Tunnel fire extinguishing robot emergency command system and use method

Abstract

The invention discloses a tunnel fire extinguishing robot emergency command system and a use method. The system comprises an inspection robot, a fire extinguishing robot, a visual command center, an industrial internet platform and corollary equipment. The inspection robot is in communication connection with the visual command center through the industrial internet platform; the visual command center is provided with a dispatching module for dispatching the fire extinguishing robot and a navigation module; and the fire extinguishing robot is in communication connection with the visual command center through the industrial internet platform. A high-definition infrared camera, multiple types of sensors and a laser scanner are carried, and conditions in a tunnel are monitored in real time; an automatic fire extinguishing device is carried, and the fire spraying angle can be adjusted through remote control for accurate fire extinguishing; by analyzing monitoring data and alarm information, the robot can be remotely commanded to perform emergency response; the system can upload monitoring data and transmit instructions of the command center to the fire extinguishing robot in real time.

Description

Technical Field

[0001] The present invention relates to the field of intelligent transportation technology, and in particular to a tunnel fire-fighting robot emergency command system and a use method thereof. Background Art

[0002] With the rapid development of my country's transportation infrastructure construction, the importance of highway tunnels in transportation has become increasingly prominent. However, once a fire accident occurs in a highway tunnel, evacuation is difficult and the harm is great. At present, the existing highway tunnel monitoring system has certain limitations. It mainly relies on manual remote monitoring and has a slow response speed. In addition, the fire extinguishing work in the tunnel needs to be done manually, which is inefficient and poses safety risks.

[0003] In order to improve the fire safety level of highway tunnels, it is necessary to develop an intelligent emergency command system that can achieve rapid response and efficient fire extinguishing to fires in tunnels and ensure the safe operation of tunnels. Summary of the invention

[0004] The purpose of the present invention is to provide a tunnel fire-fighting robot emergency command system and a method of use to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A tunnel fire-fighting robot emergency command system, the system comprising:

[0007] Inspection robots, fire-fighting robots, visual command centers, industrial Internet platforms, and supporting equipment;

[0008] The inspection robot is connected to the visualization command center through the industrial Internet platform;

[0009] The visual command center is provided with a dispatching module and a navigation module for dispatching the fire-fighting robot;

[0010] The fire-fighting robot is connected to the visualization command center through the industrial Internet platform;

[0011] The supporting equipment is connected to the inspection robot and the fire-fighting robot respectively.

[0012] Furthermore, the supporting equipment includes communication equipment and power supply equipment.

[0013] Furthermore, the inspection robot is equipped with a high-definition infrared camera, a sensor and a laser scanner.

[0014] Furthermore, the high-definition infrared camera, sensor, and laser scanner are connected to the industrial Internet platform via communication equipment, and the inspection robot is connected to the power supply equipment.

[0015] Furthermore, the fire-fighting robot is equipped with a fire extinguisher, the fire-fighting robot is connected to the industrial Internet platform via a communication device, and the fire-fighting machine is connected to a power supply device.

[0016] Furthermore, the visual command center is equipped with a display screen, an operating console and an audible and visual alarm system.

[0017] Furthermore, the industrial Internet platform is provided with a data processing module and a data analysis module.

[0018] A method for using a tunnel fire-fighting robot emergency command system comprises the following steps:

[0019] 1) Image recognition and positioning: The high-definition infrared camera in the system is used to photograph and identify the fire source in the tunnel to determine the location and size of the fire source;

[0020] 2) Firefighting robot dispatch: Based on the image recognition results, the visual command center in the system automatically dispatches the firefighting robot closest to the fire source through the dispatch module to locate and extinguish the fire;

[0021] 3) Firefighting robot navigation: The navigation module in the system plans the navigation path for the firefighting robot and guides it to the fire source quickly and accurately;

[0022] 4) Fire extinguishing: After the fire extinguishing robot reaches the fire source, the system controls it to perform fire extinguishing operations;

[0023] 5) Status monitoring: The status monitoring module in the system monitors the fire source status and fire extinguishing effect in real time, and feeds the information back to the scheduling module;

[0024] 6) Command and dispatch: The command and dispatch module in the system dispatches fire-fighting resources and makes command decisions based on the fire source status and fire-fighting effect;

[0025] 7) Visual display: The visual display module in the system displays the location of the fire source, fire-fighting robots and command and dispatch information in real time, providing intuitive decision-making support for command personnel.

[0026] Furthermore, the image recognition in step 1) includes the following method:

[0027] Image acquisition: Use high-resolution, high-frame-rate cameras to capture the tunnel environment to ensure image clarity and real-time performance;

[0028] Image preprocessing: The collected images are preprocessed, including denoising, contrast enhancement, edge detection and other operations to improve the accuracy of subsequent image recognition;

[0029] Fire source identification: Through image processing algorithms, the fire source in the image is identified and segmented, and the location and shape information of the fire source is extracted;

[0030] Positioning: According to the location and shape information of the fire source, combined with the preset positioning rules, the specific location and size of the fire source are determined;

[0031] In the step 2), the scheduling module is provided with a scheduling algorithm, which adopts a genetic algorithm or an ant colony algorithm, and the visual command center obtains the position information of the fire-fighting robot in real time through sensors and positioning.

[0032] Furthermore, in step 3), the navigation module uses AI algorithm and Dijkstra algorithm to plan the path, combines the tunnel map and obstacle information, plans the optimal navigation path for the fire-fighting robot, and realizes autonomous navigation through visual SLAM and laser SLAM;

[0033] In the step 4), a PID control algorithm is used to control the nozzle angle and spray amount of the fire extinguishing robot according to the size and location of the fire source, and the precise control of the nozzle and the spraying of the fire extinguishing agent are achieved through motor drive and mechanical arm control;

[0034] In the step 5), the temperature and smoke concentration of the fire source are monitored in real time by infrared, thermal imaging and other detection technologies;

[0035] In the step 6), multi-objective planning, dynamic planning and other algorithms are used to optimally allocate and schedule fire-fighting resources according to information such as the location of the fire source and the status of the fire-fighting robot.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] Equipped with high-definition infrared cameras, multiple types of sensors and laser scanners to monitor the situation in the tunnel in real time;

[0038] Equipped with an automatic fire extinguishing device, the fire spraying angle can be adjusted by remote control for precise fire extinguishing;

[0039] By analyzing monitoring data and alarm information, the robot can be remotely commanded to respond to emergencies;

[0040] The system can upload monitoring data and transmit the command center's instructions to the fire-fighting robot in real time. At the same time, the industrial Internet platform also has data processing and analysis functions, which can realize intelligent early warning and automatic response to fire accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a system block diagram of the present invention. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0043] Embodiment 1:

[0044] See also Figure 1 , the present invention provides a technical solution:

[0045] A tunnel fire-fighting robot emergency command system, the system comprising: an inspection robot, a fire-fighting robot, a visual command center, an industrial Internet platform, and supporting equipment. The inspection robot is connected to the visual command center through the industrial Internet platform, the visual command center is provided with a dispatching module and a navigation module for dispatching the fire-fighting robot, the fire-fighting robot is connected to the visual command center through the industrial Internet platform, and the supporting equipment is connected to the inspection robot and the fire-fighting robot respectively;

[0046] The inspection robot can collect various status information in the tunnel in real time, such as temperature, humidity, smoke, flame, etc., and upload the data to the visual command center through the industrial Internet platform.

[0047] The fire-fighting robot is equipped with automatic fire-fighting devices, such as high-pressure water guns and dry powder fire extinguishers. It can automatically adjust the angle and spray force of the fire-fighting device according to remote instructions or fire data uploaded by the inspection robot to carry out precise fire extinguishing.

[0048] The visual command center receives monitoring data and alarm information uploaded by the inspection robot through the industrial Internet platform, and conducts analysis and decision-making. It is equipped with a large display screen, an operating console, and an audible and visual alarm system. Operators can monitor the situation in the tunnel in real time and issue instructions through the remote console to command the fire-fighting robot to extinguish the fire;

[0049] The Industrial Internet platform is the information transmission and data processing center of the entire system. It is responsible for transmitting the monitoring data uploaded by the inspection robot to the visual command center in real time, and passing the command center's instructions to the fire-fighting robot in real time. The Industrial Internet platform also has data processing and analysis functions, which can realize intelligent early warning and automatic response to fire accidents;

[0050] Supporting equipment includes communication equipment, power supply equipment, etc., which provide necessary communication and power support for inspection robots and fire-fighting robots.

[0051] Embodiment 2:

[0052] The present invention provides a method for using a tunnel fire-fighting robot emergency command system, comprising the following steps:

[0053] 1) Image recognition and positioning: The high-definition infrared camera in the system is used to photograph and identify the fire source in the tunnel to determine the location and size of the fire source;

[0054] The image acquisition uses a high-resolution, high-frame-rate camera to capture the environment inside the tunnel to ensure image clarity and real-time performance. The acquired images are preprocessed during image preprocessing, including denoising, contrast enhancement, edge detection and other operations to improve the accuracy of subsequent image recognition. When identifying the fire source, the image processing algorithm is used to identify and segment the fire source in the image, and the location and shape information of the fire source is extracted. When positioning, the specific location and size of the fire source are determined based on the location and shape information of the fire source and the preset positioning rules.

[0055] 2) Firefighting robot dispatch: Based on the image recognition results, the visual command center in the system automatically dispatches the firefighting robot closest to the fire source through the dispatch module to locate and extinguish the fire;

[0056] The scheduling algorithm adopts intelligent scheduling algorithms such as genetic algorithm and ant colony algorithm. It calculates the optimal scheduling plan according to the real-time position of the fire-fighting robot and the location of the fire source. When positioning the robot, it uses sensors and positioning technologies such as GPS and lidar to obtain the location information of the fire-fighting robot in real time.

[0057] 3) Firefighting robot navigation: The navigation module in the system plans the navigation path for the firefighting robot and guides it to the fire source quickly and accurately;

[0058] The navigation algorithm uses path planning algorithms such as AI algorithm and Dijkstra algorithm, combined with tunnel map and obstacle information, to plan the optimal navigation path for the fire-fighting robot. When the robot is guided, sensors and navigation technologies such as visual SLAM and laser SLAM are used to achieve autonomous navigation of the fire-fighting robot.

[0059] 4) Fire extinguishing: After the fire extinguishing robot reaches the fire source, the system controls it to perform fire extinguishing operations;

[0060] The control system adopts PID control algorithm to control the nozzle angle and spray volume of the fire extinguishing robot according to the size and location of the fire source. Through motor drive and robotic arm control, precise control of the nozzle and spraying of fire extinguishing agent can be achieved.

[0061] 5) Status monitoring: The status monitoring module in the system monitors the fire source status and fire extinguishing effect in real time, and feeds back the information to the dispatch module. It uses image recognition and machine learning algorithms to evaluate the fire extinguishing effect, such as flame size, smoke density, etc. The visual display module in the system displays the fire source location, fire extinguishing robot and command and dispatch information in real time, providing intuitive decision support for commanders.

[0062] 6) Command and dispatch: The command and dispatch module in the system dispatches fire-fighting resources and makes command decisions based on the fire source status and fire-fighting effect. It monitors the temperature and smoke concentration of the fire source in real time through infrared, thermal imaging and other detection technologies. It adopts multi-objective planning, dynamic planning and other algorithms to optimally allocate and dispatch fire-fighting resources based on information such as the fire source location and the status of the fire-fighting robot. It assists commanders in making decisions through expert systems, rule engines and other technologies.

[0063] Step 7) Visual display: The visual display module in the system displays the location of the fire source, the fire-fighting robot and the command and dispatch information in real time, providing intuitive decision-making support for the commanders. It uses 3D modeling, virtual reality and other technologies to build a three-dimensional model of the tunnel and the fire source, and realizes the visual display of the fire-fighting robot and command information. Through touch screens, gesture recognition and other technologies, the commanders can interact with the visual interface.

[0064] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A tunnel fire-fighting robot emergency command system, characterized in that: The system includes: Inspection robots, fire-fighting robots, visual command centers, industrial Internet platforms, and supporting equipment; The inspection robot is connected to the visualization command center through the industrial Internet platform; The visual command center is provided with a dispatching module and a navigation module for dispatching the fire-fighting robot; The fire-fighting robot is connected to the visualization command center through the industrial Internet platform; The supporting equipment is connected to the inspection robot and the fire-fighting robot respectively.

2. The tunnel fire-fighting robot emergency command system according to claim 1, characterized in that: The supporting equipment includes communication equipment and power supply equipment.

3. The tunnel fire-fighting robot emergency command system according to claim 2 is characterized in that: The inspection robot is equipped with a high-definition infrared camera, a sensor and a laser scanner.

4. The tunnel fire-fighting robot emergency command system according to claim 3 is characterized in that: The high-definition infrared camera, sensor, and laser scanner are connected to the industrial Internet platform via communication equipment, and the inspection robot is connected to the power supply equipment.

5. The tunnel fire-fighting robot emergency command system according to claim 4, characterized in that: The fire-fighting robot is equipped with a fire extinguisher, the fire-fighting robot is connected to the industrial Internet platform via a communication device, and the fire-fighting machine is connected to a power supply device.

6. The tunnel fire-fighting robot emergency command system according to claim 5, characterized in that: The visual command center is equipped with a display screen, an operating console and an audible and visual alarm system.

7. The tunnel fire-fighting robot emergency command system according to claim 6, characterized in that: The industrial Internet platform is provided with a data processing module and a data analysis module.

8. The method for using the tunnel fire-fighting robot emergency command system according to claim 7, characterized in that: The following steps are involved: 1) Image recognition and positioning: The high-definition infrared camera in the system is used to photograph and identify the fire source in the tunnel to determine the location and size of the fire source; 2) Firefighting robot dispatch: Based on the image recognition results, the visual command center in the system automatically dispatches the firefighting robot closest to the fire source through the dispatch module to locate and extinguish the fire; 3) Firefighting robot navigation: The navigation module in the system plans the navigation path for the firefighting robot and guides it to the fire source quickly and accurately; 4) Fire extinguishing: After the fire extinguishing robot reaches the fire source, the system controls it to perform fire extinguishing operations; 5) Status monitoring: The status monitoring module in the system monitors the fire source status and fire extinguishing effect in real time, and feeds the information back to the scheduling module; 6) Command and dispatch: The command and dispatch module in the system dispatches fire-fighting resources and makes command decisions based on the fire source status and fire-fighting effect; 7) Visual display: The visual display module in the system displays the location of the fire source, fire-fighting robots and command and dispatch information in real time, providing intuitive decision-making support for command personnel.

9. The method for using the tunnel fire-fighting robot emergency command system according to claim 1, characterized in that: The image recognition in step 1) includes the following methods: Image acquisition: Use high-resolution, high-frame-rate cameras to capture the tunnel environment to ensure image clarity and real-time performance; Image preprocessing: The collected images are preprocessed, including denoising, contrast enhancement, edge detection and other operations to improve the accuracy of subsequent image recognition; Fire source identification: Through image processing algorithms, the fire source in the image is identified and segmented, and the location and shape information of the fire source is extracted; Positioning: According to the location and shape information of the fire source, combined with the preset positioning rules, the specific location and size of the fire source are determined; In the step 2), the scheduling module is provided with a scheduling algorithm, which adopts a genetic algorithm or an ant colony algorithm, and the visual command center obtains the position information of the fire-fighting robot in real time through sensors and positioning.

10. The method for using the tunnel fire-fighting robot emergency command system according to claim 1, characterized in that: In the step 3), the navigation module uses AI algorithm and Dijkstra algorithm to plan the path, combines the tunnel map and obstacle information, plans the optimal navigation path for the fire-fighting robot, and realizes autonomous navigation through visual SLAM and laser SLAM; In the step 4), a PID control algorithm is used to control the nozzle angle and spray amount of the fire extinguishing robot according to the size and location of the fire source, and the precise control of the nozzle and the spraying of the fire extinguishing agent are achieved through motor drive and mechanical arm control; In the step 5), the temperature and smoke concentration of the fire source are monitored in real time by infrared, thermal imaging and other detection technologies; In the step 6), multi-objective planning, dynamic planning and other algorithms are used to optimally allocate and schedule fire-fighting resources according to information such as the location of the fire source and the status of the fire-fighting robot.

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