Intelligent rescue method and system in tunnel or mine roadway based on emergency rescue robot

Abstract

The application discloses a tunnel or mine tunnel intelligent rescue method and system based on an emergency rescue robot, and relates to the technical field of tunnel or mine tunnel rescue.The method comprises the following steps: three-dimensional modeling of a tunnel or mine tunnel is performed by an emergency rescue robot, and a tensor matrix of each position in the tunnel or mine tunnel is constructed, and the minimum eigenvalue of the tensor matrix is calculated; a plurality of first rescue paths are initialized, the plurality of first rescue paths are preliminarily screened according to the minimum eigenvalue, and a plurality of second rescue paths are formed; a path stability index for evaluating the stability of each second rescue path is calculated, the path stability indexes of all the second rescue paths are sorted, and the second rescue path corresponding to the minimum path stability index is found out as the final path for the emergency rescue robot to rescue. Through the technical scheme, the rescue path in the tunnel or mine tunnel can be accurately found out, and the rescue task can be completed by avoiding the dangerous area.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of tunnel or mine roadway rescue, and particularly relates to an intelligent rescue method and system in a tunnel or mine roadway based on an emergency rescue robot. BACKGROUND

[0002] During the construction of a tunnel (such as an underground railway) or a mine roadway, sudden geological abnormalities (such as groundwater seepage, loose surrounding rock, and support failure) may cause local collapse of the tunnel or mine roadway, resulting in trapped construction personnel. Moreover, the tunnel environment is complex, with multiple risks such as high gas concentration, unstable rock strata, missing structural support, and water or mud inrush.

[0003] Traditional rescue methods (such as manual demolition and detour excavation) are difficult to implement quickly, and rescue personnel entering the collapsed area also face high safety risks. Therefore, an intelligent emergency rescue robot system needs to be used to reach the destination along a safe path to complete the rescue work of the construction personnel. SUMMARY

[0004] The purpose of the present application is to provide an intelligent rescue method and system in a tunnel or mine roadway based on an emergency rescue robot to solve the problems of the prior art.

[0005] The purpose of the present application is achieved by the following technical solutions:

[0006] The present application provides an intelligent rescue method in a tunnel or mine roadway based on an emergency rescue robot, comprising:

[0007] Step 101: Three-dimensional modeling of the tunnel or mine roadway is performed by the emergency rescue robot, and a tensor matrix of each position in the tunnel is constructed. The minimum eigenvalue of the tensor matrix is calculated.

[0008] Step 102: A plurality of first rescue paths are initialized, and the plurality of first rescue paths are preliminarily screened according to the minimum eigenvalue to form a plurality of second rescue paths.

[0009] Step 103: A path stability index for evaluating the stability of each second rescue path is calculated. The path stability indexes of all second rescue paths are sorted, and the second rescue path corresponding to the smallest path stability index is found out as the final path for the emergency rescue robot to rescue.

[0010] Furthermore, based on the minimum intrinsic value, multiple first rescue paths are initially screened to form multiple second rescue paths. Specifically, this includes: determining whether there are points on each first rescue path whose minimum intrinsic value exceeds a preset threshold. If so, the corresponding first rescue path is deleted, and other first rescue paths corresponding to points whose minimum intrinsic value is less than the preset threshold are retained as multiple second rescue paths.

[0011] Furthermore, determining whether there are any points on each first rescue path whose minimum intrinsic value exceeds a preset threshold includes: the first rescue path consists of the ground, the tunnel wall or mine roadway wall near the emergency rescue robot, and the top of the tunnel or mine roadway directly above the emergency rescue robot. If any point on the current first rescue path whose minimum intrinsic value exceeds the preset threshold is any of the following: the ground, the tunnel wall or mine roadway wall near the emergency rescue robot, or the top of the tunnel or mine roadway directly above the emergency rescue robot, then the current first rescue path is deleted.

[0012] Furthermore, it also includes: after the emergency rescue robot has traveled a certain distance, it re-executes steps 101 to 103 to update the final path so that the emergency rescue robot can safely travel to the target location.

[0013] Furthermore, it also includes: during the operation of the emergency rescue robot, the robot monitors the level of harmful gases in real time. When the level of harmful gases on the current route is found to be excessive, the robot finds the second rescue route corresponding to the second smallest path stability index and updates it to the final route.

[0014] Furthermore, the tensor matrix is:

[0015]

[0016] in, It is a tensor matrix. For the current position along Normal principal stress in the axial direction, For the current position Shear stress on a plane For the current position Shear stress on a plane For the current position along Normal principal stress in the axial direction, For the current position Shear stress on a plane For the current position along Normal principal stress in the axial direction.

[0017] Furthermore, a path stability index is calculated to evaluate the stability of each second rescue route, specifically:

[0018]

[0019] wherein, is a path stability index for evaluating stability of each second rescue path is a path stability index for evaluating stability of each second rescue path is a point is a structural stability factor of a point on a second rescue path is a maximum value of the structural stability factor is a point is a tangent vector of a point on a second rescue path is a minimum eigenvalue of a tensor matrix is a path arc length.

[0020] Further, the structural stability factor of a point on a second rescue path is calculated, specifically:

[0021]

[0022] wherein, is a maximum shear stress of a point is a cohesion of a point is a normal stress of a point is an internal friction angle of a point is an internal friction angle of a point is an internal friction angle of a point is an internal friction angle of a point is an internal friction angle of a point

[0023] Another aspect of the present application provides a tunnel intelligent rescue system based on an emergency rescue robot, comprising:

[0024] a configuration matrix module, configured to perform three-dimensional modeling on a tunnel or a mine roadway by the emergency rescue robot, and to configure a tensor matrix of each position in the tunnel or the mine roadway, and to calculate a minimum eigenvalue of the tensor matrix;

[0025] a path screening module, configured to initialize a plurality of first rescue paths, to preliminarily screen the plurality of first rescue paths according to the minimum eigenvalue, and to form a plurality of second rescue paths;

[0026] a path confirmation module, configured to calculate a path stability index for evaluating stability of each second rescue path, to sort the path stability indexes of all the second rescue paths, to find a second rescue path corresponding to a minimum path stability index, and to take the second rescue path as a final path for rescue by the emergency rescue robot.

[0027] Further, the tensor matrix is: ​​

[0028]

[0029] wherein, is a tensor matrix, is the normal principal stress of the current position along the axis direction, is the shear stress of the current position on the plane, is the shear stress of the current position on the plane, is the normal principal stress of the current position along the axis direction, is the shear stress of the current position on the plane, is the normal principal stress of the current position along the axis direction.

[0030] Overall, compared with the prior art, the above technical solutions conceived by the present application have the following beneficial effects:

[0031] The present application can make the emergency rescue robot reach the target location along the safest path and complete the rescue task, greatly improving the rescue efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 is the overall flowchart of the present application;

[0033] Figure 2 is the method flowchart of path planning of example 1 of the present application;

[0034] Figure 3 is the system structure schematic diagram of path planning of example 2 of the present application. DETAILED DESCRIPTION

[0035] In order to better understand the above technical solutions, the above technical solutions will be described in detail below in conjunction with the drawings in the specification and specific embodiments.

[0036] The method provided by the present application can be implemented in a terminal environment, which can include one or more of the following components: a processor, a storage medium and a display screen. The storage medium stores at least one instruction, which is loaded and executed by the processor to implement the method described in the following embodiments.

[0037] The processor can include one or more processing cores. The processor connects various parts in the entire terminal through various interfaces and lines, executes various functions of the terminal and processes data by running or executing instructions, programs, code sets or instruction sets stored in the storage medium, and calling data stored in the storage medium.

[0038] The storage medium can include a random access memory (RAM) and can also include a read-only memory (ROM). The storage medium can be used to store instructions, programs, codes, code sets, or instructions.

[0039] The display screen is used to display the user interface of each application program.

[0040] In addition, those skilled in the art can understand that the structure of the terminal described above does not constitute a limitation on the terminal, and the terminal can include more or fewer components, or combine certain components, or different component arrangements. For example, the terminal also includes radio frequency circuit, input unit, sensor, audio circuit, power supply and other components, which are not described here.

[0041] The emergency rescue robot mainly includes the following modules:

[0042] Breaking module: adopt detachable rock breaking cutter, integrate pressure sensor, camera, support hydraulic drive, and equipped with high frequency vibration auxiliary rock breaking system to improve breaking efficiency.

[0043] Mobile chassis: adopt six-wheel all-terrain track, with strong obstacle crossing ability, integrated with mechanical arm, realize flexible movement and accurate positioning.

[0044] Multi-modal geological exploration module: sonar detector (scan underground structure and obstacle distribution), electromagnetic wave radar (detect metal components such as steel bars and supports), geophysical exploration instrument (analyze soil density and rock layer stability), realize stratum geological structure transparency, form transparent geology. Change the "black box" of stratum into "gray box", and finally into "transparent".

[0045] Environmental perception unit: monitor key parameters such as temperature, humidity, oxygen concentration, dust content, water level, water temperature, etc., to ensure the safety of rescue environment.

[0046] Vision module: 360° infrared camera (for vital sign detection), three-dimensional laser radar (generate high-precision tunnel environment model).

[0047] Central processing unit (CPU): equipped with multi-modal data fusion algorithm, integrate geological, environmental, visual and other data, make intelligent decision.

[0048] Transparent geology database: combine tunnel pre-embedded sensors with real-time data, build dynamic three-dimensional geological model, generate high-risk area warning, optimize robot path planning.

[0049] Wireless communication module: support 5G communication, two-way data transmission with ground command center, realize remote monitoring and control.

[0050] Hybrid device: hydrogen fuel cell (main power supply) + high-density lithium battery (backup power supply) combination, improve endurance, intelligent power distribution management system optimizes energy consumption distribution of each unit, energy utilization rate ≥85%.

[0051] Embodiment 1

[0052] As Figure 1 shown, after the emergency rescue robot enters the collapsed area of the tunnel (tunnel), the geological detection system is activated, and the omnidirectional scanning is completed within 15 seconds. The transparent geological database combines real-time scanning data to generate a three-dimensional modeling with an accuracy of ≤1cm.

[0053] Then the path planning of the emergency rescue robot is carried out, as Figure 2 shown, specifically including:

[0054] Step 101, three-dimensional modeling of the tunnel by the emergency rescue robot, and constructing a tensor matrix of each position in the tunnel, calculating the minimum eigenvalue of the tensor matrix;

[0055] Specifically, the tensor matrix is:

[0056]

[0057] In the middle, is the tensor matrix, is the normal principal stress of the current position along the axis direction, is the shear stress of the current position on the plane, is the shear stress of the current position on the plane, is the normal principal stress of the current position along the axis direction, is the shear stress of the current position on the plane, is the normal principal stress of the current position along the axis direction.

[0058] Specifically, calculating the minimum eigenvalue of the tensor matrix includes:

[0059] Constructing the determinant of calculating the eigenvalue :

[0060]

[0061] is the determinant, is the unit array, wherein the unit array is:

[0062]

[0063] is substituted into the diagonal line of the tensor matrix , a new matrix is constructed, that is:

[0064]

[0065] The determinant is expanded to obtain:

[0066]

[0067]

[0068]

[0069]

[0070] Solving , we get , and finally obtain .

[0071] Step 102, initializing a plurality of first rescue paths, and performing preliminary screening on the plurality of first rescue paths according to the minimum eigenvalue to form a plurality of second rescue paths;

[0072] Specifically, the plurality of first rescue paths are preliminarily screened according to the minimum eigenvalue to form a plurality of second rescue paths, and specifically includes: judging whether there is a point with a minimum eigenvalue exceeding a preset threshold on each first rescue path, if there is, deleting the corresponding first rescue path, and retaining other first rescue paths corresponding to points with a minimum eigenvalue less than the preset threshold as the plurality of second rescue paths.

[0073] Preferably, judging whether there is a point with a minimum eigenvalue exceeding a preset threshold on each first rescue path includes: the first rescue path is composed of a ground, a tunnel wall or a mine roadway wall close to the emergency rescue robot and a tunnel top or a mine roadway top directly above the emergency rescue robot, if any of the ground, the tunnel wall or the mine roadway wall close to the emergency rescue robot and the tunnel top or the mine roadway top directly above the emergency rescue robot of the current first rescue path has a minimum eigenvalue exceeding the preset threshold, the current first rescue path is deleted.

[0074] Step 103, calculating a path stability index for evaluating the stability of each second rescue path, sorting the path stability indexes of all second rescue paths, and finding a second rescue path corresponding to the smallest path stability index as the final path for the emergency rescue robot to rescue.​

[0075] Specifically, the path stability index used to evaluate the stability of each second rescue route is calculated as follows:

[0076]

[0077] in, For use in evaluating each second rescue route Path stability metrics for stability. For point Second rescue route The structural stability factor on This represents the maximum value of the structural stability factor. For point Second rescue route Tangent vector on, Tensor matrix The smallest eigenvalue, This represents the path arc length.

[0078] Calculation points Second rescue route Structural stability factor Specifically:

[0079]

[0080] in, For point The maximum shear stress, For point cohesion, For point normal stress, For point The internal friction angle.

[0081] Regarding cohesion and internal friction angle This embodiment provides an example in the following table:

[0082]

[0083] Preferably, in order to make the path planning more reasonable and safe, this embodiment also designs that after the emergency rescue robot travels a certain distance, it re-executes steps 101 to 103 to update the final path, so that the emergency rescue robot can safely travel to the target location.

[0084] Preferably, in order to protect the trapped construction personnel from being invaded by harmful gas, the embodiment also designs that the emergency rescue robot monitors the conditions of harmful gas and water in real time during driving, and when it is monitored that the harmful gas and water level of the current driving path are over standard, a second rescue path corresponding to the second smallest path stability index is found out, and is updated as the final path.

[0085] The emergency rescue robot advances along the final path, transmits data in real time by using sensors such as geological radar of the rescue robot and working condition data of the robot itself, dynamically adjusts the advancing speed, power and other parameters and adjusts the breaking and removing parameters in real time, specifically including:

[0086] Low-hardness rock stratum (hardness < 80 MPa): direct breaking and removing by using a rolling cutter;

[0087] Medium-hardness rock stratum (80 MPa ~ 150 MPa): starting a high-frequency vibration breaking and removing mode;

[0088] High-hardness rock stratum (> 150 MPa): starting high-pressure water jet auxiliary breaking and removing to improve the rock breaking rate;

[0089] Debris treatment: laser radar monitors the debris accumulation in real time, and adjusts the advancing speed to avoid equipment blockage.

[0090] Preferably, when the emergency rescue robot drives along the final path, adaptive tunnel support is carried out, that is, intelligent support capable of dynamically adjusting support parameters according to deformation of surrounding rock of the tunnel, stress change and geological conditions, the tunnel wall along the way is reinforced, that is, the robot automatically switches the support mode, adopts a rapid-setting concrete spraying system to temporarily reinforce the tunnel wall or the mine tunnel wall, and the mechanical arm unfolds the folding support plate to prevent secondary collapse.

[0091] After the emergency rescue robot drives to the target area, life detection is carried out by using infrared and sound waves, preferably, the emergency rescue robot switches to the life detection mode, starts an infrared thermal imager and a sound wave detector, and accurately searches the position of the trapped personnel. After the emergency rescue robot completes the task, it retreats from the collapsed area in the original path low-power mode, and all detection data are synchronously uploaded to the command center as a basis for subsequent emergency command and rescue decision.

[0092] Embodiment 2

[0093] As shown in Figure 2 , the application also designs a tunnel intelligent rescue system based on an emergency rescue robot, which is used for path planning of the emergency rescue robot, and includes:

[0094] The construction matrix module is used for three-dimensional modeling of the tunnel by the emergency rescue robot, and constructs a tensor matrix of each position in the tunnel, and calculates the minimum eigenvalue of the tensor matrix;

[0095] Specifically, the tensor matrix is:

[0096]

[0097] in, It is a tensor matrix. For the current position along Normal principal stress in the axial direction, For the current position Shear stress on a plane For the current position Shear stress on a plane For the current position along Normal principal stress in the axial direction, For the current position Shear stress on a plane For the current position along Normal principal stress in the axial direction.

[0098] The path filtering module is used to initialize multiple first rescue paths, and to perform preliminary filtering of the multiple first rescue paths based on the minimum intrinsic value to form multiple second rescue paths;

[0099] Specifically, multiple first rescue paths are initially screened based on the minimum intrinsic value to form multiple second rescue paths. This includes determining whether there are points on each first rescue path whose minimum intrinsic value exceeds a preset threshold. If so, the corresponding first rescue path is deleted, and other first rescue paths corresponding to points whose minimum intrinsic value is less than the preset threshold are retained as multiple second rescue paths.

[0100] Preferably, determining whether there are points on each first rescue path where the minimum intrinsic value exceeds a preset threshold includes: the first rescue path consists of the ground, the tunnel wall near the emergency rescue robot, and the top of the tunnel directly above the emergency rescue robot. If any point on the ground, the tunnel wall near the emergency rescue robot, or the top of the tunnel directly above the emergency rescue robot in the current first rescue path has a minimum intrinsic value exceeding the preset threshold, then the current first rescue path is deleted.

[0101] The path confirmation module is used to calculate the path stability index for evaluating the stability of each second rescue path, sort all the path stability indices of the second rescue paths, and find the second rescue path corresponding to the smallest path stability index, which is used as the final rescue path for the emergency rescue robot.

[0102] Specifically, the path stability index used to evaluate the stability of each second rescue route is calculated as follows:

[0103]

[0104] wherein, is a path stability index for evaluating the stability of each second rescue path , is a point on the second rescue path , is a maximum value of the structural stability factor, is a tangent vector of a point on the second rescue path , is a minimum eigenvalue of a tensor matrix , is an arc length of the path.

[0105] calculating a structural stability factor of a point on the second rescue path , specifically:

[0106]

[0107] wherein, is a maximum shear stress of a point , is a cohesion of a point , is a normal stress of a point , is an internal friction angle of a point .

[0108] Preferably, in order to make the path planning more reasonable and safe, the embodiment also designs that the emergency rescue robot re-executes the constructing matrix module to the path confirming module every time it travels a certain distance, and updates the final path, so as to make the emergency rescue robot travel to the target position safely.

[0109] Preferably, in order to protect the trapped construction personnel from being invaded by harmful gas, the embodiment also designs that the emergency rescue robot monitors the situation of harmful gas and water in real time during traveling, and when it is monitored that the harmful gas and water level of the current traveling path are over standard, finds out a second rescue path corresponding to a second smallest path stability index, and updates it as the final path.

[0110] The above-mentioned serial numbers of the embodiments of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0111] In the above-mentioned embodiments of the present application, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0112] In several embodiments provided by the present application, it should be understood that the disclosed technology can be implemented in other manners. In the embodiments described above, the division of the system is merely illustrative, and the division of the units can be different from the above. For example, the units can be combined or integrated into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, and can be in electrical, mechanical or other forms.

[0113] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place or distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0114] In addition, the functional units in each embodiment of the present application can be integrated into a processing unit, or each unit can be physically present separately, or two or more units can be integrated into one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0115] The integrated unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the present application, the essential part or the contribution to the prior art, or all or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the embodiments of the present application. The aforementioned storage medium includes: a U disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0116] Obviously, the above embodiments are merely examples for clear illustration, and are not intended to limit the implementation modes. For those skilled in the art, other different forms of changes or modifications can be made on the basis of the above description. Here, all the implementation modes do not need to be exhausted, and the obvious changes or modifications derived therefrom are still within the protection scope of the present application.

Claims

1. A method for intelligent rescue in tunnels or mine roadways based on an emergency rescue robot, characterized in that, include: Step 101: Use an emergency rescue robot to perform a three-dimensional model of the tunnel or mine roadway, construct a tensor matrix for each location within the tunnel or mine roadway, and calculate the minimum eigenvalue of the tensor matrix. Step 102: Initialize multiple first rescue paths, and perform preliminary screening of the multiple first rescue paths based on the minimum intrinsic value to form multiple second rescue paths; Step 103: Calculate the path stability index used to evaluate the stability of each second rescue path, sort all the path stability indices of the second rescue paths, and find the second rescue path corresponding to the smallest path stability index, which is the final path for the emergency rescue robot. The tensor matrix is: ； in, It is a tensor matrix. For the current position along Normal principal stress in the axial direction, For the current position Shear stress on a plane For the current position Shear stress on a plane For the current position along Normal principal stress in the axial direction, For the current position Shear stress on a plane For the current position along Normal principal stress in the axial direction; The path stability index used to evaluate the stability of each second rescue route is calculated as follows: ； in, For use in evaluating each second rescue route Path stability metrics for stability. For point Second rescue route The structural stability factor on This represents the maximum value of the structural stability factor. For point Second rescue route Tangent vector on, Tensor matrix The smallest eigenvalue, The path arc length; Calculation points Second rescue route Structural stability factor Specifically: ； in, For point The maximum shear stress, For point cohesion, For point normal stress, For point The internal friction angle.

2. The intelligent rescue method for tunnels or mine roadways based on an emergency rescue robot as described in claim 1, characterized in that, Based on the minimum intrinsic value, multiple first rescue paths are initially screened to form multiple second rescue paths. Specifically, this includes: determining whether there are points on each first rescue path whose minimum intrinsic value exceeds a preset threshold. If so, the corresponding first rescue path is deleted, and other first rescue paths corresponding to points whose minimum intrinsic value is less than the preset threshold are retained as multiple second rescue paths.

3. The intelligent rescue method for tunnels or mine roadways based on an emergency rescue robot as described in claim 2, characterized in that, Determine whether there are any points on each first rescue path whose minimum intrinsic value exceeds a preset threshold. This includes: the first rescue path consists of the ground, the tunnel wall or mine roadway wall near the emergency rescue robot, and the top of the tunnel or mine roadway directly above the emergency rescue robot. If any point on the current first rescue path whose minimum intrinsic value exceeds the preset threshold is any of the following: the ground, the tunnel wall or mine roadway wall near the emergency rescue robot, or the top of the tunnel or mine roadway directly above the emergency rescue robot, then the current first rescue path is deleted.

4. The intelligent rescue method for tunnels or mine roadways based on an emergency rescue robot as described in claim 1, characterized in that, Also includes: Every time the emergency rescue robot travels a certain distance, it repeats steps 101 to 103 to update the final path, so that the emergency rescue robot can safely travel to the target location.

5. The intelligent rescue method for tunnels or mine roadways based on an emergency rescue robot as described in claim 4, characterized in that, Also includes: During its journey, the emergency rescue robot monitors the levels of harmful gases and water in real time. When it detects that the levels of harmful gases or water are too high on the current route, it identifies the second rescue route corresponding to the second lowest path stability index and updates it to the final route.

6. An intelligent rescue system for tunnels or mine roadways based on an emergency rescue robot, wherein the rescue system employs the rescue method as described in any one of claims 1-5, characterized in that, include: The matrix construction module is used to perform three-dimensional modeling of tunnels using emergency rescue robots, construct tensor matrices for each location within the tunnel or mine roadway, and calculate the minimum eigenvalue of the tensor matrix. The path filtering module is used to initialize multiple first rescue paths, and to perform preliminary filtering of the multiple first rescue paths based on the minimum intrinsic value to form multiple second rescue paths; The path confirmation module is used to calculate the path stability index for evaluating the stability of each second rescue path, sort all the path stability indices of the second rescue paths, and find the second rescue path corresponding to the smallest path stability index, which is used as the final rescue path for the emergency rescue robot.

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