A rescue system and rescue method

Abstract

The embodiment of the present invention discloses a rescue system and rescue method, the system includes: a central server and multiple flying robots, the flying robots include a repeater robot and a signal acquisition robot, wherein: the signal acquisition robot is used to collect environmental information of the accident site; the repeater robot is used to connect the signal transmission path between the signal acquisition robot and the central server, so that the signal acquisition robot sends the collected environmental information to the central server through the signal transmission path; the central server is used to receive the environmental information sent by the signal acquisition robot through the signal transmission path, and determine the rescue strategy according to the environmental information. The system provided by the embodiment of the present invention automatically connects the signal transmission path between the accident site and the central server through the repeater robot, so that the accident site environment can be understood in time after the accident occurs, thereby improving the rescue effect.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of emergency rescue technology, and in particular to a rescue system and a rescue method. Background Art

[0002] Coal is one of the indispensable energy sources in human daily life and production, and is prone to accidents such as gas explosion, coal and gas outburst, fire, water seepage, landslide, etc.

[0003] When a mine disaster occurs, emergency rescue is hindered and progress is slow due to a lack of understanding of the extent of damage, severity of the disaster, and harsh environment at the disaster site in the tunnel. Sometimes, secondary disasters are triggered due to unscientific and irrational emergency rescue, resulting in greater property losses and casualties of rescue personnel. Traditional emergency rescue methods consume a lot of manpower, material resources and precious rescue time, and passive emergency rescue often fails to achieve rescue results. Summary of the invention

[0004] The embodiment of the present invention provides a rescue system and a rescue method to achieve signal transmission connecting the ground and the accident site, timely understand the accident site environment, and improve the rescue effect.

[0005] In a first aspect, an embodiment of the present invention provides a rescue system, including a central server and a plurality of flying robots, wherein the flying robots include a repeater robot and a signal collection robot, wherein:

[0006] The signal collection robot is used to collect environmental information at the accident scene;

[0007] The repeater robot is used to connect the signal transmission path between the signal collection robot and the central server, so that the signal collection robot sends the collected environmental information to the central server through the signal transmission path;

[0008] The central server is used to receive the environmental information sent by the signal acquisition robot through the signal transmission path, and determine the rescue strategy according to the environmental information.

[0009] In a second aspect, an embodiment of the present invention further provides a rescue method, which is applied to the rescue system provided by any embodiment of the present invention, and the method includes:

[0010] The receiving signal acquisition robot sends environmental information through the signal transmission path formed by the repeater robot;

[0011] A rescue strategy is determined according to the environmental information, a rescue instruction is generated according to the rescue strategy, and the rescue instruction is sent to the signal acquisition robot through the signal transmission path, so that the signal acquisition robot performs an operation corresponding to the rescue instruction.

[0012] The rescue system provided by the embodiment of the present invention includes a central server and a plurality of flying robots, wherein the flying robots include a repeater robot and a signal acquisition robot, wherein: the signal acquisition robot is used to collect environmental information of the accident site; the repeater robot is used to connect the signal transmission path between the signal acquisition robot and the central server, so that the signal acquisition robot sends the collected environmental information to the central server through the signal transmission path; the central server is used to receive the environmental information sent by the signal acquisition robot through the signal transmission path, and determine the rescue strategy according to the environmental information. The rescue system disclosed in the embodiment of the present invention constructs a signal transmission path between the signal acquisition robot and the central server through the repeater robot, so that the signal acquisition robot can send the collected environmental information of the accident site to the central server through the signal transmission path, so that the central server can determine the rescue strategy according to the received environmental information, so that the ground personnel can understand the accident site environment in time, and improve the rescue effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a structural schematic diagram of a rescue system provided by Embodiment 1 of the present invention;

[0014] Figure 2a This is a structural diagram of a decision-making and command center in an emergency rescue system provided by Embodiment 2 of the present invention;

[0015] Figure 2b This is a schematic diagram of the structure of an amphibious intelligent flying robot in a rescue system provided by the second embodiment of the present invention;

[0016] Figure 3 This is a flow chart of a rescue method provided by Embodiment 3 of the present invention. DETAILED DESCRIPTION

[0017] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0018] Embodiment 1

[0019] Figure 1Schematic diagram of the structure of a rescue system provided by the first embodiment of the present invention. The rescue system provided by the embodiment of the present invention can be used for rescue and emergency rescue when a coal accident occurs. Figure 1 As shown, the emergency rescue system includes: a central server 10 and a plurality of flying robots 20, wherein the flying robots include a repeater robot 210 and a signal collection robot 220, wherein:

[0020] The signal collection robot 220 is used to collect environmental information at the accident site;

[0021] The repeater robot 210 is used to connect the signal transmission path between the signal collection robot 220 and the central server 10, so that the signal collection robot 220 sends the collected environmental information to the central server 10 through the signal transmission path;

[0022] The central server 10 is used to receive the environmental information sent by the signal acquisition robot 220 through the signal transmission path, and determine a rescue strategy according to the environmental information.

[0023] Emergency rescue of underground coal mine accidents can adopt corresponding rapid application rescue plans and rescue equipment according to the type of accident disaster, the degree of damage caused by the underground accident and the actual environment of the accident site to achieve real emergency rescue effect. At present, the application of emergency rescue robots is mainly tracked robots and leg-wheeled robots, but at the underground disaster site, it is difficult for ground obstacle-crossing robots to pass through, which has certain limitations and cannot fully meet the needs of disaster relief.

[0024] In order to solve the technical problems that crawler robots and leg-wheeled robots are difficult to move at underground disaster sites and have low rescue effects, in this embodiment, an amphibious intelligent flying robot is used as a carrier to dynamically establish a wireless network communication channel, and the environmental conditions of the accident site, such as gas concentration, carbon monoxide concentration, temperature and other parameters and the video images of the disaster site are transmitted to the central server (such as the rescue command center) through the established wireless network communication channel in real time, providing a better rescue basis and providing an accurate technical basis for rapid and timely rescue. Optionally, the amphibious intelligent flying robot can include three motion modes: four-rotor flight, crawler walking, and surface navigation, which can be applied to different accident sites. Among them, the automatic flight of the flying robot in the underground tunnel can be realized by radar, laser, infrared detection and visual imaging, and crawler walking and surface navigation can be realized by remote control. In one embodiment, in order to reduce the flight weight, the crawler walking and the four-rotor aircraft motor can share a set of motors, and the crawler walking and the four-rotor flight are controlled by the power drive wheel. When working, the two can only choose one of the movement modes of crawler walking or four-rotor flight as the power output.

[0025] The rescue system disclosed in the embodiment of the present invention constructs a signal transmission path between a signal acquisition robot and a central server through a repeater robot, so that the signal acquisition robot can send the collected environmental information of the accident scene to the central server through the signal transmission path, so that the central server can determine the rescue strategy according to the received environmental information, and enable ground personnel to understand the accident scene environment in a timely manner, thereby improving the rescue effect.

[0026] In one embodiment, the flying robot includes a wireless communication module, a motion control module and a video acquisition module, wherein: the wireless communication module is used to establish a communication connection between flying robots adjacent to the flying robot; the motion control module is used to receive control instructions and control the movement of the flying robot according to the control instructions; the video acquisition module is used to collect image information in a set area around the flying robot, and send the image information to the central server through the signal transmission path. Correspondingly, the central server is also used to: determine the movement direction of the flying robot according to the image information, generate a control instruction according to the movement direction, and send the control instruction to the flying robot through the signal transmission path.

[0027] Optionally, when an accident occurs, the central server 10 controls the flying robot 20 to move in a set direction (such as moving with the accident site as the target point) or according to the received control signal. The flying robot 20 automatically measures the effective distance of its own wireless communication. When the effective distance of the wireless communication reaches the set distance threshold, the flying robot lands and reports the effective communication distance and the environmental information of the current position to the central server 10. The central server 10 determines whether the flying robot 20 has reached the accident site based on the received environmental information. If the flying robot 20 has not reached the accident site, the central server 10 controls the second flying robot to continue flying along the flight route of the previous flying robot. The second flying robot continues to measure the effective distance of its own wireless communication and repeats the operation of the previous flying robot until the last flying robot reaches the accident site, thereby realizing signal connectivity between the accident site and the central server. After constructing the signal transmission path between the accident site and the central server, the last flying robot collects the environmental information of the accident site and sends the collected environmental information to the central server through the above-mentioned signal transmission path, so that the central server uses the environmental information of the accident site as a basis for rescue and emergency response and determines the emergency response strategy. It is understandable that the central server can also display the received environmental information of the accident scene so that the rescue commander can determine the rescue strategy based on the displayed environmental information. In addition, during the networking process, the flying robot can also collect image information of the flight area in real time and send the image information of the flight area to the central server. The central server will display the received image information so that the rescue commander can determine the movement direction of the flying robot based on the image information, and generate corresponding control instructions to send to the flying robot. Among them, the video acquisition parameters of the flying robot, such as horizontal and vertical rotation of the pan / tilt, focal length adjustment and other operations, can be controlled by the central server.

[0028] In the above networking process, the signal connection between the accident site and the central server is realized by the wireless communication module in each flying robot, the movement of the flying robot is realized by the motion control module in the flying robot, and the information collected to determine whether the flying robot has reached the accident site is realized by the video acquisition module in the flying robot. After the automatic networking is completed, the last flying robot is used for signal collection at the accident site, and it is used as the signal collection robot 220, and the remaining flying robots are used to connect the signal transmission path between the last flying robot and the central server, playing the role of repeaters in the wireless network, and are used as repeater robots 210. It can be understood that there are multiple repeater robots, and each repeater robot is connected in sequence to form the signal transmission path, wherein each repeater robot is located within the signal coverage range of the repeater robot adjacent to the repeater robot.

[0029] In one embodiment, the signal acquisition robot further includes a gas concentration detection module and a temperature detection module, wherein: the gas concentration detection module is used to detect the gas concentration at the accident site and send the gas concentration to the central server through the signal transmission path; the temperature detection module is used to detect the temperature at the accident site and send the temperature to the central server through the signal transmission path. Accordingly, the central server is also used to determine a rescue strategy based on the gas concentration and the temperature.

[0030] Optionally, considering that the gas concentration and temperature at the accident site are the main factors determining whether rescue personnel can enter the accident site, a gas concentration detection module and a temperature detection module can be set in the signal acquisition robot. The gas concentration detection module is used to detect the gas concentration at the accident site and send the gas concentration to the central server. The central server compares the gas concentration at the accident site with the set standard concentration range to determine whether the gas concentration at the accident site is suitable for rescue personnel to enter; the temperature detection module is used to detect the temperature at the accident site and send the temperature to the central server. The central server compares the temperature at the accident site with the set standard temperature range to determine whether the temperature at the accident site is suitable for rescue personnel to enter, and after determining that the gas concentration and temperature at the accident site are suitable for rescue personnel to enter, a rescue signal is generated to notify the rescue personnel to enter the accident site for rescue.

[0031] In one embodiment, there are multiple signal acquisition robots, some of which can be set at the accident site to collect environmental information at the accident site, and some of which can be set on the rigid pipes of the shaft hoisting system to collect relevant information of the shaft hoisting system. Optionally, the signal acquisition robot for collecting relevant information of the shaft hoisting system also includes a tankway signal detection module and a data analysis module, wherein: the tankway signal detection module is used to detect the rigid tankway signal of the shaft hoisting system and send the rigid tankway signal to the data analysis module; the data analysis module is used to determine whether the rigid tankway signal is abnormal, and output a warning prompt signal when it is determined that the rigid tankway signal is abnormal.

[0032] Optionally, a tankway detection module can be set on the rigid pipeline of the vertical shaft hoisting system to detect the rigid tankway signal. The rigid tankway signal is analyzed by the data analysis module, and the rigid tankway signal is compared, screened, and processed with the standard data to determine whether the rigid tankway signal is abnormal. If the rigid tankway signal is abnormal, an early warning signal is output to remind the staff to pay attention to the tankway safety and realize the danger warning for the staff. Optionally, the data analysis module can perform a series of operations such as amplification, processing, remote transmission, storage, analysis, processing, judgment, alarm and fault display on the audio signal and / or vibration signal to remind the staff to deal with the tankway fault in time. Optionally, the early warning signal can be displayed in various ways such as graphics or sound and light to realize various forms of reminders to the staff.

[0033] An acoustic tankway detection module is set on the rigid pipeline of the vertical shaft hoisting system. Real-time detection of rigid tankway signals can replace regular inspection by personnel. The data analysis module detects the signs before rigid tankway accidents in the suspected vertical shaft hoisting process through fault data comparison and analysis based on the rigid tankway signals, realizes on-site alarm at the wellhead and transmits the alarm data to the staff (such as the driver's room and the ground dispatch instruction center) to remind personnel in different positions to pay attention to and deal with dangers before accidents, thereby preventing rigid tankway accidents in the vertical shaft hoisting process from causing casualties to transportation and personnel.

[0034] In one embodiment, the tank channel signal detection module includes: an audio detection unit, a vibration detection unit and a laser detection unit. The audio detection unit and the vibration detection unit can be installed on the outside of the rigid tank channel at different intervals and send signals to the central server wirelessly; the laser detection unit can be set on both sides of the rigid pipe of the vertical shaft hoisting system without contacting the rigid pipe, and the fixed bracket of the laser detection unit can be set on the wall of the tunnel. The audio detection unit and the vibration detection unit can be powered by a high-capacity battery and provided with a low battery alarm indicator.

[0035] On the basis of the above scheme, the flying robot may also include a power monitoring unit, which is used to monitor its own power value, and send a power warning signal to the central server when its own power value is lower than the set threshold. After receiving the power warning signal sent by the flying robot, the central server can control another flying robot to fly to the position of the flying robot that sent the power warning signal, so as to avoid the interruption of the signal transmission path or the failure of signal acquisition caused by the shutdown of the flying robot due to insufficient power after networking. Optionally, the flying robot may also include a voice communication unit, which is used to realize the voice call function between the on-site staff and the central server.

[0036] Embodiment 2

[0037] This embodiment provides a preferred embodiment based on the above embodiments. The emergency rescue system provided in this embodiment includes a decision-making command center (ie, a central server) and an amphibious intelligent flying robot.

[0038] Figure 2a Schematic diagram of the structure of a decision-making and command center in a rescue system provided by the second embodiment of the present invention. Figure 2a As shown, the decision-making command center includes: a decision unit 110, an execution layer unit 120 and a master station wireless communication 130. The wireless communication unit 130 is used to realize the communication connection between the decision-making command center and the flying robot.

[0039] The decision unit 110 includes: amphibious motion decision 111, data judgment and analysis 112, voice two-way communication 113 and rescue command center 114. Among them, the amphibious motion decision 111 is used to determine the motion mode of the flight and robot, the data judgment and analysis 112 is used to analyze the signal transmitted by the flying robot, the voice two-way communication 113 is used to realize two-way communication with the flying robot, and the rescue command center 114 is used to generate a rescue control signal according to the rescue command of the rescue commander to control the flying robot to perform the corresponding rescue operation.

[0040] The execution layer unit 120 includes: data display and storage 121, image display and storage 122, upper computer 123, aircraft manual control 124, flying chess automatic control 125, camera manual control 126 and automatic networking connection 127. Among them, data display and storage 121 is used to display and store received signal data, image display and storage 122 is used to display and store received video image data, upper computer 123 is used to receive and process environmental data sent by the flying robot, aircraft manual control 124 is used to control the flying robot to enter the manual flight state, and move according to the motion instructions input by the user, flying chess automatic control 125 is used to control the flying robot to enter the automatic flight state, and set the flight route of the flying robot, camera manual control 126 is used to control the shooting parameters of the flying robot, and automatic networking connection 127 is used to control the flying robot to automatically network and connect the signal transmission path between the accident site and the decision-making command center.

[0041] Figure 2b Schematic diagram of the structure of an amphibious intelligent flying robot in a rescue system provided by the second embodiment of the present invention. Figure 2b As shown, the amphibious intelligent flying robot includes: a voice processing unit 210, a data processing unit 220, a motion control unit 230, a power supervision unit 240, a video control unit 250 and an airborne wireless communication 260. Among them, the power supervision unit 240 is used to supervise the sensor power signal, and the airborne wireless communication 260 is used to realize the communication connection between the decision-making command center and the flying robot.

[0042] The voice processing unit 210 includes: an onboard speaker 211, an onboard microphone 212, and a two-way audio processing unit 213. The onboard speaker 211 is used to play the audio signal sent by the decision-making command center, the onboard microphone 212 is used to receive the audio signal on site, and the two-way audio processing unit 213 is used to realize the two-way communication function of the flying robot.

[0043] The data processing unit 220 includes: multi-channel data processing 221, carbon monoxide concentration detection 222, carbon dioxide concentration detection 223, gas detection 224, oxygen detection 225 and temperature detection 226. Among them, the multi-channel data processing 221 is used to process the signals detected by each detection, the carbon monoxide concentration detection 222 is used to detect the carbon monoxide concentration at the scene, the carbon dioxide concentration detection 223 is used to detect the carbon dioxide concentration at the scene, the gas detection 224 is used to detect the gas concentration at the scene, the oxygen detection 225 is used to detect the oxygen concentration at the scene, and the temperature detection 226 is used to detect the temperature at the scene.

[0044] The motion control unit 230 includes: visual image assistance 231, radar detection assistance 232, laser detection assistance 233, amphibious control processing 234, ground walking control 235, air flight control 236, surface navigation control 237 and motion state feedback 238. The visual image assistance 231 is used to assist in determining the motion strategy according to the captured image signal, the radar detection assistance 233 is used to assist in determining the motion strategy according to the detected radar signal, the laser detection assistance 233 is used to assist in determining the motion strategy according to the detected laser signal, the amphibious control processing 234 is used to control the motion mode of the flying robot, the ground walking control 235 is used to control the ground walking strategy of the flying robot, the air flight control 236 is used to control the flight strategy of the flying robot, the surface navigation control 237 is used to control the surface navigation strategy of the flying robot, and the motion state feedback 238 is used to detect the motion state and feed the motion state back to the amphibious processing unit to adjust the motion direction of the flying robot.

[0045] The video control unit 250 includes: camera control acquisition 251, camera motion control 252, camera horizontal rotation 253, camera vertical rotation 254 and camera focus adjustment 255. Among them, the camera control acquisition 251 is used to control the camera to start or stop shooting, the camera motion control 252 is used to control the rotation direction and amplitude of the camera, the camera horizontal rotation 253 is used to control the horizontal rotation operation of the camera, the camera vertical rotation 254 is used to control the vertical rotation operation of the camera, and the camera focus adjustment 255 is used to adjust the camera's focus and other shooting parameters. It should be noted that the camera's acquisition control, motion control, horizontal rotation, vertical rotation, zoom and other operations can be controlled by themselves, and can also be adjusted according to the control signal sent by the decision control unit.

[0046] On the basis of the above scheme, the amphibious intelligent flying robot also includes on-site square rigid tankway detection sensors and on-site data analysis host. The on-site square rigid tankway detection sensors are responsible for the collection and remote transmission of fault data of the rigid tankway, mainly including sound detection sensors, vibration detection sensors and laser detection sensors. The sound detection sensors and vibration detection sensors should determine their specific installation spacing according to the service life of the square rigid tankway and the needs of the detection requirements, such as 20 meters or 40 meters. The multiple sensors are installed on the back of the tankway through their own strong magnets and form an integral part with the tankway. The sound detection sensor and the vibration detection sensor are installed by a strong magnet, which is not only easy to install and time-saving, but also extremely convenient to adjust the spacing and maintain. The sound detection sensor and the vibration detection sensor are powered by replaceable super-strong batteries to avoid wiring during installation. During the lifting process, the sound detection sensor and vibration detection sensor send the abnormal sound and abnormal vibration signals collected by the tank channel to the on-site data analysis host by wireless transmission. The host compares and screens the abnormal signal data with the standard data to make judgments, and sends the abnormal fault signal through the on-site host sound and light alarm and the host voice alarm to remind the on-site operator to pay attention to the abnormal changes in the tank channel. At the same time, the winch driver's room extension also issues voice and sound and light alarms to remind the winch driver to pay attention to the abnormal changes in the tank channel. The mounting brackets of the three laser detection sensors are installed on the wellbore wall at the top of the wellbore. The two probes of the laser detection sensor are arranged on the three sides of the square rigid tank channel respectively. When any tank channel deviates from the normal position due to loose screws or other reasons and blocks the laser beam, the laser sensor immediately sends an alarm signal and displays the specific tank channel offset position and value on the LCD screen of the host and extension, so that the maintenance personnel can maintain it in time. The sound detection sensor, vibration detection sensor and laser detection sensor constitute a full-range and multi-channel intelligent protection network for the rigid tank channel of the vertical shaft lifting system, which monitors the abnormal changes of the tank channel in the lifting process in real time. This saves the trouble of personnel inspection.

[0047] The on-site data analysis host assists in receiving and processing all the tankway data during the on-site lifting process. It is the core unit of the intelligent real-time online detection device for the rigid tankway of the vertical shaft lifting system. It processes all the collected data and makes a judgment. After screening out the fault signal, it emits sound and light, voice alarms and fault location displays on the host and extension. It can also transmit all the data to the remote central control room monitoring host through the on-site ring network switch, the control room ring network switch and the industrial ring network. Through the data processing software on the host, it can store, analyze, judge, process and analyze the data collected on-site.

[0048] The embodiment of the present invention realizes the rapid establishment of an automatic wireless network in the event of a coal mine accident, and the automatic uploading of data, providing accurate and fast data for emergency rescue, thereby reducing the loss of personnel and property. In addition, the real-time detection of rigid tankway faults can replace the regular detection of personnel, and the early warning of rigid tankway faults can be realized through fault data comparison and analysis, thereby avoiding major accidents or casualties caused by rigid tankway faults during the vertical shaft hoisting process, and can also automatically detect faults of various sensors in real time, diagnose and alarm faulty sensors, thereby avoiding the loss of judgment of rigid tankway faults caused by sensor failures.

[0049] Embodiment 3

[0050] Figure 3 1 is a flowchart of a rescue method provided by Embodiment 3 of the present invention. This embodiment is applicable to the situation of rescue and emergency rescue when a coal accident occurs. The method can be executed by the central server of the rescue system provided by the above embodiment. Figure 3 As shown, the method includes:

[0051] S310, receiving environmental information sent by the signal acquisition robot through the signal transmission path formed by the repeater robot.

[0052] In this embodiment, the repeater robot connects the central server to the signal transmission path of the accident site, and the signal collection robot collects environmental information of the accident site and sends the environmental information to the central server through the signal transmission path. Optionally, the environmental information may include information such as gas concentration, temperature, carbon dioxide concentration, and carbon monoxide concentration.

[0053] S320, determining a rescue strategy according to the environmental information, generating a rescue instruction according to the rescue strategy, and sending the rescue instruction to the signal acquisition robot through the signal transmission path, so that the signal acquisition robot performs an operation corresponding to the rescue instruction.

[0054] The central server determines the rescue strategy based on the environmental information. For example, if any of the gas concentration, temperature, carbon dioxide concentration, and carbon monoxide concentration at the accident site is not suitable for rescue personnel to enter, a rescue prompt message is output to prompt the on-site personnel to avoid danger. Optionally, a more detailed solution can be found in the above embodiment, which will not be repeated here.

[0055] The embodiment of the present invention receives environmental information sent by a signal acquisition robot through a signal transmission path formed by a repeater robot; determines a rescue strategy based on the environmental information, generates a rescue instruction based on the rescue strategy, and sends the rescue instruction to the signal acquisition robot through the signal transmission path, so that the signal acquisition robot performs an operation corresponding to the rescue instruction. The signal transmission path between the accident site and the central server is connected through the repeater robot, so that the environmental information of the accident site can be obtained in time in the coal mine accident, thereby improving the rescue efficiency.

[0056] On the basis of the above scheme, it also includes: receiving collection information sent by the flying robot, and determining whether the flying robot has arrived at the accident scene according to the collection information; if the flying robot has not arrived at the accident scene and the flying robot has landed, sending a start instruction to the candidate flying robot to control the candidate flying robot to start and move toward the accident scene until it is determined that the candidate flying robot has arrived at the accident scene according to the collection information sent by the candidate flying robot.

[0057] In this embodiment, the flying robot can calculate whether it has reached the accident scene through image data, and can automatically measure its own effective communication distance. When the flying robot has not reached the accident scene and the effective communication distance reaches a set threshold, it lands and sends a landing signal to the central server. After receiving the landing signal, the central server controls the second flying robot to fly automatically or manually along the flight route of the previous flying robot. If the second flying robot has not reached the accident scene through various data calculations and video images, and automatically lands within the effective communication distance, the central server controls another flying robot to fly and repeats the above-mentioned flying robot calculation operation until the last flying robot arrives at the accident scene. The communication connection between the main station and the last flying robot at the accident scene is realized through the flying robot, thereby realizing the rapid establishment of an automatic wireless network during coal mine accidents.

[0058] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A rescue system, characterized in that: It includes a central server and a plurality of flying robots, wherein the flying robots include a repeater robot and a signal collection robot, wherein: The signal collection robot is used to collect environmental information at the accident scene; The repeater robot is used to connect the signal transmission path between the signal collection robot and the central server, so that the signal collection robot sends the collected environmental information to the central server through the signal transmission path; The central server is used to receive the environmental information sent by the signal acquisition robot through the signal transmission path, and determine the rescue strategy according to the environmental information; The flying robot includes a wireless communication module, a motion control module and a video acquisition module, wherein: The wireless communication module is used to establish a communication connection between the flying robots adjacent to the flying robot; The motion control module is used to receive control instructions and control the motion of the flying robot according to the control instructions; The video acquisition module is used to collect image information in a set area around the flying robot, and send the image information to the central server through the signal transmission path; There are multiple repeater robots, and each of the repeater robots is connected in sequence to form the signal transmission path, wherein the repeater robot is located within the signal coverage range of the repeater robot adjacent to the repeater robot; When an accident occurs, the central server controls a flying robot to move in a set direction or according to a received control signal. The flying robot automatically measures the effective distance of its own wireless communication. When the effective distance of the wireless communication reaches the set distance threshold, the flying robot lands and reports the effective distance of the wireless communication and environmental information of the current position to the central server. The central server determines whether the flying robot has arrived at the accident scene based on the received environmental information. If the flying robot has not arrived at the accident scene, the central server controls the second flying robot to continue flying along the flight route of the previous flying robot. The second flying robot continues to measure the effective distance of its own wireless communication and repeats the operation of the previous flying robot until the last flying robot arrives at the accident scene, thereby realizing signal connectivity between the accident scene and the central server. The last flying robot is the signal acquisition robot, and the robots other than the last flying robot are the repeater robots.

2. The emergency rescue system according to claim 1, characterized in that: The central server is also used for: The moving direction of the flying robot is determined according to the image information, and a control instruction is generated according to the moving direction, and the control instruction is sent to the flying robot through the signal transmission path.

3. The emergency rescue system according to claim 1, characterized in that: The signal acquisition robot also includes a gas concentration detection module and a temperature detection module, wherein: The gas concentration detection module is used to detect the gas concentration at the accident site and send the gas concentration to the central server through the signal transmission path; The temperature detection module is used to detect the temperature of the accident scene and send the temperature to the central server through the signal transmission path.

4. The emergency rescue system according to claim 3, characterized in that: The central server is also used for: The emergency rescue strategy is determined according to the gas concentration and the temperature.

5. The emergency rescue system according to claim 1, characterized in that: The signal acquisition robot further comprises: a tank channel signal detection module and a data analysis module, wherein: The tankway signal detection module is used to detect the rigid tankway signal of the vertical shaft hoisting system and send the rigid tankway signal to the data analysis module; The data analysis module is used to determine whether the rigid tank channel signal is abnormal, and output a warning prompt signal when it is determined that the rigid tank channel signal is abnormal.

6. The emergency rescue system according to claim 5, characterized in that: The tank channel signal detection module includes: an audio detection unit, a vibration detection unit and a laser detection unit.

7. A rescue method, characterized in that: Applied to the emergency rescue system according to any one of claims 1 to 6, the method comprises: The receiving signal acquisition robot sends environmental information through the signal transmission path formed by the repeater robot; A rescue strategy is determined according to the environmental information, a rescue instruction is generated according to the rescue strategy, and the rescue instruction is sent to the signal acquisition robot through the signal transmission path, so that the signal acquisition robot performs an operation corresponding to the rescue instruction.

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