for showing electric weight or the speed that described surveillance equipment feeds back at the status window of described control panel; And/or,
Video reception unit is used for showing video or the image that described surveillance equipment feeds back at the video window of described control panel; And/or,
Sound playing unit is used for playing the voice signal that described surveillance equipment feeds back at the intercommunication window of described control panel.
Fig. 5 is corresponding with Fig. 2, identical among the figure in the method for operation of each unit and the method.
Fig. 6 is the second embodiment synoptic diagram of patrolling and examining equipment monitoring system of tunnel environment of the present invention.
As shown in Figure 6, in the middle of embodiment, also comprise therein:
The alarm generating unit, be used for the described Monitoring Data of cruising wherein an item number it is believed that breath exceeds the preset threshold value scope time, display alarm information on described control panel, and sign the patrol and examine equipment nearest with this warning message generation position.
As shown in Figure 6, described global monitoring unit comprises:
Manually control module is used for one of them equipment of patrolling and examining and is set to controlled plant;
Status unit is used for to described controlled plant, sends advancement commands, cutoff command, rate control instruction; And/or,
The shooting control module is for sending the instruction of houselights intensity, aperture focusing instruction, image amplification and dwindling instruction, camera rotation command; And/or,
Sound intercommunication unit is used for to described controlled plant, sends the sound signal of intercommunication.
Fig. 6 is corresponding with Fig. 3, identical among the figure in the method for operation of each unit and the method.
The above embodiment has only expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to claim of the present invention.Should be pointed out that for the person of ordinary skill of the art without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (8)
- A tunnel environment patrol and examine apparatus monitoring method, it is characterized in that, comprising:Receive the Monitoring Data of cruising that at least one equipment of patrolling and examining collects, the described Monitoring Data of cruising comprises that at least one item number in infrared ray object detection, ultrasound wave object detection, temperature detection, humidity detection, the gas componant detection it is believed that breath;Gather the positional information that produces when each patrols and examines the device trigger alignment sensor default in the monitoring point;On control panel, show that the described Monitoring Data of cruising of the equipment of choosing of patrolling and examining is patrolled and examined the equipment current position information with this, carry out statistic of classification according to described positional information, show the described Monitoring Data of cruising of the historical record of each monitoring point in the tunnel.
- Tunnel environment according to claim 1 patrol and examine apparatus monitoring method, it is characterized in that, receive after the step of the Monitoring Data of cruising that at least one equipment of patrolling and examining collects, comprising:When in the described Monitoring Data of cruising wherein an item number it is believed that breath exceeds the preset threshold value scope time, display alarm information on described control panel, and sign the patrol and examine equipment nearest with this warning message generation position.
- Tunnel environment according to claim 1 and 2 patrol and examine apparatus monitoring method, it is characterized in that:One of them equipment of patrolling and examining is set to surveillance equipment;The electric weight or the speed that show described surveillance equipment feedback at the status window of described control panel; And/or,The video or the image that show described surveillance equipment feedback at the video window of described control panel; And/or,Play the voice signal of described surveillance equipment feedback at the intercommunication window of described control panel.
- 4. according to the apparatus monitoring method of patrolling and examining of each described tunnel environment of claim 1 to 3, it is characterized in that:One of them equipment of patrolling and examining is set to controlled plant;To described controlled plant, send advancement commands, cutoff command, rate control instruction; And/or,To described controlled plant, send the instruction of houselights intensity, aperture focusing instruction, image amplification and dwindle instruction, camera rotation command; And/or,To described controlled plant, send the sound signal of intercommunication.
- A tunnel environment patrol and examine equipment monitoring system, it is characterized in that, comprising:Data acquisition unit, be used for receiving the Monitoring Data of cruising that at least one equipment of patrolling and examining collects, the described Monitoring Data of cruising comprises that at least one item number in infrared ray object detection, ultrasound wave object detection, temperature detection, humidity detection, the gas componant detection it is believed that breath;The tunnel positioning unit be used for to be gathered the positional information that produces when each patrols and examines the device trigger alignment sensor default in the monitoring point;The global monitoring unit that links to each other respectively with described data acquisition unit and described tunnel positioning unit, be used at control panel, the described Monitoring Data of cruising that shows the equipment of choosing of patrolling and examining is patrolled and examined the equipment current position information with this, carry out statistic of classification according to described positional information, show the described Monitoring Data of cruising of the historical record of each monitoring point in the tunnel.
- Tunnel environment according to claim 5 patrol and examine equipment monitoring system, it is characterized in that, also comprise:The alarm generating unit, be used for the described Monitoring Data of cruising wherein an item number it is believed that breath exceeds the preset threshold value scope time, display alarm information on described control panel, and sign the patrol and examine equipment nearest with this warning message generation position.
- 7. according to the equipment monitoring system of patrolling and examining of claim 5 or 6 described tunnel environments, it is characterized in that described global monitoring unit comprises:The manual monitoring unit is used for one of them equipment of patrolling and examining and is set to surveillance equipment;Status display unit is used for showing electric weight or the speed that described surveillance equipment feeds back at the status window of described control panel; And/or,Video reception unit is used for showing video or the image that described surveillance equipment feeds back at the video window of described control panel; And/or,Sound playing unit is used for playing the voice signal that described surveillance equipment feeds back at the intercommunication window of described control panel.
- 8. according to the equipment monitoring system of patrolling and examining of each described tunnel environment of claim 5 to 7, it is characterized in that described global monitoring unit also comprises:Manually control module is used for one of them equipment of patrolling and examining and is set to controlled plant;Status unit is used for to described controlled plant, sends advancement commands, cutoff command, rate control instruction; And/or,The shooting control module is for sending the instruction of houselights intensity, aperture focusing instruction, image amplification and dwindling instruction, camera rotation command; And/or,Sound intercommunication unit is used for to described controlled plant, sends the sound signal of intercommunication.
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| CN106157522A (en) * | 2016-08-31 | 2016-11-23 | 招商局重庆交通科研设计院有限公司 | Vcehicular tunnel vehicle spontaneous combustion early warning system and method based on hotness imaging |
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