Dangerous situation scene monitoring and early warning system based on smart building

Abstract

The invention relates to the technical field of building safety management, in particular to a dangerous situation scene monitoring and early warning system based on a smart building, and the system comprises a planning module which is used for planning an internal inspection path of the building and importing the internal inspection path of the building into an inspection robot; the acquisition module is used for controlling environment sensing equipment carried on the inspection robot to operate and acquiring environment information of a scene in a building where the inspection robot is located currently based on the environment sensing equipment; the AI robot arranged in the smart building is used as a main body, and the AI robot circularly and comprehensively monitors and senses the internal environment of the building in the process of moving in the building by configuring the inspection path for the AI robot, deploying the environment sensing equipment on the AI robot and configuring the operation logic; furthermore, based on the set environment safety judgment and prediction logic, warning is triggered and interaction is carried out with the user at the building management end, so that the safety of the internal environment of the building is effectively guaranteed for a long time.

Description

Technical Field

[0001] The present invention relates to the technical field of building safety management, and particularly relates to a dangerous situation scenario monitoring and early warning system based on intelligent buildings. Background Art

[0002] For the fire management of intelligent buildings, with the help of cutting-edge technologies such as the Internet of Things, big data, and artificial intelligence, real-time monitoring of fire-fighting facilities, intelligent early warning of fire hazards, and efficient allocation of fire-fighting resources are realized. The sensors sense anomalies such as smoke and temperature 24 hours a day, quickly alarm when problems are found, and can also accurately locate potential hazards based on data, helping building fire protection to shift from passive response to active prevention and control.

[0003] The invention patent application with the application number 202410821985.8 discloses an intelligent fire warning system, including a sensor and a camera device module, a data acquisition module, a fire judgment module, a risk early warning module, a linkage control module, and a communication module that are communicatively connected. The sensor and camera device module, data acquisition module, fire judgment module, risk early warning module, linkage control module, and communication module; the sensor and camera device module is used to monitor environmental parameters in real time, including temperature and smoke concentration, and capture real-time images when a fire occurs; the data acquisition module is used to receive data transmitted from the sensor and camera device module, and integrate and process the acquired data; the fire judgment module uses the collected environmental data and images, and through a preset fire recognition algorithm and model, judges and identifies the occurrence of a fire, and transmits the judgment information to the risk early warning module; the risk early warning module is used to evaluate the risk of a fire event, including providing a risk level assessment and an early warning plan; the linkage control module triggers corresponding emergency measures and equipment according to the output of the risk early warning module, including starting the automatic sprinkler system; the communication module is used to communicate and interact with external systems or personnel, including sending a fire early warning signal, contacting the fire brigade, and reporting the fire situation to relevant departments.

[0004] This application aims to solve the problem that "fire warning usually only triggers through smoke detectors. When the indoor smoke concentration is too high, whether it is fire smoke or not, the warning will be triggered. Therefore, only through smoke detectors, false alarms may occur. At the same time, traditional fire warnings do not have a complete warning system. When a fire warning information appears, the specific information of the fire is usually not known in time, and there is no warning plan formulated according to the fire information, making it impossible for relevant personnel to respond to the fire in time."

[0005] However, building fire protection not only includes fire situations, but also toxic gas leakage, earthquakes, etc. In the existing technology, when monitoring fire safety problems in buildings, most of the monitoring points are fixed. Therefore, the deployed monitoring and sensing devices are huge in size, which also leads to excessively high management, maintenance, and deployment costs of the monitoring and sensing devices, and the maintenance area is only limited to the deployment locations of the monitoring and sensing devices.

[0006] For this reason, a dangerous situation monitoring and warning system based on intelligent buildings is proposed. Summary of the Invention

[0007] In view of the above-mentioned disadvantages of the existing technology, the present invention provides a dangerous situation monitoring and warning system based on intelligent buildings, which solves the technical problems raised in the above-mentioned background technology.

[0008] To achieve the above objectives, the present invention is realized through the following technical solutions:

[0009] A dangerous situation monitoring and warning system based on intelligent buildings, including:

[0010] A planning module, used to plan the inspection path inside the building and import the inspection path inside the building into the inspection robot; a collection module, used to control the operation of the environmental sensing devices carried on the inspection robot, and collect the environmental information of the internal scene of the building where the inspection robot is currently located based on the environmental sensing devices; an alarm module, used to receive in real time the environmental information of the internal scene of the building collected by the operation of the collection module, and make a decision whether to trigger an alarm based on the comparison of the environmental information with the preset safety range; a prediction module, used to predict the areas with risks inside the building; an interaction module, used to receive the risk areas predicted in the prediction module and feedback the risk areas to the building management users.

[0011] Furthermore, the inspection robot is a movable, conversable AI robot equipped with environmental sensing devices, and the environmental sensing devices carried on the inspection robot include: an integrated temperature sensor, humidity sensor, smoke sensor, infrared flame sensor, and vibration sensor;

[0012] The planning module is provided with sub-modules at a lower level, including:

[0013] An upload unit, used to upload the internal position coordinates of the building;

[0014] A construction unit, used to receive the internal position coordinates of the building uploaded by the upload unit, and connect them in sequence according to the upload order of the internal position coordinates of the building to construct the inspection path inside the building;

[0015] After the building unit completes the construction of the internal inspection path of the building, it synchronously transmits the path to the planning module. After receiving the internal inspection path of the building, the planning module selects points on the internal inspection path of the building as the deployment points for the inspection robots.

[0016] Furthermore, the number of inspection robots configured on the internal inspection path of the building is user-defined by the system end-user. At the stage of selecting points on the internal inspection path of the building as the deployment points for the inspection robots, the corresponding number of points is selected based on the number of inspection robots.

[0017] After the internal inspection path of the building is imported into the inspection robots, a specified number of inspection robots are synchronously placed on the internal inspection path of the building. The current position coordinates and the coordinates of a deployment point for an inspection robot are synchronously input into the inspection robots. The inspection robots move based on the internal inspection path of the building and the current position coordinates to reach the coordinates of the deployment point for the inspection robots.

[0018] Among them, in the planning stage of the internal inspection path of the building, the starting point and the ending point of the internal inspection path of the building are connected, and the moving directions of all inspection robots are kept consistent. And the inspection robots only do not follow the set moving direction when moving from the internal inspection path of the building and the current position coordinates to the coordinates of the deployment point, and select the direction close to the coordinates of the deployment point to execute the moving action.

[0019] Furthermore, the number of inspection robots configured on the internal inspection path of the building is user-defined by the system end-user. At the stage of selecting points on the internal inspection path of the building as the deployment points for the inspection robots, the corresponding number of points is selected based on the number of inspection robots.

[0020] After the internal inspection path of the building is imported into the inspection robots, a specified number of inspection robots are synchronously placed on the internal inspection path of the building. The current position coordinates and the coordinates of a deployment point for an inspection robot are synchronously input into the inspection robots. The inspection robots move based on the internal inspection path of the building and the current position coordinates to reach the coordinates of the deployment point for the inspection robots.

[0021] Among them, in the planning stage of the internal inspection path of the building, the starting point and the ending point of the internal inspection path of the building are connected, and the moving directions of all inspection robots are kept consistent. And the inspection robots only do not follow the set moving direction when moving from the internal inspection path of the building and the current position coordinates to the coordinates of the deployment point, and select the direction close to the coordinates of the deployment point to execute the moving action.

[0022] Furthermore, the running moving distance of the first application of the inspection robot is user-defined by the system end-user, and the update of the running moving distance follows:

[0023] Set safety intervals for the information sensed by the corresponding temperature sensor, humidity sensor, flue gas sensor, infrared flame sensor, and vibration sensor respectively;

[0024]

[0025] In the formula: ν is the reference value applied when the running moving distance is updated; (C min , C max ) is the temperature safety interval; (RH min , RH max ) is the humidity safety interval; (ρ min , ρ max ) is the flue gas content safety interval; (L min , L max ) is the infrared radiation wavelength safety interval; (P min , P max ) is the vibration signal amplitude safety interval; C MAX , RH MAX , ρ MAX , L MAX , P MAX are the maximum temperature value, humidity value, flue gas content value, infrared radiation wavelength value, and vibration signal amplitude continuously sensed based on the specified frequency during the stop time; d is the next running moving distance; d0 is the current running moving distance; α is a constant;

[0026] Among them, min(|Cmax - C MAX |, |Cmin - C MAX |) represents taking the minimum value within the brackets. The constant α is user-defined by the system end-user, and the constant α is used to control The value is within the range of (0, 2).

[0027] Furthermore, the environmental information collected by the acquisition module includes temperature value, humidity value, flue gas content value, infrared radiation wavelength value, and vibration signal amplitude. The safety intervals applied when the alarm module performs the comparison operation are (C min , C max ), (RH min , RH max ), (ρ min , ρ max ), (L min , L max ), (P min , P max );

[0028] Among them, the alarm module triggers an alarm when any environmental information meets the corresponding safety interval: the inspection robot broadcasts the preset alarm audio internally in a loop.

[0029] Furthermore, the face of the inspection robot always faces in the same direction as its moving direction on the inspection path inside the building;

[0030] The warning module is internally provided with sub - modules, including:

[0031] An identification unit, which is used to obtain the moving distances of the inspection robot in its two most recent runs when the warning is triggered, and identify the best evacuation direction based on the moving distances of the two runs;

[0032] Among them, the best evacuation directions include the direction the face of the inspection robot faces and the direction the back of the inspection robot faces. The moving distances of the two runs obtained by the identification unit are denoted as d1 and d2, where d2 represents the moving distance of the most recent run, d1 represents the previous run adjacent to d2, and d1 > d2, the direction the back of the inspection robot faces is the best evacuation direction; d1 < d2, the direction the face of the inspection robot faces is the best evacuation direction; when d1 = d2, the operation of the identification unit is refreshed.

[0033] Furthermore, the best evacuation direction is cyclically broadcast through the inspection robot in the form of audio synchronously with the warning audio.

[0034] Furthermore, the prediction logic for the area with risks inside the building in the prediction module is as follows:

[0035] Continuously monitor the moving distances of the inspection robot in its three most recent runs. When the moving distances of the three most recent runs continuously decrease, determine the position coordinates of both ends of the section where the moving distances of the three runs are located on the inspection path inside the building, and take the section on the inspection path inside the building with these two coordinates as the risk area;

[0036] The interaction module is connected to the mobile computer device held by the user of the building management terminal through a wireless network, and marks the risk area on the inspection path inside the building for the user of the building management terminal to read;

[0037] Among them, the operation of marking the risk area on the inspection path inside the building is to replace the line segment corresponding to the risk area section in the inspection path inside the building with a specified line shape different from the inspection path inside the building.

[0038] Furthermore, the lower - level of the planning module is connected to an upload unit and a construction unit through wireless network interaction. The planning module is connected to a collection module and a warning module through wireless network interaction. The warning module is internally connected to an identification unit through wireless network interaction. The warning module is connected to a prediction module and an interaction module through wireless network interaction.

[0039] Adopting the technical solution provided by the present invention, compared with the known public technology, it has the following beneficial effects:

[0040] The present invention provides a dangerous situation monitoring and warning system based on a smart building. During the operation of this system, with the AI robot set in the smart building as the main body, it provides fire safety management for the smart building. By configuring an inspection path for the AI robot, deploying environmental perception devices on the AI robot, and configuring the operation logic, the AI robot can cyclically conduct comprehensive monitoring and perception of the internal environment of the building during its movement inside the building. Further, based on the set environmental safety determination and prediction logic, it triggers warnings and interacts with the users at the building management end, effectively and permanently ensuring the safety of the internal environment of the building. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0042] Figure 1 It is a schematic structural diagram of a dangerous situation monitoring and warning system based on a smart building. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0043] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0044] The following further describes the present invention with reference to the embodiments.

[0045] Embodiment:

[0046] A dangerous situation monitoring and warning system based on a smart building in this embodiment, as Figure 1 shown, includes:

[0047] A planning module, used for planning the internal inspection path of the building and importing the internal inspection path of the building into the inspection robot;

[0048] The inspection robot is an AI robot that can move, communicate, and is equipped with environmental perception devices. The environmental perception devices carried by the inspection robot include: an integrated temperature sensor, humidity sensor, smoke sensor, infrared flame sensor, and vibration sensor;

[0049] The planning module is provided with sub-modules at a lower level, including:

[0050] An upload unit for uploading the internal building location coordinates;

[0051] A construction unit for receiving the internal building location coordinates uploaded by the upload unit and connecting them in sequence based on the upload order of the internal building location coordinates to construct an internal building inspection path;

[0052] Among them, after the construction unit completes the construction of the internal building inspection path, it synchronously transmits it to the planning module. After receiving the internal building inspection path, the planning module synchronously selects points on the internal building inspection path as the deployment points for the inspection robots;

[0053] The number of inspection robots configured on the internal building inspection path is user-defined by the system-side user. At the stage of selecting points on the internal building inspection path as the deployment points for the inspection robots, the corresponding number of points is selected based on the number of inspection robots;

[0054] After the internal building inspection path is imported into the inspection robot, a specified number of inspection robots are synchronously placed on the internal building inspection path, and the current location coordinates and the coordinates of a deployment point for an inspection robot are synchronously input into the inspection robot. The inspection robot moves based on the internal building inspection path and the current location coordinates to reach the coordinates of the deployment point for the inspection robot;

[0055] Among them, in the planning stage of the internal building inspection path, the start point and the end point of the internal building inspection path are connected, and the moving directions of all inspection robots are kept consistent. And the inspection robot only does not follow the set moving direction when moving from the internal building inspection path and the current location coordinates to the coordinates of the deployment point, and selects the direction close to the coordinates of the deployment point to execute the moving action;

[0056] When configuring the number of inspection robots for the internal building inspection path, it follows that: the longer the internal building inspection path and the larger the building volume, the more inspection robots are configured; on the contrary, the fewer inspection robots are configured;

[0057] After the inspection robot is deployed on the internal building inspection path and reaches the corresponding coordinates of the deployment point, the single-run moving distance and the stop time of the inspection robot are synchronously set. The stop time is applied to the operation of the environmental perception device;

[0058] Among them, the set stop time is a fixed value, and the set running moving distance is updated based on the environmental information sensed by the environmental perception device within the main time;

[0059] The running moving distance initially applied by the inspection robot is user-defined by the system-side user. The update of the running moving distance follows:

[0060] Set safety intervals respectively corresponding to the information sensed by the temperature sensor, humidity sensor, flue gas sensor, infrared flame sensor, and vibration sensor;

[0061]

[0062] In the formula: ν is the reference value applied when the running moving distance is updated; (C min , C max ) is the temperature safety interval; (RH min , RH max ) is the humidity safety interval; (ρ min , ρ max ) is the flue gas content safety interval; (L min , L max ) is the infrared radiation wavelength safety interval; (P min , P max ) is the vibration signal amplitude safety interval; C MAX , RH MAX , ρ MAX , L MAX , P MAX are the maximum temperature value, humidity value, flue gas content value, infrared radiation wavelength value, and vibration signal amplitude sensed continuously based on the specified frequency during the stop time; d is the next running moving distance; d0 is the current running moving distance; α is a constant;

[0063] Among them, min(|Cmax - C MAX |, |Cmin - C MAX |) represents taking the minimum value within the brackets. The constant α is user-defined by the system end-user, and the constant α is used to control the value to be within the range of (0, 2);

[0064] Through the above logical formula calculation, the following running moving distance is provided for the inspection robot in real time, ensuring that the process of the inspection robot running and sensing environmental information has a higher degree of full coverage of the building and better intelligent adaptability in operation.

[0065] The acquisition module is used to control the operation of the environmental perception devices carried on the inspection robot, and collect the environmental information of the internal scene of the building where the inspection robot is currently located based on the environmental perception devices;

[0066] The environmental information collected by the acquisition module includes the temperature value, humidity value, flue gas content value, infrared radiation wavelength value, and vibration signal amplitude. The safety intervals used by the alarm module when performing the comparison operation are (C min , C max )(RH min , RH max )(ρ min , ρ max)(L min ,L max )

[0067] ,,, (P min ,P max );

[0068] Among them, the alarm module triggers an alarm when any environmental information meets the corresponding safety range: the inspection robot circulates and broadcasts the preset alarm audio;

[0069] The alarm module is used to receive in real time the environmental information of the internal scene of the building collected by the acquisition module, and based on the comparison of the environmental information with the preset safety range, decide whether to trigger an alarm;

[0070] The face orientation of the inspection robot is always consistent with its moving direction on the internal inspection path of the building;

[0071] The alarm module is internally provided with sub-modules, including:

[0072] The recognition unit is used to obtain the moving distances of the inspection robot for the last two runs from the source where the alarm is triggered, and based on the moving distances of the two runs, identify the best evacuation direction;

[0073] Among them, the best evacuation direction includes the face orientation direction of the inspection robot and the back orientation direction of the inspection robot. The moving distances of the two runs obtained by the recognition unit are denoted as d1 and d2. d2 represents the moving distance of the last run, d1 represents the previous run adjacent to d2, d1 > d2, the back orientation direction of the inspection robot is the best evacuation direction, d1 < d2, the face orientation direction of the inspection robot is the best evacuation direction, and when d1 = d2, the operation of the recognition unit is refreshed;

[0074] The best evacuation direction is circulated and broadcast through the inspection robot in the form of audio synchronously with the alarm audio;

[0075] The prediction module is used to predict the areas with risks inside the building;

[0076] The interaction module is used to receive the risk areas predicted by the prediction module and feedback the risk areas to the building management user;

[0077] The prediction logic of the areas with risks inside the building in the prediction module is:

[0078] Real-time monitor the latest three moving distances of each inspection robot. When the latest three moving distances are continuously decreasing, determine the position coordinates of both ends of the section where the three moving distances are located in the internal inspection path of the building, and use the section on the internal inspection path of the building with both coordinates as the risk area;

[0079] The interaction module is connected to the mobile computer device held by the user of the building management terminal through a wireless network, and marks the risk areas on the internal inspection path of the building for the user of the building management terminal to read;

[0080] Among them, the operation of marking the risk areas on the internal inspection path of the building is to replace the line segment corresponding to the risk area on the internal inspection path of the building with a specified line shape different from the internal inspection path of the building;

[0081] The lower level of the planning module is connected with an upload unit and a construction unit through wireless network interaction. The planning module is connected with a collection module and an alarm module through wireless network interaction. The internal of the alarm module is connected with an identification unit through wireless network interaction. The alarm module is connected with a prediction module and an interaction module through wireless network interaction.

[0082] In this embodiment, the planning module runs to plan the internal inspection path of the building, imports the internal inspection path of the building into the inspection robot. The upload unit synchronously uploads the internal position coordinates of the building. The construction unit receives in real time the internal position coordinates of the building uploaded by the upload unit, and connects them in sequence based on the upload order of the internal position coordinates of the building to construct the internal inspection path of the building. The collection module runs later to control the operation of the environmental perception device carried on the inspection robot, and collects the environmental information of the internal scene of the building where the inspection robot is currently located based on the environmental perception device. The alarm module further receives in real time the environmental information of the internal scene of the building collected by the operation of the collection module, compares the environmental information with the preset safety interval, and decides whether to trigger an alarm. The identification unit synchronously obtains the moving distances of the inspection robot from the source of the alarm trigger in the last two runs, identifies the best evacuation direction based on the moving distances of the two runs, then the prediction module predicts the areas with risks inside the building, and finally the interaction module receives the risk areas predicted by the prediction module and feeds back the risk areas to the building management user;

[0083] Through the operation of the system in the above embodiment, the combination of building fire safety management and the AI robots deployed inside the smart building effectively reduces the comprehensive cost of building fire safety management, and brings a more comprehensive maintenance effect to building fire safety management.

[0084] In summary, during the operation of the system in the above embodiment, with the AI robots set in the smart building as the main body, it provides fire safety management for the smart building. By configuring inspection paths for the AI robots, deploying environmental perception devices on the AI robots, and configuring the operation logic, the AI robots can cyclically monitor and perceive the internal environment of the building comprehensively during the movement inside the building. Further, based on the set environmental safety determination and prediction logic, warnings are triggered and interactions are carried out with the users of the building management terminal, effectively and long-term ensuring the safety of the internal environment of the building.

[0085] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A dangerous situation monitoring and early warning system based on smart buildings, characterized in that: include: The planning module is used to plan the inspection path inside the building and import the inspection path inside the building into the inspection robot; The acquisition module is used to control the operation of the environmental sensing device on the inspection robot and to collect environmental information of the internal scene of the building where the inspection robot is currently located based on the environmental sensing device; The alarm module is used to receive the environmental information of the internal scene of the building collected by the acquisition module in real time, and decide whether to trigger an alarm based on the comparison between the environmental information and the preset safety interval; A prediction module is used to predict risky areas inside buildings; The interactive module is used to receive the risk areas predicted by the prediction module and feed back the risk areas to the building management user.

2. According to claim 1, a dangerous situation monitoring and early warning system based on smart buildings is characterized in that: The inspection robot is an AI robot that is mobile, interactive and equipped with an environmental sensing device. The environmental sensing device carried by the inspection robot includes: a temperature sensor, a humidity sensor, a smoke sensor, an infrared flame sensor, and a vibration sensor integrated; The planning module is provided with submodules at the lower level, including: An upload unit, used to upload the internal location coordinates of the building; A construction unit is used to receive the internal location coordinates of the building uploaded by the uploading unit, and connect them in sequence based on the order in which the internal location coordinates of the building are uploaded to construct an internal inspection path of the building; Among them, after the construction unit completes the construction of the internal inspection path of the building, it synchronously transmits it to the planning module. After receiving the internal inspection path of the building, the planning module synchronously selects points on the internal inspection path of the building as deployment points of the inspection robot.

3. The intelligent building-based emergency situation monitoring and early warning system according to claim 2 is characterized in that: The number of inspection robots configured on the inspection path inside the building is customized by the system end user. In the stage of selecting points on the inspection path inside the building as the inspection robot deployment points, a corresponding number of points are selected based on the number of inspection robots. After the internal inspection path of the building is imported into the inspection robot, a specified number of inspection robots are placed on the internal inspection path of the building, and the current position coordinates and the deployment point coordinates of the inspection robot are input into the inspection robot. The inspection robot moves based on the internal inspection path of the building and the current position coordinates to reach the deployment point coordinates of the inspection robot; Among them, in the internal inspection path planning stage of the building, the starting point and the end point of the internal inspection path of the building are connected, and the moving direction of all inspection robots remains consistent. In addition, the inspection robot does not follow the set moving direction only when moving to the deployment point coordinates based on the internal inspection path of the building and the current position coordinates, and chooses the direction close to the deployment point coordinates to perform the movement action.

4. The intelligent building-based emergency situation monitoring and early warning system according to claim 2 is characterized in that: When configuring the number of inspection robots for the inspection path inside the building, the following applies: the longer the inspection path inside the building and the larger the building volume, the more inspection robots are configured, and vice versa, the fewer inspection robots are configured; The inspection robot is deployed on the inspection path inside the building, and after reaching the coordinate position of its corresponding deployment point, the inspection robot's single running moving distance and dwelling time are synchronously set, and the dwelling time is used for the operation of the environmental sensing device; Among them, the set dwell time is a fixed value, and the set running moving distance is updated based on the environmental information perceived by the environmental perception device during the main time.

5. The intelligent building-based emergency situation monitoring and early warning system according to claim 4, characterized in that: The running moving distance of the inspection robot for the first application is customized by the system end user, and the update of the running moving distance is subject to: Set safety intervals for the information sensed by the temperature sensor, humidity sensor, smoke sensor, infrared flame sensor, and vibration sensor respectively; Where: ν is the reference value applied when the running moving distance is updated; (C min , C max ) is the temperature safety range; (RH min , RH max ) is the humidity safety range; (ρ min , ρ max ) is the safe range of smoke content; (L min , L max ) is the infrared radiation wavelength safety range; (P min , P max ) is the vibration signal amplitude safety range; C MAX RH MAX , MAX , L MAX , P MAX is the maximum temperature value, humidity value, smoke content value, infrared radiation wavelength value, and vibration signal amplitude perceived during continuous operation at the specified frequency during the dwell time; d is the moving distance of the next operation; d0 is the moving distance of the current operation; α is a constant; Among them, min(|Cmax-C MAX |,|Cmin-C MAX |) means taking the minimum value in the brackets. The constant α is defined by the system user. The constant α is used to control The value is in the range of (0, 2).

6. The intelligent building-based dangerous situation monitoring and early warning system according to claim 1 is characterized in that: The environmental information collected by the acquisition module includes temperature value, humidity value, smoke content value, infrared radiation wavelength value, vibration signal amplitude value, and the safety interval used by the alarm module when performing the comparison operation is (C min , C max ), (RH min , RH max ), (ρ min , ρ max )、(L min , L max )、(P min , P max ); Among them, the alarm module triggers an alarm when any environmental information meets the corresponding safety range: the inspection robot cyclically broadcasts the internal preset alarm audio.

7. The intelligent building-based emergency situation monitoring and early warning system according to claim 1 is characterized in that: The inspection robot's face orientation is always consistent with its moving direction on the inspection path inside the building; The alarm module is internally provided with submodules, including: An identification unit is used to obtain the two most recent running movement distances of the inspection robot that triggers the alarm, and identify the best evacuation direction based on the two running movement distances; Among them, the optimal evacuation direction includes the direction of the inspection robot's face and the direction of the inspection robot's back. The two running moving distances obtained by the recognition unit are recorded as d1 and d2, d2 represents the most recent running moving distance, d1 represents the previous running moving distance adjacent to d2, d1>d2, the inspection robot's back facing direction is the optimal evacuation direction, d1<d2, the inspection robot's face facing direction is the optimal evacuation direction, and when d1=d2, the recognition unit is refreshed to run.

8. The intelligent building-based emergency situation monitoring and early warning system according to claim 7, characterized in that: The optimal evacuation direction is cyclically broadcasted by the inspection robot in the form of audio in synchronization with the alarm audio.

9. The intelligent building-based emergency situation monitoring and early warning system according to claim 1, characterized in that: The prediction logic of the risky areas inside the building in the prediction module is: Monitor the latest three running moving distances of each inspection robot in real time. When the latest three running moving distances are continuously decreasing, determine the position coordinates of the two ends of the section where the three running moving distances are located in the inspection path inside the building, and take the section where the two end coordinates are on the inspection path inside the building as the risk area; The interactive module is connected to a mobile computer device held by a building management end user via a wireless network, and the risk area is marked on the inspection path inside the building for the building management end user to read; The operation of marking the risk area on the internal inspection path of the building is to replace the line segment of the road section corresponding to the risk area in the internal inspection path of the building with a specified line shape that is different from the internal inspection path of the building.

10. The intelligent building-based dangerous situation monitoring and early warning system according to claim 1, characterized in that: The planning module is interactively connected to an upload unit and a construction unit at the lower level through a wireless network, the planning module is interactively connected to a collection module and an alarm module through a wireless network, the alarm module is interactively connected to an identification unit through a wireless network, and the alarm module is interactively connected to a prediction module and an interaction module through a wireless network.

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