CN108295407A - Robot cable piping lane scene fire alarm and extinguishing method, device, system - Google Patents
Robot cable piping lane scene fire alarm and extinguishing method, device, system Download PDFInfo
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/50—Testing or indicating devices for determining the state of readiness of the equipment
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- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
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- Business, Economics & Management (AREA)
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- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
- Fire Alarms (AREA)
Abstract
The invention discloses a kind of robot cable piping lane scene fire alarms and extinguishing method, device, system, this method to include：Judge whether to receive alarm signal；If not receiving alarm signal, fire protection patrol robot automatic detecting receives environmental information and emphasis position temperature information in tunnel, with design fire threshold value comparison, generates fire signal or carries out live fire risk assessment；If receiving alarm signal or generating fire signal in automatic detecting, fire pre-identification is carried out in conjunction with risk analysis assessment result, optimizes the fire pre-identification in stage of glowing in early days, and it quickly positions to the fire location of pre-identification, confirm authenticity, executes fire extinguishing task, safely evacuate after the completion.The ability quickly sourced in terms of fire extinguishing the invention enables cable gallery (tunnel) fire safety evaluating early warning and fire alarm is greatly improved.
Description
Technical field
The invention belongs to the technical fields of electric power fire-fighting, more particularly, to a kind of robot cable piping lane scene fire alarm
And extinguishing method, device, system.
Background technology
With the development of economy, electric power is more next as most important its safety of energy resource supply mode, the requirement of reliability
Higher, this, which also ensures transmission of electricity, proposes new challenge；Urban electric power conveying is main with electric power tunnel, pipe row ditch, direct-burried etc.
The city integrated piping lane construction of high-tension cable system of laying, rising in recent years is even more like a raging fire；Safety guarantee in above-mentioned carrier
Aspect fire-fighting is mostly important protection content, historically electric power tunnel, conduit line catch fire either connector explosion, set
All miscellaneous equipment in carrier and circuit can be caused to seriously threaten on fire；If the pipe gallery loss on fire being subjected to will less
It can estimate.
The fire of cable gallery has following features：
1) generation of cable fire is all that heat long-term accumulated or cable and junction malfunction gradually expand final moment and release mostly
Amplification quantity heat causes material to decompose insulation degradation generation fire.
Once 2) on fire, it is rapid that the intensity of a fire fiercely prolongs combustion；Because being penetrated through before and after gallery, the band fire gummosis formed after ignition of cable pours
To neighbouring other cables, cause chain reaction, causes the intensity of a fire rapid along cable louding sprawling.
3) accident easily expands；Cable fire can not only burn power cable, and may bring disaster to control cable and equipment,
Cause control loop failure, damages host equipment, make fault spread.
4) smog is big, oxygen content is few, low visibility, finds burning things which may cause a fire disaster to fire fighter and fire extinguishing rescue brings difficulty；Especially
It is the high temperature toxic gas that burning generates, it is easy to cause casualties.
5) outlet of cable gallery is few, and channel is narrow, and fire attack is difficult, and liaison is inconvenient.
In terms of fire-fighting angle, what the condition of a disaster was accomplished is " in advance find " (monitoring), " emergency processing " (fire extinguishing) nothing but,
It is determined by the fire characteristics of cable gallery and needs a kind of field monitoring, efficiently linkage, flexible and changeable, fire extinguishing, high protection on the spot
Property, cost and the low mobile fire extinguishing platform of maintenance cost.But the prior art cost of current fire-fighting fire extinguishing is higher, fire extinguishing
Rate is relatively low, for example, the application that multiple spot is fixed fire extinguisher bomb or is combined with crusing robot and firefighting robot, inspection machine human hair
Firefighting robot work is dispatched after existing fire again, misses best fire extinguishing opportunity；And the prior art is not by fire risk assessment point
Analysis warning function is integrated into inside crusing robot, can not accomplish effective prevention of fire；Therefore, it is efficient accurately that there is an urgent need for one kind
Robot cable piping lane scene fire alarm and extinguishing method, system.
In conclusion being directed in the prior art, cost existing for the equipment of cable gallery fire fire-fighting fire extinguishing is higher, puts out a fire
Rate is relatively low, can not accomplish the problem of fire effectively prevents, and still lacks effective solution.
Invention content
For the deficiencies in the prior art, the equipment for being directed to the fire extinguishing of cable gallery fire fire-fighting in the prior art is solved
Existing cost is higher, fire extinguishing rate is relatively low, can not accomplish the problem of fire effectively prevents, and the present invention provides a kind of robot electricity
Cable piping lane scene fire alarm and extinguishing method, device, system.Fire alarm and fire extinguishing entirety are divided into three according to fire size class
A control stage：The alarm free stage by fire protection patrol robot timing inspection tunnel device and carries out fire safety evaluating risk and comments
Estimate, fire hazard is eliminated before no fire occurs；Early stage glows stage and open fire stage, once fire occur can be accurate, fast
The discovery of speed simultaneously positions heat source, burning things which may cause a fire disaster, rapid to link, rapid to put out a fire；The invention enables cable gallery (tunnel) fire safety evaluating is pre-
The ability that alert and fire alarm quickly sources in terms of fire extinguishing is greatly improved.
The first object of the present invention is to provide a kind of robot cable piping lane scene fire alarm and extinguishing method.
To achieve the goals above, the present invention is using a kind of following technical solution：
A kind of robot cable piping lane scene fire alarm and extinguishing method, are realized, the party in fire protection patrol robot
Method includes：
Judge whether to receive alarm signal；
If not receiving alarm signal, fire protection patrol robot automatic detecting receives environmental information and emphasis position in tunnel
Temperature information is set, with design fire threshold value comparison, fire signal is generated or carries out live fire risk assessment；
If receiving alarm signal or generating fire signal in automatic detecting, fire is carried out in conjunction with risk analysis assessment result
Calamity pre-identification, optimizes the fire pre-identification in stage of glowing in early days, and quickly positions to the fire location of pre-identification, confirms true
Property, fire extinguishing task is executed, is safely evacuated after the completion.
Scheme as a further preference, in the tunnel environment information include smog information, multiple gases concentration information,
Temperature information and humidity information.
Scheme as a further preference in the method judges whether that fire occurs according to environmental information in the tunnel
Calamity specifically includes：
Default fire threshold value, the fire threshold value include fire hazard aerosol fog threshold value, multiple gases concentration threshold, temperature threshold and
Humidity threshold；
It is respectively that the smog information received, multiple gases concentration information, temperature information and humidity information is its corresponding
Threshold value is compared, and carries out multi-parameter association trend analysis；
If being more than threshold value or seriously meeting fire occurrence tendency, fire signal is generated；Otherwise, it is determined whether there are fire wind
Danger, and if it exists, carry out live fire risk assessment, otherwise continue automatic detecting.
Scheme as a further preference receives multiple gases concentration information in the method, analyzes multiple gases concentration
Situation of change presets its corresponding concentration change threshold, carries out live fire risk assessment；
If harmful gas concentration rises, and its ascending amount is more than its corresponding concentration change threshold, and oxygen concentration declines, and
Its slippage is more than its corresponding concentration change threshold, then there is fire risk.
Scheme as a further preference receives key area temperature information, and tired note key area temperature in the method
It spends information and generates key area temperature curve, including abrupt temp analysis curve and lasting ascending temperature analyze curve, become
Gesture temperature and temperature rate of change analysis carry out live fire risk assessment to the fire compartment where it.
Scheme as a further preference, this method further include receiving emphasis position shelf depreciation information, and long-term follow is simultaneously
Deep learning (Automatic Optimal early warning weight parameter), to the progress scene fire of emphasis transmission facility in the tunnel fire proofing area where it
Calamity risk assessment.
Scheme as a further preference is believed according to environmental information, emphasis position temperature in the tunnel in the method
Breath and key area temperature curve carry out live fire risk assessment to the fire compartment where it respectively, and according to fire risk
Assessment result carries out risk analysis；
If there are fire risk, monitoring center is reported in time and sends out alarm signal, receives alarm signal, it is fast to check quickly
It looks for positioning to fire location, confirms fire authenticity, execute fire extinguishing task, safely evacuate after the completion；
If fire risk is not present, continue automatic detecting.
Scheme as a further preference receives the alarm that the fire detector of certain fire compartment is sent in this method
The alarm signal that signal and/or monitoring center are sent.
Scheme as a further preference receives gas fume information, line style constant temperature temperature-sensitive alarm signal in the method
The warm fire alarm information of breath, monitoring center control instruction, infrared measurement of temperature information, fire source probing device information, point, judges fire burning things which may cause a fire disaster
In open fire stage or the stage of glowing, and quickly search and locate to fire location.
Scheme as a further preference, this method further include reception or the button manually on fire that monitoring center is sent
Guided robot quickly to side inspection, executes fire extinguishing task.
Scheme as a further preference, the specific steps for executing fire extinguishing task include：
Burning things which may cause a fire disaster point temperature is received, compared with preset fire extinguishing temperature threshold；
If being less than preset fire extinguishing temperature threshold, control heating detonation glass envelope release extinguishing chemical carries out pressure fire extinguishing；
If more than preset fire extinguishing temperature threshold, judge whether that ignite glass envelope automatically discharges extinguishing chemical automatically, if nothing, control
System heating detonation glass envelope release extinguishing chemical carries out pressure fire extinguishing；
Whether detection extinguishing chemical, which has discharged, finishes.
The second object of the present invention is to provide a kind of computer readable storage medium.
To achieve the goals above, the present invention is using a kind of following technical solution：
A kind of computer readable storage medium, wherein being stored with a plurality of instruction, described instruction is suitable for by terminal device
Reason device loads and executes following processing：
Judge whether to receive alarm signal；
If not receiving alarm signal, fire protection patrol robot automatic detecting receives environmental information and emphasis position in tunnel
Temperature information is set, with design fire threshold value comparison, fire signal is generated or carries out live fire risk assessment；
If receiving alarm signal or generating fire signal in automatic detecting, fire is carried out in conjunction with risk analysis assessment result
Calamity pre-identification, optimizes the fire pre-identification in stage of glowing in early days, and quickly positions to the fire location of pre-identification, confirms true
Property, fire extinguishing task is executed, is safely evacuated after the completion.
The third object of the present invention is to provide a kind of terminal device.
To achieve the goals above, the present invention is using a kind of following technical solution：
A kind of terminal device, including processor and computer readable storage medium, processor is for realizing each instruction；It calculates
Machine readable storage medium storing program for executing is suitable for being loaded by processor and executing following processing for storing a plurality of instruction, described instruction：
Judge whether to receive alarm signal；
If not receiving alarm signal, fire protection patrol robot automatic detecting receives environmental information and emphasis position in tunnel
Temperature information is set, with design fire threshold value comparison, fire signal is generated or carries out live fire risk assessment；
If receiving alarm signal or generating fire signal in automatic detecting, fire is carried out in conjunction with risk analysis assessment result
Calamity pre-identification, optimizes the fire pre-identification in stage of glowing in early days, and quickly positions to the fire location of pre-identification, confirms true
Property, fire extinguishing task is executed, is safely evacuated after the completion.
The fourth object of the present invention is to provide a kind of robot cable piping lane scene fire alarm and fire extinguishing system.
To achieve the goals above, the present invention is using a kind of following technical solution：
A kind of robot cable piping lane scene fire alarm and fire extinguishing system, the system include：Fire protection patrol robot and
Monitoring center, fire protection patrol robot by tunnel radio communication network, tunnel cable network and long-range private network respectively with monitoring
The fixed sensor connection being arranged in center, tunnel, fire protection patrol robot are disappeared by tunnel radio communication network and linkage
Proof controller connects.
Scheme as a further preference, the fire protection patrol robot includes controller, is received for judging whether
Alarm signal；If not receiving alarm signal, fire protection patrol robot automatic detecting receives environmental information and emphasis position in tunnel
Temperature information is set, with design fire threshold value comparison, fire signal is generated or carries out live fire risk assessment；If receiving alarm
Signal generates fire signal in automatic detecting, carries out fire pre-identification in conjunction with risk analysis assessment result, optimization early stage is cloudy
The fire pre-identification in combustion stage, and quickly position to the fire location of pre-identification, confirm authenticity, execute fire extinguishing task, completes
After safely evacuate.
Scheme as a further preference, the fire protection patrol robot further includes sending device, reception device, with control
Device connects, the fixed sensing that controller sends and receives monitoring center by sending device and reception device, is arranged in tunnel
The signal of device and linkage fire-fighting controller.
Scheme as a further preference, the fire protection patrol robot further include that fire glows stage detection device, fire
Calamity location confirmation equipment and tunnel cable safety analysis equipment.
Beneficial effects of the present invention：
1, a kind of robot cable piping lane scene fire alarm of the present invention and extinguishing method, device, system are realized
Before fire generation, inspection is carried out by advanced mobile platform (fire-fighting robot) timing, by analyzing the environment in tunnel
(humiture, pernicious gas content) and emphasis position (such as cable connector) temperature history intellectual analysis assess this fire compartment
Whether fire risk is had, it is such as risky to report monitor supervision platform that staff is notified to investigate risk reason (such as tunnel row as early as possible in time
The problems such as wind problem or cable connector shelf depreciation aging continue slowly to heat up), avoid fire.
2, a kind of robot cable piping lane scene fire alarm of the present invention and extinguishing method, device, system, are sending out
Pass through the linkage of fire-fighting robot airborne equipment and monitor supervision platform (monitor supervision platform is not in the case of by influence of fire) when calamity of lighting a fire
Scheduling rushes to scene of fire and puts out a fire at the first time, especially for the stage fire that glows in early days discovery done it is corresponding excellent
Change, accomplish disaster finds in advance, quickly eliminate, avoid disaster further expand with it is uncontrollable.
Description of the drawings
The accompanying drawings which form a part of this application are used for providing further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation do not constitute the improper restriction to the application for explaining the application.
Fig. 1 is the method flow diagram in the present invention；
Fig. 2 is the method flow diagram of the embodiment 1 in the present invention；
Fig. 3 is the system construction drawing in the present invention；
Fig. 4 is the flow diagram of the system in the present invention.
Specific implementation mode：
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms that the present embodiment uses have and the application person of an ordinary skill in the technical field
Normally understood identical meanings.
It should be noted that term used herein above is merely to describe specific implementation mode, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or combination thereof.
It should be noted that flowcharts and block diagrams in the drawings show according to various embodiments of the present disclosure method and
The architecture, function and operation in the cards of system.It should be noted that each box in flowchart or block diagram can represent
A part for a part for one module, program segment, or code, the module, program segment, or code may include one or more
A executable instruction for realizing the logic function of defined in each embodiment.It should also be noted that some alternately
Realization in, the function that is marked in box can also occur according to the sequence different from being marked in attached drawing.For example, two connect
The box even indicated can essentially be basically executed in parallel or they can also be executed in a reverse order sometimes,
This depends on involved function.It should also be noted that each box in flowchart and or block diagram and flow chart
And/or the combination of the box in block diagram, it can be come using the dedicated hardware based system for executing defined functions or operations
It realizes, or can make to combine using a combination of dedicated hardware and computer instructions to realize.
In the absence of conflict, the features in the embodiments and the embodiments of the present application can be combined with each other.For existing
Have present in technology it is insufficient, solve to be directed in the prior art cost existing for the equipment of cable gallery fire fire-fighting fire extinguishing compared with
Height, fire extinguishing rate is relatively low, can not accomplish the problem of fire effectively prevents, and the present invention provides a kind of robot cable piping lane scene fire
Calamity early warning and extinguishing method, device, system.Fire alarm and fire extinguishing entirety are divided into three control stages according to fire size class：
The alarm free stage by fire protection patrol robot timing inspection tunnel device and carries out fire safety evaluating risk assessment, in no fire
Calamity eliminates fire hazard before occurring；Early stage glows stage and open fire stage, once fire occur can accurately and rapidly find and determine
Position heat source, burning things which may cause a fire disaster, it is rapid to link, it is rapid to put out a fire；The invention enables cable gallery (tunnel) fire safety evaluating early warning and fire alarms
The ability in terms of fire extinguishing is quickly sourced to be greatly improved.The invention will be further described with embodiment below in conjunction with the accompanying drawings.
Embodiment 1：
The purpose of the present embodiment 1 is to provide a kind of robot cable piping lane scene fire alarm and extinguishing method.
To achieve the goals above, the present invention is using a kind of following technical solution：
As shown in Figure 1,
A kind of robot cable piping lane scene fire alarm and extinguishing method, are realized, the party in fire protection patrol robot
Method includes：
Step (1)：Judge whether to receive alarm signal；
Step (2)：If not receiving alarm signal, fire protection patrol robot automatic detecting receives environmental information in tunnel
It generates fire signal with design fire threshold value comparison with emphasis position temperature information or carries out live fire risk assessment；
Step (3)：If receiving alarm signal or generating fire signal in automatic detecting, assesses and tie in conjunction with risk analysis
Fruit carries out fire pre-identification, optimizes the fire pre-identification in stage of glowing in early days, and quickly positions to the fire location of pre-identification, really
Recognize authenticity, executes fire extinguishing task, safely evacuate after the completion.
In the present embodiment, the judgement of fire considers temperature, gas, thermal imagery, smog, this 5 elements of flame, and incites somebody to action
Fire is divided into the initial period temperature build to catch fire, glows, 3 stages of open fire.
The present embodiment the step of in (2), environment information includes smog information, multiple gases concentration letter in the tunnel
Breath, temperature information and humidity information.
As shown in Fig. 2,
If not receiving alarm signal, fire protection patrol robot automatic detecting is fixed by fire-fighting robot in no fire
Shi Jinhang inspections, by analyzing environment (humiture, pernicious gas content) and emphasis position (such as cable connector) temperature in tunnel
Degree historical data intellectual analysis assesses whether this fire compartment has fire risk, such as risky that monitoring center is reported to notify work in time
Make personnel investigate as early as possible risk reason (such as tunnel air draft problem or cable connector shelf depreciation aging continue slowly heat up asks
Topic), avoid fire.
The present embodiment the step of in (2), judged whether that fire occurs according to environmental information in the tunnel, it is specific to wrap
It includes：
Default fire threshold value, the fire threshold value include fire hazard aerosol fog threshold value, multiple gases concentration threshold, temperature threshold and
Humidity threshold；
It is respectively that the smog information received, multiple gases concentration information, temperature information and humidity information is its corresponding
Threshold value is compared, and carries out multi-parameter association trend analysis；
If being more than threshold value or seriously meeting fire occurrence tendency, fire signal is generated；Otherwise, it is determined whether there are fire wind
Danger, and if it exists, carry out live fire risk assessment, otherwise continue automatic detecting.
The present embodiment the step of in (2), multiple gases concentration information is received, analyzes multiple gases concentration situation of change,
Its corresponding concentration change threshold is preset, live fire risk assessment is carried out；
If harmful gas concentration rises, and its ascending amount is more than its corresponding concentration change threshold, and oxygen concentration declines, and
Its slippage is more than its corresponding concentration change threshold, then there is fire risk.
The present embodiment the step of in (2), key area temperature information is received, and tired note key area temperature information generates
Key area temperature curve generates fire signal if being more than threshold value or seriously meeting fire occurrence tendency；Otherwise, it is determined whether
There are fire risks, and if it exists, carries out live fire risk assessment, otherwise continues automatic detecting, to the fire prevention where it
Subregion carries out live fire risk assessment.
Further include receiving emphasis position shelf depreciation information, long-term follow and depth the present embodiment the step of in (2)
It practises (Automatic Optimal early warning weight parameter), to the carry out scene fire risk of emphasis transmission facility in the tunnel fire proofing area where it
Assessment.
The present embodiment the step of in (2), according to environmental information, emphasis position temperature information and emphasis area in the tunnel
Domain temperature curve carries out live fire risk assessment to the fire compartment where it respectively, and according to fire risk assessment result into
Row risk analysis；
It should be noted that according to fire experience, object temperature is close to ignition temperature, on-site target temperature in temperature trend
It is the index of fire risk that degree mutation, which is increased beyond given threshold,.It precipitates to form expert's history through in a few years target temperature data
Curve and (season, electricity consumption etc.) temperature carries out intelligent comparison in the corresponding time cycle, if temperature be higher by historic high or
Mutation exceeds same period historic high, is all the omen before fire occurs.
If there are fire risk, monitoring center is reported in time and sends out alarm signal, receives alarm signal, it is fast to check quickly
It looks for positioning to fire location, confirms fire authenticity, execute fire extinguishing task, safely evacuate after the completion；
If fire risk is not present, continue automatic detecting.
When fire occurs, by fire-fighting robot airborne equipment and monitoring center, (monitoring center is not by the feelings of influence of fire
Under condition) linkage scheduling rush to scene of fire at the first time and put out a fire, especially for the discovery for the stage fire that glows in early days
Done corresponding optimization, accomplish disaster find in advance, quickly eliminate, avoid disaster further expands with it is uncontrollable.
The present embodiment the step of in (3), receive the alarm signal that the fire detector of certain fire compartment is sent and/
Or the alarm signal that monitoring center is sent.
The present embodiment the step of in (3), gas fume information, line style constant temperature temperature-sensitive warning message, monitoring center are received
The warm fire alarm information of control instruction, infrared measurement of temperature information, fire source probing device information, point, judges that fire burning things which may cause a fire disaster is in open fire rank
Section is glowed the stage, and is quickly searched and located to fire location.
Further include reception or the button guide manually on fire that monitoring center is sent the present embodiment the step of in (3)
Robot quickly to side inspection, executes fire extinguishing task.
The present embodiment the step of in (3), the specific steps for executing fire extinguishing task include：
Burning things which may cause a fire disaster point temperature is monitored, compared with preset fire extinguishing temperature threshold；
If being less than preset fire extinguishing temperature threshold (smoldering fire), control heating detonation glass envelope release extinguishing chemical carries out strong
System fire extinguishing；
If more than preset fire extinguishing temperature threshold (open fire fire), judge whether that ignite glass envelope automatically discharges fire extinguishing automatically
Agent, if nothing, control heating detonation glass envelope release extinguishing chemical carries out pressure fire extinguishing；
Detection fire extinguishing pressure tank determines whether extinguishing chemical has discharged and finishes.
Embodiment 2：
The purpose of the present embodiment 2 is to provide a kind of computer readable storage medium.
To achieve the goals above, the present invention is using a kind of following technical solution：
A kind of computer readable storage medium, wherein being stored with a plurality of instruction, described instruction is suitable for by terminal device equipment
Processor load and execute following processing：
Judge whether to receive alarm signal；
If not receiving alarm signal, fire protection patrol robot automatic detecting receives environmental information and emphasis position in tunnel
Temperature information is set, with design fire threshold value comparison, fire signal is generated or carries out live fire risk assessment；
If receiving alarm signal or generating fire signal in automatic detecting, fire is carried out in conjunction with risk analysis assessment result
Calamity pre-identification, optimizes the fire pre-identification in stage of glowing in early days, and quickly positions to the fire location of pre-identification, confirms true
Property, fire extinguishing task is executed, is safely evacuated after the completion.
Embodiment 3：
The purpose of the present embodiment 3 is to provide a kind of terminal device.
To achieve the goals above, the present invention is using a kind of following technical solution：
A kind of terminal device, including processor and computer readable storage medium, processor is for realizing each instruction；It calculates
Machine readable storage medium storing program for executing is suitable for being loaded by processor and executing following processing for storing a plurality of instruction, described instruction：
Judge whether to receive alarm signal；
If not receiving alarm signal, fire protection patrol robot automatic detecting receives environmental information and emphasis position in tunnel
Temperature information is set, with design fire threshold value comparison, fire signal is generated or carries out live fire risk assessment；
If receiving alarm signal or generating fire signal in automatic detecting, fire is carried out in conjunction with risk analysis assessment result
Calamity pre-identification, optimizes the fire pre-identification in stage of glowing in early days, and quickly positions to the fire location of pre-identification, confirms true
Property, fire extinguishing task is executed, is safely evacuated after the completion.
These computer executable instructions make the equipment execute according to each reality in the disclosure when running in a device
Apply method or process described in example.
In the present embodiment, computer program product may include computer readable storage medium, containing for holding
The computer-readable program instructions of row various aspects of the disclosure.Computer readable storage medium can be kept and store
By the tangible device for the instruction that instruction execution equipment uses.Computer readable storage medium for example can be-- but it is unlimited
In-- storage device electric, magnetic storage apparatus, light storage device, electromagnetism storage device, semiconductor memory apparatus or above-mentioned
Any appropriate combination.The more specific example (non exhaustive list) of computer readable storage medium includes：Portable computing
Machine disk, hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read only memory (EPROM or
Flash memory), static RAM (SRAM), Portable compressed disk read-only memory (CD-ROM), digital versatile disc
(DVD), memory stick, floppy disk, mechanical coding equipment, the punch card for being for example stored thereon with instruction or groove internal projection structure, with
And above-mentioned any appropriate combination.Computer readable storage medium used herein above is not interpreted instantaneous signal itself,
The electromagnetic wave of such as radio wave or other Free propagations, the electromagnetic wave propagated by waveguide or other transmission mediums (for example,
Pass through the light pulse of fiber optic cables) or pass through electric wire transmit electric signal.
Computer-readable program instructions described herein can be downloaded to from computer readable storage medium it is each calculate/
Processing equipment, or outer computer or outer is downloaded to by network, such as internet, LAN, wide area network and/or wireless network
Portion's storage device.Network may include copper transmission cable, optical fiber transmission, wireless transmission, router, fire wall, interchanger, gateway
Computer and/or Edge Server.Adapter or network interface in each calculating/processing equipment are received from network to be counted
Calculation machine readable program instructions, and the computer-readable program instructions are forwarded, for the meter being stored in each calculating/processing equipment
In calculation machine readable storage medium storing program for executing.
Computer program instructions for executing present disclosure operation can be assembly instruction, instruction set architecture (ISA)
Instruction, machine instruction, machine-dependent instructions, microcode, firmware instructions, condition setup data or with one or more programmings
Language arbitrarily combines the source code or object code write, the programming language include the programming language-of object-oriented such as
C++ etc., and conventional procedural programming languages-such as " C " language or similar programming language.Computer-readable program refers to
Order can be executed fully, partly be executed on the user computer, as an independent software package on the user computer
Execute, part on the user computer part on the remote computer execute or completely on a remote computer or server
It executes.In situations involving remote computers, remote computer can include LAN by the network-of any kind
(LAN) or wide area network (WAN)-is connected to subscriber computer, or, it may be connected to outer computer (such as utilize internet
Service provider is connected by internet).In some embodiments, believe by using the state of computer-readable program instructions
Breath comes personalized customization electronic circuit, such as programmable logic circuit, field programmable gate array (FPGA) or programmable logic
Array (PLA), the electronic circuit can execute computer-readable program instructions, to realize the various aspects of present disclosure.
It should be noted that although being referred to several modules or submodule of equipment in the detailed description above, it is this
Division is merely exemplary rather than enforceable.In fact, in accordance with an embodiment of the present disclosure, two or more above-described moulds
The feature and function of block can embody in a module.Conversely, the feature and function of an above-described module can be with
It is further divided into and is embodied by multiple modules.
Embodiment 4：
The purpose of the present embodiment 4 is to provide a kind of robot cable piping lane scene fire alarm and fire extinguishing system, the system
Based on above-described embodiment 1- embodiments 3.
To achieve the goals above, the present invention is using a kind of following technical solution：
As shown in figure 3,
A kind of robot cable piping lane scene fire alarm and fire extinguishing system, the system include：Fire protection patrol robot and
Monitoring center, fire protection patrol robot by tunnel radio communication network, tunnel cable network and long-range private network respectively with monitoring
The fixed sensor connection being arranged in center, tunnel, fire protection patrol robot are disappeared by tunnel radio communication network and linkage
Proof controller connects.
In the present embodiment, the fire protection patrol robot includes controller, and alarm signal is received for judging whether；
If not receiving alarm signal, fire protection patrol robot automatic detecting receives environmental information and emphasis position temperature letter in tunnel
Breath generates fire signal or carries out live fire risk assessment with design fire threshold value comparison；If receive alarm signal or
Fire signal is generated in automatic detecting, carries out fire pre-identification in conjunction with risk analysis assessment result, optimization early stage glows the stage
Fire pre-identification, and quickly position to the fire location of pre-identification, confirm authenticity, execute fire extinguishing task, safety is removed after the completion
From.
In the present embodiment, the fixed sensor being arranged in tunnel is using the fixed fire sensing being arranged in tunnel
Device.
The fire-fighting controller that links includes the constant temperature temp.-sensing wire being arranged in tunnel, and local control CPU, data acquisition list
Member, the cooperation of wireless communication unit relevant device link with fire protection patrol robot.
In the present embodiment, the fire protection patrol robot further includes sending device, reception device, is connect with controller,
Controller sends and receives monitoring center, the fixed sensor being arranged in tunnel and linkage by sending device and reception device
The signal of fire-fighting controller.
In the present embodiment, the fire protection patrol robot further includes that glow stage detection device, fire location of fire is true
Recognize equipment and tunnel cable safety analysis equipment, fire glows stage detection device and tunnel cable safety analysis equipment is this hair
Core technology scheme in bright.
Wherein, fire glows, and specifically optional Temperature Humidity Sensor, gas fume alarm, gas are dense for stage detection device
Sensor, environment temperature probe are spent,
Fire location confirms that fire source probing device, the warm temperature measurer of point specifically may be selected in equipment,
Infrared radiation thermometer, ultrasound partial discharge detector, above equipment difference specifically may be selected in tunnel cable safety analysis equipment
It is connect with controller, acquires signal transmission respectively to controller.
In the present embodiment, fire alarm and fire extinguishing entirety are divided into three by the fire protection patrol robot according to fire size class
A control stage：The alarm free stage by fire protection patrol robot timing inspection tunnel device and carries out fire safety evaluating risk and comments
Estimate, fire hazard is eliminated before no fire occurs；Early stage glows stage and open fire stage, once fire occur can be accurate, fast
The discovery of speed simultaneously positions heat source, burning things which may cause a fire disaster, rapid to link, rapid to put out a fire；
As shown in figure 4,
The alarm free stage (risk analysis)：
Fire protection patrol robot start by set date automatic detecting, polling period can remotely-or locally be joined with flexible configuration
Number configuration.
Abnormal gas is carried out by the multiple gases concentration sensor detection gas concentration being arranged in fire protection patrol robot
Detection, gas alarm CO rise CH4 concentration and rise the decline of O2 contents, report fire risk；
Pass through environment temperature probe, infrared radiation thermometer temperature of cable junction, the thermal imaging system being arranged in fire protection patrol robot
Thermometric obtains related data, obtains tired note key area temperature curve and carries out including abrupt temp analysis, lasting ascending temperature point
Analysis, data source carry out trend temperature analysis, and analyze emphasis position (such as cable connector) temperature history in tunnel.
It should be noted that fire protection patrol robot receives the emphasis positions such as the pre-configured cable connector of monitoring center
Information, robot executes automatically according to configuration information or monitoring center intervention executes.Thermal imaging system can integrally sweep tunnel warm hair
It is now abnormal, to specific position cable connector surface temperature measurement, temperature measurement location configured in advance by monitoring center
Alright, because shelf depreciation heating is nearly all having joint location.
By the ultrasound partial discharge detector being arranged in fire protection patrol robot, emphasis are periodically waited to cable connector and grounding box
Position carries out Partial Discharge Detection, long-term follow and deep learning (Automatic Optimal early warning weight parameter), assessment tunnel fire proofing area
The security situation of interior emphasis transmission facility, avoiding exploding suddenly causes fire.Its ultrasound partial discharge detection position be equally by
What monitoring center had configured in advance.
It should be noted that in the present embodiment, emphasis position refers to specific target object temperature, passes through airborne thermal imaging system
Or measured by point Wen Yi, such as cable connector or some earthing box for electric cable；Key area temperature refers to equipment near zone
Environment temperature, measured by airborne humiture probe.
Early stage glows the stage：
Gas fume detection is carried out by the smoke sensor device that is arranged in fire protection patrol robot, such as detection CO, O2,
CO2, early warning automatic detecting find burning things which may cause a fire disaster.
Linear constant temperature fire detector is set in tunnel, and the right and left is divided into two regions in the middle part of fire compartment, every
A line style constant temperature temperature-sensitive alarming line is launched in a region, if certain Zone Alerts, fire-fighting robot all will quickly be transported to zone of alarm
Row finds burning things which may cause a fire disaster.
By monitoring center coordinated signals, in being monitored by the fixed point fire alarm sensor notification that tunnel is original or installs additional
The heart quickly rushes to scene of fire progress disaster confirmation after notifying fire-fighting robot, robot to receive instruction by monitoring center, such as non-
False alarm starts extinguishing device immediately, discharges ultra-fine dry powder extinguishing agent.
By the infrared radiation thermometer being arranged in fire protection patrol robot, investigative range is improved by optical instrument, reduces and visits
Survey precision；The temperature of tunnel inner cable equipment is detected, early stage smoldering fire position is accurately positioned, starts extinguishing device,
The open fire stage：
Open fire detection is carried out by the fire source probing device being arranged in fire protection patrol robot, is gone out as possible close to point of origin
Firer makees.
Confirmed into trip temperature by the point temperature fire-alarm being arranged in fire protection patrol robot.
By monitoring center, manually button guide robot on fire executes fire extinguishing task quickly to side inspection.
Execute fire extinguishing task：
Phase temperature of glowing is not high, needs active to heat detonation glass envelope release extinguishing chemical and carries out pressure fire extinguishing.
Open fire hot stage, active control fire extinguishing, it is possible to which the ignition glass envelope automatically that has been subjected to expanding with heat and contract with cold is released automatically
Put extinguishing chemical.
Whether detection extinguishing chemical, which has discharged, finishes.
Beneficial effects of the present invention：
1, of the present invention kind of robot cable piping lane scene fire alarm and extinguishing method, device, system are realized
Before fire occurs, inspection is carried out by advanced mobile platform (fire-fighting robot) timing, by analyzing the environment (temperature in tunnel
Humidity, pernicious gas content) and emphasis position (such as cable connector) temperature history intellectual analysis assess this fire compartment and be
It is no to have fire risk, report monitor supervision platform that staff is notified to investigate (such as tunnel air draft of risk reason as early as possible in time Ru risky
The problems such as problem or cable connector shelf depreciation aging continue slowly to heat up), avoid fire.
2, of the present invention kind of robot cable piping lane scene fire alarm and extinguishing method, device, system, are occurring
Pass through the linkage tune of fire-fighting robot airborne equipment and monitor supervision platform (monitor supervision platform is not in the case of by influence of fire) when fire
Degree rushes to scene of fire at the first time and puts out a fire, and corresponding optimization has been done in the discovery especially for the stage fire that glows in early days,
Accomplish disaster find in advance, quickly eliminate, avoid disaster further expands with it is uncontrollable.
The foregoing is merely the preferred embodiments of the application, are not intended to limit this application, for the skill of this field
For art personnel, the application can have various modifications and variations.Within the spirit and principles of this application, any made by repair
Change, equivalent replacement, improvement etc., should be included within the protection domain of the application.Therefore, the present invention is not intended to be limited to this
These embodiments shown in text, and it is to fit to widest range consistent with the principles and novel features disclosed in this article.
Claims (10)
1. a kind of robot cable piping lane scene fire alarm and extinguishing method, are realized, feature in fire protection patrol robot
It is, this method includes：
Judge whether to receive alarm signal；
If not receiving alarm signal, fire protection patrol robot automatic detecting receives environmental information and emphasis position temperature in tunnel
Information is spent, with design fire threshold value comparison, fire signal is generated or carries out live fire risk assessment；
If receiving alarm signal or generating fire signal in automatic detecting, it is pre- to carry out fire in conjunction with risk analysis assessment result
Identification, optimizes the fire pre-identification in stage of glowing in early days, and quickly positions to the fire location of pre-identification, confirms authenticity, holds
Row fire extinguishing task, safely evacuates after the completion.
2. the method as described in claim 1, which is characterized in that environment information includes smog information, Duo Zhongqi in the tunnel
Bulk concentration information, temperature information and humidity information.
3. the method as described in claim 1, which is characterized in that in the method, judged according to environmental information in the tunnel
Whether fire occurs, specifically includes：
Default fire threshold value, the fire threshold value includes fire hazard aerosol fog threshold value, multiple gases concentration threshold, temperature threshold and humidity
Threshold value；
Respectively by the smog information received, multiple gases concentration information, temperature information and its corresponding threshold value of humidity information
It is compared, and carries out multi-parameter association trend analysis；
If being more than threshold value or seriously meeting fire occurrence tendency, fire signal is generated；Otherwise, it is determined whether there are fire risk,
If in the presence of carrying out live fire risk assessment, otherwise continuing automatic detecting.
4. method as claimed in claim 3, which is characterized in that in the method, receive multiple gases concentration information, analysis is more
Kind gas concentration situation of change, presets its corresponding concentration change threshold, carries out live fire risk assessment；
If harmful gas concentration rises, and its ascending amount is more than its corresponding concentration change threshold, and oxygen concentration declines, and under it
Drop amount is more than its corresponding concentration change threshold, then there is fire risk.
Or, in the method, receiving key area temperature information, and tired note key area temperature information generates key area temperature
Curve generates fire signal if being more than threshold value or seriously meeting fire occurrence tendency；Otherwise, it is determined whether there are fire risk,
If in the presence of carrying out live fire risk assessment, otherwise continuing automatic detecting, scene fire is carried out to the fire compartment where it
Calamity risk assessment.
Or, emphasis position shelf depreciation information, long-term follow and deep learning are received, to emphasis in the tunnel fire proofing area where it
The carry out scene fire risk assessment of transmission facility.
5. method as claimed in claim 4, which is characterized in that in the method, according to environmental information, emphasis in the tunnel
Position temperature information and key area temperature curve carry out live fire risk assessment, and root to the fire compartment where it respectively
Risk analysis is carried out according to fire risk assessment result；
If there are fire risk, monitoring center being reported in time and sends out alarm signal, receives alarm signal, it is fixed quickly to search
Position confirms fire authenticity to fire location, executes fire extinguishing task, safely evacuates after the completion；
If fire risk is not present, continue automatic detecting.
6. the method as described in claim 1, which is characterized in that the fire detector for receiving certain fire compartment in this method is sent
The alarm signal and/or monitoring center send the alarm signal.
Or, in the method, gas fume information, line style constant temperature temperature-sensitive warning message, monitoring center control instruction, infrared is received
The warm fire alarm information of thermometric information, fire source probing device information, point, judges that fire burning things which may cause a fire disaster is in open fire stage or the stage of glowing,
And it quickly searchs and locates to fire location.
Or, the button guide manually on fire robot that this method, which further includes reception or monitoring center, to be sent quickly is patrolled to side
Inspection executes fire extinguishing task.
Or, the specific steps for executing fire extinguishing task include：
Burning things which may cause a fire disaster point temperature is received, compared with preset fire extinguishing temperature threshold；
If being less than preset fire extinguishing temperature threshold, control heating detonation glass envelope release extinguishing chemical carries out pressure fire extinguishing；
If more than preset fire extinguishing temperature threshold, judge whether that ignite glass envelope automatically discharges extinguishing chemical automatically, if nothing, control adds
Heat detonation glass envelope release extinguishing chemical carries out pressure fire extinguishing；
Whether detection extinguishing chemical, which has discharged, finishes.
7. a kind of computer readable storage medium, wherein being stored with a plurality of instruction, which is characterized in that described instruction is suitable for by terminal
The processor of equipment equipment loads and executes the method according to any one of claim 1-6.
8. a kind of terminal device, including processor and computer readable storage medium, processor is for realizing each instruction；Computer
Readable storage medium storing program for executing is for storing a plurality of instruction, which is characterized in that described instruction is for executing according to any in claim 1-6
Method described in.
9. a kind of robot cable piping lane scene fire alarm and fire extinguishing system, described in any one of claim 1-6
Method, the system include：Fire protection patrol robot and monitoring center, fire protection patrol robot by tunnel radio communication network,
Tunnel cable network and long-range private network are connect with the fixed sensor being arranged in monitoring center, tunnel respectively, fire protection patrol machine
Device people is connected by tunnel radio communication network with linkage fire-fighting controller.
10. system as claimed in claim 9, which is characterized in that the fire protection patrol robot includes controller, for judging
Whether alarm signal is received；If not receiving alarm signal, fire protection patrol robot automatic detecting receives environment letter in tunnel
Breath and emphasis position temperature information generate fire signal or carry out live fire risk assessment with design fire threshold value comparison；If
It receives alarm signal or generates fire signal in automatic detecting, fire pre-identification is carried out in conjunction with risk analysis assessment result,
Optimize the fire pre-identification in stage of glowing in early days, and quickly position to the fire location of pre-identification, confirms authenticity, execute fire extinguishing
Task safely evacuates after the completion.
Or, the fire protection patrol robot further includes sending device, reception device, it is connect with controller, controller passes through transmission
Device and reception device send and receive the letter of monitoring center, the fixed sensor being arranged in tunnel and the fire-fighting controller that links
Number.
Or, the fire protection patrol robot further includes fire glow stage detection device, fire location confirm equipment and tunnel electricity
Cable safety analysis equipment.
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