Anti-breaking-loading integrated intelligent emergency equipment for underground space and application method

Abstract

The invention relates to underground space'prevention-breaking-installation 'integrated intelligent emergency equipment and an application method, and the equipment comprises a walking and deployable device, a sensing module and an intelligent control module which are arranged in the walking and deployable device, and a breaking device and an installation device which are arranged at the top of the walking and deployable device. The forcible entry device and the mounting device are arranged adjacently; the method comprises the following steps: 1, deploying and starting; 2, sensing and evaluating; 3, performing three-dimensional reconstruction; 4, decision making and planning; 5, executing first-aid repair; 6, monitoring and adjusting in real time; 7, finishing operation and withdrawing; according to the invention, forcible entry, installation and monitoring are integrated, the whole process of emergency repair can be covered, various conditions after an underground space disaster can be effectively handled, data can be automatically collected and analyzed, three-dimensional reconstruction and decision optimization can be carried out, and dependence on manpower is reduced. Many tasks such as forcible entry, supporting, monitoring and repairing are executed, and meanwhile real-time risk assessment and intelligent early warning are achieved.

Description

Technical Field

[0001] The present invention relates to an underground space "prevention-breakage-installation" integrated intelligent emergency response equipment and an application method, which belongs to the field of underground space safety emergency response and is used for post-disaster rapid rescue, emergency repair, three-dimensional reconstruction and damage assessment of underground spaces. Background Art

[0002] In recent years, with the acceleration of urbanization, underground space has been used more and more widely. However, the particularity of underground space, such as limited entrances and exits, complex environmental conditions and low fault tolerance, makes emergency repair after disasters face great challenges. Sudden events such as earthquakes, floods, fires or man-made damage can cause damage to underground space structures, threaten personnel safety and may cause serious economic losses; therefore, efficient and reliable underground space emergency repair equipment is particularly important.

[0003] At present, emergency rescue and repair mainly rely on manpower and traditional mechanical equipment, which is not only inefficient, but also poses great safety risks in some cases. In addition, manpower and traditional mechanical equipment are often unable to cope with complex and changeable underground environments, such as narrow spaces, harmful gases, flooding and other special conditions, which limits the ability to respond quickly and intervene effectively.

[0004] In response to the above challenges, although some automation and robotics technologies have been proposed for emergency rescue and repair in underground spaces, most solutions still have problems such as insufficient response capabilities, poor adaptability, single functions and complex operations. For example, rescue robots in existing technologies can often only perform a single task, such as reconnaissance or obstacle removal, and cannot provide a comprehensive solution to cover the entire process of emergency repair. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide an integrated intelligent emergency equipment and application method for underground space "prevention-breakage-installation" that comprehensively solves the problems of rapid passage, obstacle removal, temporary support and safety monitoring after underground space disasters.

[0006] The present invention adopts the following technical solution:

[0007] The integrated intelligent emergency equipment for underground space "prevention-destruction-installation" of the present invention includes a walking and deployable device, a sensing module and an intelligent control module arranged in the walking and deployable device, and a demolition device and an installation device arranged on the top of the walking and deployable device, wherein the demolition device and the installation device are arranged adjacent to each other.

[0008] The walking and deployable device of the equipment of the present invention includes legs, tracks, lifting tires, telescopic components, a multifunctional folding work platform, a folding waterproof curtain that is quickly deployed to block water flow, a folding explosion-proof curtain that provides protection against explosive hazardous environments, a lifting and deployable hydraulic drive, a pad beam and a connecting component; the telescopic components are arranged horizontally and longitudinally between the legs; the legs are multiple and arranged at intervals in a square shape as a whole, the tracks are arranged at the bottom of the legs, the lifting tires are connected to the legs through rectangular brackets, the lifting tires are arranged on both sides of the tracks, the pad beams are installed on the tops of the legs, the telescopic components are arranged between the legs at intervals or up and down, the telescopic components and the telescopic components and the pad beams are connected by connecting components, the multifunctional folding work platform is arranged above the telescopic components and connected by bolts, and the folding waterproof curtain and the folding explosion-proof curtain are both arranged on the outside of the legs.

[0009] The demolition device equipped in the present invention includes a sliding track A installed on the top surface of the cushion beam, a demolition base slidably installed on the sliding track A, a demolition hydraulic drive installed on the demolition base, a demolition mechanical arm installed on the demolition hydraulic drive, a disassembly tool conversion interface installed at the end of the demolition mechanical arm, and a disassembly head installed on the disassembly tool conversion interface.

[0010] The installation device equipped in the present invention includes a sliding track B installed on the top surface of the cushion beam, a mounting base slidably mounted on the sliding track B, and a lifting mechanical arm and a driving assembly installed on the mounting base; the lifting mechanical arm includes a vertical support arm fixedly mounted on the mounting base and a transverse support arm rotatably mounted on the top of the vertical support arm, and the transverse support arm is connected to the driving assembly.

[0011] The perception module equipped in the present invention includes a video monitoring device, an environmental monitoring device and a structural monitoring device installed on the multifunctional folding work platform on the middle layer; the video monitoring device, the environmental monitoring device and the structural monitoring device are all wirelessly connected to the intelligent control module; the video monitoring device includes a stereo vision camera, a laser scanner and / or a structured light scanner; the environmental monitoring device includes a temperature sensor, a humidity sensor, an air quality sensor, a light intensity sensor and / or a gas concentration sensor; the structural monitoring device includes a strain sensor, a crack meter, an inclinometer and / or a rangefinder.

[0012] The intelligent control module equipped in the present invention includes an intelligent decision-making system installed on a multifunctional folding work platform on the middle layer; the intelligent decision-making system is wirelessly connected to a video monitoring device, an environmental monitoring device and a structural monitoring device; the intelligent decision-making system includes a data receiving and preprocessing module, a data analysis and modeling module, a decision-making and optimization module and a decision execution and feedback module; the data receiving and preprocessing module receives the original data from the perception module and other data sources, and performs preprocessing and cleaning to ensure the accuracy and consistency of the data; the preprocessing includes data denoising, calibration and data format conversion operations; the data analysis and modeling module uses machine learning and statistical analysis techniques to analyze the preprocessed data, establish a data model, and identify patterns, trends and laws in the data; the decision-making and optimization module formulates specific decision-making plans based on the results of data analysis and pre-set strategies, and optimizes and evaluates these plans; the decision execution and feedback module converts the formulated decision plans into actual actions, and monitors the situation and results during the execution process.

[0013] The outriggers equipped in the present invention are rectangular steel box structures or H-shaped steels; the crawler comprises a crawler frame, crawler tires mounted on the crawler frame, and crawlers mounted on the crawler tires; the crawler frame is fixedly connected to the bottom of the outriggers; the lifting tire comprises a rectangular bullneck connected to the outriggers, a tire telescopic assembly mounted at the bottom of the rectangular bullneck, and a tire connected to the tire telescopic assembly; the tire telescopic assembly is connected to the lifting and deployable hydraulic drive, and the telescopic assembly is connected to the lifting and deployable hydraulic drive to adjust the horizontal and vertical spacing of the outriggers; the multifunctional folding work platform comprises a folding bracket arranged above the telescopic assembly and a safety railing arranged at the edge of the folding bracket; the lifting and deployable hydraulic drive comprises an deployable hydraulic pump, an deployable hydraulic cylinder, an deployable control valve, and an deployable oil storage tank; the cushion beam is composed of H-shaped steel, welded to the top of the outrigger, and located above the telescopic assembly, for supporting the demolition device and the installation device; the connecting assembly is welded from section steel or H-shaped steel, and is welded to the outriggers and the top cushion beam.

[0014] The application method of the underground space "anti-breakage-installation" integrated intelligent emergency equipment equipped by the present invention adopts the following steps:

[0015] S1. Deployment and start-up. Start the walking and deployable device. The telescopic assembly adjusts the leg spacing. The legs are unfolded to form a stable base. The platform moves to the target position through tracks or lifting tires. The multifunctional folding work platform is folded and unfolded according to the on-site space to form an operating area. Then, the folding waterproof curtain and folding explosion-proof curtain are opened.

[0016] S2, perception and assessment, through video monitoring devices, environmental monitoring devices and structural monitoring devices, collect disaster environment and structural data, transmit the data to the intelligent decision-making system for data analysis and damage assessment, and formulate preliminary emergency repair strategies;

[0017] S3, 3D reconstruction, using the collected data, generates a 3D model of the damaged structure through the data analysis and modeling module;

[0018] S4, Decision-making and planning: Based on the 3D model and damage assessment, the intelligent decision-making system comprehensively considers resources, timeliness and safety factors to formulate a detailed repair strategy and action plan;

[0019] S5. Carry out emergency repairs, start the demolition device and installation device, cooperate with the demolition robot arm and the lifting robot arm to replace the corresponding disassembly head as needed and perform specific tasks, and use the lifting robot arm to install and reinforce the work to ensure the safety of the structure;

[0020] S6, real-time monitoring and adjustment. During the repair, the perception module continues to collect data on the working environment and structural changes. The intelligent control module monitors the task progress and repair effect, and adjusts the repair strategy in real time to deal with newly discovered problems or changes.

[0021] S7, end of operation and withdrawal. After completing all set tasks, close all operating modules, withdraw the folding waterproof curtain and folding explosion-proof curtain, retract the working platform and robotic arm, and move the equipment out of the working area through walking and deployable devices.

[0022] The positive effects of the present invention are as follows:

[0023] 1. Strong comprehensiveness: The present invention integrates the functions of demolition, installation and monitoring, and can cover the entire process of emergency repair, thereby effectively responding to various situations after underground disasters, such as rapid passage, obstacle removal, temporary support and safety monitoring.

[0024] 2. Automation and intelligence: The perception module and intelligent control module of the present invention can automatically collect and analyze data, perform three-dimensional reconstruction and decision optimization, reduce dependence on manpower, and improve the efficiency and accuracy of emergency response.

[0025] 3. Wide adaptability: The present invention ensures the passability and feasibility of operations in various complex and narrow spaces through the walking and deployable device with lifting tires and tracks; it has strong obstacle crossing ability, and can cope with the maximum obstacle crossing height of more than 30 cm, and the obstacle crossing width can adapt to obstacles of at least 50 cm. It can be flexibly deployed and moved in complex and changeable underground environments, adapt to different complex and narrow space conditions and operational requirements, and ensure that the equipment can still maintain smooth movement in broken terrain and messy post-disaster environments.

[0026] 4. High safety: The folding waterproof curtain and explosion-proof curtain equipped with the equipment can provide protection in dangerous environments such as floods and explosions. At the same time, the safety railings on the multi-functional folding work platform also improve the safety of operators.

[0027] 5. Real-time monitoring and adjustment: During the repair process, the perception module continuously monitors the working environment and structural changes, and the intelligent control module adjusts the repair strategy in real time to ensure the smooth progress of the repair work.

[0028] 6. Rapid deployment and withdrawal: The equipment of the present invention can be quickly deployed to the target location and quickly withdrawn after completing the task, which greatly shortens the time for emergency repairs and improves the efficiency of emergency response.

[0029] The equipment of the present invention can automatically adapt to complex terrain, perform many tasks such as demolition, support, monitoring and repair, and realize real-time risk assessment and intelligent early warning. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Attached Figure 1 It is a schematic diagram of the structure of the present invention;

[0031] Attached Figure 2 For attachment Figure 1 A schematic diagram of a sectional structure in the direction of 1-1;

[0032] Attached Figure 3 For attachment Figure 1 A 2-2 sectional structural schematic diagram;

[0033] Attached Figure 4 This is a schematic diagram of the climbing track installation structure;

[0034] Attached Figure 5 This is a schematic diagram of the lifting tire installation structure;

[0035] Attached Figure 6 This is a schematic diagram of the perception module structure;

[0036] Attached Figure 7 This is a flowchart of the intelligent decision-making system. DETAILED DESCRIPTION

[0037] As attached Figure 1 As shown, the present invention is an integrated intelligent emergency equipment for underground space "prevention-breakage-installation", where "prevention-breakage-installation" is the abbreviation of "protection-breakage-installation", and the equipment includes a walking and deployable device 1, a sensing module 4 and an intelligent control module 5 arranged in the walking and deployable device 1, and a breakage device 2 and an installation device 3 arranged on the top of the walking and deployable device 1, and the breakage device 2 and the installation device 3 are arranged adjacent to each other.

[0038] As attached Figure 2 , 3As shown, the walking and deployable device 1 of the present invention includes a support leg 101, a crawler 102, a lifting tire 103, a telescopic component 104, a multifunctional folding work platform 105, a folding waterproof curtain 106 that is quickly deployed to block water flow, a folding explosion-proof curtain 107 that provides protection against explosive hazardous environments, a lifting and deployable hydraulic drive 108, a cushion beam 109 and a connecting component 110; the telescopic component 104 is arranged horizontally and longitudinally between the support legs 101, and 2 layers, 3 layers or as needed are arranged at different heights.

[0039] Specifically: there are several legs 101 and they are arranged at intervals in a square shape as a whole. The track 102 is arranged at the bottom of the leg 101. The lifting tire 103 is connected to the leg 101 through a rectangular bracket. The lifting tire 103 is arranged on both sides of the track 102. The cushion beam 109 is installed on the top of the leg 101. The telescopic components 104 are arranged between the legs 101 at intervals or up and down. The telescopic components 104 and the telescopic components 104 and the cushion beam 109 are connected by a connecting component 110. The multifunctional folding work platform 105 is arranged above the telescopic component 104 and connected by bolts. The folding waterproof curtain 106 and the folding explosion-proof curtain 107 are both arranged on the outside of the leg 101.

[0040] As attached Figure 4 , 5 As shown, the support leg 101 of the present invention is a rectangular steel box structure or H-shaped steel; the crawler 102 includes a crawler frame 123, a crawler tire 122 installed on the crawler frame 123, and a crawler 121 installed on the crawler tire 122; the crawler frame 123 is fixedly connected to the bottom of the support leg 101; the crawler 121 is made of wear-resistant rubber or metal material to improve durability and grip; the crawler frame 123 is made of steel or aluminum alloy material to ensure the firmness and durability of the structure. The lifting tire 103 includes a rectangular bracket connected to the support leg 101, a tire telescopic assembly 132 installed at the bottom of the rectangular bracket, and a tire 131 connected to the tire telescopic assembly 132; the tire telescopic assembly 132 is connected to the lifting and deployable hydraulic drive 108 to adjust the vertical height of the lifting tire 103; the telescopic assembly 104 is composed of a steel box structure welded by steel plates, and a telescopic sliding connecting rod is provided in the middle. The telescopic assembly 104 is connected to the lifting and deployable hydraulic drive 108 and adjusts the horizontal and vertical spacing of the support leg 101; the multifunctional folding work platform 105 includes a folding bracket 151 located above the telescopic assembly and a safety railing 152 arranged on the edge of the folding bracket 151 to prevent people from falling. The folding bracket 151 is connected to the telescopic assembly 104 through a connecting assembly 110;

[0041] The material of the folding waterproof curtain 106 is PVC or rubber-coated cloth, etc., which has good waterproof performance;

[0042] The folding waterproof curtain 107 is made of flame retardant material or explosion-proof material to provide effective protection in a rock burst hazardous environment; the folding waterproof curtain 107 and the folding waterproof curtain 106 are both connected to the support leg 101 by bolts.

[0043] The lifting and expandable hydraulic drive 108 includes an expandable hydraulic pump and an expandable hydraulic cylinder. The expandable hydraulic pump converts mechanical energy into hydraulic energy and increases the liquid pressure to a required level. The expandable hydraulic cylinder is used to convert hydraulic energy into mechanical energy to drive the actuator to move or perform specific tasks.

[0044] The cushion beam 109 is composed of H-shaped steel, welded to the top of the leg 101, and located above the telescopic assembly 104, for supporting the demolition device 2 and the installation device 3;

[0045] The connection assembly 110 is welded from section steel or H-shaped steel, and the connection assembly 110, the telescopic assembly 104, and the top cushion beam 109 are all welded.

[0046] As attached Figure 1 , 2 As shown, the demolition device 2 of the present invention includes a sliding rail A201 installed on the top surface of the cushion beam 109, a demolition base 202 slidably installed on the sliding rail A201, a demolition hydraulic drive 206 installed on the demolition base 202, a demolition mechanical arm 203 installed on the demolition hydraulic drive 206, a disassembly tool conversion interface 204 installed at the end of the demolition mechanical arm 203, and a disassembly head 205 installed on the disassembly tool conversion interface 204.

[0047] The sliding track A201 is an I-beam, which is fixed to the cushion beam 109 by bolts or welding; the demolition base 202 is assembled from horizontal and vertical I-beams or H-shaped steels, and the H-shaped sliding block A221 installed at the bottom slides with the sliding track A201 to realize the sliding of the demolition base 202.

[0048] The demolition robot arm 203 is composed of connecting rods, and the length and number of arm segments can be adjusted as needed to achieve different working ranges and load requirements.

[0049] The disassembly tool conversion interface 204 is a hollow annular steel plate, which is connected to the demolition robot arm 203 by bolts or welding.

[0050] The disassembly head 205 includes but is not limited to a water drill, a bucket, a grab, a disk saw, a breaker pick, a chain saw and other types, which are connected to the disassembly tool conversion interface 204 by bolts and can be replaced according to on-site requirements. The disassembly head 205 is connected to the demolition hydraulic drive 206 by a pipeline, thereby realizing the power supply of the disassembly head 205.

[0051] The rescue hydraulic drive 206 includes a rescue hydraulic pump, a rescue hydraulic cylinder, a rescue control valve and a rescue oil storage tank, all of which are commercially available.

[0052] As attached Figure 3 As shown, the installation device 3 of the present invention comprises a sliding track B301 installed on the top surface of the cushion beam 109, a mounting base 302 slidably mounted on the sliding track B301, and a lifting mechanical arm 303 and a driving assembly 304 installed on the mounting base 302;

[0053] The lifting mechanical arm 303 includes a vertical support arm 331 fixedly mounted on the mounting base 302 and a transverse support arm 332 rotatably mounted on the top of the vertical support arm 331 . The transverse support arm 332 is connected to the driving assembly 304 through a pipeline, thereby realizing power supply for the transverse support arm 332 .

[0054] As attached Figure 6 As shown, the perception module 4 of the present invention includes a video monitoring device 401, an environmental monitoring device 402 and a structural monitoring device 403 installed on the multifunctional folding work platform 105 of the middle layer; the video monitoring device 401, the environmental monitoring device 402 and the structural monitoring device 403 are all wirelessly connected to the intelligent control module 5;

[0055] The video monitoring device 401 includes a stereo vision camera 411, a laser scanner LiDAR 412 and a structured light scanner 413; the environmental monitoring device 402 includes a temperature sensor 421, a humidity sensor 422, an air quality sensor 423, a light intensity sensor 424 and a gas concentration sensor 425; the structural monitoring device 403 includes a strain sensor 431, a crack meter 432, an inclinometer 433 and a rangefinder 434.

[0056] As attached Figure 7As shown, the intelligent control module 5 of the present invention includes an intelligent decision-making system 501 installed on the multifunctional folding work platform 105 in the middle layer; the intelligent decision-making system 501 is wirelessly connected to the video monitoring device 401, the environmental monitoring device 402, the structural monitoring device 403 and the cross-platform integration system 404; the intelligent decision-making system 501 includes a data receiving and preprocessing module 511, a data analysis and modeling module 512, a decision-making and optimization module 513 and a decision execution and feedback module 514; the data receiving and preprocessing module 511 receives the raw data from the perception module 4 and other data sources, and performs preprocessing and cleaning to ensure the accuracy and consistency of the data; the preprocessing includes data denoising, calibration and data format conversion operations; for subsequent analysis and processing; data analysis and modeling Model module 512 uses machine learning and statistical analysis techniques to analyze the pre-processed data, establish data models, and identify patterns, trends and laws in the data; these models and algorithms can be used to predict future situations, identify abnormal behaviors, optimize decisions, etc.; decision-making and optimization module 513 formulates specific decision-making plans based on the results of data analysis and pre-set strategies, and optimizes and evaluates these plans; decisions can involve task allocation, path planning, resource scheduling and other aspects, aiming to achieve efficient operation of the system and achieve goals; decision execution and feedback module 514 converts the formulated decision plans into actual actions, and monitors the situation and results during the execution process, including control algorithms, actuator control interfaces and other components, which are used to guide the movement of the robotic arm, adjust environmental parameters and other operations.

[0057] The application method of the underground space "anti-breakage-installation" integrated intelligent emergency equipment of the present invention adopts the following steps:

[0058] S1, deployment and start-up, start the walking and deployable device 1, the telescopic component 104 adjusts the distance between the legs 101, the legs 101 are unfolded to form a stable base, and the legs 101 are moved to the target position through the crawler 102 or the lifting tire 103; the multifunctional folding work platform 105 is folded and unfolded according to the on-site space to form an operating area, and then the folding waterproof curtain 106 and the folding explosion-proof curtain 107 are opened;

[0059] S2, perception and assessment, through the video monitoring device 401, environmental monitoring device 402 and structural monitoring device 403, collect the disaster environment and structural data, transmit the data to the intelligent decision-making system 501 for data analysis and damage assessment, and formulate a preliminary emergency repair strategy;

[0060] S3, 3D reconstruction, using the collected data, generates a 3D model of the damaged structure through the data analysis and modeling module 512 in the intelligent decision-making system 501, providing visual support for subsequent emergency repair operations;

[0061] S4, decision-making and planning, based on the three-dimensional model and damage assessment, the intelligent decision-making system 501 comprehensively considers resources, timeliness and safety factors, and formulates a detailed emergency repair strategy and action plan;

[0062] S5, perform emergency repairs, start the demolition device 2 and the installation device 3, the demolition robot arm 203 and the lifting robot arm 303 cooperate to perform, replace the corresponding disassembly head 205 as needed and perform specific tasks, such as clearing obstacles, dismantling unstable structures, etc.; install and reinforce the lifting robot arm 303 to ensure the safety of the structure;

[0063] S6, real-time monitoring and adjustment. During the repair, the perception module 4 continues to collect data on the working environment and structural changes. The intelligent control module 5 monitors the task progress and the repair effect, and adjusts the repair strategy in real time to deal with newly discovered problems or changes.

[0064] S7, end of operation and withdrawal, after completing all set tasks, close all operating modules, withdraw the folding waterproof curtain 106 and the folding explosion-proof curtain 107, retract the working platform and the mechanical arm, and move the equipment out of the working area through the walking and deployable device 1.

[0065] The present invention integrates the functions of demolition, installation and monitoring, and can cover the entire process of emergency repair, thereby effectively responding to various situations in underground spaces after disasters, such as rapid passage, obstacle removal, temporary support and safety monitoring.

[0066] The perception module and intelligent control module of the present invention can automatically collect and analyze data, perform three-dimensional reconstruction and decision optimization, reduce dependence on manpower, and improve the efficiency and accuracy of emergency response.

[0067] The present invention ensures the passability and operational feasibility in various complex and narrow spaces through the walking and deployable device that uses both lifting tires and tracks; it has a strong obstacle-crossing ability and can cope with a maximum obstacle height of more than 30 cm, and an obstacle width that can adapt to obstacles of at least 50 cm. It can be flexibly deployed and moved in complex and changeable underground environments, and can adapt to different complex and narrow space conditions and operational requirements, ensuring that the equipment can still maintain smooth movement in broken terrain and messy post-disaster environments.

[0068] The folding waterproof curtain and explosion-proof curtain of the present invention can provide protection in dangerous environments such as floods and explosions. At the same time, the safety railings on the multifunctional folding work platform also improve the safety of operators. During the repair process, the perception module continuously monitors the working environment and structural changes, and the intelligent control module adjusts the repair strategy in real time to ensure the smooth progress of the repair work.

[0069] The equipment of the present invention can be quickly deployed to the target location and quickly withdrawn after completing the task, which greatly shortens the time for emergency repair and improves the efficiency of emergency response. The equipment of the present invention can automatically adapt to complex terrain, perform many tasks such as demolition, support, monitoring and repair, and realize real-time risk assessment and intelligent early warning.

[0070] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An integrated intelligent emergency equipment for underground space "prevention, destruction and installation", characterized in that: The device comprises a walking and deployable device (1), a sensing module (4) and an intelligent control module (5) arranged in the walking and deployable device (1), and a dismantling device (2) and an installation device (3) arranged on the top of the walking and deployable device (1), wherein the dismantling device (2) and the installation device (3) are arranged adjacent to each other.

2. The underground space "anti-breakage-installation" integrated intelligent emergency equipment according to claim 1, characterized in that: The walking and deployable device (1) comprises a support leg (101), a crawler (102), a lifting tire (103), a telescopic assembly (104), a multifunctional folding work platform (105), a folding waterproof curtain (106) that is quickly deployed to block water flow, a folding explosion-proof curtain (107) that provides protection against explosive hazardous environments, a lifting and deployable hydraulic drive (108), a cushion beam (109) and a connecting assembly (110); the telescopic assembly (104) is arranged between the support legs (101) in the transverse and longitudinal directions; The legs (101) are multiple and are arranged at intervals in a square shape as a whole. The crawler (102) is arranged at the bottom of the legs (101). The lifting tire (103) is connected to the legs (101) through a rectangular bracket. The lifting tire (103) is arranged on both sides of the crawler (102). The cushion beam (109) is installed on the top of the legs (101). The telescopic components (104) are arranged between the legs (101) at intervals or up and down. The telescopic components (104) and the telescopic components (104) and the cushion beam (109) are connected by a connecting component (110). The multifunctional folding work platform (105) is arranged above the telescopic component (104) and is connected by bolts. The folding waterproof curtain (106) and the folding explosion-proof curtain (107) are both arranged on the outside of the legs (101).

3. The underground space "anti-breakage-installation" integrated intelligent emergency equipment according to claim 2 is characterized in that: The demolition device (2) comprises a sliding track A (201) mounted on the top surface of a cushion beam (109), a demolition base (202) slidably mounted on the sliding track A (201), a demolition hydraulic drive (206) mounted on the demolition base (202), a demolition mechanical arm (203) mounted on the demolition hydraulic drive (206), a disassembly tool conversion interface (204) mounted at the end of the demolition mechanical arm (203), and a disassembly head (205) mounted on the disassembly tool conversion interface (204).

4. The underground space "anti-breakage-installation" integrated intelligent emergency equipment according to claim 2, characterized in that: The installation device (3) comprises a sliding track B (301) installed on the top surface of the cushion beam (109), a mounting base (302) slidably mounted on the sliding track B (301), and a lifting mechanical arm (303) and a driving assembly (304) installed on the mounting base (302); The lifting mechanical arm (303) comprises a vertical support arm (331) fixedly mounted on the mounting base (302) and a transverse support arm (332) rotatably mounted on the top of the vertical support arm (331), and the transverse support arm (332) is connected to the driving assembly (304).

5. The underground space "anti-breakage-installation" integrated intelligent emergency equipment according to claim 2, characterized in that: The perception module (4) comprises a video monitoring device (401), an environment monitoring device (402) and a structure monitoring device (403) installed on the multifunctional folding work platform (105) at the middle layer; the video monitoring device (401), the environment monitoring device (402) and the structure monitoring device (403) are all wirelessly connected to the intelligent control module (5); The video monitoring device (401) comprises a stereoscopic vision camera (411), a laser scanner (412) and / or a structured light scanner (413); The environment monitoring device (402) includes a temperature sensor (421), a humidity sensor (422), an air quality sensor (423), a light intensity sensor (424) and / or a gas concentration sensor (425); The structural monitoring device (403) includes a strain sensor (431), a crack meter (432), an inclinometer (433) and / or a distance meter (434).

6. The underground space "anti-breakage-installation" integrated intelligent emergency equipment according to claim 5, characterized in that: The intelligent control module (5) comprises an intelligent decision-making system (501) installed on the multifunctional folding operation platform (105) of the middle layer; the intelligent decision-making system (501) is wirelessly connected to the video monitoring device (401), the environmental monitoring device (402) and the structural monitoring device (403); The intelligent decision-making system (501) comprises a data receiving and preprocessing module (511), a data analysis and modeling module (512), a decision-making and optimization module (513), and a decision execution and feedback module (514); The data receiving and preprocessing module (511) receives the raw data from the sensing module (4) and other data sources, and performs preprocessing and cleaning to ensure the accuracy and consistency of the data; the preprocessing includes data denoising, calibration and data format conversion operations; The data analysis and modeling module (512) uses machine learning and statistical analysis techniques to analyze the preprocessed data, build a data model, and identify patterns, trends, and regularities in the data; The decision-making and optimization module (513) formulates specific decision-making plans based on the results of data analysis and pre-set strategies, and optimizes and evaluates these plans; The decision execution and feedback module (514) converts the formulated decision plan into actual action and monitors the situation and results during the execution process.

7. The underground space "anti-breakage-installation" integrated intelligent emergency equipment according to claim 2, characterized in that: The supporting legs (101) are rectangular steel box structures or H-shaped steel; The crawler (102) comprises a crawler frame (123), a crawler tire (122) mounted on the crawler frame (123), and a crawler (121) mounted on the crawler tire (122); the crawler frame (123) is fixedly connected to the bottom of the support leg (101); The lifting tire (103) comprises a rectangular bracket connected to the supporting leg (101), a tire telescopic assembly (132) installed at the bottom of the rectangular bracket, and a tire (131) connected to the tire telescopic assembly (132); The tire telescopic assembly (132) is connected to the lifting and deployable hydraulic drive (108), and the telescopic assembly (104) is connected to the lifting and deployable hydraulic drive (108) to adjust the horizontal and vertical spacing of the legs (101); The multifunctional folding work platform (105) comprises a folding bracket (151) arranged above the telescopic component (104) and a safety railing (152) arranged at the edge of the folding bracket (151); The lifting and deployable hydraulic drive (108) includes an deployable hydraulic pump, an deployable hydraulic cylinder, an deployable control valve and an deployable oil storage tank; The cushion beam (109) is composed of H-shaped steel, welded to the top of the support leg (101), and located above the telescopic assembly (104), and is used to support the demolition device (2) and the installation device (3); The connection assembly (110) is welded from section steel or H-shaped steel, and is connected to the support leg (101) and the top cushion beam (109) by welding.

8. An application method of underground space "anti-breakage-installation" integrated intelligent emergency equipment, characterized in that: Use the following steps: S1, deployment and start-up, start the walking and deployable device (1), the telescopic component (104) adjusts the distance between the legs (101), the legs (101) are unfolded to form a stable base, and the crawler (102) or the lifting tire (103) are used to move to the target position; The multifunctional folding operation platform (105) is folded and unfolded according to the on-site space to form an operation area, and then the folding waterproof curtain (106) and the folding explosion-proof curtain (107) are opened; S2, perception and assessment, through the video monitoring device (401), environmental monitoring device (402) and structural monitoring device (403), collect the disaster environment and structural data, transmit the data to the intelligent decision-making system (501) for data analysis and damage assessment, and formulate a preliminary emergency repair strategy; S3, 3D reconstruction, using the collected data, through the data analysis and modeling module (512) Generate a 3D model of the damaged structure; S4, decision-making and planning, based on the three-dimensional model and damage assessment, the intelligent decision-making system (501) comprehensively considers resources, timeliness and safety factors to formulate a detailed emergency repair strategy and action plan; S5, perform emergency repairs, start the demolition device (2) and the installation device (3), the demolition mechanical arm (203) and the lifting mechanical arm (303) cooperate to perform, replace the corresponding disassembly head (205) as needed and perform specific tasks, and perform installation and reinforcement operations through the lifting mechanical arm (303) to ensure structural safety; S6, real-time monitoring and adjustment. During the repair, the perception module (4) continues to collect data on the working environment and structural changes, and the intelligent control module (5) monitors the task progress and repair effect, and adjusts the repair strategy in real time to deal with newly discovered problems or changes; S7, end of operation and withdrawal: after completing all set tasks, close all operating modules, withdraw the folding waterproof curtain (106) and the folding explosion-proof curtain (107), retract the working platform and the mechanical arm, and move the equipment out of the working area through the walking and deployable device (1).

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