Gas concentration and two-dimensional map correlation detection system and method

Abstract

The invention relates to the field of emergency rescue investigation, and discloses a gas concentration and two-dimensional map correlation detection system and method, and the system comprises a map mapping unmanned aerial vehicle, an environment detection unmanned vehicle, a cloud platform, and platform software. And the platform software is used for reading the two-dimensional live-action map from the cloud platform and transmitting the read two-dimensional live-action map to a remote ground command center for display. The system can solve the problem that in outdoor typical post-disaster scenes, such as flammable and explosive, toxic, oxygen-deficient, dense-smoke and high-temperature scenes, the system can be used for carrying out real-time monitoring on the scene; the system can replace emergency rescue workers to enter a dangerous chemical gas site to carry out correlation detection on the gas concentration and a two-dimensional map, so that the efficiency can be improved for formulating an emergency rescue strategy path on site to evaluate post-disaster toxic and harmful gas monitoring, and the casualty risk of the emergency rescue workers is greatly reduced.

Description

Technical Field

[0001] The invention belongs to the field of emergency rescue investigation and relates to a gas concentration and two-dimensional map correlation detection system and method. Background Art

[0002] As for the existing technical solutions:

[0003] After a fire occurs, emergency rescue personnel generally need to carry a portable gas concentration detection device into the post-disaster scene. The device can provide real-time feedback on the gas concentration information of the current environment and has a gas concentration over-limit alarm function, helping firefighters to grasp the danger level of harmful gases at the scene in real time. However, emergency rescue personnel need to enter an unknown disaster site alone, and their lives are still at great risk.

[0004] After the fire broke out, emergency rescue personnel also remotely controlled the drone system in the command center to detect and analyze the concentration of toxic and harmful gases above the post-disaster site. However, the drone can only obtain gas concentration information in the air and cannot collect gas concentration information on the ground. Considering that toxic and harmful gases have different densities, some will be deposited on the ground and some will diffuse into the air. This method generally cannot truly reflect the actual distribution of toxic and harmful gases on the ground.

[0005] Many industrial production processes contain toxic, harmful and irritating gases, such as electric welding, electroplating, smelting, chemical, petroleum and other industries. These gases can enter the human body through the respiratory tract and cause acute poisoning or even endanger life. Leakage and combustion in places with such toxic and harmful gases will lead to serious consequences. After a fire occurs, firefighters will risk their lives to put out the fire, and they also need to brave the fire to save people. In recent years, many firefighters have sacrificed their precious lives for firefighting and disaster relief. Firefighters have used their lives to prolong the lives of others. For post-disaster rescue, we must first do our best to ensure the personal safety of our firefighters, so that we have the opportunity to save the lives of others and ensure the safety of others' property. Therefore, we should technically predict the situation of the on-site environment as early as possible, and on this basis, explore feasible rescue plans and routes, so as to maximize the rescue efficiency while ensuring the safety of firefighters' lives.

[0006] The patent "A portable toxic gas detection device for firefighters" with publication number CN105469560B uses a gas sensor to detect toxic and harmful gases. It also uses a GPS satellite positioning module and a Bluetooth transmission module. When in use, it is carried by firefighters into the fire scene. It has the functions of alarm reminder for excessive gas concentration, strong light alarm when trapped, and publishing location.

[0007] The patent "Toxic and Harmful Gas UAV Detection System" with publication number CN106896145A relates to a UAV environmental detection system, especially a toxic and harmful gas UAV detection system and detection method, including a flight control system connected to the UAV, a data acquisition module, a wireless transmission module and an ultrasonic module connected to a microprocessor respectively, and also includes a geographic information module, a gas detection module and a ground center; the gas detection module and the geographic information module are both connected to the data acquisition module, and the gas data and geographic data are transmitted to the ground center through the wireless transmission module; the ground center displays the gas concentration and locates the pollution source according to the concentration changes at different locations. When in use, the ground command center remotely controls the UAV to evaluate and analyze the gas leakage at the post-disaster site.

[0008] Disadvantages of existing technology:

[0009] From the perspective of post-disaster rescue practice, accurately and low-costly obtaining data on the distribution of ground gas concentration relative to geographical location while ensuring the safety of rescue personnel has great practical significance for firefighters or command centers to assess on-site conditions and formulate effective rescue plans.

[0010] As for the drone aerial monitoring solution, since its measurement point is not on the ground, the measurement error is large and it has little reference value for ground fire rescue. Considering the difference in the density of toxic gases relative to the density of air, there will be considerable difference between the concentration of toxic gases in the air and that on the ground.

[0011] As for portable toxic gas detection devices for firefighters, since firefighters need to carry them into the post-disaster scene, although the gas concentration detection point is accurate, the life safety of firefighters trapped in a toxic and harmful gas environment is difficult to guarantee. Rescue at the cost of firefighters' lives is unsafe and costly.

[0012] In view of the low safety, high cost and large measurement error mentioned above, the present invention proposes a gas concentration and two-dimensional map correlation detection system and method. This system can solve the problems of typical outdoor post-disaster scenarios, such as flammable and explosive, toxic, hypoxic, thick smoke, high temperature and the like, and can replace emergency rescue personnel to enter the hazardous gas site to perform correlation detection on the gas concentration and two-dimensional map, thereby formulating emergency rescue strategy paths for the site, improving the efficiency of post-disaster toxic and harmful gas monitoring, and greatly reducing the risk of casualties for emergency rescue personnel. Summary of the invention

[0013] In order to overcome the problems raised in the above background technology, the present invention provides the following technical solutions: a gas concentration and two-dimensional map correlation detection system, including a map surveying and mapping drone, an environmental detection unmanned vehicle, a cloud platform and platform software;

[0014] The environment detection unmanned vehicle comprises: a controller module, a travel motor drive module, a front and rear camera module, a mobile follow-up module, a gas concentration detection module, a geographic information module, a wireless transmission module and a wireless visual remote control relay module;

[0015] The mapping drone is equipped with an aerial camera, a global positioning system and a projection transformation module;

[0016] The aerial camera is used to take aerial photos of the real scene after the disaster;

[0017] The global positioning system is used to locate the latitude and longitude coordinates of the location of the mapping drone in real time;

[0018] The projection transformation module is used to perform corresponding projection transformation using the aerial photos and the longitude and latitude coordinates to obtain a two-dimensional real-scene map with longitude and latitude information of the post-disaster site, and transmit or download the two-dimensional real-scene map with longitude and latitude information and store it on the cloud platform;

[0019] The wireless visual remote control relay module is used to read the two-dimensional real-scene map and display it to the firefighters operating on site;

[0020] The platform software is used to read the two-dimensional real-scene map from the cloud platform and transmit the read two-dimensional real-scene map to the remote ground command center for display;

[0021] The environmental detection unmanned vehicle is used to obtain gas concentration and longitude and latitude information in real time and transmit it to the cloud platform;

[0022] The wireless visual remote control relay module is used to read the gas concentration and longitude and latitude information from the cloud platform, and associate it with the two-dimensional real-life map of the corresponding geographical location and then display it;

[0023] The platform software is used to read gas concentration and longitude and latitude information from the cloud platform, and associate it with a two-dimensional real-life map of the corresponding geographic location and display it in a remote ground command center.

[0024] Furthermore, the controller module includes a microprocessor, which is connected to the travel motor drive module via a CAN bus, connected to the gas detection module via RS485, connected to the geographic information module via RS232, and connected to the mobile follow-up module via USB3.0.

[0025] Furthermore, the front and rear camera modules are composed of two camera modules, one of which is aimed at the environment to detect the front road condition of the unmanned vehicle, and the other camera module is aimed at the rear road condition. The two camera modules are respectively connected to the wireless transmission module through the Ethernet ETH interface.

[0026] Furthermore, the gas detection module is used to detect the type and concentration of oxygen and toxic and harmful gases, and the gas detection module is equipped with catalytic combustion, semiconductor, infrared, photoionization, and electrochemical gas sensor modules.

[0027] Furthermore, the geographic information module uses a global satellite positioning system and combines the differential positioning mode of a ground base station to determine the longitude and latitude coordinates of the current environment detection unmanned vehicle.

[0028] Furthermore, the data information obtained by the gas detection module and the geographic information module can be collected and associated at the same time and place, and transmitted to the microprocessor, and the microprocessor then transmits the data information to the wireless visual remote control relay module through the wireless transmission module.

[0029] Furthermore, the mobile following module has an RGB-D camera, and the mobile following module transmits point cloud and image data to a microprocessor through the RGB-D camera. The microprocessor controls the environment detection unmanned vehicle to move and follow the firefighters through image recognition and tracking algorithms.

[0030] Furthermore, the travel motor drive module detects the movement of the unmanned vehicle through the motor drive environment.

[0031] Furthermore, the wireless visual remote control relay module is composed of a remote control device, a wireless device and a liquid crystal screen, and the wireless visual remote control relay module can display the gas concentration and geographical location information obtained from the microprocessor and the image information collected from the front and rear camera modules on the liquid crystal screen. At the same time, it can also be transmitted to the cloud platform through the wireless device.

[0032] Furthermore, the detection method based on the above scheme includes the following steps:

[0033] S1, using the aerial photos taken by the mapping drone and the relevant longitude and latitude coordinates obtained to perform corresponding projection transformation to obtain a two-dimensional real-life map of the post-disaster site with longitude and latitude information;

[0034] S2, the two-dimensional real-scene map with latitude and longitude information is wirelessly transmitted or downloaded and stored on the cloud platform, and is read by the wireless visual remote control relay module and displayed to the firefighters operating on site, or read by the platform software and displayed in the remote ground command center;

[0035] S3, the environmental detection unmanned vehicle follows the firefighters into the post-disaster scene, or the firefighters remotely control the suspected toxic and hazardous environment through the wireless visual remote control relay module, and obtain the real-time transmission gas concentration and longitude and latitude information to the cloud platform;

[0036] S4, uses a wireless visual remote control relay module to read and display the gas concentration on a two-dimensional real-life map of the corresponding geographical location, or is read by the platform software and displayed in a remote ground command center.

[0037] Compared with the prior art, the present invention has the following beneficial effects:

[0038] This system can solve typical outdoor post-disaster scenarios, such as flammable and explosive, toxic, hypoxic, thick smoke, high temperature and other scenes. Through environmental detection unmanned vehicles instead of emergency rescue personnel to enter the hazardous gas site to obtain accurate gas concentration information and longitude and latitude information from near the ground, and associate it with the two-dimensional real-life map with longitude and latitude information detected by the drone, so as to display the gas concentration on the two-dimensional real-life map of the corresponding geographical location. It can improve the efficiency of post-disaster toxic and harmful gas monitoring for on-site emergency rescue strategy path evaluation and greatly reduce the risk of casualties for emergency rescue personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0040] Figure 1 It is an overall schematic diagram of a gas concentration and two-dimensional map correlation detection system of the present invention;

[0041] Figure 2 A schematic diagram of the environmental detection unmanned vehicle of the present invention; DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0043] Depend on Figure 1-2 The present invention provides a gas concentration and two-dimensional map correlation detection system and method, including a map surveying and mapping unmanned aerial vehicle, an environmental detection unmanned vehicle, a cloud platform and platform software;

[0044] In this embodiment, the environment detection unmanned vehicle includes: a controller module, a travel motor drive module, a front and rear camera module, a mobile follow-up module, a gas concentration detection module, a geographic information module, a wireless transmission module and a wireless visual remote control relay module;

[0045] The mapping drone is equipped with an aerial camera, a global positioning system, and a projection transformation module;

[0046] Aerial cameras are used to take aerial photos of the real scene after the disaster;

[0047] The global positioning system is used to locate the latitude and longitude coordinates of the mapping drone’s location in real time;

[0048] The projection transformation module is used to perform corresponding projection transformation using aerial photos and longitude and latitude coordinates to obtain a two-dimensional real-scene map with longitude and latitude information of the post-disaster site, and transmit or download the two-dimensional real-scene map with longitude and latitude information and store it on the cloud platform;

[0049] The wireless visual remote control relay module is used to read the two-dimensional real-scene map and display it to the firefighters operating on site;

[0050] The platform software is used to read the two-dimensional real-scene map from the cloud platform and transmit the read two-dimensional real-scene map to the remote ground command center for display;

[0051] The environmental detection unmanned vehicle is used to obtain gas concentration and longitude and latitude information in real time and transmit it to the cloud platform;

[0052] The wireless visual remote control relay module is used to read the gas concentration and longitude and latitude information from the cloud platform, and associate it with the two-dimensional real-life map of the corresponding geographical location for display;

[0053] The platform software is used to read gas concentration and longitude and latitude information from the cloud platform, and associate it with the two-dimensional real-life map of the corresponding geographic location and display it in the remote ground command center.

[0054] The controller module includes a microprocessor. In some embodiments, the microprocessor can select a multi-core high-performance microprocessor and use it as the main control. The microprocessor is connected to the travel motor drive module via the CAN bus, the microprocessor is connected to the gas detection module via RS485, the microprocessor is connected to the geographic information module via RS232, and the microprocessor is connected to the mobile following module via USB3.0.

[0055] The front and rear camera modules are composed of two camera modules, one of which is aimed at the environment to detect the front road conditions of the unmanned vehicle, and the other camera module is aimed at the rear road conditions. The two camera modules are respectively connected to the wireless transmission module through the Ethernet ETH interface.

[0056] The gas detection module is used to detect the type and concentration of oxygen and toxic and harmful gases. The gas detection module is equipped with catalytic combustion, semiconductor, infrared, photoionization, and electrochemical gas sensor modules.

[0057] The geographic information module uses the global satellite positioning system and combines it with the differential positioning mode of the ground base station to determine the longitude and latitude coordinates of the current environment detection unmanned vehicle.

[0058] The data information obtained by the gas detection module and the geographic information module can be collected and associated at the same time and place, and transmitted to the microprocessor, and the microprocessor then transmits the data information to the wireless visual remote control relay module through the wireless transmission module.

[0059] The mobile following module has an RGB-D camera, which transmits point cloud and image data to the microprocessor. The microprocessor uses image recognition and tracking algorithms to control the environment detection unmanned vehicle to move and follow the firefighters.

[0060] The travel motor drive module detects the movement of the unmanned vehicle through the motor drive environment.

[0061] The wireless visual remote control relay module consists of a remote control device, a wireless device and an LCD screen. The wireless visual remote control relay module can display the gas concentration and geographic location information obtained from the microprocessor and the image information collected from the front and rear camera modules on the LCD screen, and can also be transmitted to the cloud platform via a wireless device.

[0062] The detection method based on the above scheme includes the following steps:

[0063] S1, using the aerial photos taken by the mapping drone and the relevant longitude and latitude coordinates obtained to perform corresponding projection transformation, to obtain a two-dimensional real-life map with longitude and latitude information of the post-disaster site;

[0064] S2, the two-dimensional real-scene map with latitude and longitude information is wirelessly transmitted or downloaded and stored on the cloud platform, and is read by the wireless visual remote control relay module and displayed to the firefighters operating on site, or read by the platform software and displayed in the remote ground command center;

[0065] S3, the environmental detection unmanned vehicle follows the firefighters into the post-disaster scene, or the firefighters remotely control the suspected toxic and hazardous environment through the wireless visual remote control relay module, and obtain the real-time transmission gas concentration and longitude and latitude information to the cloud platform;

[0066] In this embodiment, the wireless visual remote control relay module can be held by a firefighter to control the free movement of the environmental detection unmanned vehicle forward, backward, left and right.

[0067] S4, uses a wireless visual remote control relay module to read and display the gas concentration on a two-dimensional real-life map of the corresponding geographical location, or is read by the platform software and displayed in a remote ground command center.

[0068] By having firefighters remotely control environmental detection unmanned vehicles at the post-disaster scene, it can be ensured that front-line firefighters and the back-end command center can simultaneously obtain real-time gas concentration information associated with the two-dimensional real-life map, thereby ensuring the safety of firefighters to the greatest extent and improving the efficiency of rescue decision-making.

[0069] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or apparatus.

[0070] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A gas concentration and two-dimensional map correlation detection system, including a map surveying drone, an environmental detection unmanned vehicle, a cloud platform and platform software; The environment detection unmanned vehicle comprises: Controller module, travel motor drive module, front and rear camera module, mobile follow-up module, gas concentration detection module, geographic information module, wireless transmission module and wireless visual remote control relay module; The mapping drone is equipped with an aerial camera, a global positioning system and a projection transformation module; The aerial camera is used to take aerial photos of the real scene after the disaster; The global positioning system is used to locate the latitude and longitude coordinates of the location of the mapping drone in real time; The projection transformation module is used to perform corresponding projection transformation using the aerial photos and the longitude and latitude coordinates to obtain a two-dimensional real-scene map with longitude and latitude information of the post-disaster site, and transmit or download the two-dimensional real-scene map with longitude and latitude information and store it on the cloud platform; The wireless visual remote control relay module is used to read the two-dimensional real-scene map and display it to the firefighters operating on site; The platform software is used to read the two-dimensional real-scene map from the cloud platform and transmit the read two-dimensional real-scene map to the remote ground command center for display; The environmental detection unmanned vehicle is used to obtain gas concentration and longitude and latitude information in real time and transmit it to the cloud platform; The wireless visual remote control relay module is used to read the gas concentration and longitude and latitude information from the cloud platform, and associate it with the two-dimensional real-life map of the corresponding geographical location and then display it; The platform software is used to read gas concentration and longitude and latitude information from the cloud platform, and associate it with a two-dimensional real-life map of the corresponding geographic location and display it in a remote ground command center.

2. A gas concentration and two-dimensional map correlation detection system according to claim 1, characterized in that: The controller module includes a microprocessor, which is connected to the travel motor drive module through the CAN bus, the microprocessor is connected to the gas detection module through RS485, the microprocessor is connected to the geographic information module through RS232, and the microprocessor is connected to the mobile follow-up module through USB3.

0.

3. A gas concentration and two-dimensional map correlation detection system according to claim 1, characterized in that: The front and rear camera modules are composed of two camera modules, one of which is aimed at the environment to detect the front road condition of the unmanned vehicle, and the other camera module is aimed at the rear road condition. The two camera modules are respectively connected to the wireless transmission module through the Ethernet ETH interface.

4. A gas concentration and two-dimensional map correlation detection system according to claim 1, characterized in that: The gas detection module is used to detect the type and concentration of oxygen and toxic and harmful gases. The gas detection module is equipped with catalytic combustion, semiconductor, infrared, photoionization, and electrochemical gas sensor modules.

5. A gas concentration and two-dimensional map correlation detection system according to claim 1, characterized in that: The geographic information module uses a global satellite positioning system and combines the differential positioning mode of a ground base station to determine the longitude and latitude coordinates of the current environment detection unmanned vehicle.

6. A gas concentration and two-dimensional map correlation detection system according to claim 2, characterized in that: The data information obtained by the gas detection module and the geographic information module can be collected and associated at the same time and place, and transmitted to the microprocessor, and the microprocessor then transmits the data information to the wireless visual remote control relay module through the wireless transmission module.

7. A gas concentration and two-dimensional map correlation detection system according to claim 2, characterized in that: The mobile following module has an RGB-D camera, and the mobile following module transmits point cloud and image data to a microprocessor through the RGB-D camera. The microprocessor controls the environment detection unmanned vehicle to move and follow the firefighters through image recognition and tracking algorithms.

8. A gas concentration and two-dimensional map correlation detection system according to claim 1, characterized in that: The travel motor drive module detects the movement of the unmanned vehicle through the motor drive environment.

9. A gas concentration and two-dimensional map correlation detection system according to claim 6, characterized in that: The wireless visual remote control relay module consists of a remote control device, a wireless device and a liquid crystal screen. The wireless visual remote control relay module can display the gas concentration and geographical location information obtained from the microprocessor and the image information collected from the front and rear camera modules on the liquid crystal screen, and can also be transmitted to the cloud platform through the wireless device.

10. A detection method of a gas concentration and two-dimensional map correlation detection system according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1, using the aerial photos taken by the mapping drone and the relevant longitude and latitude coordinates obtained to perform corresponding projection transformation to obtain a two-dimensional real-life map of the post-disaster site with longitude and latitude information; S2, the two-dimensional real-scene map with latitude and longitude information is wirelessly transmitted or downloaded and stored on the cloud platform, and is read by the wireless visual remote control relay module and displayed to the firefighters operating on site, or read by the platform software and displayed in the remote ground command center; S3, the environmental detection unmanned vehicle follows the firefighters into the post-disaster scene, or the firefighters remotely control the suspected toxic and hazardous environment through the wireless visual remote control relay module, and obtain the real-time transmission gas concentration and longitude and latitude information to the cloud platform; S4, uses a wireless visual remote control relay module to read and display the gas concentration on a two-dimensional real-life map of the corresponding geographical location, or is read by the platform software and displayed in a remote ground command center.

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