Smoke exhausting, fire extinguishing and forcible entry integrated rescue equipment and multi-mode switching method

Abstract

The invention relates to the technical field of rescue equipment, in particular to smoke exhausting, fire extinguishing and forcible entry integrated rescue equipment and a multi-mode switching method, and the smoke exhausting, fire extinguishing and forcible entry integrated rescue equipment comprises a fixed pipe, a sliding pipe, a powder cavity, an energy storage device, a fan and a composite sensor array. A thermal imaging layer, a pressure sensing layer and an optical acquisition layer are integrated at the front end of the sliding pipe, and self-adaptive mode switching is achieved through an edge calculation module and a dynamic logic processor. The method comprises the steps of multi-source data synchronous acquisition, cross-modal feature fusion and dynamic decision switching, and fire spreading, obstacle damage and smoke diffusion states can be accurately identified. The heat dissipation problem is solved through the graphene heat conduction channel, efficient response is ensured through the priority decision-making unit, and the rescue efficiency and safety in a complex scene are remarkably improved.

Description

Technical Field

[0001] The present invention belongs to the field of emergency rescue and fire fighting technology, specifically to integrated rescue equipment for smoke exhaust, fire extinguishing and demolition, and a multi-modal switching method. Background Art

[0002] With the continuous development of emergency rescue equipment, the integrated integration of functions such as smoke exhaust, fire extinguishing, and demolition has gradually become an important direction for improving rescue efficiency. However, existing rescue equipment still has shortcomings in functional integration and multi-modal switching. The demand for efficiency in complex rescue scenarios places higher demands on equipment performance. Existing switching methods mainly rely on manual operation or simple threshold judgment to switch modes. This method has certain limitations in terms of adaptability and makes it difficult to fully address the multiple requirements of personnel safety, fire extinguishing efficiency, and damage reduction.

[0003] For example, in rescue scenarios, the spread of fire, the extent of smoke diffusion, and structural damage to obstacles all require real-time monitoring and dynamic response. However, existing technologies are insufficient in cross-modal data fusion and priority decision-making. Furthermore, existing rescue equipment also faces room for improvement in sensor layout, heat dissipation design, and the intelligence of its logic processing units. These factors collectively hinder further improvements in rescue efficiency. Summary of the Invention

[0004] The present invention aims to overcome the shortcomings of existing technologies and address or at least alleviate the issues with functional integration and multimodal switching in existing rescue equipment. It provides an integrated smoke exhaust, fire extinguishing, and demolition rescue device and a multimodal switching method. This solution utilizes a composite sensor array, a dynamic logic processor, and cross-modal feature fusion technology to achieve adaptive mode switching, meeting the efficiency requirements of complex rescue scenarios.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an integrated rescue device for smoke exhaust, fire extinguishing and demolition, comprising a fixed pipe, a sliding pipe, a powder chamber, an energy storage device and a fan. The front end of the sliding pipe is integrated with a composite sensor array, comprising a thermal imaging layer, a pressure sensing layer and an optical collection layer; the rear part of the fixed pipe is provided with an edge computing module, which is connected to a dynamic logic processor, and the output end of the dynamic logic processor controls the impact frequency of the energy storage device and the steering mode of the fan.

[0006] Preferably, an electromagnetic shielding isolation layer is provided between each layer of the composite sensor array, a graphene heat conduction channel is provided between the edge computing module and the sliding pipe, and the dynamic logic processor has a built-in priority decision unit.

[0007] A multi-modal state switching method is applied to the above-mentioned smoke exhaust, fire extinguishing and demolition integrated rescue equipment, characterized by comprising the following steps: S1, obtain temperature gradient distribution data through the thermal imaging layer, record the axial vibration spectrum in real time through the pressure sensing layer, capture the environmental image through the optical acquisition layer, and extract the smoke diffusion characteristics; S2, time-space align the thermal imaging data and the optical image, establish a three-dimensional mapping relationship, extract the frequency band energy distribution characteristics of the pressure signal, and generate a three-dimensional feature vector containing the temperature change rate, the obstacle damage index, and the smoke shielding rate; S3, if the temperature change rate is greater than 0.5 DEG C / s and the flame expansion speed exceeds 0.2 m / s, activate the fire extinguishing mode; if the pressure distribution uniformity is less than 0.7 and the image recognition shows that the obstacle damage area ratio exceeds 30%, trigger the damage mode; if the smoke shielding rate rises to more than 80% within 5 seconds, forcibly switch to the smoke exhaust mode.

[0008] In order to further realize the present application, the following technical solutions can be preferred: Preferably, the time-space alignment process is based on Kalman filtering algorithm, combined with the time stamp information of the thermal imaging data and the optical image, the frequency band energy distribution characteristics are extracted by fast Fourier transform, and the energy proportion of 0-100Hz low frequency band and 100-500Hz high frequency band is analyzed.

[0009] Preferably, the generation of the three-dimensional feature vector adopts a weighted fusion strategy, wherein the temperature change rate weight is 0.4, the obstacle damage index weight is 0.3, and the smoke shielding rate weight is 0.3.

[0010] Preferably, the generation of the three-dimensional feature vector adopts a dynamic weighted fusion strategy, including: a. When the temperature change rate exceeds 1 DEG C / s and lasts more than 3 seconds, the temperature change rate weight is increased to 0.5, and the smoke shielding rate weight is simultaneously reduced to 0.2; b. When the smoke diffusion speed exceeds 0.5 m / s and the smoke stratification phenomenon can be seen in the optical image, the smoke shielding rate weight is increased to 0.4, and the surface crack propagation rate is introduced as a correction factor in the obstacle damage index; c. When the frequency band energy of the pressure signal in the 0-100Hz interval accounts for more than 60%, an additional 0.1 obstacle damage index weight compensation value is added.

[0011] Preferably, when the following special scenarios occur: a. All three conditions are met: Condition 1: the ambient temperature exceeds 80 DEG C and lasts more than 10 seconds; Condition 2: the smoke shielding rate fluctuation amplitude is greater than 15% / s and lasts for 3 sampling periods; Condition 3: the pressure signal frequency band energy in the 100-500Hz interval increases by more than 50%; The first-level response strategy is then implemented: the weight of the temperature change rate is reduced to 0.3, the weight of the smoke obscuration rate is increased to 0.5, and the vibration compensation algorithm of the sliding pipe is enabled; b. When any two of the following conditions are met: Condition 1: The ambient temperature exceeds 80°C and the smoke obscuration rate fluctuates by more than 15% / s; Condition 2: The ambient temperature exceeds 80°C and the pressure band increases by more than 50%; Condition 3: The smoke obscuration rate fluctuates by more than 15% / s and the pressure frequency band increases by more than 50%; The second-level response strategy is implemented: the weight of the temperature change rate is reduced by 0.1, the weight of the smoke obscuration rate is increased by 0.2, and at least one of the following compensation measures is initiated: ① Increase the operating frequency of the thermal imaging layer to 60Hz ② Loading pulsed heat dissipation current in the graphene heat conduction channel ③ Injecting buffer into the energy storage device to reduce the impact peak; c. When only a single condition is met: If the ambient temperature exceeds 80°C, the thermal imaging layer calibration cycle is extended to 30 seconds; If the smoke fluctuation is >15% / s, the polarization filtering function of the optical collection layer will be activated; If the pressure band suddenly increases by more than 50%, an emergency interrupt signal will be sent to the dynamic logic processor.

[0012] Preferably, after executing step S3, the following steps are also included: if it is found that the temperature change rate has not decreased after the fire extinguishing mode is activated, the fire source position is re-evaluated and the spray angle is adjusted; if it is found that the target structure has not been completely demolished after the demolition mode is triggered, the impact frequency of the energy storage device is increased to the maximum value; if it is found that the smoke obscuration rate continues to rise after the smoke exhaust mode is switched, the backup fan is started to improve the smoke exhaust capacity.

[0013] Preferably, when the temperature change rate within the current time window is greater than the first threshold and less than the second threshold, the system enters a second-level warning state and increases the data acquisition frequency of the thermal imaging layer; when the obstacle damage index within the current time window is greater than the second threshold, the system enters a third-level warning state and retracts the slide pipe to reduce the equipment load; when the smoke obscuration rate within the current time window is greater than the third threshold, the system enters a fourth-level warning state, stops all operations, and evacuates personnel.

[0014] Preferably, before executing step S3, the following preparatory steps need to be completed in sequence: generate a judgment trajectory based on the thermal imaging data and pressure signals in the previous multiple time windows; analyze the current environmental status according to the judgment trajectory. If the rate of change of the curvature radius of the trajectory exceeds 15% / s and the angle between the tangent direction and the axis of the sliding tube continues to increase, it indicates that the device has a tilt problem; if the elliptical eccentricity of the trajectory is greater than 0.6 and the angle between the major axis direction and the pressure wave propagation direction is less than 30°, it indicates that the device is affected by an external collision.

[0015] The beneficial effects of the present invention are: This invention uses a composite sensor array to collect multi-source data in real time and integrates a dynamic logic processor to achieve adaptive mode switching, significantly improving the adaptability of rescue equipment in complex scenarios. Through cross-modal feature fusion technology, it can accurately identify various conditions such as fire spread, obstacle damage, and smoke diffusion, providing a scientific basis for rescue operations.

[0016] The invention also uses a graphene heat conduction channel design to effectively solve the heat dissipation problem of the edge computing module under high-intensity operation, extending the service life of the equipment. Furthermore, the design of the priority decision unit ensures that the most urgent issues are handled first in the event of multi-state conflicts, reducing the risk of rescue.

[0017] Furthermore, the present invention incorporates a comprehensive system for generating and analyzing judgment trajectories. By combining thermal imaging data with pressure signals, the system can quickly locate the cause of equipment anomalies and provide guidance for subsequent operations. Actual testing has demonstrated that rescue equipment employing the present invention's technical solution has increased its response speed by 40% and operational efficiency by 30% in complex scenarios, significantly enhancing the safety and effectiveness of rescue operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the smoke exhaust, fire extinguishing and demolition integrated rescue equipment of the present invention.

[0019] Figure 2 Flowchart of the multi-mode switching method of the present invention.

[0020] Figure 3 This is a flow chart of the special scenario response strategy of the multimodal switching method of the present invention.

[0021] Figure 4 This is a flowchart of the warning state and operation adjustment of the multi-modal switching method of the present invention.

[0022] Figure 5 Flowchart of the preparatory steps of the multi-mode switching method of the present invention.

[0023] The accompanying drawings are: 1. Fixed pipe; 3. Sliding pipe; 4. Energy storage device; 5. Powder chamber; 6. Fan. DETAILED DESCRIPTION

[0024] In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work shall fall within the scope of protection of the present invention. Example

[0026] The present invention provides a smoke exhaust, fire extinguishing and demolition integrated rescue equipment and a multi-mode switching method thereof, the overall structure of which is as follows Figure 1 The equipment includes a fixed pipe 1, a sliding pipe 3, a powder chamber 5, an energy storage device 4 and a fan 6. The components are connected mechanically and the signal transmission path is used to achieve functional integration and collaborative work. Figure 1 The specific embodiments of the present invention are described in detail with reference to the arrangement of parts and the reference numbers shown in FIG.

[0027] Fixed tube 1 serves as the device's main frame. The edge computing module is embedded in its rear and connected to slide tube 3 via a flexible circuit board. Slide tube 3 slides axially over the front end of fixed tube 1, with a threaded connection securing the composite sensor array. The composite sensor array consists of a thermal imaging layer, a pressure sensing layer, and an optical data acquisition layer, with electromagnetic shielding between each layer to reduce signal interference. The thermal imaging layer utilizes an uncooled microbolometer array with a resolution of at least 384×288 pixels and a frame rate of at least 50Hz. The pressure sensing layer comprises multiple piezoelectric ceramic sensors arranged in a cross pattern, each with a sensitivity of at least 1mV / kPa and a response time of no more than 1ms. The optical data acquisition layer features a wide-angle lens with a field of view of at least 120° and an infrared filter to enhance image clarity in smoky environments. A sealing ring is installed at the connection between slide tube 3 and fixed tube 1 to prevent external contaminants from entering the device.

[0028] The edge computing module is embedded in the rear of fixed pipe 1 and communicates with the dynamic logic processor via a high-speed serial interface. The dynamic logic processor has a built-in priority decision unit that executes mode switching instructions based on the results of multi-source data fusion. The ends of the graphene heat conduction channel are welded to the edge computing module and the surface of the sliding pipe 3, respectively, and the middle section is coated with an insulating coating to prevent short circuits. The design of the graphene heat conduction channel utilizes the high thermal conductivity of graphene, which can quickly transfer the heat generated by the edge computing module under high-intensity operation to the surface of the sliding pipe 3 for dissipation, thereby ensuring long-term stable operation of the module.

[0029] The energy storage device 4 is mounted in the center of the fixed tube 1 and fits snugly against the inner wall of the sliding tube 3. Its output is connected to the dynamic logic processor via a signal line. The energy storage device 4 adjusts its impact frequency based on the dynamic logic processor's instructions, enabling it to remove obstacles in the demolition mode. The powder chamber 5, located below the energy storage device 4 and connected to the inner cavity of the sliding tube 3, stores the dry powder required for fire extinguishing. The fan 6 is mounted at the rear of the fixed tube 1. Its direction of rotation is controlled by the dynamic logic processor, allowing it to adjust the direction of smoke exhaust or air supply according to actual needs.

[0030] like Figure 2 As shown, the operating principle of the present invention is as follows: the composite sensor array collects multi-source data in real time, including the temperature gradient distribution data obtained by the thermal imaging layer, the axial vibration spectrum recorded by the pressure sensing layer, and the environmental image captured by the optical acquisition layer. These data are transmitted to the edge computing module via a flexible circuit board for preliminary processing. The edge computing module aligns the thermal imaging data and the optical image in time and space based on the Kalman filter algorithm to establish a three-dimensional mapping relationship. At the same time, the low-frequency and high-frequency energy proportion characteristics of the pressure signal are extracted by fast Fourier transform, and a three-dimensional feature vector is generated by combining the temperature change rate, obstacle damage index and smoke obscuration rate. This feature vector is generated using a weighted fusion strategy, where the weight of the temperature change rate is 0.4, the weight of the obstacle damage index is 0.3, and the weight of the smoke obscuration rate is 0.3.

[0031] The generation of three-dimensional feature vectors adopts a dynamic weighted fusion strategy, which includes: (a) When the temperature change rate exceeds 1°C / s and lasts for more than 3 seconds, increase the temperature change rate weight to 0.5 and simultaneously reduce the smoke obscuration rate weight to 0.2; (b) When the smoke diffusion speed exceeds 0.5 m / s and smoke stratification is visible in the optical image, the smoke obscuration rate weight is increased to 0.4, and the surface crack growth rate is introduced as a correction factor in the obstacle damage index; (c) When the frequency band energy of the pressure signal in the 0-100 Hz range exceeds 60%, an additional obstacle damage index weight compensation value of 0.1 is added.

[0032] like Figure 3As shown, when the following special scenarios occur: (a) All three conditions are met: Condition 1: Ambient temperature exceeds 80℃ and lasts for more than 10 seconds; Condition 2: Smoke obscuration rate fluctuation amplitude is greater than 15% / s and lasts for 3 sampling periods; Condition 3: Pressure signal frequency band energy in the 100-500Hz interval increases by more than 50%; Then execute the first level response strategy: reduce the temperature change rate weight to 0.3, increase the smoke obscuration rate weight to 0.5, and enable the vibration compensation algorithm of slide pipe (3); (b) When any two of the following conditions are met: Condition 1: Ambient temperature exceeds 80℃ and smoke obscuration rate fluctuation amplitude >15% / s; Condition 2: Ambient temperature exceeds 80℃ and pressure frequency band increases by >50%; Condition 3: Smoke obscuration rate fluctuation >15% / s and pressure frequency band increases by >50%; Then execute the second level response strategy: reduce the temperature change rate weight by 0.1, increase the smoke obscuration rate weight by 0.2, and start at least one of the following compensation measures: ① Increase the working frequency of the thermal imaging layer to 60Hz ② Load pulse heat dissipation current in the graphene heat conduction channel ③ Inject buffer into energy storage device (4) to reduce impact peak; (c) When only one condition is met: Ambient temperature exceeds 80℃ to extend the thermal imaging layer calibration period to 30 seconds; Smoke fluctuation >15% / s to activate the polarization filtering function of the optical acquisition layer; Pressure frequency band increases by >50% to send an emergency interrupt signal to the dynamic logic processor.

[0033] As shown, Figure 4 the dynamic logic processor receives the three-dimensional feature vector output by the edge computing module and analyzes and judges. If the temperature change rate is greater than 0.5℃ / s and the flame propagation speed exceeds 0.2m / s, the extinguishing mode is activated, the energy storage device 4 releases dry powder material and sprays it to the fire source position through the slide pipe 3. If the pressure distribution uniformity is less than 0.7 and the image recognition shows that the damaged area of the obstacle accounts for more than 30%, the demolition mode is triggered, the energy storage device 4 increases the impact frequency to demolish the target structure. If the smoke obscuration rate rises to more than 80% within 5 seconds, the forced switching of the smoke exhaust mode is triggered, and the fan 6 adjusts the direction to improve the exhaust capacity.

[0034] After the fire extinguishing mode is activated, if it is detected that the temperature change rate has not decreased, the fire source location is re-evaluated and the spray angle of the slide pipe 3 is adjusted. After the demolition mode is triggered, if the target structure is not completely demolished, the energy storage device 4 will increase the impact frequency to the maximum value. After the smoke exhaust mode is switched, if the smoke obscuration rate continues to rise, the backup fan is started to further improve the smoke exhaust capacity. In addition, within the current time window, if the temperature change rate is greater than the first threshold and less than the second threshold, the system enters the second-level warning state and increases the data acquisition frequency of the thermal imaging layer; if the obstacle damage index is greater than the second threshold, the system enters the third-level warning state and retracts the slide pipe 3 to reduce the equipment load; if the smoke obscuration rate is greater than the third threshold, the system enters the fourth-level warning state, stops all operations and evacuates personnel.

[0035] like Figure 5 As shown, in order to further improve the reliability of the equipment, the generation and analysis of the judgment trajectory must be completed before executing the mode switch. Based on the thermal imaging data and pressure signals in the previous multiple time windows, the temperature contour lines are extracted and the trajectory curve is drawn in combination with the frequency band energy distribution characteristics of the pressure signal. If the rate of change of the curvature radius of the trajectory exceeds 15% / s and the angle between the tangent direction and the axis of the slide tube 3 continues to increase, it indicates that the equipment has a tilt problem; if the elliptical eccentricity of the trajectory is greater than 0.6 and the angle between the long axis direction and the pressure wave propagation direction is less than 30°, it indicates that the equipment has been affected by an external collision. This process provides a scientific basis for subsequent operations and ensures the stability of the equipment in complex scenarios.

[0036] The present invention realizes the integrated functional integration of smoke exhaust, fire extinguishing and demolition through the above-mentioned structural design and operating principle. The collaborative work of the composite sensor array and the edge computing module ensures the efficient collection and processing of multi-source data, and the priority decision unit of the dynamic logic processor can quickly respond to the most pressing issues in the event of multi-state conflicts. The design of the graphene heat conduction channel solves the heat dissipation problem of the edge computing module and extends the service life of the equipment. According to actual tests and verification, the rescue equipment using this technical solution has a 40% increase in response speed and a 30% increase in operating efficiency in complex scenarios, which significantly enhances the safety and effectiveness of rescue work. Example

[0037] In order to better enable relevant personnel in this technical field to fully understand and implement the present invention, the specific implementation principle of the present invention is supplemented below with reference to a specific application scenario.

[0038] In an actual rescue scenario, the equipment first collects environmental data in real time through the composite sensor array at the front end of the sliding pipe 3. The temperature gradient distribution data obtained by the thermal imaging layer, the axial vibration spectrum recorded by the pressure sensing layer, and the environmental image captured by the optical acquisition layer are all transmitted to the edge computing module at the rear of the fixed pipe 1 through a flexible circuit board. The edge computing module aligns the thermal imaging data and the optical image in time and space based on the Kalman filter algorithm to establish a three-dimensional mapping relationship. At the same time, by performing a fast Fourier transform on the pressure signal, the energy proportion characteristics of the low-frequency and high-frequency bands are extracted, and a three-dimensional feature vector is generated by combining the temperature change rate, obstacle damage index, and smoke obscuration rate. This process ensures the precise fusion of multi-source data and provides a reliable basis for subsequent mode switching.

[0039] After the dynamic logic processor receives the three-dimensional feature vector output by the edge computing module, the priority decision unit performs analysis and judgment based on preset conditions. If the temperature change rate is detected to be greater than 0.5°C / s and the flame spread speed exceeds 0.2m / s, the fire extinguishing mode is activated. At this time, the energy storage device 4 releases the dry powder material in the powder chamber 5 and sprays it to the fire source through the slide pipe 3. If the temperature change rate does not decrease after the fire extinguishing mode is activated, the edge computing module reassesses the fire source location and adjusts the spray angle of the slide pipe 3 to improve the fire extinguishing efficiency. This process is achieved by increasing the data acquisition frequency of the thermal imaging layer to ensure the precise location of the fire source.

[0040] In demolition mode, if the pressure distribution uniformity falls below 0.7 and image recognition indicates that the damaged area of ​​the obstacle exceeds 30%, the dynamic logic processor instructs the energy storage device 4 to increase the impact frequency to demolish the target structure. If the target structure is not completely demolished, the energy storage device 4 further increases the impact frequency to the maximum value. During this process, the dynamic logic processor controls the retraction of the slide tube 3 to reduce equipment load and prevent damage due to overload.

[0041] Switching between smoke exhaust modes depends on continuous monitoring of the smoke obscuration ratio. If the smoke obscuration ratio rises above 80% for five consecutive seconds, fan 6 adjusts its direction to improve exhaust capacity. If the smoke obscuration ratio continues to rise, the backup fan is activated to further enhance exhaust efficiency. Furthermore, within the current time window, if the temperature change rate is greater than the first threshold and less than the second threshold, the system enters a Level 2 warning state, increasing the frequency of thermal imaging data acquisition. If the obstacle damage index exceeds the second threshold, the system enters a Level 3 warning state, automatically retracting slide pipe 3 to reduce equipment load. If the smoke obscuration ratio exceeds the third threshold, the system enters a Level 4 warning state, halting all operations and evacuating personnel.

[0042] For example: (a) When the temperature change rate is in the range of 1.2-2℃ / s for two sampling cycles, it is judged as the second level warning state. At this time: The data acquisition frequency of the thermal imaging layer was increased from the baseline 30 Hz to a range of [45, 60] Hz. The increase was positively correlated with the temperature change rate (Δf = 15 × (TCR - 1.2) / 0.8 Hz). The internal cooling circuit of fixed tube 1 was activated to maintain the surface temperature of the graphene heat conduction channel below 50°C. TCR (Temperature Change Rate) is the temperature change rate (unit: °C / s). 1.2 is the lower threshold for triggering the second-level warning (1.2 °C / s). 0.8 is the warning interval span (2 °C / s - 1.2 °C / s = 0.8 °C / s). 15 Hz is the maximum frequency range that can be increased (from the base 30 Hz to 45 Hz). (b) When the obstacle damage index exceeds 0.75, it is judged to be a Level 3 warning state. At this time: The slide tube 3 is controlled to retract at a speed of 15 cm per second until the breakage index drops below 0.7. The impact frequency of the energy storage device 4 is limited to no more than 35 Hz. A buffer containing nano-silica is injected. The amount of buffer added is calculated according to the formula Q = 0.2 × (BPI - 0.7) mL / s. BPI (Barrier Penetration Index) is the barrier penetration index (dimensionless). BPI = (crack length ratio × 0.4) + (structural deformation × 0.6). 0.7 is the trigger threshold for level 3 warning. 0.2 mL / s is the compensation coefficient, determined through impact energy attenuation experiments (2 mL of buffer needs to be injected for every 0.1 BPI increase). (c) When the smoke obscuration rate exceeds 85% and lasts for 8 seconds, it is determined to be a Level 4 warning state. At this time: Cut off the power supply to all sensors except the thermal imaging layer, start the stroboscopic positioning light source (flash frequency 8Hz±1Hz) to provide navigation for personnel evacuation, and send a maximum power command to fan 6 to prioritize ventilation of the evacuation channel.

[0043] Before switching modes, the device must complete the generation and analysis of the judgment trajectory. Based on the thermal imaging data and pressure signals in the previous multiple time windows, the temperature contours are extracted and the trajectory curve is drawn in combination with the frequency band energy distribution characteristics of the pressure signal. If the rate of change of the trajectory's curvature radius exceeds 15% / s and the angle between the tangent direction and the axis of the slide tube 3 continues to increase, it indicates that the device has a tilt problem; if the trajectory's elliptical eccentricity is greater than 0.6 and the angle between the major axis and the pressure wave propagation direction is less than 30°, it indicates that the device has been affected by an external collision.

[0044] The design of the graphene heat conduction channel plays an important role in the above process. The heat generated by the edge computing module under high intensity work is quickly conducted to the surface of the slide pipe 3 through the graphene heat conduction channel for heat dissipation, thereby ensuring the long-term stable operation of the module. This design effectively solves the heat dissipation problem of traditional equipment under high load work, significantly prolonging the service life of the equipment.

[0045] In summary, through the cooperative work of the composite sensor array, the edge computing module, the dynamic logic processor and the graphene heat conduction channel, the integration of the smoke exhaust, fire extinguishing and breaking functions is realized. Through actual test verification, the response speed of the rescue equipment using the technical solution in the complex scene is improved by 40%, the operation efficiency is improved by 30%, and the safety and effectiveness of the rescue work are significantly enhanced. Embodiment

[0046] In the combustion laboratory simulating high temperature environment, special scene threshold verification experiment is carried out; When the ambient temperature reaches 75℃, the equipment misjudgment rate is 17.6% (mistaking smoke fluctuation as flame diffusion); When the temperature rises to 80℃: The impedance of the graphene heat conduction channel decreases to 2.3Ω·cm (42% under conventional environment); After the dynamic logic processor starts the temperature compensation algorithm, the mode switching accuracy is improved to 93.7%; When the temperature exceeds 85℃, the pixel drift phenomenon occurs in the thermal imaging layer, triggering the automatic protection mechanism.

[0047] In the simulation of building collapse scene, early warning state linkage test is carried out; When the temperature change rate of 1.5℃ / s (secondary early warning) is detected: ① The collection frequency of the thermal imaging layer is increased from 30Hz to 45Hz; ② The hidden fire source behind the load-bearing wall is identified 1.8 seconds in advance; When the obstacle damage index reaches 0.78 (tertiary early warning): ① The contraction speed of the slide pipe 3 is increased to 15cm / s; ② The impact frequency of the energy storage device 4 is limited to below 35Hz to avoid secondary collapse of the structure.

[0048] The contents not described in detail in the specification are all existing technologies known to those skilled in the art, and the model parameters of each electric appliance are not specifically limited, and conventional equipment can be used. In the technical solution, the electric appliance control elements not mentioned belong to the existing technology, so they are not shown in the figure, and will not be described here.

[0049] The above are only preferred specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solutions and inventive concepts of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. An integrated rescue device for smoke exhaust, fire extinguishing and demolition, characterized in that: The invention comprises a fixed tube (1), a sliding tube (3), a powder chamber (5), an energy storage device (4) and a fan (6); the front end of the sliding tube (3) is integrated with a composite sensor array, comprising a thermal imaging layer, a pressure sensing layer and an optical acquisition layer; the rear part of the fixed tube (1) is provided with an edge computing module connected to a dynamic logic processor; the output end of the dynamic logic processor controls the impact frequency of the energy storage device (4) and the steering mode of the fan (6).

2. The integrated smoke exhaust, fire extinguishing and demolition rescue equipment according to claim 1 is characterized in that: An electromagnetic shielding isolation layer is provided between each layer of the composite sensor array, a graphene heat conduction channel is provided between the edge computing module and the sliding pipe (3), and the dynamic logic processor has a built-in priority decision unit.

3. A multi-modal state switching method, applied to the smoke exhaust, fire extinguishing and demolition integrated rescue equipment according to any one of claims 1 and 2, characterized in that: The following steps are involved: S1. The thermal imaging layer acquires temperature gradient distribution data, the pressure sensing layer records the axial vibration spectrum in real time, and the optical acquisition layer captures environmental images and extracts smoke diffusion characteristics; S2. Temporally and spatially align the thermal imaging data with the optical image to establish a three-dimensional mapping relationship, extract the frequency band energy distribution characteristics of the pressure signal, and generate a three-dimensional feature vector containing the temperature change rate, obstacle damage index, and smoke obscuration rate; S3. If the temperature change rate is greater than 0.5°C / s and the flame expansion speed exceeds 0.2m / s, the fire extinguishing mode is activated; if the pressure distribution uniformity is lower than 0.7 and image recognition shows that the damaged area of ​​the obstacle accounts for more than 30%, the demolition mode is triggered; if the smoke obscuration rate rises to more than 80% for 5 consecutive seconds, the smoke exhaust mode is forcibly switched.

4. The multi-modal state switching method according to claim 3, characterized in that: The spatiotemporal alignment process is based on the Kalman filter algorithm, combining the timestamp information of thermal imaging data and optical images. The frequency band energy distribution characteristics are extracted through fast Fourier transform, focusing on analyzing the energy proportion of the 0-100 Hz low frequency band and the 100-500 Hz high frequency band.

5. The multi-modal state switching method according to claim 4, characterized in that: The three-dimensional feature vector is generated by using a weighted fusion strategy, in which the weight of the temperature change rate is 0.4, the weight of the obstacle damage index is 0.3, and the weight of the smoke obscuration rate is 0.

3.

6. The multi-modal state switching method according to claim 5, characterized in that: The three-dimensional feature vector is generated using a dynamic weighted fusion strategy, including: a. When the temperature change rate exceeds 1°C / s and lasts for more than 3 seconds, the temperature change rate weight is increased to 0.5 and the smoke obscuration rate weight is simultaneously reduced to 0.2; b. When the smoke diffusion speed exceeds 0.5 m / s and smoke stratification is visible in the optical image, the smoke obscuration rate weight is increased to 0.4, and the surface crack growth rate is introduced as a correction factor in the obstacle damage index; c. When the frequency band energy of the pressure signal in the 0-100 Hz range exceeds 60%, an additional obstacle damage index weight compensation value of 0.1 is added.

7. The multi-modal state switching method according to claim 6, characterized in that: When the following special scenarios occur: a. Meet all three conditions: Condition 1: The ambient temperature exceeds 80°C and lasts for more than 10 seconds; Condition 2: The fluctuation range of smoke obscuration rate is greater than 15% / s and lasts for 3 sampling periods; Condition 3: The pressure signal frequency energy in the 100-500 Hz range suddenly increases by more than 50%; Then the first-level response strategy is executed: the weight of the temperature change rate is reduced to 0.3, the weight of the smoke obscuration rate is increased to 0.5, and the vibration compensation algorithm of the sliding pipe (3) is enabled; b. When any two of the following conditions are met: Condition 1: The ambient temperature exceeds 80°C and the smoke obscuration rate fluctuates by more than 15% / s; Condition 2: The ambient temperature exceeds 80°C and the pressure band increases by more than 50%; Condition 3: The smoke obscuration rate fluctuates by more than 15% / s and the pressure frequency band increases by more than 50%; The second-level response strategy is implemented: the weight of the temperature change rate is reduced by 0.1, the weight of the smoke obscuration rate is increased by 0.2, and at least one of the following compensation measures is initiated: ① Increase the operating frequency of the thermal imaging layer to 60Hz ② Loading pulsed heat dissipation current in the graphene heat conduction channel ③ Injecting a buffer into the energy storage device (4) to reduce the impact peak; c. When only a single condition is met: If the ambient temperature exceeds 80°C, the thermal imaging layer calibration cycle is extended to 30 seconds; If the smoke fluctuation is >15% / s, the polarization filtering function of the optical collection layer will be activated; If the pressure band suddenly increases by more than 50%, an emergency interrupt signal will be sent to the dynamic logic processor.

8. The multi-modal state switching method according to claim 3, characterized in that: After executing step S3, the following steps are also included: if the temperature change rate is not reduced after the fire extinguishing mode is activated, the fire source position is re-evaluated and the spray angle is adjusted; if the target structure is not completely demolished after the demolition mode is triggered, the impact frequency of the energy storage device (4) is increased to the maximum value; if the smoke obscuration rate is still rising after the smoke exhaust mode is switched, the standby fan is started to improve the smoke exhaust capacity.

9. The multi-modal state switching method according to claim 3, characterized in that: When the temperature change rate in the current time window is greater than the first threshold and less than the second threshold, the system enters a second-level warning state and simultaneously increases the data acquisition frequency of the thermal imaging layer; when the obstacle damage index in the current time window is greater than the second threshold, the system enters a third-level warning state and retracts the slide pipe (3) to reduce the equipment load; when the smoke obscuration rate in the current time window is greater than the third threshold, the system enters a fourth-level warning state and stops all operations and evacuates personnel.

10. The multi-modal state switching method according to claim 3, characterized in that: Before executing step S3, the following preparatory steps need to be completed in sequence: based on the thermal imaging data and pressure signals in the previous multiple time windows, a judgment trajectory is generated; based on the judgment trajectory, the current environmental state is analyzed. If the curvature radius change rate of the trajectory exceeds 15% / s and the angle between the tangent direction and the axis of the slide tube (3) continues to increase, it indicates that the device has a tilt problem; if the elliptical eccentricity of the trajectory is greater than 0.6 and the angle between the major axis direction and the pressure wave propagation direction is less than 30°, it indicates that the device is affected by an external collision.

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