A control method, server and system for a tunnel inspection robot

Abstract

Embodiments of the present invention disclose a control method, server, and system for inspection robots used in tunnels. These robots collect and analyze environmental data within the tunnel in real time to determine whether a fire has occurred. If a fire is detected, the nearest inspection robot is called to follow the guide rails to the scene to reconfirm the fire information. Based on the fire information, a second inspection robot is called to monitor the temperature of the guide rails within the fire area. The first inspection robot is controlled to cool the rails until the second inspection robot reaches the fire site. The inspection robots at the fire site are then controlled to jointly extinguish the fire. This invention effectively prevents damage to the guide rails and ensures that multiple inspection robots can effectively participate in firefighting operations.

Description

Technical Field

[0001] The present invention relates to the technical field of highway tunnel safety management, and in particular to a control method, server and system for a tunnel inspection robot. Background Art

[0002] my country is a vast country with extensive mountainous and hilly terrain. In recent years, with the rapid development of expressway construction, the number of expressway tunnels traversing these hilly terrains has increased rapidly, and their lengths have also increased. Maintaining safety within these tunnels has always been a key and challenging aspect of operational management. When a fire occurs within an expressway tunnel, it must be detected and extinguished as quickly as possible.

[0003] In the prior art, inspection robots are used to extinguish fires in tunnels. However, when the fire is large, the high temperature at the scene will damage the track of the inspection robot, making it unable to enter the predetermined position to perform the task of extinguishing the fire. Summary of the Invention

[0004] The main purpose of the present invention is to propose a control method, server and system for a tunnel inspection robot, aiming to solve the above-mentioned problems existing in the prior art.

[0005] To achieve the above objectives, the present invention provides a control method for a patrol robot for a tunnel, characterized in that the method is applied to a server, the server is communicatively connected to multiple patrol robots, the tunnel sidewalls are arranged with guide rails and multiple water supply ports arranged at preset intervals, the patrol robots are arranged on the guide rails and can move along the guide rails, and the patrol robots can be movably connected to the water supply ports to spray. The method includes:

[0006] Determine the location of the fire;

[0007] Invoking a first inspection robot to move to the location of the fire and collect information about the fire, wherein the first inspection robot is the inspection robot closest to the location of the fire;

[0008] Based on the fire information, according to a preset rule, a command is sent to a certain number of second inspection robots to move to the fire, where the second inspection robots are inspection robots other than the first inspection robots;

[0009] Monitor the rail temperature within the fire range;

[0010] When the temperature of the guide rail reaches a preset temperature value, controlling the first inspection robot to spray and cool the guide rail within the fire range until the certain number of second inspection robots move to the fire;

[0011] Control the certain number of second inspection robots and the first inspection robots to connect to corresponding water supply ports and spray to extinguish the fire.

[0012] In some embodiments, the server is further in communication with an information collection device, and the method further comprises:

[0013] Receiving tunnel environment data uploaded by the information collection device;

[0014] analyzing whether a fire occurs in the tunnel according to the tunnel environment data;

[0015] The steps of determining the location of the fire specifically include:

[0016] The location of the fire is determined based on the tunnel environment data.

[0017] In some embodiments, the first inspection robot has a detection device;

[0018] The step of calling the first inspection robot to move to the location of the fire and collect information about the fire specifically includes:

[0019] Invoking a first inspection robot to move to the location of the fire and controlling the detection device of the first inspection robot to collect information about the fire;

[0020] The step of monitoring the guide rail temperature within the fire range specifically includes:

[0021] The detection device of the first inspection robot is controlled to monitor the temperature of the guide rail within the fire range.

[0022] In some embodiments, the step of controlling the first inspection robot to spray and cool the guide rail within the fire range until the certain number of second inspection robots move to the fire specifically includes:

[0023] After the first inspection robot is connected to the water supply port, the guide rail within the fire range is sprayed and cooled until a certain number of second inspection robots move to the fire.

[0024] In some embodiments, the inspection robot includes a quick connector, a water hose having a first length, a retractable device, and a fire extinguisher, one end of the water hose is connected to the fire extinguisher, the fire extinguisher has a maximum spraying distance of a second length, and the other end of the water hose is connected to one end of the quick connector;

[0025] After the inspection robot is movably connected to the water supply port through the other end of the quick connector, the retraction and extension device controls the retraction and extension of the water hose according to the movement of the inspection robot.

[0026] In some embodiments, the step of sending instructions to move to the fire situation to a certain number of second inspection robots according to a preset rule based on the fire situation information specifically includes:

[0027] Determining a fire extinguishing distance of the inspection robot along the guide rail, the fire extinguishing distance being the sum of the first length and the second length;

[0028] According to the fire information, determining a water supply port within the fire extinguishing distance in the guide rail direction as a target water supply port;

[0029] Send instructions to a certain number of second inspection robots to move to corresponding target water supply outlets, wherein the sum of the number of the second inspection robots and the first inspection robots is equal to the number of the target water supply outlets.

[0030] In some embodiments, the server is in communication with a plurality of solenoid valves, each of which corresponds to the water supply port, and the solenoid valves are used to control the on / off of the water supply port;

[0031] The step of controlling the certain number of second inspection robots and the first inspection robots to connect to corresponding water supply ports and spray fire extinguishing on the fire specifically includes:

[0032] Controlling the certain number of second inspection robots and the first inspection robot to connect to corresponding target water supply outlets;

[0033] The corresponding solenoid valve is controlled to open, and the fire extinguishing guns of the second inspection robot and the first inspection robot are controlled to spray and extinguish the fire.

[0034] In some embodiments, the quick connector is a swing-arm electromagnetic quick connector, and the water supply port has a permanent magnetic connector, which is cooperatively connected with the swing-arm electromagnetic quick connector;

[0035] The step of controlling the certain number of second inspection robots and the first inspection robot to connect to the corresponding target water supply outlets specifically includes:

[0036] The swing-arm electromagnetic quick connectors of the certain number of second inspection robots and the first inspection robot are controlled to connect to the permanent magnetic connectors of the corresponding target water supply ports.

[0037] In addition, to achieve the above-mentioned purpose, the present invention also proposes a server, characterized in that the server is communicatively connected with information collection equipment, multiple inspection robots and multiple solenoid valves, and the server includes a processor and a memory that communicate with each other, and the processor is used to call a computer program from the memory and implement any one of the methods in the above-mentioned embodiments by running the computer program.

[0038] In addition, to achieve the above-mentioned purpose, the present invention also proposes a patrol robot control system for a tunnel, characterized in that the system includes a server, guide rails arranged along the side wall of the tunnel and multiple water supply ports arranged at preset intervals, an information collection device communicated with the server, multiple patrol robots and multiple solenoid valves, the server includes a processor and a memory that communicate with each other, the processor is used to call a computer program from the memory, and implement any one of the methods in the above embodiments by running the computer program.

[0039] The present invention proposes a tunnel inspection robot control method, server, and system. When a fire occurs in a tunnel, the nearest first inspection robot is dispatched to the scene to assess the fire situation, preventing false fire alarms. Based on the fire information, other inspection robots are then called to the scene to participate in firefighting operations. Before the other inspection robots arrive at the fire scene, the nearest first inspection robot cools the guide rails within the fire area to prevent heat deformation and ensure that the other inspection robots can reach the fire scene along the tracks. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0041] The methods, systems, and / or programs in the accompanying drawings will be further described according to exemplary embodiments. These exemplary embodiments will be described in detail with reference to the drawings. These exemplary embodiments are non-limiting exemplary embodiments, wherein reference numerals represent similar structures in the various views of the drawings.

[0042] Figure 1 This is a schematic diagram of a control site for a tunnel inspection robot according to some embodiments of the present application;

[0043] Figure 2 For the embodiment of this application Figure 1 The structural diagram of the enlarged part A in the middle;

[0044] Figure 3 This is a schematic diagram of the architecture of a tunnel inspection robot control system according to some embodiments of the present application;

[0045] Figure 4 This is a schematic diagram of the server architecture involved in some embodiments of the present application;

[0046] Figure 5 This is a flowchart of a method for controlling a tunnel inspection robot according to some embodiments of the present application;

[0047] Figure 6 This is a schematic diagram of the functional module architecture of the inspection robot control device involved in some embodiments of the present application. DETAILED DESCRIPTION

[0048] In order to better understand the above technical solution, the technical solution of the present application is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present application and the specific features in the embodiments are detailed descriptions of the technical solution of the present application, rather than limitations on the technical solution of the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments can be combined with each other.

[0049] In the following detailed description, numerous specific details are set forth by way of example in order to provide a thorough understanding of the relevant teachings. However, it will be apparent to one skilled in the art that the present application can be practiced without these details. In other instances, well-known methods, procedures, systems, compositions, and / or circuits have been described at a relatively high level, without detail, to avoid unnecessarily obscuring aspects of the present application.

[0050] These and other features, the functions disclosed in the present application, the methods of performing them, the functions of the related elements in the structure and the combination of parts and the economics of production may become more apparent upon consideration of the following description with reference to the accompanying drawings, all of which form a part of this application. However, it is to be understood that the drawings are for illustration and description purposes only and are not intended to limit the scope of this application. It should be understood that these drawings are not drawn to scale. However, it should be clearly understood that the drawings are for illustration and description purposes only and are not intended to limit the scope of this application. It should be understood that these drawings are not drawn to scale.

[0051] Flowcharts are used in this application to illustrate the execution processes performed by the system according to the embodiments of the present application. It should be clearly understood that the execution processes of the flowcharts may not be executed in sequence. Instead, these execution processes may be executed in reverse order or simultaneously. In addition, at least one additional execution process may be added to the flowchart. One or more execution processes may be deleted from the flowchart.

[0052] Please refer to Figure 1 and 2 , is a vertical cross-sectional view of a certain location in a tunnel according to some embodiments of the present application. A fire protection system is provided within the tunnel, which may include a fire hydrant box 500, a water supply pipeline 501, and other equipment. Guide rails 600 are provided on the tunnel sidewalls along the tunnel's extension direction. The inspection robot 400 can move forward and backward along the guide rails 600. Multiple water supply ports 505 are provided on the tunnel sidewalls at predetermined intervals along the tunnel's extension direction. The water supply ports 505 are connected to the fire hydrant box 500 via a pipeline, and are further connected to the water supply pipeline 501 via the fire hydrant box 500. The fire hydrant box 500 is provided with a solenoid valve 503 for controlling the opening and closing of the water supply port 505. When the inspection robot 400 moves along the guide rail 600 to any water supply port 505, it can be movably connected to the water supply port 505. As an optional embodiment, the inspection robot 400 can use its own quick connector 401 to connect to the water supply port 505 by swinging or telescoping. At this time, the solenoid valve 503 is opened, and the firefighting material in the firefighting system, such as water, can move along the pipe and reach the inspection robot 400 after passing through the water supply port 505. The inspection robot 400 can then use the water to extinguish the fire. In some embodiments, the firefighting material can also be a mixture of water and foam. The firefighting system further includes a foam pipe 502 connected to the fire hydrant box 500. The fire hydrant box 500 also includes a proportioning mixer 504. The proportioning mixer 504 is used to control the mixing ratio of water from the water supply pipe 501 and foam from the foam pipe 502 to form a water-foam mixture.

[0053] In some embodiments, the inspection robot 400 also has a water hose 402 of a first length and a fire extinguisher 404. One end of the water hose 402 is connected to the fire extinguisher 404. The fire extinguisher 404 has a maximum spraying distance of a second length. The other end of the water hose 402 is connected to one end of the quick connector 401, and the other end of the quick connector 401 is connected to the water supply port 505, forming a fire-fighting material passage from the water supply port 505 through the quick connector 401 and the water hose 402 to the fire-fighting gun 404. The inspection robot 400 can spray fire-fighting materials to extinguish fires by controlling the fire extinguisher 404. Furthermore, in some embodiments, the water hose 402 is placed in a coiled form inside the inspection robot 400. The inspection robot 400 also has a retraction device 403, which is used to control the retraction and extension of the water hose 402. For example, after the inspection robot 400 is movably connected to the water supply port 505, as the inspection robot 400 moves away from the water supply port 505, the retraction device 403 controls the water hose 402 to release and stretch, and the inspection robot 400 can move to a position at a maximum distance from the water supply port 505 to perform firefighting operations. Furthermore, in some embodiments, the quick connector 401 of the inspection robot 400 is a swing-arm electromagnetic quick connector. Accordingly, a permanent magnetic connector is provided at the water supply port 505. The inspection robot 400 controls the connection and disconnection between the swing-arm electromagnetic quick connector and the permanent magnetic connector by controlling the on and off of the electromagnetic.

[0054] Please refer to Figure 3, is a block diagram of the architecture of a tunnel inspection robot control system 100 according to some embodiments of the present application. This system 100 includes a server 200, multiple information collection devices 300, multiple inspection robots 400, and multiple solenoid valves 503 in communication with the server 200. The server 200 can control the movement of the inspection robots 400, collect fire information, monitor rail temperature, connect to the water supply 505, and extinguish fires, among other actions. The system 100 controls the opening of the solenoid valves 503 and controls the inspection robots 400 to extinguish the fire. It is understood that in other embodiments, the solenoid valves 503 can be replaced with other remotely controlled on / off valves to achieve similar effects. In this embodiment, the information collection device 300 is used to collect environmental data within the tunnel, such as ambient temperature, ambient humidity, ambient images, and concentrations of different gases. The information collection devices 300 are distributed throughout the tunnel to ensure that the environmental data collected by the information collection device 300 covers the entire tunnel. By collecting and analyzing the environmental data within the tunnel, it is possible to determine whether a fire has occurred within the tunnel. For example, by performing image processing and analysis on image data within the environmental data, it is possible to determine whether a fire has occurred. In one embodiment, an artificial intelligence model can be used to identify and analyze the image data and output a determination result of the occurrence of a fire. This can also be combined with information such as the temperature and humidity within the tunnel for auxiliary verification. The artificial intelligence model can be any possible neural network model, and this embodiment does not limit this.

[0055] In some embodiments, see Figure 4 , is a schematic diagram of the architecture of the server 200, which includes an inspection robot control device 210, a memory 220, a processor 230 and a communication unit 240. The memory 220, the processor 230 and the communication unit 240 are electrically connected to each other directly or indirectly to realize data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines. The inspection robot control device 210 includes at least one software function module that can be stored in the memory 220 in the form of software or firmware or solidified in the operating system (OS) of the server 200. The processor 230 is used to execute the executable modules stored in the memory 220, such as the software function modules and computer programs included in the inspection robot control device 210.

[0056] The memory 220 may be, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc. The memory 220 is used to store programs, and the processor 230 executes the programs after receiving execution instructions. The communication unit 240 is used to establish a communication connection between the server 200 and the information collection device 300 and the solenoid valve 503 via the network, and is used to send and receive data via the network.

[0057] The processor 230 may be an integrated circuit chip with signal processing capabilities. The above-mentioned processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, which can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or any conventional processor.

[0058] I understand. Figure 4 The structure shown is for illustration only. The server 200 may also include Figure 4 More or fewer components than shown, or with Figure 4 Different configurations shown. Figure 4 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0059] Figure 5 This is a flow chart of a method for controlling a tunnel inspection robot according to some embodiments of the present application. Figure 3 The server 200 in the embodiment may specifically include the following steps S100 to S800. It should be noted that these embodiments should be understood as examples and should not be understood as essential technical features for implementing this solution.

[0060] Step S100: receiving tunnel environment data uploaded by the information collection device.

[0061] In this embodiment, after acquiring environmental data within the tunnel, information collection device 300 transmits this data to server 200. This environmental data may include temperature, humidity, smoke, and image information within the tunnel. The image information may include real-time images captured by a camera or infrared images captured by an infrared sensor. It is understood that to obtain more comprehensive environmental data, information collection device 300 may be a combination of multiple specific collection devices, such as a standard camera, an infrared camera, a temperature sensor, a smoke sensor, a gas sensor, etc.; and information collection devices 300 may be distributed along the tunnel at regular intervals.

[0062] Step S200, analyzing whether a fire occurs in the tunnel according to the tunnel environment data, if so, proceeding to step S300, if not, returning to step S100.

[0063] In this embodiment, the server 200 can use an artificial intelligence model to identify and analyze image data, and comprehensively consider data information such as temperature, humidity, and smoke to determine whether a fire occurs in the tunnel.

[0064] Step S300: Determine the location of the fire.

[0065] In this embodiment, the environmental data uploaded by the information collection device 300 also includes the device information of the information collection device 300. This information is pre-stored and associated with the location. Subsequent analysis of the device information uploaded by the information collection device 300, such as the device number, is sufficient to determine the location of the information collection device 300. It will be appreciated that in some embodiments, a positioning module may be provided within the information collection device 300, which would then upload the location information of the information collection device 300 in real time. Determining the location information of the information collection device 300 and combining it with existing methods such as photogrammetry can accurately determine the location of the fire.

[0066] Step S400: Invoke the first inspection robot to move to the location of the fire and collect information about the fire.

[0067] In this embodiment, the first inspection robot 400 is the inspection robot 400 closest to the location of the fire. Since the information collection devices 300 are arranged at intervals along the direction of tunnel passage and are fixed in position, the distance between the fire and the information collection device 300 when the fire occurs is uncontrollable. When the fire is far away from the nearest information collection device 300, coupled with factors such as poor lighting and slow air circulation in the tunnel, the information collection device 300 may misjudge the fire situation. In this embodiment, there are multiple inspection robots, and they can move freely along the guide rail 600. Therefore, calling the inspection robot 400 closest to the fire, that is, the first inspection robot 400, can reach the fire scene in the first time and reconfirm the fire situation. At the same time, the server 200 can make more thorough preparations for subsequent firefighting work based on the more accurate fire information collected by the first inspection robot 400.

[0068] Step S500 : Based on the fire information, instructions to move to the fire are sent to a certain number of second inspection robots according to preset rules.

[0069] In this embodiment, the second inspection robot 400 is an inspection robot 400 other than the first inspection robot 400. To ensure rapid fire extinguishing, a fire at any location in the tunnel should be capable of being extinguished by at least two inspection robots 400. For example, when arranging water supply ports, ensure that half the distance between adjacent water supply ports is less than the sum of the first length of the inspection robot's 400 hose 402 and the second length of the maximum spraying distance of the fire extinguisher 404. It is understood that for ease of understanding, the effect of tunnel width has been ignored here. In actual arrangements, after considering the effect of tunnel width, the distance between water supply ports can still ensure that a fire at any location is within the extinguishing range of at least two inspection robots 400 by designing the distance between water supply ports. Furthermore, a fire is typically not a single point; it often forms a burning area with multiple water supply ports within it. Therefore, the scale of the fire also requires the simultaneous extinguishing of multiple inspection robots 400. To this end, the number of second inspection robots 400 can be determined based on the scale of the fire. Calling instructions can then be sent to the corresponding number of available second inspection robots 400 near the fire, commanding them to move to the fire location. This embodiment does not limit the specific calling rules; as long as the calling ensures that at least two inspection robots 400, including the first and second inspection robots 400, are available at the fire scene to participate in firefighting, the call will suffice.

[0070] Step S600: monitor the temperature of the guide rails within the fire range.

[0071] In this embodiment, the fire range can be determined based on the fire information collected by the first inspection robot 400. Specifically, the flame in the collected fire image and the area within a certain distance near the flame can be used as the fire range, or the area in the collected infrared image that is greater than the set temperature value can be used as the fire range. This embodiment does not specifically limit the determination of the fire range. It can be understood that the high temperature within the fire range may cause part of the guide rail 600 to be deformed by heat. Among them, the guide rail 600 within the fire range, that is, the guide rail 600 on the tunnel side wall covered by the fire area in the tunnel extension direction is most seriously affected by the flame directly or indirectly. Therefore, by monitoring the temperature of the guide rail 600 within the fire range, it can be determined whether the guide rail 600 is in a dangerous state.

[0072] To monitor the temperature of the guide rail 600, multiple temperature sensors can be pre-placed at regular intervals on the guide rail 600. Alternatively, the temperature of the guide rail 600 can be collected using the information collection device 300. Alternatively, a detection device 405 can be installed on the inspection robot 400. This allows the first inspection robot 400 to collect the temperature of the guide rail 600 within the fire area after it reaches the fire location. This embodiment does not specifically limit the method for monitoring the temperature of the guide rail 600.

[0073] Step S700: When the temperature of the guide rail reaches a preset temperature value, the first inspection robot is controlled to spray and cool the guide rail within the fire range until a certain number of second inspection robots move to the fire.

[0074] In this embodiment, when the temperature of the guide rail 600 reaches a preset value, it indicates that the temperature of the guide rail 600 is too high and is prone to deformation or even damage, which may prevent the subsequent second inspection robot 400 from reaching the fire scene to carry out firefighting operations. Therefore, the first inspection robot 400 is controlled to promptly spray and cool the guide rail 600 to keep the temperature within a safe range. As a feasible method, when the temperature of a certain guide rail 600 reaches the preset value, the first inspection robot 400 can be controlled to connect to the water supply port 505 near the guide rail 600. By means of, for example, opening the solenoid valve 503 corresponding to the water supply port 505, the water supply port 505 can supply firefighting materials to the inspection robot 400, and the fire extinguisher 404 of the first inspection robot 400 can be controlled to spray and cool the guide rail 600 at that location.

[0075] Step S800: Control the certain number of second inspection robots and the first inspection robots to connect to corresponding water supply ports and spray water to extinguish the fire.

[0076] In this embodiment, when a certain number of second inspection robots 400 move to the location of the fire, the inspection robots 400 at the fire scene are ready to extinguish the fire. A pre-assigned water supply port can be assigned to a certain number of second inspection robots 400 and first inspection robots 400 when the first and second inspection robots 400 are deployed. Alternatively, the water supply ports can be assigned sequentially from the center of the fire scene to both sides based on the order in which the inspection robots 400 arrive at the fire scene. After the inspection robots 400 connect to the water supply port 505, they can, for example, open the corresponding solenoid valve 503 to supply firefighting materials to the inspection robots 400, controlling the fire extinguisher 404 of the inspection robots 400 to spray the firefighting materials toward the fire to extinguish it.

[0077] Through the above steps S100-S800, the inspection robot control method for tunnels provided by the embodiment of the present application analyzes the environmental data in the tunnel to determine whether a fire has occurred at the scene. When a fire occurs, the nearest first inspection robot 400 is called to arrive at the fire scene to collect fire information, thereby reconfirming the fire situation and avoiding false alarms that lead to the dispatch of inspection robots 400 and waste of firefighting materials. After the first inspection robot 400 determines the fire situation, it calls an appropriate number of second inspection robots 400 based on the fire information it has collected. During the process of the second inspection robots 400 reaching the fire, the guide rails 600 within the fire range are monitored and cooled to avoid the situation where the second inspection robots 400 cannot reach the scene due to deformation and damage of the guide rails 600 due to high temperature. After all the first inspection robots 400 and the second inspection robots 400 are in place, fire extinguishing operations are carried out. During the whole process, multiple inspection robots 400 participate in fire extinguishing at the same time, achieving the effect of rapid fire extinguishing.

[0078] In some embodiments, the information collection device 300 can be used as a component of the inspection robot 400, that is, multiple inspection robots 400 are arranged along preset intervals in the tunnel. The inspection robot 400 completes the collection of environmental data in the tunnel through its configured information collection device 300, such as one or more detection devices, sensors, etc., and uploads it to the server 200. After the server 200 analyzes that a fire has occurred in the tunnel, it calls the first inspection robot 400 closest to the fire for reconfirmation and continues to execute steps S400-S800.

[0079] In some embodiments, the server 200 can also accept manually uploaded tunnel environment data. For example, when a fire occurs when a driver or road maintenance personnel passes through a tunnel, they can actively upload relevant data. Based on the relevant data, the server 200 calls the first inspection robot 400 closest to the fire for reconfirmation and continues to execute steps S400-S800.

[0080] In some embodiments, the first inspection robot has a detection device 405 .

[0081] Step S400 specifically includes: calling the first inspection robot to move to the location of the fire and controlling the detection device of the first inspection robot to collect information about the fire.

[0082] Step S600 specifically includes: controlling the detection device of the first inspection robot to monitor the temperature of the guide rail within the fire range.

[0083] In this embodiment, the detection device 405 on the first inspection robot is controlled to detect and collect fire information and guide rail temperature. Compared with a fixed detection device, the mobility of the first inspection robot can be fully utilized to adjust the detection distance and detection angle in real time to obtain more accurate data.

[0084] In some embodiments, step S700 specifically includes: when the guide rail temperature reaches a preset temperature value, controlling the first inspection robot to connect to the water supply port to spray and cool the guide rail within the fire range until a certain number of second inspection robots move to the fire.

[0085] In this embodiment, step S700 does not limit the water supply port 505 to which the first inspection robot 400 is connected. In reality, the length of the guide rail 600 within the fire range cannot be determined, and the guide rails that reach the preset temperature value may only account for a portion of the guide rails within the fire range. The first inspection robot 400 can then determine the water supply port 505 based on the location of the guide rail segment that actually reaches the preset temperature value. For example, it can determine the water supply port 505 closest to the guide rail segment and connect to it.

[0086] In some embodiments, the inspection robot 400 further has a fire extinguishing tank, which carries a small amount of fire extinguishing material.

[0087] Step S700 specifically includes: when the temperature of the guide rail reaches a preset temperature value, controlling the first inspection robot to use a fire extinguishing tank to spray and cool the guide rail within the fire range until a certain number of second inspection robots move to the fire.

[0088] In this embodiment, the first inspection robot 400 uses its own fire extinguisher tank, which contains only a small amount of fire extinguishing material specifically for spraying the guide rail. This can save the time of connecting the water supply port 505 while ensuring the high maneuverability of the first inspection robot 400, and can cool the guide rail more conveniently and quickly.

[0089] Furthermore, in some embodiments, the fire extinguishing tank has a separate ejection port.

[0090] Step S600 also includes: controlling the first inspection robot to connect to the corresponding water supply port to spray and extinguish the fire.

[0091] Step S800 specifically includes: controlling the certain number of second inspection robots to connect to corresponding water supply ports and spray to extinguish the fire.

[0092] In this embodiment, because the fire extinguisher has a separate spray port, the first inspection robot 400 can monitor the temperature of the guide rails 600 within the fire area and cool them down through the spray port when necessary. Simultaneously, the first inspection robot 400 can connect to the water supply port 505 and use the fire extinguisher 404 to spray and extinguish the fire. In this embodiment, the first inspection robot 400 can simultaneously cool the guide rails and extinguish the fire, facilitating faster fire extinguishing.

[0093] In some embodiments, step S800 is followed by:

[0094] Step S900: Control the certain number of second inspection robots and the first inspection robots to spray and cool the guide rail.

[0095] In this embodiment, after all second inspection robots 400 and first inspection robots 400 begin firefighting, they must still monitor the temperature of the guide rails 600 within the fire area and spray and cool the guide rail sections that reach a preset temperature value to prevent the inspection robots 400 from being unable to evacuate after the firefighting operation is completed. Specifically, when the temperature of a certain guide rail reaches a preset temperature, the fire extinguisher 404 of the nearest inspection robot 400 can be controlled to spray and cool the guide rail at that location. After the guide rail has cooled, the fire extinguisher 404 can be adjusted to continue firefighting. Alternatively, if the inspection robots 400 are equipped with fire extinguisher tanks with separate spray nozzles, the nearest inspection robot 400 can be controlled to use the fire extinguisher tanks to spray and cool the guide rails. It is understandable that after all inspection robots 400 begin firefighting, the relative positions of the inspection robots 400 will not change significantly, making it difficult to continue assigning a single first inspection robot 400 to complete the guide rail cooling operation. This embodiment allows all inspection robots 400 to participate in the guide rail cooling work by timely adjusting the monitoring and cooling strategies, thereby ensuring the smooth progress of the fire extinguishing work while taking into account the protection of the guide rail 600.

[0096] In some embodiments, the inspection robot includes a quick connector, a water hose with a first length, a retraction device and a fire extinguisher, one end of the water hose is connected to the fire extinguisher, the fire extinguisher has a maximum spraying distance of a second length, and the other end of the water hose is connected to one end of the quick connector; after the inspection robot is movably connected to the water supply port through the other end of the quick connector, the retraction device controls the retraction of the water hose according to the movement of the inspection robot.

[0097] In this embodiment, the inspection robot 400 can use the retracting device 403 to more conveniently and quickly retract the water hose 402 after the fire extinguishing work is completed, thereby improving the degree of automation of the entire system.

[0098] Furthermore, in some embodiments, step S500 specifically includes:

[0099] Step S501: Determine a fire extinguishing distance of the inspection robot along the guide rail, where the fire extinguishing distance is the sum of the first length and the second length.

[0100] Step S502: Based on the fire information, determine a water supply port that is within the fire extinguishing distance range from the fire in the guide rail direction as a target water supply port.

[0101] Step S503: Sending instructions to a certain number of second inspection robots to move to corresponding target water supply outlets, wherein the sum of the number of the second inspection robots and the first inspection robots is equal to the number of the target water supply outlets.

[0102] In this embodiment, the firefighting range of the inspection robot 400 after connecting to the water supply port 505 can be roughly determined based on the firefighting range of the inspection robot 400 along the guide rail 600. The number of target water supply ports 505 is determined based on the firefighting range and the range of the fire. In this case, the firefighting substances sprayed by the inspection robot 400 connected to the target water supply port 505 can reach the fire, thereby effectively extinguishing the fire. However, if other water supply ports 505 other than the target water supply port 505 are connected, the firefighting substances sprayed by the inspection robot 400 cannot reach the fire, thereby failing to effectively extinguish the fire. The required number of second inspection robots 400 can be obtained by subtracting one from the number of target water supply ports 505, thereby maximizing the utilization of the water supply ports 505 and the second inspection robots 400 in the firefighting operation. It can be understood that if the number of second inspection robots 400 is less than the required number, it means that some water supply ports 505 that can participate in fire fighting are not utilized. If the number of second inspection robots 400 is more than the required number, it means that some second inspection robots 400 cannot connect to the appropriate water supply ports 505 to participate in fire fighting.

[0103] In some embodiments, step S800 specifically includes:

[0104] Step S801: Control a certain number of second inspection robots and the first inspection robots to connect to corresponding target water supply ports.

[0105] Step S802: Control the corresponding solenoid valve to open, and control the fire extinguishing guns of the second inspection robot and the first inspection robot to spray and extinguish the fire.

[0106] In this embodiment, server 200 is in communication with multiple solenoid valves 503, each corresponding to a water supply port 505. The solenoid valves 503 are used to control the on / off operation of the water supply port 505. When server 200 controls solenoid valves 503 to open, fire extinguisher 404 begins spraying firefighting material, thereby achieving automatic firefighting under the control of server 200.

[0107] In some embodiments, step S801 specifically includes:

[0108] The swing-arm electromagnetic quick connectors of the certain number of second inspection robots and the first inspection robot are controlled to connect to the permanent magnetic connectors of the corresponding target water supply ports.

[0109] In this embodiment, the inspection robot 400's quick connector 401 is a swing-arm electromagnetic quick connector, and the water supply port 505 has a corresponding permanent magnetic connector that mates with the swing-arm electromagnetic quick connector 401. By controlling the on / off state of the electromagnetic, the swing-arm electromagnetic quick connector and the permanent magnetic connector are connected and disconnected, thereby controlling the connection and disconnection between the inspection robot 400 and the water supply port 505.

[0110] In some embodiments, the inspection robot 400 can control the fire extinguisher 404 to track and extinguish the fire according to the real-time detection results of the detection device 405.

[0111] Please refer to Figure 6 , is a schematic diagram of the architecture of an inspection robot control device 210 provided in an embodiment of the present application. The inspection robot control device 210 can be used to execute the inspection robot control method for a tunnel, wherein the inspection robot control device 210 includes:

[0112] The receiving module 211 is used to receive the tunnel environment data uploaded by the information collection device, and to receive the fire information and guide rail temperature collected by the first inspection robot.

[0113] The analysis module 212 is used to analyze whether there is a fire in the tunnel.

[0114] The determination module 213 is used to determine the location of the fire, to determine the first inspection robot and the second inspection robot, to determine the target water supply port, and to determine whether the guide rail temperature reaches a preset temperature value.

[0115] The control module 214 is used to control the inspection robot to monitor the guide rail temperature and connect the water supply port, to control the opening and closing of the solenoid valve, and to control the first inspection robot and the second inspection robot to spray.

[0116] Step S100 is executed by the receiving module 211, step S200 is executed by the analyzing module 212, step S300 is executed by the determining module 213, step S400 is executed by the controlling module 214, step S500 is executed by the receiving module 211, the determining module 213 and the controlling module 214, step S600 is executed by the controlling module 214, step S700 is executed by the determining module 213 and the controlling module 214, and step S800 is executed by the controlling module 214.

[0117] Since the inspection robot control method for tunnels provided by the embodiment of the present invention has been introduced in detail in the above embodiment, and the principle of the inspection robot control device 210 is the same as this method, the execution principles of each module of the inspection robot control device 210 will not be repeated here.

[0118] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0119] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0120] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0121] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A control method for a tunnel inspection robot, characterized in that: The method is applied to a server, the server being communicatively connected to a plurality of inspection robots, the tunnel sidewall being arranged with a guide rail and a plurality of water supply ports arranged at preset intervals, the inspection robots being arranged on and movable along the guide rails, and the inspection robots being movably connected to the water supply ports for spraying, and the method comprising: Determine the location of the fire; Call a first inspection robot to move to the location of the fire and collect information about the fire, the first inspection robot being the inspection robot closest to the location of the fire; wherein the inspection robot includes a quick connector, a water hose with a first length, a retraction device and a fire extinguisher, one end of the water hose is connected to the fire extinguisher, the fire extinguisher has a maximum spraying distance of a second length, and the other end of the water hose is connected to one end of the quick connector; after the inspection robot is movably connected to the water supply port through the other end of the quick connector, the retraction device controls the retraction and extension of the water hose according to the movement of the inspection robot; according to the information about the fire, according to a preset rule, a command to move to the fire is sent to a certain number of second inspection robots, the second inspection robot being an inspection robot other than the first inspection robot; wherein, according to the information about the fire, according to a preset rule, the step of sending a command to move to the fire to a certain number of second inspection robots according to the preset rule specifically includes: Determining a fire extinguishing distance of the inspection robot along the guide rail, the fire extinguishing distance being the sum of the first length and the second length; According to the fire information, determining a water supply port within the fire extinguishing distance in the guide rail direction as a target water supply port; Sending instructions to a certain number of second inspection robots to move to corresponding target water supply outlets, wherein the sum of the number of the second inspection robots and the first inspection robots is equal to the number of the target water supply outlets; Monitor the rail temperature within the fire range; When the temperature of the guide rail reaches a preset temperature value, controlling the first inspection robot to spray and cool the guide rail within the fire range until the certain number of second inspection robots move to the fire; Control the certain number of second inspection robots and the first inspection robots to connect to corresponding water supply ports and spray to extinguish the fire.

2. The method according to claim 1, wherein The server is further in communication with the information collection device, and the method further comprises: Receiving tunnel environment data uploaded by the information collection device; analyzing whether a fire occurs in the tunnel according to the tunnel environment data; The steps of determining the location of the fire specifically include: The location of the fire is determined based on the tunnel environment data.

3. The method according to claim 1, wherein The first inspection robot has a detection device; The step of calling the first inspection robot to move to the location of the fire and collect information about the fire specifically includes: Invoking a first inspection robot to move to the location of the fire and controlling the detection device of the first inspection robot to collect information about the fire; The step of monitoring the guide rail temperature within the fire range specifically includes: The detection device of the first inspection robot is controlled to monitor the temperature of the guide rail within the fire range.

4. The method according to claim 1, wherein The step of controlling the first inspection robot to spray and cool the guide rail within the fire range until a certain number of second inspection robots move to the fire range specifically includes: After the first inspection robot is connected to the water supply port, the guide rail within the fire range is sprayed and cooled until a certain number of second inspection robots move to the fire.

5. The method according to claim 4, wherein The server is in communication with a plurality of solenoid valves, each of which corresponds to the water supply port, and the solenoid valves are used to control the on and off of the water supply port; The step of controlling the certain number of second inspection robots and the first inspection robots to connect to corresponding water supply ports and spray fire extinguishing on the fire specifically includes: Controlling the certain number of second inspection robots and the first inspection robot to connect to corresponding target water supply outlets; The corresponding solenoid valve is controlled to open, and the fire extinguishing guns of the second inspection robot and the first inspection robot are controlled to spray and extinguish the fire.

6. The method according to claim 5, wherein The quick connector is a swing arm type electromagnetic quick connector, and the water supply port has a permanent magnetic connector, which is connected to the swing arm type electromagnetic quick connector in a cooperative manner; The step of controlling the certain number of second inspection robots and the first inspection robot to connect to the corresponding target water supply outlets specifically includes: The swing-arm electromagnetic quick connectors of the certain number of second inspection robots and the first inspection robot are controlled to connect to the permanent magnetic connectors of the corresponding target water supply ports.

7. A server, characterized in that: The server is communicatively connected to an information collection device, a plurality of inspection robots, and a plurality of solenoid valves. The server includes a processor and a memory that communicate with each other. The processor is used to retrieve a computer program from the memory and implement the method described in any one of claims 1 to 6 by running the computer program.

8. A tunnel inspection robot control system, characterized in that: The system includes a server, guide rails arranged along the side walls of the tunnel and multiple water supply ports arranged at preset intervals, information collection equipment communicatively connected to the server, multiple inspection robots and multiple solenoid valves. The server includes a processor and a memory that communicate with each other. The processor is used to retrieve a computer program from the memory and implement the method described in any one of claims 1 to 6 by running the computer program.

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