Urban underground space flood disaster rescue system and method

Abstract

The present invention relates to the field of flood rescue technology, and in particular to a flood disaster rescue system and method for urban underground spaces. The method comprises the following steps: providing a water depth sensor at the steps of the underground space to monitor the depth of water on the steps in real time; comparing and analyzing preset thresholds based on the depth of water on the steps to obtain step water risk level data; generating a flood warning signal when the depth of water on the steps reaches a first preset threshold, and generating a backflow alarm signal when the depth of water on the steps reaches a second preset threshold; starting and controlling a lifeline cable device based on the step water risk level data to obtain lifeline cable release instruction data; and adaptively controlling the release of the lifeline cable based on the lifeline cable release instruction data to obtain cable operation status data. The present invention can assist trapped personnel in the underground space to safely exit the station when a backflow disaster occurs at an entrance or exit through the lifeline cable device.

Description

Technical Field

[0001] The present invention relates to the technical field of flood rescue, and in particular to a system and method for urban underground space flood disaster rescue. Background Art

[0002] When heavy rainfall strikes an area, the water level outside the underground space rises rapidly. However, if flood control devices (flood control sandbags, waterproof baffles, fully automatic waterproof baffles, water gates, and L-shaped waterproof baffles) cannot be implemented or fail for various reasons, floodwater will flow back into the underground space through the entrance and exit stairs and escalators. Due to the deep and tightly closed nature of urban underground spaces, the water flowing down the stairs will generate a significant impact. When the water depth on the stairs exceeds 0.3 meters, it will seriously hinder the evacuation of people trapped in the underground space. Furthermore, the underground water level will rise rapidly, and electrical equipment and lighting will be flooded and power will be cut off. Currently, existing flood control devices in urban underground spaces include flood control sandbags, waterproof baffles (or fully automatic waterproof baffles), water gates, and L-shaped waterproof baffles. While all of these devices are primarily designed for disaster prevention, if water control devices fail or personnel are unable to activate them in time, how can disaster relief operations be carried out after the backflow disaster has already occurred? Summary of the Invention

[0003] Based on this, it is necessary for the present invention to provide a system and method for urban underground flood disaster rescue to solve at least one of the above technical problems.

[0004] To achieve the above-mentioned purpose, a method for rescuing urban underground space flood disasters comprises the following steps:

[0005] Step S1: Install a water depth sensor at the steps of the underground space to monitor the depth of water accumulation on the steps in real time;

[0006] Step S2: Compare and analyze the preset threshold value according to the depth of water accumulation on the steps to obtain step water accumulation risk level data, generate a flood warning signal when the depth of water accumulation on the steps reaches the first preset threshold value, and generate a backflow alarm signal when the depth of water accumulation on the steps reaches the second preset threshold value;

[0007] Step S3: The risk level is graded and judged based on the step water accumulation risk level data. When the risk level reaches the warning level, a device preheating instruction is sent. When the risk level reaches the alarm level, a start-up preparation instruction is sent to obtain device status preparation data. The lifeline device is started and controlled based on the device status preparation data to obtain lifeline release instruction data.

[0008] Step S4: performing adaptive release control on the lifeline based on environmental excitation, structural effect and intelligent regulation according to the lifeline release instruction data to obtain the cable operation status data;

[0009] Step S5: The personnel gripping posture data is obtained through the pressure sensor on the cable surface, and the cable traction force parameters are adjusted according to the cable operation status data and the personnel gripping posture data. The flexible rubber gear belt is engaged with the active gear to generate stable traction, and the traction force parameter data is obtained. The red and green alternating light belt provides escape direction guidance.

[0010] The present invention realizes real-time monitoring of the depth of accumulated water by deploying water depth sensors at the steps of the underground space, enabling the system to grasp the changes in the on-site water situation at the first time, thereby improving the timeliness and accuracy of the underground space disaster prevention response. By comparing and analyzing the monitored depth of accumulated water on the steps with the preset threshold, the system can accurately determine the risk level of accumulated water in the step area, and immediately generate a flood warning signal when the depth of accumulated water reaches the first preset threshold, prompting relevant personnel to pay attention to safety in time to prevent people from mistakenly entering dangerous areas; when the depth of accumulated water reaches the second preset threshold, the system automatically generates a backflow alarm signal to remind the existence of the risk of backflow and promote the rapid implementation of protective and evacuation measures, significantly enhancing the sensitivity and graded response capabilities of the early warning system. Based on the water risk level data, the system can intelligently control the start-up of the life-saving cable equipment to ensure that the life-saving cable release command is automatically issued at the critical moment, avoiding the safety hazards caused by delayed manual intervention. During the adaptive release of the lifeline, the release process is dynamically monitored and intelligently adjusted by combining the release trajectory, speed, stress state, and float deployment state data. This ensures that the lifeline can reach the designated area smoothly and accurately, providing trapped people with a reliable self-rescue auxiliary facility. The structural design of the lifeline fully considers the actual application needs. The flexible rubber gear belt can generate continuous and stable traction through engagement with the active gear, which not only ensures the smooth release of the cable but also enhances the controllability of the pulling force. The red and green luminous strips clearly guide the escape direction for trapped people in low-visibility environments, greatly improving escape efficiency. The evenly distributed floats ensure that the cable floats and deploys in flooded areas, preventing the cable from sinking to the bottom and causing use problems. The interval-placed Velcro fixing devices facilitate quick temporary fixation, adapting to different terrain environments, and improving the overall flexibility and adaptability of use. Through intelligent adjustment of the cable traction force, not only the problem of cable tension fluctuation caused by factors such as water flow and personnel pulling during the rescue process is effectively alleviated, but also the stability and safety of the rescue process are guaranteed, and the overall rescue efficiency and emergency support capabilities of underground spaces when encountering sudden water accumulation incidents are improved.

[0011] Preferably, the flood warning signal in step S2 includes:

[0012] When the depth of water on the steps reaches 3mm, the sound and light warning signal is activated; and electronic warning information is sent to the terminal equipment of the management and control center, where the electronic warning information includes the flooding location, water depth, warning time and warning level; based on the electronic warning information, the electronic display screen at the entrance and exit of the underground space is automatically activated to display the warning information.

[0013] When the depth of water on a step reaches 3mm, the system immediately activates an audible and visual warning signal. Through these intuitive sound and light prompts, on-site personnel are immediately aware of the risk of water accumulation, effectively preventing slips, falls, or accidental entry into dangerous areas due to the expansion of water accumulation. Simultaneously, the system sends an electronic warning message to the terminal equipment at the management and control center. This electronic warning message details the flooding location, water depth, warning time, and corresponding warning level, ensuring that managers have a comprehensive and accurate understanding of the on-site situation and providing detailed data support for subsequent decision-making and emergency response. Based on the real-time electronic warning information, the system automatically activates electronic display screens at the entrances and exits of underground spaces, dynamically displaying the current warning information, reminding personnel entering or about to enter the underground space to promptly understand the environmental risks, thereby guiding them to plan their routes and choose safe areas, reducing the probability of accidents. This information linkage mechanism enables simultaneous response of on-site, remote management, and public notifications, significantly improving the visualization and dissemination efficiency of water accumulation warnings, shortening emergency response time, and strengthening the ability to organize and guide personnel evacuation, comprehensively enhancing the safety and protection level of underground spaces in the event of sudden water accumulation.

[0014] Preferably, the backflow alarm signal in step S2 includes:

[0015] When the depth of water on the steps reaches 1cm, an audible and visual alarm signal is activated, and the signal strength of the audible and visual alarm signal is twice that of the audible and visual warning signal; the water level rise rate is calculated based on the depth of water on the steps to obtain the estimated backflow time; an alarm message is sent to the terminal equipment of the management and control center and the urban emergency rescue department, and the alarm information includes the flood location, water depth, estimated backflow time, alarm time, alarm level and risk assessment; based on the alarm message, the display screen and broadcasting system in the underground space are automatically activated to play emergency evacuation information.

[0016] When the depth of water on a step reaches 1cm, the system immediately activates an audible and visual alarm signal, and sets the signal strength to twice that of the original audible and visual warning signal. This significantly enhances the effectiveness of on-site warnings, allowing personnel to quickly perceive higher-level risks even in noisy or visually disturbing environments, effectively improving the coverage and recognition rate of danger warnings. Simultaneously, the system dynamically calculates the rate of water level rise based on the current water depth and further infers the expected backflow time, providing a precise time window for on-site emergency response and evacuation arrangements. Alarm information is simultaneously transmitted to the management and control center and the city's emergency rescue department, providing detailed information including the flooding location, water depth, expected backflow time, alarm time, alarm level, and a comprehensive risk assessment. This facilitates the rapid development of scientific and appropriate response measures and the coordination of resources for rapid intervention. Simultaneously, based on the alarm information, the system automatically activates the underground space's electronic display screens and public address system, continuously broadcasting emergency evacuation information. This ensures that personnel in different locations and conditions receive clear and unambiguous evacuation instructions in a timely manner, effectively guiding people away from the danger zone in an orderly and swift manner. The overall linkage mechanism improves the timeliness and accuracy of information transmission, shortens accident response time, strengthens crowd evacuation organization, and significantly enhances the overall safety protection capabilities of underground spaces when facing sudden large-scale water accumulation and backflow risks.

[0017] Preferably, step S3 is specifically:

[0018] Step S31: The risk level is graded and judged according to the step water accumulation risk level data. When the risk level reaches the warning level, a device preheating instruction is sent. When the risk level reaches the alarm level, a start-up preparation instruction is sent to obtain device status preparation data.

[0019] Step S32: activating a power management unit in the lifeline device according to the device status preparation data to obtain power supply status data, wherein the lifeline device includes a lifeline cable storage box, a power and transmission system, a power management unit, and a lifeline, wherein the power and transmission system includes a driving gear, a driven gear, a positioning driven wheel, a motor, a gearbox, and a battery;

[0020] Step S33: performing a self-check on the working status of the lifeline according to the power supply status data to obtain system component status data;

[0021] Step S34: starting and controlling the lifeline equipment according to the system component status data and the step water accumulation risk level data to obtain the lifeline release instruction data.

[0022] During operation, the rescue system of this invention first classifies the risk level based on the risk level of water accumulation on the steps. When the risk level reaches the warning level, a device preheating command is promptly issued to ensure that the device enters the standby state in advance. When the risk level further rises to the alarm level, a startup preparation command is immediately issued to quickly complete the initial configuration of each module, thereby generating device status preparation data. This hierarchical response mechanism enables the device to flexibly adjust its operating state according to different risk situations, avoiding delays or failures caused by temporary startup. Subsequently, the power management unit in the lifeline device is activated based on the device status preparation data to ensure the stability and continuity of the power supply. The power management unit works in conjunction with multiple components such as the lifeline cable storage box, power and transmission system, battery, and lifeline cable to provide sufficient energy for subsequent operations. Furthermore, based on the power supply status data, the system performs a comprehensive self-check of the lifeline's various operating states, covering key components such as the driving gear, driven gear, positioning driven wheel, motor, and gearbox. This generates system component status data to identify potential faults or performance anomalies in advance, reducing the risk of equipment failure during the rescue process. Ultimately, the system combines component self-test results with data on the risk level of water accumulation on the steps to precisely execute activation control and generate command data for releasing the lifeline, ensuring safe and efficient release of the lifeline. Through phased activation, status monitoring, and dynamic control, the overall process significantly improves the reliability and responsiveness of the rescue system, providing strong technical support and assurance for emergency situations.

[0023] Preferably, step S4 includes the following steps:

[0024] Step S41: parsing the lifeline release instruction data, extracting the target release area, release length and initial release speed parameters, and obtaining target release data;

[0025] Step S42: Detecting the direction and velocity of water flow through a water depth sensor at the steps of the underground space, thereby obtaining real-time water flow information;

[0026] Step S43: setting control parameters for the motor speed and the driving gear direction according to the target release data and the real-time water flow information to obtain the cable release start data;

[0027] Step S44: activating the storage box sensor according to the cable release start data to monitor the stress of the lifeline in real time during the release process to obtain cable stress state data, wherein the lifeline includes a flexible rubber gear belt, a red and green luminous belt, evenly distributed floats, and intervally arranged Velcro fixing devices;

[0028] Step S45: adjusting the driving gear torque according to the cable force state data. When the cable force exceeds a first preset value, the release speed is slowed down by 20% and the torque is increased by 25%. When the cable force exceeds a second preset value, the release is paused and the cable reinforcement mode is activated, thereby obtaining cable adjustment instruction data.

[0029] Step S46: monitoring the state of the life-saving cable equipment and making real-time adjustments according to the cable adjustment instruction data, thereby obtaining cable operation state data.

[0030] During the lifeline release process of the present invention, the system first parses the lifeline release instruction data, extracts the target release area, release length and initial release speed parameters, forms target release data, and provides an accurate basis for subsequent release actions. At the same time, the water depth sensor at the steps of the underground space is used to detect the direction and flow rate of the water flow in real time, and obtains the dynamically changing water flow information, thereby providing basic support for the adaptive adjustment of the release action. Subsequently, the system sets the control parameters of the motor speed and the active gear steering according to the target release data and the real-time water flow information, and generates the cable release start data to ensure that the cable can coordinate with the water flow environment during the release process, and avoid offset or entanglement caused by external disturbances. After the release action is started, the force of the lifeline during the release process is monitored in real time by the sensor in the storage box, and the cable force state data is formed, so that the system can dynamically grasp the force changes of the cable. Furthermore, based on the stress state, when it is detected that the cable stress exceeds the first preset value, the system automatically reduces the release speed by 20% and simultaneously increases the torque by 25% to enhance the stability of the cable; and when the stress exceeds the second preset value, the system immediately suspends the release and activates the cable reinforcement mode to effectively prevent the risk of cable breakage or falling off. Finally, based on the cable adjustment instruction data, the system monitors and dynamically adjusts the overall operating status of the lifeline in real time and generates cable operating status data. Through multi-level data analysis, real-time monitoring and intelligent control, the entire process ensures that the lifeline can be released stably, safely and orderly in complex water flow environments, providing reliable support for personnel evacuation and rescue operations.

[0031] Preferably, step S46 includes the following steps:

[0032] Step S461: Control the distance between the floats according to the cable adjustment instruction data. When the water flow impact force is extremely large, reduce the distance between the floats by 30% to form a stable buoyancy support structure, and obtain cable buoyancy distribution data.

[0033] Step S462: activating the red and green light strips based on the cable buoyancy distribution data and the release progress data, controlling the green light to point toward the safe exit and the red light to point toward the danger zone, thereby obtaining visual guidance data;

[0034] Step S463: Determine whether there is an obstacle based on the resistance information collected by the preset pressure sensor at the front end of the cable. When a sudden increase in resistance is detected, automatically adjust the release angle to bypass the obstacle, and obtain cable path optimization data.

[0035] Step S464: Analyze the spatial position and functional status of the cable according to the cable path optimization data and the visual guidance data, and generate cable operation status data, wherein the cable operation status data includes the release trajectory, speed, force state and floating body deployment state.

[0036] During the lifeline release process, the system dynamically controls the spacing between the floats based on the cable adjustment command data. When the water flow impact force is extremely high, the float spacing is automatically reduced by 30%. This compact arrangement forms a more stable buoyancy support structure, significantly improving the cable's suspension and load-bearing capacity in turbulent water, and preventing the cable from sinking or shifting due to the dispersion of the floats. Subsequently, the system activates a red and green light strip based on the cable's buoyancy distribution data and the release progress data, adjusting the light strip display mode in real time so that the green light clearly points in the direction of the safe exit, and the red light accurately marks the danger zone. This improves the visual recognition and sense of direction of evacuees in an emergency, reducing confusion and delays. Simultaneously, the system collects resistance information in real time through a front-end pressure sensor. If a sudden increase in resistance is detected, the system quickly determines the presence of an obstacle ahead and automatically adjusts the release angle to bypass the obstacle, ensuring that the cable can be laid smoothly and maintains continuity, and preventing cable jams that affect the evacuation path. Finally, based on the cable path optimization data and visual guidance data, the system comprehensively analyzes the position changes and functional status of the cable in space, and dynamically generates cable operation status data, including release trajectory, speed, force status and float deployment status, to ensure the continuous, stable and efficient operation of the life-saving cable in complex environments, providing an accurate and reliable support system for emergency rescue.

[0037] Preferably, step S5 includes the following steps:

[0038] Step S51: obtaining gripping position data of the trapped person through a pressure sensor on the cable surface, determining the contact point and gripping force of the trapped person and the cable, and obtaining gripping posture data of the trapped person;

[0039] Step S52: activating and controlling the Velcro fixing device in the cable section according to the gripping posture data of the person, and obtaining the fixing device status data, wherein the hand fixing belt in the Velcro fixing device automatically closes to form a ring structure when the grip is detected;

[0040] Step S53: obtaining the weight and position information of the trapped person based on the state data of the fixing device, and setting the traction parameters of the driving gear in different levels according to different weight intervals to obtain initial traction force calculation data;

[0041] Step S54: Optimizing the traction force based on the moving speed of the trapped person according to the initial traction force calculation data and the preset safety time, thereby obtaining traction force parameter data;

[0042] Step S55: Based on the traction parameter data, the red and green light strips provide escape direction guidance to support the trapped persons to move safely along the cable to a safe area.

[0043] During the rescue process, the system uses pressure sensors on the cable surface to acquire real-time grip position data. This allows the system to accurately determine the contact point between the trapped person and the cable and the grip strength, thereby obtaining grip position data, providing a precise basis for subsequent personalized support. Based on the grip position data, the system activates and controls the Velcro fasteners in the corresponding area of ​​the cable. Upon detecting a grip, the hand straps automatically close to form a ring structure, firmly securing the trapped person's hand and effectively preventing the risk of slipping due to an unstable grip. Subsequently, the system further acquires the trapped person's weight and position information based on the fixture status data and sets the traction parameters of the active gear according to different weight ranges, ensuring that the traction force matches the person's weight, providing sufficient support while avoiding secondary injuries caused by excessive tension. Based on the initial traction force calculation data and a preset safety time window, the system dynamically optimizes and adjusts the trapped person's movement speed, generating traction force parameter data to ensure that the entire rescue process remains within a reasonable and controllable speed range, balancing rapid evacuation with personnel stability. Finally, based on the traction parameter data, the red and green light strips are updated synchronously. The green light clearly indicates the direction to the safe area, providing trapped people with a clear escape route in complex environments, helping them to move steadily and quickly along the cable to a safe position, significantly improving the overall rescue efficiency and personnel safety level.

[0044] Preferably, step S54 includes the following steps:

[0045] Step S544: Based on the initial traction force calculation data and the water flow resistance information in the cable operation status data, when the weight exceeds 70 kg or the water flow resistance exceeds a preset value, the traction force is increased by 30%, and traction force adjustment instruction data is obtained;

[0046] Step S545: controlling the meshing depth and rotational speed of the driving gear and the flexible rubber gear belt according to the traction force adjustment instruction data to obtain real-time traction force output data;

[0047] Step S546: Collect the moving speed information of the trapped person based on the real-time traction force output data. When the moving speed is lower than the preset safety speed, increase the traction force and shorten the cable release length to obtain rescue speed optimization data.

[0048] Step S545: Calculate the remaining distance to the safe area based on the rescue speed optimization data and the position information of the trapped person. When the remaining distance is less than the preset safety distance, adjust the traction speed in descending order to obtain traction force parameter data.

[0049] During the rescue process, the system of the present invention conducts a comprehensive analysis based on the initial traction calculation data and the water flow resistance information in the cable operation status data. When it is detected that the weight of the trapped person exceeds 70kg or the water flow resistance exceeds the preset threshold, the traction force is promptly increased by 30% to ensure that sufficient traction capacity can be maintained under high load or strong water flow conditions, thereby improving the rescue success rate. Subsequently, the system accurately controls the meshing depth and motor speed of the active gear and the flexible rubber gear belt based on the traction adjustment instruction data, generates real-time traction output data, and ensures that the traction force always dynamically matches the current rescue needs. Based on the real-time traction output data, the system synchronously collects the movement speed information of the trapped person. When it is detected that the movement speed is lower than the preset safety speed, the system intelligently increases the traction force and shortens the cable release length to form a more compact rescue chain, thereby improving the efficiency and stability of personnel moving to a safe area. Finally, based on the rescue speed optimization data and personnel location information, the system calculates the remaining distance to the safe zone in real time. When the remaining distance is less than the preset safe distance, the system adjusts the traction speed in a decreasing manner, gradually slowing the trapped personnel as they approach the safe zone. This prevents collisions or imbalances caused by excessive inertia, ensuring a safe and smooth transition to the final rescue location. This series of refined and dynamic control measures, implemented throughout the rescue process, ensures the stability, continuity, and high safety of the personnel transfer process under varying risk conditions.

[0050] The present invention also includes a system for rescuing urban underground space flood disasters, which is characterized in that it is used to execute the above-mentioned method for rescuing urban underground space flood disasters, and the system for rescuing urban underground space flood disasters includes:

[0051] The water depth monitoring module is used to set up water depth sensors at the steps of the underground space and monitor the depth of water accumulation on the steps in real time;

[0052] A risk assessment module is used to compare and analyze the depth of water accumulation on the steps with preset thresholds to obtain step water accumulation risk level data, wherein a flood warning signal is generated when the depth of water accumulation on the steps reaches a first preset threshold, and a backflow alarm signal is generated when the depth of water accumulation on the steps reaches a second preset threshold;

[0053] The rescue start module is used to classify the risk level according to the step water accumulation risk level data. When the risk level reaches the warning level, it sends a device preheating instruction. When the risk level reaches the alarm level, it sends a start preparation instruction and obtains the device status preparation data. Based on the device status preparation data, it starts and controls the lifeline equipment and obtains the lifeline release instruction data.

[0054] The cable release module is used to perform adaptive release control on the lifeline based on environmental excitation, structural effect and intelligent regulation according to the lifeline release instruction data, and obtain the cable operation status data;

[0055] The intelligent traction module is used to obtain the personnel's gripping posture data through the pressure sensor on the cable surface, and adjust the cable traction force parameters according to the cable operation status data and the personnel's gripping posture data. The flexible rubber gear belt is engaged with the active gear to generate stable traction, obtain traction force parameter data, and the red and green alternating light belt provides escape direction guidance.

[0056] In the step water accumulation protection system in the underground space of the present invention, the water depth of the steps is monitored in real time through the water depth monitoring module, providing the system with accurate water level change data. When the water depth reaches the set threshold, the risk assessment module compares and analyzes the data and automatically generates an early warning signal. When the water level reaches the first preset threshold, the flood warning signal is triggered; when the water depth reaches the second preset threshold, the system immediately issues a backflow alarm signal, effectively warning of potential flood risks in advance and providing sufficient reaction time for on-site personnel. The subsequent rescue start-up module automatically controls the start-up of the life-saving cable equipment according to the evaluation results, ensuring that the rescue equipment is put into use in time and providing an evacuation channel for trapped personnel. The cable release module realizes accurate cable adaptive release according to the command data, and monitors the operating status of the cable in real time, such as the release trajectory, speed, stress state and float deployment, to ensure that the cable can maintain stable operation in a dynamic environment. The intelligent traction module automatically adjusts traction based on cable operation data, ensuring precise engagement between the cable and the active gear, generating stable traction. It also provides clear escape guidance for trapped personnel through alternating red and green luminous strips, enabling them to quickly identify safe routes and evacuate safely in complex environments. The coordinated operation of the entire system effectively improves emergency response efficiency in sudden flooding incidents, ensuring the safe evacuation of trapped personnel and reducing the possibility of accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments thereof made with reference to the following drawings:

[0058] Figure 1This is a schematic flow chart of the steps of a method for rescuing flood disasters in urban underground spaces according to the present invention;

[0059] Figure 2 for Figure 1 Detailed step flow diagram of step S3;

[0060] Figure 3 This is a schematic diagram of rescue equipment;

[0061] Figure 4 This is a schematic diagram of the disaster relief scene;

[0062] Figure 5 Schematic diagram of the lifeline. DETAILED DESCRIPTION

[0063] The following is a clear and complete description of the technical method of the present invention in conjunction with the accompanying drawings. It is obvious that the embodiments described are part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making any creative efforts are within the scope of protection of the present invention.

[0064] In addition, the accompanying drawings are merely schematic illustrations of the present invention and are not necessarily drawn to scale. Identical reference numerals in the figures denote identical or similar parts, and thus repetitive descriptions thereof will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities that do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor and / or microcontroller approaches.

[0065] It should be understood that although the terms "first," "second," and the like may be used herein to describe various elements, these elements should not be limited by these terms. These terms are used solely to distinguish one element from another. For example, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element, without departing from the scope of the exemplary embodiments. The term "and / or" as used herein includes any and all combinations of one or more of the listed associated items.

[0066] To achieve this, please refer to Figures 1 to 5 The present invention provides a method for rescuing urban underground space flood disasters, the method comprising the following steps:

[0067] Step S1: Install a water depth sensor at the steps of the underground space to monitor the depth of water accumulation on the steps in real time;

[0068] In an embodiment of the present invention, in an urban underground space, especially in step areas such as subway stations and underground commercial streets, the step locations that are prone to water accumulation are first selected, and water depth sensors, preferably ultrasonic water level sensors or pressure water level sensors, are deployed. The sensor is installed at the front center of the lowest level of the step, and the installation height is no more than 5 cm from the ground to ensure that the initial water accumulation changes can be monitored in real time. The sensor uploads the monitored water depth data to the background control center every 30 seconds through a wireless communication module (such as an NB-IoT module), forming a continuous water level change record for subsequent risk level judgment. In order to adapt to different scenarios, the sensor protection level must reach IP68, withstand water immersion and sediment pollution, and support dual energy guarantees of battery power supply and solar micro-charging to ensure continuous operation in extreme weather.

[0069] Step S2: Compare and analyze the preset threshold value according to the depth of water accumulation on the step to obtain step water accumulation risk level data, generate a flood warning signal when the depth of water accumulation on the step reaches a first preset threshold, and generate a backflow alarm signal when the depth of water accumulation on the step reaches a second preset threshold;

[0070] After receiving water depth data, the backend control center in this embodiment of the present invention sets two levels of preset water depth thresholds. For example, the first preset threshold is set when the depth of water on the steps reaches 3 cm, indicating that personnel access is initially blocked and triggering a flood warning signal; the second preset threshold is set when the depth of water reaches 10 cm, indicating that backflow may occur, triggering a backflow alarm signal. The backend performs real-time analysis of each piece of sensor data using pre-set comparison logic. If two consecutive samples exceed the first preset threshold, a yellow warning is immediately pushed through the underground space broadcast system and a prompt is issued on the management platform. If two consecutive samples exceed the second preset threshold, a red backflow alarm is immediately triggered, and rescue equipment is automatically mobilized to standby status to prepare for further rescue measures.

[0071] Step S3: The risk level is graded and judged based on the step water accumulation risk level data. When the risk level reaches the warning level, a device preheating instruction is sent. When the risk level reaches the alarm level, a start-up preparation instruction is sent to obtain device status preparation data. The lifeline device is started and controlled based on the device status preparation data to obtain lifeline release instruction data.

[0072] In this embodiment of the present invention, after generating data on the risk level of flooding on steps, the backend control center automatically issues commands to control the operation of the lifeline equipment based on the specific level data. When the water level reaches a first preset threshold, the lifeline equipment is triggered to enter a pre-start state, performing preparatory steps such as power system self-tests and release channel detection. When the water level reaches a second preset threshold, the backend system immediately generates lifeline release command data, including the release start command, release speed requirements, and release trajectory parameters. This command is then transmitted via an IoT communication protocol (such as LoRa or 5G) to the lifeline launch modules located at the top or sides of the steps. Upon receiving the command, each module initiates a startup sequence, preparing to release the lifeline, providing an auxiliary path for evacuation and self-rescue.

[0073] Step S4: performing adaptive release control on the lifeline based on environmental excitation, structural effect and intelligent regulation according to the lifeline release instruction data to obtain the cable operation status data;

[0074] Upon receiving a release command, the lifeline device of this embodiment of the present invention initiates an adaptive release control process. Specifically, a built-in intelligent servo drive system controls the uniform release of the cable according to the trajectory and speed preset in the command. The lifeline itself utilizes a flexible rubber gear belt structure with staggered red and green luminous strips on its surface. Powered by a built-in power supply, it continuously illuminates brightly in misty or dimly lit environments, providing guidance for escape. Low-density floats are evenly embedded in the cable, allowing it to float naturally on the water surface or in standing water, preventing it from being pushed underwater by currents and losing its guiding function. The deployment status of the floats is monitored in real time by a stress sensor during the cable release process. Velcro fasteners are installed every meter on the cable, automatically attaching to preset ground or wall anchor points during operation to prevent the lifeline from being swept away by currents or drifting significantly. The cable operation status data includes whether the release trajectory extends according to the predetermined path, whether the release speed is stable (preferably controlled between 0.5 meters per second and 1 meter per second), the cable stress status (ensuring that it does not exceed half of the rated load-bearing capacity to avoid breakage) and the completeness of the floating body deployment.

[0075] Step S5: The personnel gripping posture data is obtained through the pressure sensor on the cable surface, and the cable traction force parameters are adjusted according to the cable operation status data and the personnel gripping posture data. The flexible rubber gear belt is engaged with the active gear to generate stable traction, and the traction force parameter data is obtained. The red and green alternating light belt provides escape direction guidance.

[0076] In the embodiment of the present invention, during the adaptive release process of the life-saving cable, the background performs intelligent adjustment of the cable traction force based on the real-time feedback of the cable operation status data to ensure that the cable is stable and reliable during the escape process. Specifically, the dynamic management of the cable tension is achieved by regulating the compression force of the flexible rubber gear belt and the active gear. When it is detected that the cable is under excessive force, the servo system automatically reduces the release speed and increases the gear compression force to avoid the cable from breaking or falling off due to water impact or human pulling. If it is detected that the cable is under insufficient force, resulting in unstable floating, the release speed is automatically accelerated or the number of floats and the deployment method are adjusted to keep the cable floating on the water surface in the accumulated water. The red and green alternating light strips continue to flash green forward and red backward during the cable extension process, clearly indicating the correct direction of escape and improving the efficiency of personnel evacuation in low-visibility environments. It is particularly suitable for underground flood rescue at night or under extremely severe weather conditions.

[0077] Figure 3 The rescue equipment shown includes a magic belt hand piece, a passive gear, a battery, a motor, a gearbox, a driving gear, a positioning driven wheel, a power supply line, a water level detector and a lifeline storage box.

[0078] Figure 4 The rescue equipment shown is used in complex terrain, such as underground flooding. The equipment is deployed on relatively stable elevated ground and connected to the target area via a cable. Rescuers use the equipment to transport personnel and supplies while ensuring safety. This application scenario demonstrates the rapid deployment and high adaptability of the device in sudden disaster situations.

[0079] Figure 5 The lifeline shown here features a multi-strand braided construction, with a high-strength, wear-resistant outer layer and a steel-wire reinforced inner core, offering high load-bearing capacity and excellent tensile strength. Quick-connect fasteners at each end facilitate quick connection to the retractor and safety harness, enhancing on-site rescue efficiency.

[0080] Preferably, the flood warning signal in step S2 includes:

[0081] When the depth of water on the steps reaches 3mm, the sound and light warning signal is activated; and electronic warning information is sent to the terminal equipment of the management and control center, where the electronic warning information includes the flooding location, water depth, warning time and warning level; based on the electronic warning information, the electronic display screen at the entrance and exit of the underground space is automatically activated to display the warning information.

[0082] In this embodiment of the present invention, ultrasonic water depth sensors are installed at steps in urban underground spaces, such as subway entrances and exits and underground passage entrances, with the water depth detection threshold set to 3 mm to trigger an alarm. In specific implementation, a high-precision ultrasonic water level sensor with a measurement accuracy of ±1 mm is used, installed close to the ground at the lowest point of the step to ensure accurate detection of even minor initial water accumulation. The water depth sensor contains a built-in microprocessor unit. Upon detecting a water depth of 3 mm, it immediately triggers an audible and visual warning signal through a built-in logic module. The audible and visual warning system consists of an alarm light and a high-pitched siren. The alarm light uses a high-brightness LED module. When triggered, it rapidly flashes yellow and is accompanied by a beep exceeding 90 decibels to alert personnel to the risk of water accumulation. To accommodate the high humidity and low illumination characteristics of underground environments, the alarm system requires a protection rating of IP65 or higher to ensure long-term stable operation. Upon the activation of the audible and visual warning, the water depth sensor transmits an electronic warning message in real time to a terminal device in the management and control center via an IoT communication module (preferably a low-power wide area network LoRa module). Electronic warning information includes the flooding location (automatically identified by binding the sensor device number to the installation point, for example, "Metro Exit A steps"), the real-time detected water depth (e.g., 3.2 mm), the timestamp of the alert triggering (formatted like "2025-04-28 14:35:20"), and the corresponding warning level (e.g., "Level 1 Warning - Slight Waterlogging"). The MQTT protocol is used to ensure lightweight, real-time information transmission, and the entire process is completed within one second, enabling timely response. Upon receipt, the management and control center automatically archives the electronic warning information into a database and prepares for subsequent command and dispatch based on the different levels. Upon successful receipt of the electronic warning information, the management and control center automatically activates the electronic display screens installed at the entrances and exits of the underground space through pre-set linkage control logic. These electronic displays utilize high-brightness, waterproof LED screens that are resistant to moisture, fog, and impact, making them suitable for use in the complex environments of underground spaces. The display screen is remotely controlled via a local area network or 5G public network. Upon receiving the activation command, it immediately scrolls the current warning information on the screen, including the specific location of the waterlogging, the current water depth, the warning trigger time, and the corresponding warning level. For example, the screen displays: "[Warning] Water depth is 3.2 mm at the steps of subway exit A. Please pay attention to traffic safety (Level 1 warning)." To enhance the warning effect, the text color is red on a yellow background, with a flashing animation, and the subsequent water depth changes are scrolled in real time at the bottom of the screen. If the water depth increases or the alarm is upgraded, the display content is automatically updated without manual intervention, ensuring that on-site personnel can obtain the latest dynamic information and take timely evacuation actions.

[0083] Preferably, the backflow alarm signal in step S2 includes:

[0084] When the depth of water on the steps reaches 1cm, an audible and visual alarm signal is activated, and the signal strength of the audible and visual alarm signal is twice that of the audible and visual warning signal; the water level rise rate is calculated based on the depth of water on the steps to obtain the estimated backflow time; an alarm message is sent to the terminal equipment of the management and control center and the urban emergency rescue department, and the alarm information includes the flood location, water depth, estimated backflow time, alarm time, alarm level and risk assessment; based on the alarm message, the display screen and broadcasting system in the underground space are automatically activated to play emergency evacuation information.

[0085] In this embodiment of the present invention, if the water depth on the steps increases further and the ultrasonic water depth sensor detects that the water depth reaches 10 mm (or 1 cm), the system automatically activates an audible and visual alarm signal. The intensity of the audible and visual alarm is now set to twice the previous warning signal intensity. Specifically, the brightness of the alarm light is doubled. For example, if the LED light intensity is 5,000 lumens during the warning phase, it is increased to 10,000 lumens during the alarm phase. The light also switches to red and flashes rapidly. The buzzer's frequency and decibel level are also increased accordingly, for example, from 90 decibels to 100 decibels. A high-frequency, intermittent alarm tone is also emitted to clearly distinguish it from the warning signal. The overall design adheres to the acoustic characteristics of underground spaces, ensuring that personnel can clearly perceive the escalating danger signal even in noisy environments. While the audible and visual alarm is activated, the system uses data continuously collected by the water depth sensor to calculate the rate of water level rise based on the water level change and the sampling interval. Specifically, the sampling interval is set to 2 seconds, and the water level difference obtained from two consecutive samples is divided by the time interval to obtain the current water level rise rate. For example, if the water level rises from 10 mm to 12 mm within 2 seconds, the water level rise rate is 1 mm per second. Based on the current rising speed and the total height of the steps (such as setting the critical height for backflow to 150 mm), the time required to rise from the current water level (10 mm) to the critical water level for backflow is calculated. For example, if the remaining water level difference is 140 mm, at a rate of 1 mm per second, backflow is expected to occur in 140 seconds (about 2 minutes and 20 seconds). The expected backflow time is an important dynamic indicator and will be used for subsequent risk notification and rescue dispatch. After completing the calculation of the expected backflow time, the system immediately sends an alarm message to the terminal devices of the management and control center and the city emergency rescue department through the Internet of Things communication module. Alert information is comprehensive, including the current flooding location (e.g., the steps at subway Exit A), real-time water depth (e.g., 10 mm), predicted backflow time (e.g., predicted backflow in 2 minutes and 20 seconds), alarm trigger time (e.g., "2025-04-28 14:40:00"), alarm level (calibrated according to internal standards as "Level 2 Alert - Rapid Flooding Risk"), and a risk assessment calculated based on historical data and terrain models (e.g., "Water depth expected to exceed 20 cm after backflow, extremely high risk to traffic"). Alert information is packaged into standard JSON format and sent via the encrypted MQTT protocol, ensuring real-time and reliable data transmission to the management and emergency command platforms. Upon receipt, emergency response procedures are triggered, such as activating drainage pumping stations and dispatching on-site rescue personnel. Upon receiving the alert, the management and control center automatically instructs the underground electronic display screens and broadcasting system to initiate an emergency evacuation notice through the emergency linkage system. The display screen content switches to a red emergency interface, displaying text such as: "[Emergency Evacuation Notice] Water on the steps of Subway Exit A is rising rapidly, and backflow is expected to occur in 2 minutes and 20 seconds. Please evacuate immediately and in an orderly manner!" The text is combined with a flashing border and warning icon to enhance the visual impact.The underground public address system is activated simultaneously. Pre-recorded multilingual emergency evacuation instructions are played in a loop, preferably in Chinese and English. Voice content should include: "Emergency Notice! Water is rapidly accumulating on the steps. All personnel are requested to evacuate immediately along the designated routes. Do not stop!" The broadcasting equipment must have an output of 100 decibels or higher, covering subway entrances, exits, passageways, and waiting areas to ensure that everyone can hear the instructions promptly. If there are blind spots in the broadcast area, patrolling security personnel will carry portable loudspeakers to provide supplemental broadcasts, providing comprehensive evacuation guidance and minimizing the risk of personnel being stranded.

[0086] Preferably, step S3 is specifically:

[0087] Step S31: The risk level is graded and judged according to the step water accumulation risk level data. When the risk level reaches the warning level, a device preheating instruction is sent. When the risk level reaches the alarm level, a start-up preparation instruction is sent to obtain device status preparation data.

[0088] After issuing the alarm message regarding water accumulation on the steps in the previous step, the system enters the risk level analysis phase. Specifically, the management and control center performs a risk level assessment based on real-time water depth, water level rise rate, and estimated backflow time, combined with pre-set risk level classification criteria. For example, a water depth between 3 mm and 10 mm with a slow rise rate is classified as a warning level, while a water depth exceeding 10 mm and a water level rise rate exceeding 0.5 mm per second is classified as an alarm level. The system's built-in risk level assessment module automatically compares the current data based on the aforementioned rules. If the warning level is reached, a device preheating instruction is immediately issued to the lifeline equipment, notifying each subsystem to wake up early and enter a low-power standby state. If the alarm level is reached, a startup preparation instruction is issued, requiring the power system, power management unit, and control module to fully enter a working preparation state. The generated device status preparation data includes the current temperature, battery charge, and device response delay of each module. This data is transmitted to the central control unit via a local bus for subsequent use, thereby providing sufficient preparation for the release of the lifeline.

[0089] Step S32: activating a power management unit in the lifeline device according to the device status preparation data to obtain power supply status data, wherein the lifeline device includes a lifeline cable storage box, a power and transmission system, a power management unit, and a lifeline, wherein the power and transmission system includes a driving gear, a driven gear, a positioning driven wheel, a motor, a gearbox, and a battery;

[0090] In the embodiment of the present invention, after the device status preparation data is generated, the central control unit specifically controls the power management unit in the lifeline device to start according to the instruction content. The main function of the power management unit is to centrally control and dynamically allocate the system power supply to ensure that power resources are prioritized to protect the operation of core components in an emergency. In specific operation, the power management unit first confirms the remaining battery capacity through self-test (for example, confirming that the remaining power of the power battery is greater than 80%), and then reasonably allocates the output voltage and current according to the power demand of the standby module. After startup, it generates power supply status data, which includes the supply voltage value (such as output 24V DC voltage), The current load current (such as 2A), the estimated remaining power time (such as 60 minutes of continuous operation), etc.; the internal structure of the life-saving cable equipment includes a life-saving cable storage box (used for orderly storage and automatic release of life-saving cables), a power and transmission system (composed of mechanical components such as driving gears, passive gears, positioning driven wheels, and motors and gearboxes to achieve orderly release and recovery of cables), a power management unit (power supply scheduling core), and a life-saving cable body (made of water-resistant, wear-resistant, and high-strength materials. If the length is set to 30 meters, it can meet the emergency evacuation needs of general underground entrances and exits). Each unit works together to ensure that the rescue cable can be reliably deployed.

[0091] Step S33: performing a self-check on the working status of the lifeline according to the power supply status data to obtain system component status data;

[0092] In this embodiment of the present invention, after the power management unit successfully supplies power and outputs power supply status data, the system enters the lifeline self-test phase. This self-test aims to ensure that key components of the lifeline equipment are functioning properly. The self-test process, directed by the central control unit, specifically involves testing the power system (motor, gearbox), transmission system (driving gear, driven gear, positioning driven pulley), cable release mechanism, and storage system. During the self-test, the control unit instructs the motor to rotate at a low speed to check for smooth engagement between the driving and driven gears. The position sensor monitors the position feedback of the positioning driven pulley to confirm that there is no jamming in the transmission path. The control unit also monitors changes in motor current to determine load anomalies. An abnormal increase in current indicates a mechanical fault. Furthermore, the control unit monitors feedback from the cable tension sensor to ensure that the lifeline is not stuck or entangled. The results of each test are summarized into system component status data, which includes a health status indicator for each subcomponent (e.g., 0 for normal and 1 for abnormal). This data is transmitted back to the central control unit in real time to provide a basis for the next release command decision.

[0093] Step S34: starting and controlling the lifeline equipment according to the system component status data and the step water accumulation risk level data to obtain the lifeline release instruction data.

[0094] In this embodiment of the present invention, the central control unit makes decisions on activating the lifeline equipment based on system component status data and step flooding risk level data. If all key components are normal and the current flooding risk level reaches the alarm level, it immediately generates a lifeline release instruction. This instruction includes the release method (such as rapid release mode), release speed (for example, set to 2 meters per second to ensure rapid deployment), release length (for example, setting a release of 15 meters to cover the entire step area), and release direction (set according to the actual terrain of the entrance and exit). The operation is also annotated with a timestamp (for example, "2025-04-28 14:43:00") to ensure subsequent traceability. If a minor anomaly is detected in an individual component but does not affect the rescue, the system issues a slow release instruction, reducing the release speed to improve safety. If a critical fault (such as motor failure) is detected, the system interrupts the release and issues a fault alarm to simultaneously notify the management center. The entire decision-making process ensures that the lifeline is deployed quickly and safely, maximizing the safety of emergency evacuees.

[0095] Preferably, step S4 includes the following steps:

[0096] Step S41: parsing the lifeline release instruction data, extracting the target release area, release length and initial release speed parameters, and obtaining target release data;

[0097] In the embodiment of the present invention, after the above-mentioned life-saving cable release instruction data is generated, the central control unit enters the instruction parsing stage. Specifically, the parsing module extracts the target release area (such as "the step area on the south side of Exit A of the subway station"), the release length parameter (such as set to 15 meters) and the initial release speed parameter (such as set to 2 meters per second) according to the instruction data structure. The data field matching method is adopted in the extraction process to parse the instruction content item by item through the preset data tags to ensure the accuracy of the target release data, and finally obtain the target release data. The target release data will serve as the basic parameter for subsequent cable control and power scheduling, ensuring that the life-saving cable can be released in an orderly manner according to the specified length, speed and position, providing a clear and reliable evacuation path for trapped people.

[0098] Step S42: Detecting the direction and velocity of water flow through a water depth sensor at the steps of the underground space, thereby obtaining real-time water flow information;

[0099] After the target release data is extracted, the embodiment of the present invention uses an array of water depth sensors arranged at the steps to detect water flow information in real time to further adapt to the current water flow environment. Specifically, each water depth sensor can not only measure the depth of the accumulated water (in millimeters, such as the current detected water depth is 18 mm), but also infer the water flow direction (such as 15 degrees south-east) and flow rate (such as a water flow rate of 0.4 meters per second) through the built-in flow direction detection module. The water depth sensor uses ultrasonic ranging combined with a miniature electromagnetic induction flow meter to output water flow direction vector and water speed data in real time, and transmits it back to the central control unit through the wireless communication module to form real-time water flow information. This information is used to subsequently dynamically adjust the lifeline release strategy to ensure that the lifeline can still be deployed to the predetermined area along the correct path under the influence of the water flow.

[0100] Step S43: setting control parameters for the motor speed and the driving gear direction according to the target release data and the real-time water flow information to obtain the cable release start data;

[0101] In this embodiment of the present invention, the central control unit combines target release data with real-time water flow information to initiate a release control parameter setting process. This process specifically includes adjusting the motor speed based on the target release speed. For example, the motor speed is initially set to 120 revolutions per minute (corresponding to a release speed of 2 meters per second). The rotation direction of the driving gear is adjusted according to the real-time water flow direction vector so that the released cable can fine-tune the release angle in accordance with the water flow. For example, if the water flow direction is 15 degrees south-east, the driving gear is offset by 15 degrees from the standard release angle to prevent the cable from deviating from the predetermined area after being impacted by the water flow. Ultimately, the cable release start data is generated. This data includes parameters such as the motor target speed, the driving gear target steering angle, and the initial release acceleration limit (e.g., 0.5 meters per second squared), providing basic control commands for subsequent actual release actions.

[0102] Step S44: activating the storage box sensor according to the cable release start data to monitor the stress of the lifeline in real time during the release process to obtain cable stress state data, wherein the lifeline includes a flexible rubber gear belt, a red and green luminous belt, evenly distributed floats, and intervally arranged Velcro fixing devices;

[0103] In this embodiment of the present invention, after the cable release initiation data is set, the central control unit instructs the lifeline equipment to activate multiple sets of tension sensors located inside the lifeline cable storage box to monitor the stress conditions of the lifeline during the release process in real time. The lifeline cable is composed of a flexible rubber gear belt (used to engage with the driving gear to improve friction and release stability), a red and green luminous belt (serving as a visual evacuation guide mark, which can be clearly identified in water and low-light environments), evenly distributed floats (to improve the buoyancy of the cable and prevent it from sinking underwater), and spaced Velcro fixing devices (used to fix the cable to the building structure at key points to prevent drift). The tension sensors output the cable tension value (for example, in Newtons) in real time, generating cable stress status data. This data is continuously transmitted back to the central control unit for dynamic monitoring of stress anomalies during the release process. For example, excessive tension may indicate that the cable is being strongly pulled by the water flow or is entangled with an obstacle.

[0104] Step S45: adjusting the driving gear torque according to the cable force state data. When the cable force exceeds a first preset value, the release speed is slowed down by 20% and the torque is increased by 25%. When the cable force exceeds a second preset value, the release is paused and the cable reinforcement mode is activated, thereby obtaining cable adjustment instruction data.

[0105] After receiving real-time cable stress data, the central control unit in this embodiment of the present invention executes a torque adjustment strategy based on a preset stress threshold. Specifically, when the cable stress exceeds a first preset value (e.g., 100 Newtons), the system control module issues a command to reduce the driving gear speed by 20% (e.g., from 2 meters per second to 1.6 meters per second) and simultaneously increases the output torque of the motor controller by 25% (e.g., from 20 Newtons to 25 Newtons). This enhances the release resistance and mitigates the risk of cable breakage. If the cable stress further exceeds a second preset value (e.g., 150 Newtons), the system automatically pauses the release action and activates a cable reinforcement mode. In this reinforcement mode, the lifeline equipment automatically inflates the float assembly (inflating the float to increase buoyancy through an internal micro-inflator) and tightens the Velcro fastener to secure the lifeline segment to the surrounding structure (e.g., a stair railing), significantly improving tensile stability. This ultimately generates cable adjustment instruction data, which specifically defines the speed adjustment range, torque increase, and reinforcement trigger conditions.

[0106] Step S46: monitoring the state of the life-saving cable equipment and making real-time adjustments according to the cable adjustment instruction data, thereby obtaining cable operation state data.

[0107] In this embodiment of the present invention, after the cable adjustment instruction data is generated, the central control unit directs the lifeline equipment to enter the cable status monitoring and real-time adjustment stage. During the specific implementation process, the control unit automatically and periodically (e.g., every 0.5 seconds) samples the tension data based on the real-time force changes and compares it with the cable operation safety range (for example, between 50 and 100 Newtons). If the cable force is detected to have fallen back to the safety range, the release speed is gradually restored (increasing the release speed by 0.2 meters per second until it returns to the initial set value). At the same time, the motor torque and gear angle are dynamically adjusted to maintain release stability. If the cable force is detected to have changed sharply again, a new round of deceleration, torque addition, or reinforcement operation is immediately executed. The cable operation status data records the time point of each round of adjustment action, the parameter change amplitude, the force change trend, and the current release length (e.g., 8 meters have been released). Ultimately, a detailed operation status record is formed for rescue dispatch personnel to use for real-time monitoring and subsequent analysis, ensuring safe, smooth, and effective cable release throughout the rescue process.

[0108] It is particularly important that the structure of the flexible rubber gear belt of the lifeline in step S44 includes:

[0109] The outer layer of the flexible rubber gear belt is made of a highly elastic rubber material that is waterproof, non-slip and wear-resistant. The middle layer is a reinforced fiber layer composed of woven Kevlar fibers. The inner layer is a flexible gear structure layer. The tooth profile of the flexible gear structure layer is a specially designed arc-shaped tooth. The height difference between the tooth top and the tooth root is 6mm, and the tooth pitch is 15mm.

[0110] A 3mm wide flexible connecting belt is provided between each tooth of the flexible gear structure layer, so that the gear belt can bend up to 20 degrees when subjected to lateral pressure without affecting the meshing with the driving gear;

[0111] A 3mm wide guide groove is provided on each side of the flexible rubber gear belt for cooperating with the positioning driven wheel;

[0112] The flexible rubber gear belt is equipped with a self-locking structure every 1.5 meters. When encountering a tensile force greater than 300N, the structure automatically locks to prevent the cable from being broken by water flow in extreme cases.

[0113] To ensure that the lifeline can be released smoothly and precisely controlled in complex flood environments while also withstanding the impact of severe water flow, the embodiment of the present invention uses a specially designed flexible rubber gear belt structure. The outer layer of the flexible rubber gear belt uses a highly elastic rubber material, such as natural rubber or fluororubber. This material has excellent waterproof properties (permeability less than 0.01g / m²·h), anti-slip properties (friction coefficient greater than 0.8), and wear resistance (wear rate less than 100mm³), ensuring stable grip and operation in slippery environments. The middle layer is a Kevlar fiber reinforcement layer. Kevlar fiber is a high-strength, cut-resistant woven fiber material with a tensile strength of more than 3600MPa. The weaving method adopts an interlaced weaving structure with a fiber intersection density of about 50 per square centimeter to improve the overall tear resistance and tensile resistance. The inner layer is a flexible gear structure layer. The gear tooth shape is designed as an arc tooth, that is, the side of the tooth presents a smooth arc curve. This design can effectively reduce the wear and noise during tooth meshing, and at the same time improve the meshing reliability in the presence of mud and sand impurities. The height difference between the tooth top and the tooth root is 6mm, that is, the effective meshing depth of each tooth is 6mm. Ensure that it remains firm in high-load water flow; the tooth pitch is 15mm, that is, the center distance between each two tooth tops is 15mm, forming a standardized spacing to match the tooth shape of the driving wheel; each pair of teeth is connected by a 3mm wide flexible connecting belt, which is made of a polymer elastomer material. When the gear belt is subjected to lateral impact or torsion, it allows the gear belt to have a maximum bending angle of 20 degrees without losing teeth or breaking; in addition, in order to ensure precise engagement during bending, a 3mm wide guide groove is opened on each side of the gear belt to align with the positioning follower in the cable release mechanism. The wheels cooperate with each other to prevent the gear belt from running off the track when released at high speed or pulled by water flow; in order to improve the overall safety, a self-locking structure is set every 1.5 meters. The self-locking structure is realized by the embedded mechanical clip and spring trigger mechanism. When the cable is subjected to a tensile force exceeding 300N (such as the sudden acceleration impact of a flood), the clip automatically locks to prevent the cable from being directly torn apart due to overload, ensuring that rescue personnel can still rely on the cable to evacuate safely in extreme situations. For example, when floods surge into urban subway station tunnels, the flexible rubber gear belt structure can effectively ensure the stable deployment and continuous use of the cable.

[0114] It is particularly important that the structure of the Velcro fixing device of the lifeline in step S44 includes:

[0115] A set of Velcro fixing devices is set up every 2 meters, each set includes a hand fixing belt and a waist fixing belt;

[0116] The hand strap adopts a double-layer design, with a soft suede inner layer and a strong hook outer layer, which can be folded 180 degrees to achieve self-locking;

[0117] The hand fixation strap is C-shaped and remains open in normal state, with an inner diameter of 10cm. When being grasped, it automatically closes through the built-in elastic structure to form a ring structure with a diameter of 7cm.

[0118] The waist strap is designed in a figure-8 shape and consists of two rings of different diameters. The small ring is fixed to the cable, and the large ring is used to wrap around the user's waist.

[0119] The circumference of the large ring can be automatically adjusted between 60cm and 120cm. It senses the user's body shape through the built-in elastic tension sensor and automatically adjusts the appropriate tightness.

[0120] In order to facilitate trapped people in flood disasters to quickly grasp and fix their bodies, and further improve the success rate of self-rescue through lifeline, the embodiment of the present invention provides a group of Velcro fixing devices every 2 meters on the lifeline, and each group of fixing devices includes a hand fixing belt and a waist fixing belt. The hand fixing belt adopts a double-layer structure, the inner layer is a soft suede material (such as polyester velvet), which has a soft touch and can prevent hand injuries caused by long-term holding, and the outer layer is a high-strength hook material (nylon hook hair). After folding 180 degrees, the inner and outer layers can quickly bite to form a firm self-locking, ensuring that the person can maintain the connection even if he lets go in the water flow; the hand fixing belt is designed in a C shape as a whole, and is supported by shape memory alloy under normal conditions to keep it in an open state, with an inner diameter of about 10 cm, which is convenient for trapped people of different ages to quickly put their hands in. Afterwards, the built-in elastic device automatically contracts and fixes the hand in a ring with a diameter of 7cm. No additional tightening action is required, which greatly speeds up the escape efficiency; the waist fixing belt adopts an 8-shaped structure. The small ring is fixed to the cable by sewing, and the large ring is used to surround the waist of the person. The large ring is made of a retractable elastic belt and has an automatic adjustment function. It can adapt to people of different body shapes with a circumference between 60cm and 120cm. The built-in elastic tension sensor (tension detection range 0-100N, sensitivity 1N) monitors the surrounding tension in real time. When the tension reaches a stable value, it automatically locks, which can prevent strangulation and effectively fix the position of the person; when sudden floods occur in urban underground spaces such as underground shopping malls or underground garages, trapped people can directly grasp the hand fixing belt or waist fixing belt on the cable in a panic environment, thereby improving the overall rescue success rate and efficiency.

[0121] Preferably, step S46 includes the following steps:

[0122] Step S461: Control the distance between the floats according to the cable adjustment instruction data. When the water flow impact force is extremely large, reduce the distance between the floats by 30% to form a stable buoyancy support structure, and obtain cable buoyancy distribution data.

[0123] In this embodiment of the present invention, based on the deployment of the lifeline and buoyant structure released in the aforementioned steps, the system receives cable adjustment command data, generated by the central control module based on the water flow velocity and direction measured by the water flow sensor. When the monitored water flow impact force exceeds a set critical value (e.g., 200 N / m²), the control system activates the float adjustment mechanism, automatically reducing the spacing between adjacent floats by 30%. For example, if the center-to-center spacing of the floats is originally 100 cm, it is adjusted to 70 cm. This allows the cables to form a more compact buoyant support structure, increasing local buoyancy density and improving resistance to water flow impact. The floats are connected using retractable connecting rods with built-in elastic ropes. Pulling the connecting rods adjusts the float spacing. After the adjustment is completed, the system collects the buoyancy changes between each buoyant segment in real time. Combined with the float position and water level data, the buoyancy sensor module calculates the buoyancy distribution data on each cable segment and stores it as cable buoyancy distribution data. This data facilitates subsequent guidance and path analysis, ensuring that the cables will not be washed away by drastic changes in water flow, forming a reliable support structure for people to grasp and walk.

[0124] Step S462: activating the red and green light strips based on the cable buoyancy distribution data and the release progress data, controlling the green light to point toward the safe exit and the red light to point toward the danger zone, thereby obtaining visual guidance data;

[0125] Based on the cable buoyancy distribution data obtained in the previous step and the real-time monitored cable release progress data (release progress data refers to the ratio of the cable's released length to the planned release length; for example, if 30 meters have been released and the planned length is 50 meters, the progress is 60%), the system activates red and green light strips installed on both sides of the cable. These light strips utilize high-brightness flexible LED light strip technology and are IP68-rated waterproof. Each section of the light strip can independently control the color and intensity of the light. The system calculates the light directionality based on the position of the emergency exit relative to the current cable head. Specifically, it controls the green light toward the emergency exit, guiding trapped personnel to safe evacuation. Simultaneously, the red light points to areas with turbulent water flow, dense obstacles, or other dangerous conditions, providing a warning. For example, in an underground subway tunnel flooding incident, the light strips toward the exit illuminate green, while those toward the depths of the subway tunnel illuminate red. The system dynamically adjusts the light strip status based on the real-time cable deployment, generating comprehensive visual guidance data to assist rescuers and trapped personnel in quickly identifying escape routes underwater or in low-visibility environments.

[0126] Step S463: Determine whether there is an obstacle based on the resistance information collected by the preset pressure sensor at the front end of the cable. When a sudden increase in resistance is detected, automatically adjust the release angle to bypass the obstacle, and obtain cable path optimization data.

[0127] This embodiment of the present invention continuously monitors changes in the underwater environment ahead of the cable based on real-time resistance information collected by a high-sensitivity pressure sensor (typically with a pressure measurement range of 0-1000N and a resolution of 1N) pre-installed at the front end of the cable. This resistance information primarily refers to sudden changes in resistance caused by obstacles (such as underwater railings, floating objects, and walls) encountered by the cable as it advances. When a sudden increase in pressure exceeds a preset threshold (e.g., a change of less than 5N is normal, and a sudden increase of more than 5N is abnormal), the system immediately determines the presence of an obstacle ahead. The control module automatically adjusts the release angle based on the direction and magnitude of the detected resistance change. Specifically, this operation involves controlling the servo unit in the release mechanism to change the release angle of the cable head to circumvent the obstacle and continue forward. For example, in a rescue scenario involving flooding in an urban underground parking lot, if the front end of the cable encounters a submerged vehicle, causing a sudden increase in resistance, the system adjusts the cable by 15 degrees to the left or 10 degrees to the right to flexibly avoid the obstacle, ensuring a clear rescue path. The system also generates and records the adjusted path information, outputting it as cable path optimization data.

[0128] Step S464: Analyze the spatial position and functional status of the cable according to the cable path optimization data and the visual guidance data, and generate cable operation status data, wherein the cable operation status data includes the release trajectory, speed, force state and floating body deployment state.

[0129] Based on the generated cable path optimization data and visual guidance data, the system of this embodiment of the present invention further comprehensively analyzes the spatial position and current functional status of the cable to generate cable operation status data. The spatial position is calculated by combining the pose data provided by the inertial measurement unit (IMU) and the position coordinates of the visual marker light strip. The functional status is calculated by combining the cable release trajectory (including the cable release starting point, key nodes passed through, and the current end position), release speed (real-time measurement of the release length per unit time, for example, 0.5 meters released per second), force state (tension changes measured by tension sensors arranged along the cable, ranging from 0 to 500N), and float deployment state (small opening and closing sensors installed on each float module detect deployment or retraction). In practical applications, such as in an emergency scenario where an underground civil air defense tunnel is flooded, rescuers can view the cable operation status data in real time to understand the overall cable layout, whether there are abnormal bends or excessive tension at key points, and whether the float is fully deployed. This can guide subsequent personnel evacuation and assist in rescue decision-making, thereby improving the efficiency and safety of urban underground flood disaster rescue.

[0130] Preferably, step S5 includes the following steps:

[0131] Step S51: obtaining gripping position data of the trapped person through a pressure sensor on the cable surface, determining the contact point and gripping force of the trapped person and the cable, and obtaining gripping posture data of the trapped person;

[0132] To monitor and assess the contact between a trapped person and the cable and the strength of their grip in real time, an embodiment of the present invention employs an array of multifunctional pressure sensors arranged on the cable surface. These pressure sensors, composed of highly sensitive piezoelectric materials and conductive fibers, can collect real-time pressure change data as a trapped person grasps the cable. The sensors operate by detecting the pressure distribution on the cable surface to accurately determine the specific location of the person's contact point with the cable (for example, the distance from one end of the cable) and the strength of their grip (e.g., a pressure value of 10N indicates a light grip, while 30N indicates a tight grip). Specifically, when the sensor detects a pressure value exceeding a preset threshold (e.g., 5N), the system automatically calculates and calibrates the grip point and records the force data at that point, thereby obtaining the grip posture data of the person. In flood disaster rescue scenarios in urban underground spaces, sensor data can provide real-time feedback on the grip status of trapped individuals, ensuring real-time monitoring and providing accurate parameter input for subsequent actions.

[0133] Step S52: activating and controlling the Velcro fixing device in the cable section according to the gripping posture data of the person, and obtaining the fixing device status data, wherein the hand fixing belt in the Velcro fixing device automatically closes to form a ring structure when the grip is detected;

[0134] In this embodiment of the present invention, based on the gripping posture data acquired in step S51, the system automatically activates the Velcro fasteners in the corresponding areas of the cable. When a person grasps the cable, the hand-holding strap automatically closes to form a looped structure after detecting that the gripping force has reached a set value via built-in sensors (such as pressure sensors), ensuring the person's hand is securely secured. The Velcro fasteners are constructed from two layers of material: a soft velvet inner layer and a sturdy hook outer layer. The hooks and velvet automatically interlock upon grasping, forming a secure fixation structure that prevents trapped individuals from letting go and potentially causing danger under strong currents. Specifically, when a gripping force of 20N is detected, the fasteners are activated via an electronically controlled mechanism, activating the closed loop and locking with a mechanical snap, ensuring that the person's hand remains securely attached to the cable regardless of movement. This design effectively ensures that trapped individuals can maintain a firm grip on the cable in floodwaters, preventing slipping and providing stable support for subsequent traction.

[0135] Step S53: obtaining the weight and position information of the trapped person based on the state data of the fixing device, and setting the traction parameters of the driving gear in different levels according to different weight intervals to obtain initial traction force calculation data;

[0136] By acquiring data from the status of the restraint device, the system in this embodiment can further estimate the trapped person's weight and position. In this embodiment, pressure sensors and position sensors located on the hand and waist restraints measure real-time changes in pressure in the grip area and position on the cable, thereby inferring the person's weight. Using an algorithmic model that incorporates the relationship between weight and grip force, the system automatically calculates the trapped person's weight and sets traction parameters based on weight ranges (e.g., 50-70 kg, 70-90 kg, and above 90 kg). Specifically, the system automatically increases traction force for individuals weighing over 90 kg, while appropriately reducing it for lighter individuals to ensure that the traction force matches the person's weight, avoiding injuries caused by excessive traction or ineffective traction due to insufficient traction. By adjusting these parameters, the system generates initial traction force calculation data, providing a foundation for subsequent traction force optimization.

[0137] Step S54: Optimizing the traction force based on the moving speed of the trapped person according to the initial traction force calculation data and the preset safety time, thereby obtaining traction force parameter data;

[0138] In this embodiment of the present invention, the system optimizes traction based on the trapped individual's movement speed, combining initial traction force calculation data with a preset safety time. In this embodiment, traction force optimization takes into account factors such as the trapped individual's mobility, rescue time constraints, and the strength of the water flow. By setting a predefined maximum safety time (for example, 20 minutes), the system combines the trapped individual's movement speed with the traction force optimization algorithm to calculate the optimal movement speed for the individual to reach a safe area within the safety time. Traction force optimization primarily considers the following factors: 1) the trapped individual's physical exertion; 2) the matching of the impact force of the water flow with the traction force; and 3) the relationship between the cable's elongation coefficient and the individual's displacement. Based on this data, traction force is dynamically adjusted through an intelligent optimization model to ensure that the traction process does not exceed the individual's safe load capacity, while maximizing escape efficiency.

[0139] Step S55: Based on the traction parameter data, the red and green light strips provide escape direction guidance to support the trapped persons to move safely along the cable to a safe area.

[0140] In an embodiment of the present invention, based on traction parameter data, the system provides escape direction guidance through red and green light strips. These light strips are composed of high-brightness LED lamps. The green light indicates the direction of the safe exit, while the red light indicates the dangerous area of ​​the water flow. In the embodiment, the system adjusts the brightness and direction of the light strip according to the current position, movement speed and traction data of the trapped person through real-time monitoring of the escape path. Specifically, when the safe speed of the trapped person reaches the preset standard, the green indicator light is at the maximum brightness to ensure that the trapped person can clearly see the safe passage; and in areas with strong water flow, the red light increases in brightness to prompt people to avoid dangerous areas. In addition, the working mode of the light strip can be linked with other fire-fighting equipment, such as water pump systems and drainage systems, to ensure that continuous and reliable guidance functions are provided during flood disasters, helping trapped people to evacuate to designated safe areas quickly and safely.

[0141] Preferably, step S54 includes the following steps:

[0142] Step S544: Based on the initial traction force calculation data and the water flow resistance information in the cable operation status data, when the weight exceeds 70 kg or the water flow resistance exceeds a preset value, the traction force is increased by 30%, and traction force adjustment instruction data is obtained;

[0143] In this embodiment of the present invention, based on the initial traction force calculation data and water resistance information from the cable's operating status data, the system adjusts the traction force in real time according to the current water resistance and the trapped person's weight. If the weight exceeds 70 kg or the water resistance exceeds a preset value (for example, 0.8 N), the system automatically increases the traction force by 30%. In practice, the system obtains the actual water resistance by monitoring the water resistance sensor data on the cable in real time. Water resistance information is measured by water flow sensors installed on both sides of the cable. These sensors calculate the water flow rate and infer the actual water resistance based on the resistance data generated by the contact between the water and the cable. If the sensor data indicates that the water resistance exceeds a preset threshold, the system calculates a traction force multiplier (for example, 30%) based on the trapped person's weight and applies this multiplier to the traction force adjustment command data, ensuring that the traction system can overcome the increased water resistance and maintain traction effectiveness.

[0144] Step S545: controlling the meshing depth and rotational speed of the driving gear and the flexible rubber gear belt according to the traction force adjustment instruction data to obtain real-time traction force output data;

[0145] After obtaining the traction adjustment instruction data, the embodiment of the present invention will control the meshing depth and rotational speed of the driving gear and the flexible rubber gear belt based on these data, thereby adjusting the output of traction. Specifically, the meshing depth of the driving gear and the flexible rubber gear belt will be fine-tuned according to the traction adjustment instruction to ensure that it can provide the required traction. For example, if the system needs to increase the traction, the meshing depth of the driving gear will increase, resulting in an increase in traction. In addition, the rotational speed of the driving gear will be adjusted according to the traction needs. Speed ​​regulation is achieved by controlling the power and speed of the motor. When the traction needs to be increased, the speed of the motor will increase, so that the flexible rubber gear belt will mesh with the driving gear at a higher speed and output more traction. This process is implemented in an automated control system, and the meshing depth and rotational speed are adjusted through real-time feedback data to ensure that the output of traction always meets actual needs.

[0146] Step S546: Collect the moving speed information of the trapped person based on the real-time traction force output data. When the moving speed is lower than the preset safety speed, increase the traction force and shorten the cable release length to obtain rescue speed optimization data.

[0147] In an embodiment of the present invention, based on real-time traction output data, the system collects information on the movement speed of the trapped person to evaluate the rescue progress. The movement speed information is detected by an acceleration sensor on the cable, which can monitor the movement state of the person and calculate the actual movement speed. When the system detects that the person's movement speed is lower than the preset safety speed (for example, 0.5 meters per second), indicating that the traction force is insufficient to overcome the water flow resistance or other factors that prevent the person from moving effectively, the system will automatically increase the traction force and shorten the release length of the cable. The purpose of shortening the release length of the cable is to improve the traction effect by reducing the slack of the cable, so that the trapped person can be pulled to a safe area faster and more safely. The specific operation is to reduce the amount of cable released by adjusting the motor drive system and the cable release device, and adjust the meshing between the driving gear and the flexible rubber gear belt to enhance the traction force.

[0148] Step S545: Calculate the remaining distance to the safe area based on the rescue speed optimization data and the position information of the trapped person. When the remaining distance is less than the preset safety distance, adjust the traction speed in descending order to obtain traction force parameter data.

[0149] In this embodiment of the present invention, the system calculates the remaining distance of the trapped person from the safe area based on the rescue speed optimization data and the trapped person's location information. The system uses the Global Positioning System (GPS) or other location tracking technology to obtain the trapped person's specific location in real time and calculate the remaining distance to the safe area. When the remaining distance is less than the preset safety distance (e.g., 50 meters), the system will make a decreasing adjustment to the traction speed. The purpose of this adjustment is to ensure that the traction speed is not too fast when the trapped person approaches the safe area, thereby avoiding unnecessary injuries caused by excessive traction. The decreasing adjustment is achieved by controlling the speed of the driving gear to gradually reduce the traction output, making the traction process smoother and ensuring that the person reaches the safe area safely and smoothly. During this process, the system will dynamically adjust the traction force based on real-time distance data and traction force data, ultimately ensuring that the trapped person can complete the entire escape process at a safe speed.

[0150] Preferably, step S55 includes the following steps:

[0151] The luminous frequency of the red and green light strips is controlled according to the safety deceleration data. When approaching a safe area, the strobe speed of the green light is increased and the red light is weakened to enhance the direction guidance effect and obtain visual reinforcement guidance data;

[0152] This embodiment of the present invention controls the lighting frequency of the red and green light strips based on safety deceleration data. When a trapped person approaches a safe zone, the system adjusts the lighting effects of the red and green light strips based on the person's speed, enhancing directional guidance. When the trapped person is closer to the safe zone, the system automatically adjusts the green light strobing speed of the light strips based on a preset distance threshold (for example, when the remaining distance is less than 50 meters). This speed increases the visibility of the guidance, alerting the trapped person that they are nearing a safe zone. Simultaneously, the system reduces the brightness and strobing speed of the red light to reduce overstimulation and help the trapped person focus on the correct directional guidance. This dynamic adjustment of the visual effect effectively enhances the guidance effect, ensuring that the trapped person can more clearly see the escape route as they approach the safe zone, thereby increasing their chances of escape success. This operation involves adjusting the power management system and control signals of the red and green light strips, providing real-time feedback and adjusting the strobing speed and brightness, optimizing for different travel speeds and remaining distances.

[0153] The movement trajectory of trapped people is monitored based on visual reinforcement guidance data and traction implementation status. When deviation from the optimal path is detected, fine-tuning and correction are made through uneven traction distribution to obtain path correction data.

[0154] In the embodiment of the present invention, based on the visually enhanced guidance data and the traction implementation status, the system monitors the movement trajectory of the trapped person in real time to ensure that he moves along the optimal path. The movement trajectory of the trapped person is tracked in real time by a motion sensor or GPS positioning system installed on the cable, and compared with the preset optimal escape path. If the system detects that the person has deviated from the optimal path (for example, the deviation exceeds 2 meters), it will make fine adjustments through uneven traction distribution. Specifically, the system adjusts the engagement depth and rotation speed of the active gear and the flexible rubber gear belt according to the degree of deviation from the path, so that one side of the cable is subjected to greater traction, thereby slightly guiding the trapped person to adjust in the correct direction. The uneven distribution of traction is achieved by controlling the cable release device and the precise adjustment of the active gear system, ensuring that the distribution of traction at different positions can be optimized according to the real-time movement trajectory, thereby gradually correcting the path deviation of the trapped person.

[0155] Personnel rescue guidance data is generated based on the path correction data and deceleration control data to support trapped personnel to move safely along the cable to a safe area.

[0156] In an embodiment of the present invention, the system generates final personnel rescue guidance data based on the path correction data and deceleration control data. This process combines the path correction information and safe deceleration data of the trapped person to generate complete escape guidance instructions. The system will integrate the fine-tuning operation of the traction force after the path correction and the light guidance information during the safe deceleration process, and output guidance data to support the trapped person to continue to move safely along the cable to a safe area in the remaining path. During the specific implementation process, the system will combine the traction adjustment data after the correction with the optimized light guidance data during the deceleration process in real time to ensure that the trapped person can not only get clear direction guidance through visual signals when approaching the safe area, but also maintain a safe speed under the guidance of traction. The control module in the system will conduct comprehensive analysis and adjustment based on the real-time feedback data to ensure that the rescue guidance data finally output can provide the safest and most effective rescue guidance based on the real-time position, speed and path of the trapped person.

[0157] The present invention also includes a system for rescuing urban underground space flood disasters, which is characterized in that it is used to execute the above-mentioned method for rescuing urban underground space flood disasters, and the system for rescuing urban underground space flood disasters includes:

[0158] The water depth monitoring module is used to set up water depth sensors at the steps of the underground space and monitor the depth of water accumulation on the steps in real time;

[0159] A risk assessment module is used to compare and analyze the depth of water accumulation on the steps with preset thresholds to obtain step water accumulation risk level data, wherein a flood warning signal is generated when the depth of water accumulation on the steps reaches a first preset threshold, and a backflow alarm signal is generated when the depth of water accumulation on the steps reaches a second preset threshold;

[0160] The rescue start module is used to classify the risk level according to the step water accumulation risk level data. When the risk level reaches the warning level, it sends a device preheating instruction. When the risk level reaches the alarm level, it sends a start preparation instruction and obtains the device status preparation data. Based on the device status preparation data, it starts and controls the lifeline equipment and obtains the lifeline release instruction data.

[0161] The cable release module is used to perform adaptive release control on the lifeline based on environmental excitation, structural effect and intelligent regulation according to the lifeline release instruction data, and obtain the cable operation status data;

[0162] The intelligent traction module is used to obtain the personnel's gripping posture data through the pressure sensor on the cable surface, and adjust the cable traction force parameters according to the cable operation status data and the personnel's gripping posture data. The flexible rubber gear belt is engaged with the active gear to generate stable traction, obtain traction force parameter data, and the red and green alternating light belt provides escape direction guidance.

[0163] The present invention is therefore intended to be illustrative and non-restrictive in all respects, with the scope of the invention being defined by the appended claims rather than the foregoing description, and all changes that come within the meaning and range of equivalents of the application documents are intended to be embraced therein.

[0164] The foregoing description is intended only to provide specific embodiments of the present invention, which will enable those skilled in the art to understand and implement the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not intended to be limited to the embodiments shown herein, but is to be construed in the widest possible manner consistent with the principles and novel features disclosed herein.

Claims

1. A method for rescuing urban underground space flood disasters, characterized in that: The following steps are involved: Step S1: Install a water depth sensor at the steps of the underground space and monitor the depth of water accumulation on the steps in real time; Step S2: Comparing and analyzing the preset thresholds according to the depth of water accumulation on the steps to obtain step water accumulation risk level data, wherein a flood warning signal is generated when the depth of water accumulation on the steps reaches a first preset threshold, and a backflow alarm signal is generated when the depth of water accumulation on the steps reaches a second preset threshold; Step S3: The risk level is graded and judged based on the step water accumulation risk level data. When the risk level reaches the warning level, a device preheating instruction is sent. When the risk level reaches the alarm level, a start-up preparation instruction is sent to obtain device status preparation data. The lifeline device is started and controlled based on the device status preparation data to obtain lifeline release instruction data. Step S4: performing adaptive release control on the lifeline based on environmental excitation, structural effect and intelligent regulation according to the lifeline release instruction data to obtain the cable operation status data; Step S5: The pressure sensor on the cable surface obtains the gripping posture data of the person, and the cable traction force parameters are adjusted according to the cable operation status data and the gripping posture data of the person. The flexible rubber gear belt is engaged with the driving gear to generate a stable traction force, and the traction force parameter data is obtained. The red and green alternating light strips provide escape direction guidance. Step S4 includes the following steps: Step S41: parsing the lifeline release instruction data, extracting the target release area, release length and initial release speed parameters, and obtaining target release data; Step S42: Detecting the direction and velocity of water flow through a water depth sensor at the steps in the underground space, thereby obtaining real-time water flow information; Step S43: setting control parameters for the motor speed and the driving gear direction according to the target release data and the real-time water flow information to obtain the cable release start data; Step S44: activating the storage box sensor according to the cable release start data to monitor the stress of the lifeline in real time during the release process to obtain cable stress state data, wherein the lifeline includes a flexible rubber gear belt, a red and green luminous belt, evenly distributed floats, and intervally arranged Velcro fixing devices; Step S45: adjusting the driving gear torque according to the cable force state data. When the cable force exceeds a first preset value, the release speed is slowed down by 20% and the torque is increased by 25%. When the cable force exceeds a second preset value, the release is paused and the cable reinforcement mode is activated, thereby obtaining cable adjustment instruction data. Step S46: monitoring the state of the life-saving cable equipment and making real-time adjustments according to the cable adjustment instruction data, thereby obtaining cable operation state data.

2. The urban underground space flood disaster rescue method according to claim 1, characterized in that: The flood warning signal in step S2 includes: When the depth of water on the steps reaches 3mm, the sound and light warning signal is activated; and electronic warning information is sent to the terminal equipment of the management and control center, where the electronic warning information includes the flooding location, water depth, warning time and warning level; based on the electronic warning information, the electronic display screen at the entrance and exit of the underground space is automatically activated to display the warning information.

3. The urban underground space flood disaster rescue method according to claim 2, characterized in that: The backflow alarm signal in step S2 includes: When the depth of water on the steps reaches 1cm, an audible and visual alarm signal is activated, and the signal strength of the audible and visual alarm signal is twice that of the audible and visual warning signal; the water level rise rate is calculated based on the depth of water on the steps to obtain the estimated backflow time; an alarm message is sent to the terminal equipment of the management and control center and the urban emergency rescue department, and the alarm information includes the flood location, water depth, estimated backflow time, alarm time, alarm level and risk assessment; based on the alarm message, the display screen and broadcasting system in the underground space are automatically activated to play emergency evacuation information.

4. The urban underground space flood disaster rescue method according to claim 3, characterized in that: Step S3 is specifically as follows: Step S31: The risk level is graded and judged according to the step water accumulation risk level data. When the risk level reaches the warning level, a device preheating instruction is sent. When the risk level reaches the alarm level, a start-up preparation instruction is sent to obtain device status preparation data. Step S32: activating a power management unit in the lifeline device according to the device status preparation data to obtain power supply status data, wherein the lifeline device includes a lifeline cable storage box, a power and transmission system, a power management unit, and a lifeline, wherein the power and transmission system includes a driving gear, a driven gear, a positioning driven wheel, a motor, a gearbox, and a battery; Step S33: performing a self-check on the working status of the lifeline according to the power supply status data to obtain system component status data; Step S34: starting and controlling the lifeline equipment according to the system component status data and the step water accumulation risk level data to obtain the lifeline release instruction data.

5. The urban underground space flood disaster rescue method according to claim 4, characterized in that: Step S46 includes the following steps: Step S461: Control the distance between the floats according to the cable adjustment instruction data. When the water flow impact force is extremely large, reduce the distance between the floats by 30% to form a stable buoyancy support structure, and obtain cable buoyancy distribution data. Step S462: activating the red and green light strips based on the cable buoyancy distribution data and the release progress data, controlling the green light to point toward the safe exit and the red light to point toward the danger zone, thereby obtaining visual guidance data; Step S463: Determine whether there is an obstacle based on the resistance information collected by the preset pressure sensor at the front end of the cable. When a sudden increase in resistance is detected, automatically adjust the release angle to bypass the obstacle, and obtain cable path optimization data. Step S464: Analyze the spatial position and functional status of the cable according to the cable path optimization data and the visual guidance data, and generate cable operation status data, wherein the cable operation status data includes the release trajectory, speed, force state and floating body deployment state.

6. The urban underground space flood disaster rescue method according to claim 5, characterized in that: Step S5 includes the following steps: Step S51: obtaining gripping position data of the trapped person through a pressure sensor on the cable surface, determining the contact point and gripping force of the trapped person and the cable, and obtaining gripping posture data of the trapped person; Step S52: activating and controlling the Velcro fixing device in the cable section according to the gripping posture data of the person, and obtaining the fixing device status data, wherein the hand fixing belt in the Velcro fixing device automatically closes to form a ring structure when the grip is detected; Step S53: obtaining the weight and position information of the trapped person based on the state data of the fixing device, and setting the traction parameters of the driving gear in different levels according to different weight intervals to obtain initial traction force calculation data; Step S54: Optimizing the traction force based on the moving speed of the trapped person according to the initial traction force calculation data and the preset safety time, thereby obtaining traction force parameter data; Step S55: Based on the traction parameter data, the red and green light strips provide escape direction guidance to support the trapped persons to move safely along the cable to a safe area.

7. The urban underground space flood disaster rescue method according to claim 6, characterized in that: Step S54 includes the following steps: Step S544: Based on the initial traction force calculation data and the water flow resistance information in the cable operation status data, when the weight exceeds 70 kg or the water flow resistance exceeds a preset value, the traction force is increased by 30%, and traction force adjustment instruction data is obtained; Step S545: controlling the meshing depth and rotational speed of the driving gear and the flexible rubber gear belt according to the traction force adjustment instruction data to obtain real-time traction force output data; Step S546: Collect the moving speed information of the trapped person based on the real-time traction force output data. When the moving speed is lower than the preset safety speed, increase the traction force and shorten the cable release length to obtain rescue speed optimization data. Step S545: Calculate the remaining distance to the safe area based on the rescue speed optimization data and the position information of the trapped person. When the remaining distance is less than the preset safety distance, adjust the traction speed in descending order to obtain traction force parameter data.

8. The urban underground space flood disaster rescue method according to claim 7, characterized in that: Step S55 includes the following steps: The luminous frequency of the red and green light strips is controlled according to the safety deceleration data. When approaching a safe area, the strobe speed of the green light is increased and the red light is weakened to enhance the direction guidance effect and obtain visual reinforcement guidance data; The movement trajectory of trapped people is monitored based on visual reinforcement guidance data and traction implementation status. When deviation from the optimal path is detected, fine-tuning and correction are made through uneven traction distribution to obtain path correction data. Personnel rescue guidance data is generated based on the path correction data and deceleration control data to support trapped personnel to move safely along the cable to a safe area.

9. An urban underground space flood disaster rescue system, characterized in that: Used to execute the urban underground space flood disaster rescue method according to claim 1, the urban underground space flood disaster rescue system comprises: The water depth monitoring module is used to set up water depth sensors at the steps of the underground space and monitor the depth of water accumulation on the steps in real time; A risk assessment module is used to compare and analyze the depth of water accumulation on the steps with preset thresholds to obtain step water accumulation risk level data, wherein a flood warning signal is generated when the depth of water accumulation on the steps reaches a first preset threshold, and a backflow alarm signal is generated when the depth of water accumulation on the steps reaches a second preset threshold; The rescue start module is used to classify the risk level according to the step water accumulation risk level data. When the risk level reaches the warning level, it sends a device preheating instruction. When the risk level reaches the alarm level, it sends a start preparation instruction and obtains the device status preparation data. Based on the device status preparation data, it starts and controls the lifeline equipment and obtains the lifeline release instruction data. The cable release module is used to perform adaptive release control on the lifeline based on environmental excitation, structural effect and intelligent regulation according to the lifeline release instruction data, and obtain the cable operation status data; The intelligent traction module is used to obtain the personnel's gripping posture data through the pressure sensor on the cable surface, and adjust the cable traction force parameters according to the cable operation status data and the personnel's gripping posture data. The flexible rubber gear belt is engaged with the active gear to generate stable traction, obtain traction force parameter data, and the red and green alternating light belt provides escape direction guidance.

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