An intelligent and efficient drone fire extinguishing method in tunnels

Abstract

The present invention discloses an intelligent and efficient drone fire extinguishing method in a tunnel, comprising the following steps: 1) An emergency rescue station and a drone docking station are provided in the tunnel; a linkage control center is provided in the emergency rescue station, and the burning train stops at the emergency rescue station. After receiving the fire warning signal, the linkage control center determines the fire situation and selects the optimal drone startup plan from the database according to the fire situation, issues instructions to the drone docking station, and controls the drone group in the drone docking station to start. 2) When the drone group reaches the end point of the track according to the preset track, the fire source is accurately located based on the collected image information and data information and the big data analysis system based on fire identification, and the group moves toward the fire source and gathers at the fire point of the train. 3) After the drone group arrives at the fire point, a large number of compressed fire extinguishing bombs are fired at the fire point to achieve a large-area coverage effect of the fire extinguishing agent and complete the fire extinguishing task. After the fire extinguishing is completed, the drone automatically returns.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel fire fighting, and in particular to an intelligent and efficient unmanned aerial vehicle fire fighting method in a tunnel. Background Art

[0002] With the continuous and rapid advancement of railway infrastructure construction across the country, the number and scale of railway tunnels have grown rapidly, greatly promoting economic and social development. However, there are many types of combustibles on trains and the load is large. Once a fire occurs, it spreads rapidly and the temperature in the tunnel rises rapidly. Due to the small space and lack of oxygen in the tunnel, the degree of incomplete combustion of combustibles is high, which easily produces a large amount of toxic and harmful smoke, posing a huge threat to the safety of passengers. Rapidly extinguishing fires can effectively ensure the safe evacuation and rescue of personnel in railway tunnels.

[0003] The existing method of extinguishing fires in railway tunnels is to set up fire hydrants or fine water mist systems at emergency rescue stations so that firefighters can reach the fire location and carry out train fire fighting. However, this method of extinguishing fires is inefficient on the one hand. On the other hand, railway tunnels have a large aspect ratio, and there are few and long distances for fire fighting and rescue channels. The direction of fire smoke spread interferes with the direction of fire fighting and rescue. The high temperature and toxic environment in the tunnel make it difficult for firefighters to approach the fire location and carry out fire fighting and rescue work in a timely and rapid manner. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide an intelligent and efficient drone fire extinguishing method in a tunnel.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] An intelligent and efficient drone fire extinguishing method in a tunnel comprises the following steps:

[0007] 1) An emergency rescue station and a drone docking station are provided in the tunnel; a linkage control center is provided in the emergency rescue station. The burning train stops at the emergency rescue station. After receiving the fire warning signal, the linkage control center determines the fire situation and selects the optimal drone start-up plan from the database according to the fire situation, issues instructions to the drone docking station, and controls the start-up of the drone group in the drone docking station.

[0008] 2) When the drone group reaches the end point of the track according to the preset track, the fire source is accurately located through the collected image information and data information and the big data analysis system based on fire identification, and the group moves towards the fire source and gathers at the fire point of the train.

[0009] 3) After the drone group reaches the fire point, it launches a large number of compressed fire extinguishing bombs at the fire point to achieve a large-area coverage effect of the fire extinguishing agent and complete the fire extinguishing task. After the fire extinguishing is completed, the drones automatically return.

[0010] As a further improvement of the above technical solution:

[0011] A number of drone docking stations are respectively arranged on both sides of the emergency rescue station.

[0012] The starting point of the track of the drone swarm is the drone stop, and the ending points of the track are the two ends of the burning train. The drone swarm determines the predetermined track and flight altitude according to the starting point and the ending point of the track.

[0013] The drone is provided with a binocular camera, a gimbal, an infrared temperature sensor and a smoke sensor.

[0014] The drone is provided with a laser radar sensor for identifying obstacles on the route.

[0015] The drone intelligently plans a fire-seeking path according to the location of the fire source, and reaches the fire point of the train according to the planned fire-seeking path.

[0016] The UAV is a large-load UAV that can launch compressed fire-extinguishing bombs.

[0017] The UAV is made of flame-retardant, high-temperature-resistant and corrosion-resistant materials.

[0018] Compared with the prior art, the advantages of the present invention are:

[0019] The present invention provides an intelligent and efficient drone fire extinguishing method in a tunnel, comprising a drone linkage control stage, a drone fire source intelligent identification stage and a drone fire extinguishing stage. The burning train stops at an emergency rescue station, and the linkage control center in the emergency rescue station judges the fire situation through the received fire warning signal, and selects the optimal drone startup plan from the database, issues instructions to the drone docking station, and controls the startup of the drone group; when the drone group reaches the end of the track, the fire source position is intelligently and accurately located through the collected images and data, and moves toward the fire source position, gathers at the fire point of the train, and launches a large number of compressed fire extinguishing bombs at the fire point, forming a large-area fire extinguishing agent coverage effect, realizing efficient fire extinguishing, and this fire extinguishing method is intelligent and safe; the present invention constructs a complete set of process-oriented, intelligent and efficient drone fire extinguishing methods in tunnels, which are sufficiently fast and efficient, universal and systematic, and have good practicality, versatility and scalability. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic flow chart of the UAV fire extinguishing method of the present invention.

[0021] Figure 2 It is a schematic diagram of the top view of the structure of the drone fire extinguishing in the tunnel of the present invention.

[0022] The symbols in the figure represent:

[0023] 1. Emergency rescue station; 2. Drone docking station; 3. Starting point of the track; 4. End point of the track; 5. Drone; 6. Preset track; 7. Fire search path; 8. Burning train; 9. Fire point; 10. Evacuation route; 11. Tunnel. DETAILED DESCRIPTION

[0024] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] Figure 1 to Figure 2 An embodiment of the intelligent and efficient UAV fire extinguishing method in a tunnel of the present invention is shown, comprising the following steps:

[0026] 1) An emergency rescue station 1 and a drone stop station 2 are provided in the tunnel 11; a linkage control center is provided in the emergency rescue station 1. The burning train 8 stops at the emergency rescue station 1. After receiving the fire warning signal, the linkage control center determines the fire situation and selects the optimal drone 5 start-up plan from the database according to the fire situation, and issues instructions to the drone stop station 2 to control the drone 5 group in the drone stop station 2 to start.

[0027] 2) When the drone group 5 reaches the end of the track according to the preset track 6, the fire source is accurately located based on the collected image information and data information and the big data analysis system based on fire identification, and the drone group 5 moves toward the fire source and gathers at the fire point 9 of the train.

[0028] 3) After the drone group 5 arrives at the fire point 9, it launches a large number of compressed fire extinguishing bombs at the fire point 9 to achieve a large-area coverage effect of the fire extinguishing agent and complete the fire extinguishing task. After the fire extinguishing is completed, the drone 5 automatically returns.

[0029] The intelligent and efficient UAV 5 fire extinguishing method in the tunnel 11 includes a UAV 5 linkage control stage, a UAV 5 fire source intelligent identification stage and a UAV 5 fire extinguishing stage. The burning train 8 stops in the emergency rescue station 1. The linkage control center in the emergency rescue station 1 judges the fire situation through the received fire warning signal, and selects the optimal UAV 5 startup plan from the database, issues instructions to the UAV parking station 2, and controls the UAV 5 group to start; when the UAV 5 group reaches the end of the track, the fire source position is intelligently and accurately located through the collected images and data, and moves toward the fire source position, gathers at the train fire point 9, and launches a large number of compressed fire extinguishing bombs at the fire point 9, forming a large-area fire extinguishing agent coverage effect, realizing efficient fire extinguishing, and this fire extinguishing method is intelligent and safe; the present invention constructs a complete set of process-oriented, intelligent and efficient UAV 5 fire extinguishing methods in the tunnel 11, which is fast and efficient enough, universal and systematic, and has good practicality, versatility and scalability.

[0030] In this embodiment, the linkage control center can judge the fire situation through the images and data fed back by the train, or make judgments based on the fire characteristic data such as temperature and smoke density collected by the information collection module installed in the tunnel.

[0031] In this embodiment, a number of drone docking stations 2 are respectively provided on both sides of the emergency rescue station 1. After the burning train 8 docks at the rescue station, the linkage control center selects the optimal drone 5 startup plan from the database according to the fire situation, determines the track starting point 3 and the track end point of the drone group 5, and transmits the plan instruction to the corresponding drone docking station 2 to realize linkage control.

[0032] In this embodiment, the starting point 3 of the track of the drone group 5 is the drone stop 2, and the track ending points 4 are the two ends of the burning train 8. The drone group 5 determines the predetermined track and flight altitude based on the track starting point 3 and the track ending point 4, uses the sense and avoid function, and fully utilizes the real-time detection capability of the drone 5 to make the drone 5 run in the direction of the track ending point 4.

[0033] In this embodiment, the drone 5 is provided with a binocular camera, a pan / tilt, an infrared temperature sensor and a smoke sensor; after the drone 5 reaches the track termination point 4, the drone 5 enters the fire source intelligent identification stage, and uses the binocular camera and the infrared camera to collect image data. The pan / tilt can make the captured image data stable and clear, which is more convenient for reference and analysis; based on the big data preprocessing platform of the convolutional neural network, a big data analysis system for fire identification can be constructed to accurately locate the fire source. Because of the special environment in the tunnel 11, the characteristics of the fire scene may be affected by many factors, so the present invention accurately locates the fire source through many ways, and then efficiently and intelligently extinguishes the fire according to the fire source location. For example, when the image information and the data analysis platform are unstable, the parameters obtained by the fusion of multiple sensors such as infrared temperature sensors and smoke sensors can be used in an emergency to avoid omissions, misidentification and other situations.

[0034] In this embodiment, the drone 5 is provided with a laser radar sensor for identifying obstacles on the route. On the basis of route planning, the drone 5 identifies obstacles on the route through the laser radar sensor and completes automatic avoidance between drones 5 and drones 5, and between drones 5 and obstacles. Specifically, a distance safety threshold is set for the laser radar sensor. When the distance to the obstacle exceeds the safety threshold, the drone 5 changes the flight altitude or corrects the heading until the obstacle is avoided.

[0035] In this embodiment, after the drone 5 identifies the location of the fire source, it intelligently plans a fire-seeking path 7 according to the location of the fire source, and reaches the train fire point 9 according to the planned fire-seeking path 7. The drone 5 group gathers at the fire point 9 and launches a large number of compressed fire-extinguishing bombs towards the train fire point 9, forming a large coverage area for the fire scene, quickly achieving efficient fire extinguishing, and the drone 5 group returns after the fire extinguishing is completed.

[0036] In this embodiment, in order to achieve the purpose of efficient fire extinguishing, taking into account the defects of the jet-type fire extinguishing method and the missile-type fire extinguishing method, such as the limitation of the spraying distance, the low efficiency of fire extinguishing at a longer distance, the easy clogging of the spraying device, the large size of the missile, etc., a fire-fighting drone 5 with a large load capacity that can accurately launch compressed fire-extinguishing bombs is used to extinguish the fire, and the drone 5 is made of flame-retardant, high-temperature resistant and corrosion-resistant materials.

[0037] In this embodiment, the end point of the personnel evacuation route 10 is the emergency rescue station 1, and personnel are evacuated from the side of the train where the fire is not occurring to the emergency rescue station 1.

[0038] like Figure 2 As shown, after the quad-rotor heavy-load drone 5 is started from the drone docking station 2, it will follow the preset route. Figure 2 The track indicated by the arrow shown in the figure, after reaching the track end point 4, the quad-rotor heavy-load drone 5 uses the fire source intelligent identification method to accurately lock the fire source position, and after locking the fire source position, automatically changes the course and moves along the Figure 2 The dotted line path in the figure will lead to the fire point 9, and at the same time, a large number of compressed fire extinguishing bombs will be fired at the fire point 9, and a large number of fire extinguishing bombs will explode at the fire point 9, and a large amount of fire extinguishing agent will be sprayed, so as to achieve the effect of large-area coverage of the fire extinguishing agent and realize the purpose of efficient fire extinguishing. After the fire extinguishing is completed, the quad-rotor heavy-load drone 5 will continue the preset route to return, completing the intelligent and efficient fire extinguishing task.

[0039] Although the present invention has been disclosed as above with preferred embodiments, it is not intended to limit the present invention. Any technician familiar with the art can make many possible changes and modifications to the technical solution of the present invention by using the technical content disclosed above without departing from the scope of the technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention should fall within the scope of protection of the technical solution of the present invention.

Claims

1. An intelligent and efficient drone fire extinguishing method in a tunnel, characterized by: The following steps are involved: 1) An emergency rescue station (1) and a drone stop station (2) are provided in the tunnel (11); a linkage control center is provided in the emergency rescue station (1); a train (8) on fire stops at the emergency rescue station (1); after receiving a fire warning signal, the linkage control center determines the fire situation and selects the best drone (5) start-up plan from a database according to the fire situation, issues a command to the drone stop station (2), and controls the start-up of the drone (5) group in the drone stop station (2); 2) When the drone group (5) arrives at the track end point (4) according to the preset track (6), the fire source is accurately located based on the big data analysis system of fire identification through the collected image information and data information, and the drone group (5) moves toward the fire source and gathers at the fire point of the train; 3) After the group of drones (5) arrives at the fire point, they fire a large number of compressed fire extinguishing bombs at the fire point to achieve a large-area coverage effect of the fire extinguishing agent and complete the fire extinguishing task. After the fire extinguishing is completed, the drones (5) automatically return.

2. According to claim 1, an intelligent and efficient UAV fire extinguishing method in a tunnel is characterized by: A plurality of drone docking stations (2) are respectively arranged on both sides of the emergency rescue station (1).

3. The intelligent and efficient UAV fire extinguishing method in a tunnel according to claim 1 is characterized in that: The starting point (3) of the track of the drone (5) group is the drone stop station (2), and the ending point (4) of the track is the two ends of the burning train (8). The drone (5) group determines the predetermined track and flight altitude according to the starting point (3) and the ending point (4).

4. The intelligent and efficient UAV fire extinguishing method in a tunnel according to claim 1 is characterized in that: The drone (5) is provided with a binocular camera, a pan / tilt platform, an infrared temperature sensor and a smoke sensor.

5. The intelligent and efficient UAV fire extinguishing method in a tunnel according to claim 1 is characterized in that: The drone (5) is provided with a laser radar sensor for identifying obstacles on the route.

6. The intelligent and efficient UAV fire extinguishing method in a tunnel according to claim 1 is characterized by: The drone (5) intelligently plans a fire-tracing path (7) according to the location of the fire source, and reaches the fire point of the train according to the planned fire-tracing path (7).

7. The intelligent and efficient UAV fire extinguishing method in a tunnel according to claim 1 is characterized by: The drone (5) is a large-load drone (5) capable of launching compressed fire-extinguishing bombs.

8. The intelligent and efficient UAV fire extinguishing method in a tunnel according to claim 1 is characterized by: The drone (5) is made of flame-retardant, high-temperature-resistant and corrosion-resistant materials.

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