Robot cable piping lane scene fire alarm and extinguishing method, device, systemTechnical 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 alarmAnd 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 reliabilityHigher, 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 carrierAspect fire-fighting is mostly important protection content, historically electric power tunnel, conduit line catch fire either connector explosion, setAll 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 lessIt 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 mostlyAmplification 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 poursTo 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；EspeciallyIt 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 spotProperty, 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 extinguishingRate 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 hairFirefighting robot work is dispatched after existing fire again, misses best fire extinguishing opportunity；And the prior art is not by fire risk assessment pointAnalysis 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 kindRobot 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 fireRate 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 solvedExisting 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 electricityCable piping lane scene fire alarm and extinguishing method, device, system.Fire alarm and fire extinguishing entirety are divided into three according to fire size classA control stage：The alarm free stage by fire protection patrol robot timing inspection tunnel device and carries out fire safety evaluating risk and commentsEstimate, fire hazard is eliminated before no fire occurs；Early stage glows stage and open fire stage, once fire occur can be accurate, fastThe 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 robotMethod 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 tunnelTemperature 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 resultCalamity 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 trueProperty, 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 tunnelCalamity specifically includes：
Default fire threshold value, the fire threshold value include fire hazard aerosol fog threshold value, multiple gases concentration threshold, temperature threshold andHumidity threshold；
It is respectively that the smog information received, multiple gases concentration information, temperature information and humidity information is its correspondingThreshold 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 windDanger, 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 concentrationSituation 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, andIts 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 methodIt spends information and generates key area temperature curve, including abrupt temp analysis curve and lasting ascending temperature analyze curve, becomeGesture 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 simultaneouslyDeep learning (Automatic Optimal early warning weight parameter), to the progress scene fire of emphasis transmission facility in the tunnel fire proofing area where itCalamity risk assessment.
Scheme as a further preference is believed according to environmental information, emphasis position temperature in the tunnel in the methodBreath and key area temperature curve carry out live fire risk assessment to the fire compartment where it respectively, and according to fire riskAssessment 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 quicklyIt 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 methodThe 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 methodThe 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 disasterIn 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 sentGuided 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, controlSystem 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 deviceReason 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 tunnelTemperature 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 resultCalamity 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 trueProperty, 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 calculatesMachine 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 tunnelTemperature 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 resultCalamity 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 trueProperty, 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 andMonitoring center, fire protection patrol robot by tunnel radio communication network, tunnel cable network and long-range private network respectively with monitoringThe fixed sensor connection being arranged in center, tunnel, fire protection patrol robot are disappeared by tunnel radio communication network and linkageProof controller connects.
Scheme as a further preference, the fire protection patrol robot includes controller, is received for judging whetherAlarm signal；If not receiving alarm signal, fire protection patrol robot automatic detecting receives environmental information and emphasis position in tunnelTemperature information is set, with design fire threshold value comparison, fire signal is generated or carries out live fire risk assessment；If receiving alarmSignal generates fire signal in automatic detecting, carries out fire pre-identification in conjunction with risk analysis assessment result, optimization early stage is cloudyThe fire pre-identification in combustion stage, and quickly position to the fire location of pre-identification, confirm authenticity, execute fire extinguishing task, completesAfter safely evacuate.
Scheme as a further preference, the fire protection patrol robot further includes sending device, reception device, with controlDevice connects, the fixed sensing that controller sends and receives monitoring center by sending device and reception device, is arranged in tunnelThe 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, fireCalamity 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 realizedBefore 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 compartmentWhether 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 timeThe 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 outPass 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 fireScheduling 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 excellentChange, 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 showsMeaning 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, completeSite 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 onEmbodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every otherEmbodiment 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 anotherIt indicates, all technical and scientific terms that the present embodiment uses have and the application person of an ordinary skill in the technical fieldNormally 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 rootAccording to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulativeIt is also intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packetInclude " 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 andThe architecture, function and operation in the cards of system.It should be noted that each box in flowchart or block diagram can representA part for a part for one module, program segment, or code, the module, program segment, or code may include one or moreA executable instruction for realizing the logic function of defined in each embodiment.It should also be noted that some alternatelyRealization 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 connectThe 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 chartAnd/or the combination of the box in block diagram, it can be come using the dedicated hardware based system for executing defined functions or operationsIt 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 existingHave 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 withHeight, 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 fireCalamity 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 fireCalamity eliminates fire hazard before occurring；Early stage glows stage and open fire stage, once fire occur can accurately and rapidly find and determinePosition 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 alarmsThe 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 robotMethod 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 tunnelIt 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 analysisFruit 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, reallyRecognize 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 actionFire 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 tunnelBreath, 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 fireShi Jinhang inspections, by analyzing environment (humiture, pernicious gas content) and emphasis position (such as cable connector) temperature in tunnelDegree historical data intellectual analysis assesses whether this fire compartment has fire risk, such as risky that monitoring center is reported to notify work in timeMake personnel investigate as early as possible risk reason (such as tunnel air draft problem or cable connector shelf depreciation aging continue slowly heat up asksTopic), 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 wrapIt includes：
Default fire threshold value, the fire threshold value include fire hazard aerosol fog threshold value, multiple gases concentration threshold, temperature threshold andHumidity threshold；
It is respectively that the smog information received, multiple gases concentration information, temperature information and humidity information is its correspondingThreshold 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 windDanger, 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, andIts 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 generatesKey area temperature curve generates fire signal if being more than threshold value or seriously meeting fire occurrence tendency；Otherwise, it is determined whetherThere are fire risks, and if it exists, carries out live fire risk assessment, otherwise continues automatic detecting, to the fire prevention where itSubregion 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 itAssessment.
The present embodiment the step of in (2), according to environmental information, emphasis position temperature information and emphasis area in the tunnelDomain temperature curve carries out live fire risk assessment to the fire compartment where it respectively, and according to fire risk assessment result intoRow risk analysis；
It should be noted that according to fire experience, object temperature is close to ignition temperature, on-site target temperature in temperature trendIt 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 dataCurve and (season, electricity consumption etc.) temperature carries out intelligent comparison in the corresponding time cycle, if temperature be higher by historic high orMutation 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 quicklyIt 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 fireUnder 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 daysDone 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 receivedThe 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 rankSection 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 strongSystem fire extinguishing；
If more than preset fire extinguishing temperature threshold (open fire fire), judge whether that ignite glass envelope automatically discharges fire extinguishing automaticallyAgent, 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 equipmentProcessor 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 tunnelTemperature 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 resultCalamity 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 trueProperty, 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 calculatesMachine 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 tunnelTemperature 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 resultCalamity 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 trueProperty, 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 deviceApply method or process described in example.
In the present embodiment, computer program product may include computer readable storage medium, containing for holdingThe computer-readable program instructions of row various aspects of the disclosure.Computer readable storage medium can be kept and storeBy the tangible device for the instruction that instruction execution equipment uses.Computer readable storage medium for example can be-- but it is unlimitedIn-- storage device electric, magnetic storage apparatus, light storage device, electromagnetism storage device, semiconductor memory apparatus or above-mentionedAny appropriate combination.The more specific example (non exhaustive list) of computer readable storage medium includes：Portable computingMachine disk, hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read only memory (EPROM orFlash 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, withAnd 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 networkPortion's storage device.Network may include copper transmission cable, optical fiber transmission, wireless transmission, router, fire wall, interchanger, gatewayComputer and/or Edge Server.Adapter or network interface in each calculating/processing equipment are received from network to be countedCalculation machine readable program instructions, and the computer-readable program instructions are forwarded, for the meter being stored in each calculating/processing equipmentIn 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 programmingsLanguage arbitrarily combines the source code or object code write, the programming language include the programming language-of object-oriented such asC++ etc., and conventional procedural programming languages-such as " C " language or similar programming language.Computer-readable program refers toOrder can be executed fully, partly be executed on the user computer, as an independent software package on the user computerExecute, part on the user computer part on the remote computer execute or completely on a remote computer or serverIt 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 internetService provider is connected by internet).In some embodiments, believe by using the state of computer-readable program instructionsBreath comes personalized customization electronic circuit, such as programmable logic circuit, field programmable gate array (FPGA) or programmable logicArray (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 thisDivision is merely exemplary rather than enforceable.In fact, in accordance with an embodiment of the present disclosure, two or more above-described mouldsThe feature and function of block can embody in a module.Conversely, the feature and function of an above-described module can be withIt 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 systemBased 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 andMonitoring center, fire protection patrol robot by tunnel radio communication network, tunnel cable network and long-range private network respectively with monitoringThe fixed sensor connection being arranged in center, tunnel, fire protection patrol robot are disappeared by tunnel radio communication network and linkageProof 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 tunnelBreath generates fire signal or carries out live fire risk assessment with design fire threshold value comparison；If receive alarm signal orFire signal is generated in automatic detecting, carries out fire pre-identification in conjunction with risk analysis assessment result, optimization early stage glows the stageFire pre-identification, and quickly position to the fire location of pre-identification, confirm authenticity, execute fire extinguishing task, safety is removed after the completionFrom.
In the present embodiment, the fixed sensor being arranged in tunnel is using the fixed fire sensing being arranged in tunnelDevice.
The fire-fighting controller that links includes the constant temperature temp.-sensing wire being arranged in tunnel, and local control CPU, data acquisition listMember, 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 deviceThe 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 trueRecognize equipment and tunnel cable safety analysis equipment, fire glows stage detection device and tunnel cable safety analysis equipment is this hairCore technology scheme in bright.
Wherein, fire glows, and specifically optional Temperature Humidity Sensor, gas fume alarm, gas are dense for stage detection deviceSensor, 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 equipmentIt 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 classA control stage：The alarm free stage by fire protection patrol robot timing inspection tunnel device and carries out fire safety evaluating risk and commentsEstimate, fire hazard is eliminated before no fire occurs；Early stage glows stage and open fire stage, once fire occur can be accurate, fastThe 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 configurationNumber configuration.
Abnormal gas is carried out by the multiple gases concentration sensor detection gas concentration being arranged in fire protection patrol robotDetection, 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 robotThermometric obtains related data, obtains tired note key area temperature curve and carries out including abrupt temp analysis, lasting ascending temperature pointAnalysis, 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 centerInformation, robot executes automatically according to configuration information or monitoring center intervention executes.Thermal imaging system can integrally sweep tunnel warm hairIt is now abnormal, to specific position cable connector surface temperature measurement, temperature measurement location configured in advance by monitoring centerAlright, 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 boxPosition carries out Partial Discharge Detection, long-term follow and deep learning (Automatic Optimal early warning weight parameter), assessment tunnel fire proofing areaThe security situation of interior emphasis transmission facility, avoiding exploding suddenly causes fire.Its ultrasound partial discharge detection position be equally byWhat 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 systemOr measured by point Wen Yi, such as cable connector or some earthing box for electric cable；Key area temperature refers to equipment near zoneEnvironment 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, everyA 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 alarmRow 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 additionalThe 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 visitsSurvey 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 originFirer 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 automaticallyPut 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 realizedBefore fire occurs, inspection is carried out by advanced mobile platform (fire-fighting robot) timing, by analyzing the environment (temperature in tunnelHumidity, pernicious gas content) and emphasis position (such as cable connector) temperature history intellectual analysis assess this fire compartment and beIt 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 riskyThe 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 occurringPass 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 fireDegree 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 fieldFor art personnel, the application can have various modifications and variations.Within the spirit and principles of this application, any made by repairChange, 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 thisThese embodiments shown in text, and it is to fit to widest range consistent with the principles and novel features disclosed in this article.