CN106873560A - A kind of Tunnel Fire initial stage rescues accessory system and method - Google Patents
A kind of Tunnel Fire initial stage rescues accessory system and method Download PDFInfo
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- CN106873560A CN106873560A CN201710236169.0A CN201710236169A CN106873560A CN 106873560 A CN106873560 A CN 106873560A CN 201710236169 A CN201710236169 A CN 201710236169A CN 106873560 A CN106873560 A CN 106873560A
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- 230000007613 environmental effect Effects 0.000 claims description 9
- 239000001301 oxygen Substances 0.000 claims description 9
- 229910052760 oxygen Inorganic materials 0.000 claims description 9
- 239000002341 toxic gas Substances 0.000 claims description 9
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4185—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the network communication
- G05B19/41855—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the network communication by local area network [LAN], network structure
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- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
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- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
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Abstract
The invention discloses a kind of rescue of Tunnel Fire initial stage accessory system, it is characterised in that system includes：Sniffing robot platform；It is equipped on embedded control unit, detecting signal unit, mark dispensing unit on the sniffing robot platform；Man-machine interactive system；And wireless router device.The man-machine interactive system includes master console and intelligent mobile terminal；Fire information that the man-machine interactive system real-time reception embedded control unit is transmitted simultaneously is estimated to it, processes, and live rescue worker can in real time be obtained front situation by intelligent mobile terminal and be made a response in advance.The system is designed based on embedded development platform, and helps rescue personnel to determine trapped personnel position in advance under severe rescue environment using rational track rendering algorithm, and helps rescue personnel to look for secure path as early as possible, formulates rational rescue plan.
Description
Technical field
The present invention relates to rescue system and method, the more particularly to a kind of rescue of Tunnel Fire initial stage accessory system and side
Method.
Background technology
China is the country that vcehicular tunnel quantity is most in the world, mileage is most long.During vcehicular tunnel operation management,
Tunnel fire hazard is the maximum class disaster of harm, tunnel " elongated tubular " structures shape tunnel fire hazard accident can only reduce and cannot
Avoid completely.Once there is fire in tunnel, the intensity of a fire will expand rapidly, it is likely that cause illumination, monitoring, the air draft of tunnel internal
Destroyed etc. equipment, burning the smog for producing can be along tunnel top longitudinal diffusion, and the personnel for waiting for rescue there will be asphyxia to endanger
Danger, if the vehicle for causing fire is the transport vehicle of hypertoxic hazardous chemical, then the dense smoke that burning is produced may have certain
Toxicity, the hope of trapped personnel existence will more allow of no optimist, and rescue personnel also is difficult to be sued and laboured into scene in the very first time
And launch to evacuate work.In Tunnel Fire early period of origination, in the case of without rescue, there is the driver and conductor of self-saving ability
Needs are dispersed into safety zone as early as possible in safety time, the wounded, costive the elderly without self-saving ability,
The trapped personnels such as children are then difficult the self-escape in safety time, and fireman can only be waited to rescue in time.It is domestic at present related
Rescue accessory system product is very rare, does not occur the auxiliary system for the rescue of vcehicular tunnel initial fire disaster of technology maturation also
System.
The content of the invention
In view of the deficiency that prior art is present, auxiliary the invention aims to provide a kind of Tunnel Fire initial stage rescue
Auxiliary system and method, risk, raising search efficiency are searched and rescued to reduce.
To achieve these goals, technical solution of the present invention is as follows：
A kind of Tunnel Fire initial stage rescues accessory system, it is characterised in that system includes：
Sniffing robot platform；
It is equipped on embedded control unit, detecting signal unit, mark dispensing unit on the sniffing robot platform；
The embedded control unit collects the sniffing robot platform operation information；The embedded control unit and the signal
Detection unit and mark deliver unit connection, and the embedded control unit is received and processes what the detecting signal unit sent
Fire information simultaneously controls the mark to deliver unit action, and the mark delivers unit includes stepper motor and illuminator label
Delivery device；
Man-machine interactive system, the man-machine interactive system includes the master console and use for display effective information in real time
In the intelligent mobile terminal that guidance program is provided for live rescue worker；The master console real-time reception embedded control unit
The fire information that transmits simultaneously is estimated to it, processes, and fire information and assessment result are transferred into the intelligent mobile end
End, commanding can manually control whole system by master console；Live rescue worker can also be by intelligent sliding simultaneously
Dynamic terminal obtains front situation and makes a response in advance in real time, and can control whole system by intelligent mobile terminal；
And wireless router device.
Further, the detecting signal unit includes：
Infrared USB camera, the infrared USB camera is used for catching scene of fire image information, and according to scene
Ambient light is strong and weak automatically switch it is infrared with non-infrared two kinds of mode of operations；
Microwave radar human detection module, the microwave radar human detection module is to real-time monitoring certain model around it
Whether there is life entity in enclosing, high level is exported if life entity is detected, otherwise export low level；
Environmental detection sensor group, the environmental detection sensor group includes：Toxic gas detection sensor, fuel gas
Detection sensor, temperature sensor, oxygen sensor.
Further, when temperature reaches system can bear the upper limit or have life entity around detecting, the explorer
Device people platform is Remote pattern by automatic obstacle-avoiding pattern switching.
Further, the embedded control unit includes one or more controllers.
Further, the sniffing robot platform operation information includes corner information and the advance of sniffing robot platform
Velocity information.
Another object of the present invention is to provide for a kind of Tunnel Fire initial stage rescue mode based on said system, and it is special
Levy and be, comprise the following steps：
S1：Hardware device needed for sniffing robot platform equipped system enters the tunnel fire hazard initial stage with automatic obstacle-avoiding pattern
Scene, the hardware device includes that embedded control unit, detecting signal unit, mark deliver unit；
S2：The sniffing robot platform executed in parallel following steps：
(1) a range of complaint message in sniffing robot detection of platform front, and judge whether to need avoidance, such as need
Then to perform S3；Otherwise perform S2；
(2) image that infrared USB camera collection image information in front will simultaneously be collected in real time is through embedded control unit
Man-machine interactive system is transferred to, while the embedded control unit carries out image procossing to the image information for collecting and divides
Analysis, analysing content includes：
Whether there is flame in the image that judgement is collected, be to perform S4, otherwise return to S2；
Whether there is smog in the image that judgement is collected, be to perform S5, otherwise return to S2；
(3) whether microwave radar human detection module search has trapped personnel, is to perform S6；Otherwise return to S2；
(4) concentration of toxic gases in toxic gas detection sensor detection surrounding environment, and in real time through embedded Control
Data are transferred to man-machine interactive system by unit by WIFI；
(5) combustable gas concentration in fuel gas detection sensor detection surrounding environment, and in real time through embedded Control
Data are transferred to man-machine interactive system by unit by WIFI；
(6) temperature sensor detect surrounding environment temperature, and in real time through embedded control unit by data pass through WIFI
It is transferred to man-machine interactive system；
(7) oxygen sensor detects the oxygen concentration of surrounding environment, and in real time passes through data through embedded control unit
WIFI is transferred to man-machine interactive system；
(8) gyroscope real-time detection robot platform corner information, embedded control unit is by real-time angle data
And the pace of sniffing robot platform carries out COMPREHENSIVE CALCULATING to fit sniffing robot platform path track, to realize
Operating personnel position to sniffing robot platform real-time tracking；
S3：Robot platform performs avoidance program, returns to S2；
S4：Embedded control unit performs flame alert program, and judges whether environment temperature reaches by temperature sensor
To the temperature upper limit that system hardware can bear, it is actively to switch to Remote Schema control sniffing robot platform, it is no
Then return to S2；
S5：Operating personnel's remote control robot platform is to just to tunnel cross section remains stationary, embedded control unit
Smog ground height and its subsidence velocity determining program are performed, smog is predicted and is sunk down into the height caused harm to trapped personnel
The time of degree, and information of forecasting is reached into man-machine interactive system, return to S2；
S6：Trapped personnel particular location is confirmed by infrared USB camera, sniffing robot platform is switched to after confirmation
Remote pattern, operating personnel's control robot platform performs S7 after reaching trapped personnel position, otherwise returns to S6；
S7：Operator is issued by master console or intelligent mobile terminal and delivers instruction, and embedded control unit is received
And the instruction is performed, start driving stepper motor illuminator label delivery device and throw next illuminator label, while behaviour
Make personnel and draw Interface Mark placement position in man-machine interactive system track, return to S2.
Further, wireless router device is arranged to fix IP, the gateway of embedded controller be arranged to without circuit
Fixed IP by device under same gateway, master console is connected into wireless routing with intelligent mobile terminal with embedded each controller
Device IP, to constitute the LAN under fixed IP.
Compared with prior art, beneficial effects of the present invention：
The present invention is based on embedded development platform and mode identification technology, can realize flame and smog ground height
And its intelligent decision of the subsidence velocity extent of injury that it is caused to trapped personnel so as to look-ahead, and use rational track
Rendering algorithm enables that rescue personnel determines to be rescued personnel's particular location in the case where bad environments are rescued, and in rescue people
Member helps rescue personnel to look for secure path as early as possible in the case of cannot being searched and rescued into tunnel the very first time, formulates rational rescue
Plan, greatly shortens tunnel fire hazard rescue time, improves the safety guarantee of rescue worker, particularly dangerous product leakage
Tunnel fire hazard, it is to avoid unnecessary sacrifice.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are this hairs
Some bright embodiments, for those of ordinary skill in the art, without having to pay creative labor, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the structured flowchart of system of the present invention；
Fig. 2 is the flow chart of the method for the invention；
Fig. 3 is the structured flowchart of system described in embodiment 1；
Fig. 4 is the instance graph of system described in embodiment 1.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
The extensive use in tunnel brings huge fire safety evaluating hidden danger, scene of a fire inner case it is complicated and changeable, not only make
The efficiency of recovering of must putting out a fire is low, or even is also possible to threaten the inherently safe of rescue personnel.Based on above-mentioned background, the present invention devises one
The rescue of kind of Tunnel Fire initial stage accessory system and method, below in conjunction with the accompanying drawings and specific embodiment further illustrates this hair
Bright technical scheme：
A kind of rescue of Tunnel Fire initial stage accessory system as shown in Figure 1, system includes：Sniffing robot platform,
Embedded control unit, detecting signal unit, mark deliver unit, man-machine interactive system and wireless router device.
The sniffing robot platform is used for carrying hardware device necessary to search and rescue accessory system, such as infrared USB shootings
Head, embedded controller (storage battery power supply) and various kinds of sensors etc..Described sniffing robot platform can be by programming
Automatic obstacle-avoiding and long-range remote control function are realized, and two kinds of Working moulds of automatic obstacle-avoiding pattern and Remote pattern can be realized
Any switching laws of formula, are mounted with automatic obstacle-avoiding program and Remote program inside it.Sniffing robot platform enters work
Automatic obstacle-avoiding pattern is used during region, the upper limit can be born or detect around have life entity when environment temperature reaches system hardware
When, sniffing robot platform is actively Remote pattern by automatic obstacle-avoiding pattern switching.
The embedded control unit, detecting signal unit, mark dispensing unit are equipped on the sniffing robot and put down
Platform.The embedded control unit collects the sniffing robot platform operation information, the sniffing robot platform operation letter
Breath includes the corner information and forwarding speed information of sniffing robot platform.The embedded control unit and the signal detection
Unit and mark deliver unit connection, and the embedded control unit receives and process the fire that the detecting signal unit sends
Information simultaneously controls the mark to deliver unit to act, and the mark delivers unit includes stepper motor and driven by stepper motors
Illuminator label delivery device；Throwing is sent to embedded control unit from man-machine interactive system when system discovery trapped personnel
Instruction is put, controller further controls driving stepper motor illuminator label delivery device actively to cast illuminator label,
It is easy to rescue worker to remain to search trapped personnel quickly under dark surrounds in tunnel.
The embedded control unit includes one or more embedded controllers, and single controller is in data-handling efficiency
Aspect is likely difficult to reach hommization requirement, therefore can improve information handling rate by setting multiple controllers.It is described
Embedded controller is used for processing the information datas such as the surrounding environment that image information and sensor are collected, and makes corresponding
Judge, while the control to sniffing robot platform can also be realized.
The detecting signal unit includes：Infrared USB camera, the infrared USB camera is used for catching scene of fire
Image information, and it is infrared with non-infrared two kinds of mode of operations to be automatically switched according to site environment light intensity；Microwave thunder
Up to human detection module, whether the microwave radar human detection module has around real-time monitoring have life in certain limit
Body, and detection range still will not be greatly affected in the case of having shelter.The corresponding delivery outlet if life entity is detected
Output high level, otherwise exports low level；Environmental detection sensor group, the environmental detection sensor group includes：Toxic gas
Detection sensor, fuel gas detection sensor, temperature sensor, oxygen sensor.A series of above-mentioned sensors are in type selecting
The requirement of scene of fire environment must be reached, each sensor at the scene should be able to normal work.Various kinds of sensors can be passed according to itself
The characteristics of transmission of data, is directly connected to the digital I/O or simulation I/O of embedded controller.
The man-machine interactive system is included for the master console of display effective information in real time and for for scene is searched and rescued
Personnel provide the intelligent mobile terminal of guidance program.Described master console and intelligent mobile terminal are used for real-time reception front collection
Into the information that embedded controller is transmitted, correct judgement is made for commanding, commanding can also be grasped by master console
Vertical whole system；The rescue worker into scene can in real time be understood front situation by intelligent mobile terminal and be made in advance simultaneously
Reaction, and whole system can be controlled by intelligent mobile terminal.The master console has been installed and shown with image procossing, image
And real-time track draw etc. function LABVIEW softwares.The intelligent mobile terminal is installed, and there is image to show and environment
Data message such as shows at the APP softwares of function.Master console can use smart mobile phone using computer, intelligent mobile terminal.
Communicated wirelessly by wireless router and WIFI between multiple embedded controllers and man-machine interactive system, by
Man-machine interactive system is managed collectively.Because systemic-function is abundant, single controller is likely difficult to reach in terms of data-handling efficiency
To hommization requirement, it is necessary to multiple controller improves information handling rate, therefore it is accomplished by coordinating using wireless router
Master slave relation, realizes the communication mode of " one master and multiple slaves " between man-machine interactive system and multiple embedded controllers；And for
From the aspect of to WIFI signal transmission range in tunnel, WIFI signal transmission range can be improved by adding gateway；For
Real-time Transmission effective information.
A kind of Tunnel Fire initial stage as shown in Figure 2 rescues the method for work of accessory system, comprises the following steps：
S1：Hardware device needed for sniffing robot platform equipped system enters the tunnel fire hazard initial stage with automatic obstacle-avoiding pattern
Scene, the hardware device includes that embedded control unit, detecting signal unit, mark deliver unit；
S2：The sniffing robot platform executed in parallel following steps：
(1) a range of complaint message in sniffing robot detection of platform front, and judge whether to need avoidance, such as need
Then to perform S3；Otherwise perform S2；
(2) image that infrared USB camera collection image information in front will simultaneously be collected in real time is through embedded control unit
Man-machine interactive system is transferred to, while the embedded control unit carries out image procossing to the image information for collecting and divides
Analysis, analysing content includes：
Whether there is flame in the image that judgement is collected, be to perform S4, otherwise return to S2；
Whether there is smog in the image that judgement is collected, be to perform S5, otherwise return to S2；
(3) whether microwave radar human detection module search has trapped personnel, is to perform S6；Otherwise return to S2；
(4) concentration of toxic gases in toxic gas detection sensor detection surrounding environment, and in real time through embedded Control
Data are transferred to man-machine interactive system by unit by WIFI；
(5) combustable gas concentration in fuel gas detection sensor detection surrounding environment, and in real time through embedded Control
Data are transferred to man-machine interactive system by unit by WIFI；
(6) temperature sensor detect surrounding environment temperature, and in real time through embedded control unit by data pass through WIFI
It is transferred to man-machine interactive system；
(7) oxygen sensor detects the oxygen concentration of surrounding environment, and in real time passes through data through embedded control unit
WIFI is transferred to man-machine interactive system；
(8) gyroscope real-time detection robot platform corner information, embedded control unit is by real-time angle data
And the pace of sniffing robot platform carries out COMPREHENSIVE CALCULATING to fit sniffing robot platform path track, to realize
Operating personnel position to sniffing robot platform real-time tracking；
S3：Robot platform performs avoidance program, returns to S2；
S4：Embedded control unit performs flame alert program, and judges whether environment temperature reaches by temperature sensor
To the temperature upper limit that system hardware can bear, it is actively to switch to Remote Schema control sniffing robot platform, it is no
Then return to S2；
S5：Operating personnel's remote control robot platform is to just to tunnel cross section remains stationary, embedded control unit
Smog ground height and its subsidence velocity determining program are performed, smog is predicted and is sunk down into the height caused harm to trapped personnel
The time of degree, and information of forecasting is reached into man-machine interactive system, return to S2；
S6：Trapped personnel particular location is confirmed by infrared USB camera, sniffing robot platform is switched to after confirmation
Remote pattern, operating personnel's control robot platform performs S7 after reaching trapped personnel position, otherwise returns to S6；
S7：Operator is issued by master console or intelligent mobile terminal and delivers instruction, and embedded control unit is received
And the instruction is performed, start driving stepper motor illuminator label delivery device and throw next illuminator label, while behaviour
Make personnel and draw Interface Mark placement position in man-machine interactive system track, return to S2.
Also needed to be arranged to wireless router device to fix IP before step S1, the gateway of multiple embedded controllers sets
It is set to the fixed IP under same gateway with wireless router device, man-machine interactive system (master console or intelligent mobile terminal)
Wireless router IP, the LAN under the fixed IP of composition are connected into each embedded controller.
Embodiment 1
As shown in figure 3, passing through numeral I/O and mould described in the present embodiment between sniffing robot platform and embedded controller
Intend I/O to be connected, used as the preferred scheme of present embodiment, embedded control unit includes two embedded Controls in the present embodiment
Device.Respectively embedded controller 1 and embedded controller 2；Described two embedded controllers and master console and intelligent sliding
Dynamic terminal carries out WIFI wireless connections by router；Embedded controller 1 is electric with the stepping of illuminator label delivery device
Machine is connected by motor-driven I/O, and USB wired connections are passed through with infrared USB camera；Embedded controller 2 is by numeral
I/O or simulation I/O (depending on data transmission) are connected with environment detection sensor group, while the embedded controller 2
Sniffing robot platform can be controlled to switch between Remote pattern and automatic obstacle-avoiding pattern.The infrared USB camera is caught
Image rate is caught for 30 frames/second, it is ensured that the real-time reliability of view data, the flame identification algorithm fortune of the loading of embedded controller 1
With the moving target in frame differential method detection image sequence, frame difference binary map is obtained, and motion is removed by Morphological scale-space
Residual noise and small objects in image, are then masked to image and determine moving region, are counted according to flame color
Model segmentation obtains doubtful flame region, and extracts its LBP first moment, circularity, area change rate characteristic value, finally therefrom selects
Sample data is selected for training SVM classifier learning model to judge to whether there is flame in video；Smog recognizer passes through
Mixed Gauss model background subtraction method extracts moving region, and carries out the post processing of image such as medium filtering, expansion, corrosion to it,
Doubtful smoke region is obtained according to the segmentation of smog Color Statistical model, and extracts its LBP texture, irregular form, stabilization diffusion
Characteristic value, finally therefrom selection sample data is used to train SVM classifier learning model to judge to whether there is cigarette in video
Mist；Smog ground height and its subsidence velocity evaluation algorithm are, by tunnel area complete in selected digital image, to judge that this is consolidated
Smog lower boundary distance and its decrease speed from the ground are determined in region, so as to cook up reasonable rescue time.When system is normally opened
During dynamic operation, each sensor that environmental detection sensor group is included is while carry out data acquisition, embedded controller 1 is by red
After outer USB camera real-time image acquisition information, realtime graphic is transmitted to master console and intelligent mobile end by WIFI first
End, the supporting APP of intelligent mobile terminal has the functions such as Real-time image display, data display and remote control.Microwave radar people
Body detecting module is searched and whether there is life entity in surrounding certain limit, once detecting life entity, operating personnel just can be remote
Journey Manipulation of the machine people platform searches trapped personnel by realtime graphic, and at the same time embedded controller 1 passes through image information
Flame and smog are determined whether by image recognition algorithm after treatment.In automatic obstacle-avoiding pattern after the startup of sniffing robot platform
Lower operation, if embedded controller 1 detects flame and ambient temperature is reached on the temperature value that system hardware can bear
Limit or have been acknowledged that trapped personnel substantially orientation then can switch to manual-remote remote control mode, be so as to avoid flame high temperature from burning out
System by mistake avoids trapped personnel as barrier.Once it is determined that trapped personnel position, operating personnel can Remote machine
People's platform carry illuminator label delivery device deliver an illuminator label, so as to for into scene rescue worker
Trapped personnel is quickly found out to give a clue；Various kinds of sensors is run simultaneously during this period, gathers the environmental data letter of scene of fire
Breath, and real-time Transmission is to master console and intelligent mobile terminal so that master console and the rescuer for holding intelligent mobile terminal
The timely grasp internal environmental information of member, the gyroscope real-time detection robot platform corner information that sniffing robot platform is carried,
Embedded controller 2 carries out COMPREHENSIVE CALCULATING to intend by the pace to real-time angle data and embedded robot platform
Robot platform real-time route track is closed out, to realize that operating personnel position to robot platform real-time tracking.System is according to
The particular location for positioning trapped personnel draws interface real-time mark trapped personnel particular location in track.
The present invention provide a kind of Tunnel Fire initial stage rescue accessory system and method, its combine embedded technology and
Mode identification technology intelligent decision flame, smog ground height and its subsidence velocity, thus look-ahead its to trapped personnel
The extent of injury for causing；Enable rescue personnel in the case where bad environments are rescued really using rational track rendering algorithm
It is fixed to be rescued personnel's particular location, and it is most to enter help rescue personnel in the case that tunnel is searched and rescued the very first time in rescue personnel
Secure path is looked for soon, and auxiliary formulates rational rescue plan, greatly shortens tunnel fire hazard rescue time, is that rescue worker carries
For safety guarantee and intellectual support.Especially in the tunnel scene of a fire of dangerous product leakage, casualty loss loss is significantly reduced, kept away
Unnecessary sacrifice is exempted from, while application of the invention greatly improves the intelligent level of scene of a fire search and rescue.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
Pipe has been described in detail with reference to foregoing embodiments to the present invention, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (7)
1. a kind of Tunnel Fire initial stage rescue accessory system, it is characterised in that system includes：
Sniffing robot platform；
It is equipped on embedded control unit, detecting signal unit, mark dispensing unit on the sniffing robot platform；It is described
Embedded control unit collects the sniffing robot platform operation information；The embedded control unit and the signal detection
Unit and mark deliver unit connection, and the embedded control unit receives and process the fire that the detecting signal unit sends
Information simultaneously controls the mark to deliver unit action, and the mark delivers unit includes that stepper motor and illuminator label are delivered
Device；
Man-machine interactive system, the man-machine interactive system include in real time display effective information master console and for for
Live rescue worker provides the intelligent mobile terminal of guidance program；The master console real-time reception embedded control unit is transmitted
Fire information and it is estimated, is processed, and fire information and assessment result are transferred to the intelligent mobile terminal, refer to
The personnel of waving can manually control whole system by master console；Live rescue worker can also be by intelligent mobile terminal simultaneously
Front situation is obtained in real time and is made a response in advance, and whole system can be controlled by intelligent mobile terminal；
And wireless router device.
2. Tunnel Fire initial stage according to claim 1 rescue accessory system, it is characterised in that the signal detection
Unit includes：
Infrared USB camera, the infrared USB camera is used for catching scene of fire image information, and according to site environment
Light intensity automatically switches infrared with non-infrared two kinds of mode of operations；
Microwave radar human detection module, the microwave radar human detection module is to real-time monitoring around it in certain limit
Whether there is life entity, high level is exported if life entity is detected, otherwise export low level；
Environmental detection sensor group, the environmental detection sensor group includes：Toxic gas detection sensor, fuel gas detection
Sensor, temperature sensor, oxygen sensor.
3. Tunnel Fire initial stage according to claim 1 rescue accessory system, it is characterised in that：It is when temperature reaches
When system can bear the upper limit or have life entity around detecting, the sniffing robot platform is remote by automatic obstacle-avoiding pattern switching
Journey remote control mode.
4. Tunnel Fire initial stage according to claim 1 rescue accessory system, it is characterised in that the embedded control
Unit processed includes one or more controllers.
5. Tunnel Fire initial stage according to claim 1 rescue accessory system, it is characterised in that the detection machine
People's platform operation information includes the corner information and forwarding speed information of sniffing robot platform.
6. a kind of Tunnel Fire initial stage rescue mode of system described in application claim 1, it is characterised in that its step bag
Include：
S1：Hardware device needed for sniffing robot platform equipped system is existing into the tunnel fire hazard initial stage with automatic obstacle-avoiding pattern
, the hardware device includes that embedded control unit, detecting signal unit, mark deliver unit；
S2：The sniffing robot platform executed in parallel following steps：
(1) a range of complaint message in sniffing robot detection of platform front, and judge whether to need avoidance, if desired for then
Perform S3；Otherwise perform S2；
(2) image that infrared USB camera collection image information in front will simultaneously be collected in real time is transmitted through embedded control unit
To man-machine interactive system, while the embedded control unit carries out image procossing and analyzes to the image information for collecting, point
Analysis content includes：
Whether there is flame in the image that judgement is collected, be to perform S4, otherwise return to S2；
Whether there is smog in the image that judgement is collected, be to perform S5, otherwise return to S2；
(3) whether microwave radar human detection module search has trapped personnel, is to perform S6；Otherwise return to S2；
(4) concentration of toxic gases in toxic gas detection sensor detection surrounding environment, and in real time through embedded control unit
Data are transferred to man-machine interactive system by WIFI；
(5) combustable gas concentration in fuel gas detection sensor detection surrounding environment, and in real time through embedded control unit
Data are transferred to man-machine interactive system by WIFI；
(6) temperature sensor detect surrounding environment temperature, and in real time through embedded control unit by data by WIFI transmit
To upper man-machine interactive system；
(7) oxygen sensor detect surrounding environment oxygen concentration, and in real time through embedded control unit by data pass through WIFI
It is transferred to man-machine interactive system；
(8) gyroscope real-time detection robot platform corner information, embedded control unit by real-time angle data and
The pace of sniffing robot platform carries out COMPREHENSIVE CALCULATING to fit sniffing robot platform path track, to realize operation
Personnel position to sniffing robot platform real-time tracking；
S3：Robot platform performs avoidance program, returns to S2；
S4：Embedded control unit performs flame alert program, and judges whether environment temperature reaches by temperature sensor and be
The temperature upper limit that system hardware can bear, is actively to switch to Remote Schema control sniffing robot platform, is otherwise returned
Return S2；
S5：Operating personnel's remote control robot platform is to just to tunnel cross section remains stationary, embedded control unit is performed
Smog ground height and its subsidence velocity determining program, predict smog and sink down into the height that is caused harm to trapped personnel
Time, and information of forecasting is reached into man-machine interactive system, return to S2；
S6：Trapped personnel particular location is confirmed by infrared USB camera, sniffing robot platform is switched to remotely after confirmation
Remote control mode, operating personnel's control robot platform performs S7 after reaching trapped personnel position, otherwise returns to S6；
S7：Operator is issued by master console or intelligent mobile terminal and delivers instruction, and embedded control unit is received and held
The capable instruction, starts driving stepper motor illuminator label delivery device and throws next illuminator label, while operator
Member draws Interface Mark placement position in man-machine interactive system track, returns to S2.
7. a kind of Tunnel Fire initial stage rescue mode according to claim 6, it is characterised in that：In advance will be without circuit
It is arranged to fix IP by device, the gateway of each controller of embedded control unit is arranged to wireless router under same gateway
Fixed IP, master console and intelligent mobile terminal are connected into wireless router IP with each controller, to constitute under fixed IP
LAN.
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| CN201710236169.0A CN106873560B (en) | 2017-04-12 | 2017-04-12 | A kind of Tunnel Fire initial stage rescue mode |
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| CN117371836B (en) * | 2023-09-28 | 2024-04-09 | 长沙理工大学 | Highway tunnel fire rescue capability assessment method and system based on regional visual angle |
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