CN110081317B

CN110081317B - Leakage source positioning device and system

Info

Publication number: CN110081317B
Application number: CN201910201949.0A
Authority: CN
Inventors: 郑小平; 李静海; 陈茂银; 张建文; 李辉; 邓晓娇; 耿华; 朱亚征
Original assignee: Nanjing Buyiren Information Technology Co ltd; Tsinghua University; Beijing University of Chemical Technology
Current assignee: Nanjing Buyiren Information Technology Co ltd; Tsinghua University; Beijing University of Chemical Technology
Priority date: 2019-03-18
Filing date: 2019-03-18
Publication date: 2020-11-13
Anticipated expiration: 2039-03-18
Also published as: CN110081317A

Abstract

The present application relates to a leakage source positioning device. The method comprises the following steps: the system comprises a movable platform, flow control equipment, gas detection equipment, navigation positioning equipment, a controller and communication equipment; the movable platform is used for driving the positioning device to move; the flow control equipment is used for carrying out flow detection on the sample gas and sending a flow detection result to the controller, so that the controller carries out flow control on the sample gas passing through the guide pipe according to the flow detection result; the gas detection equipment is used for detecting the concentration of the flow-controlled sample gas and sending the concentration detection result to the controller; the navigation positioning equipment is used for positioning the positioning device and sending a positioning result to the controller; the controller is used for analyzing the received concentration detection result and the positioning result and determining the intensity and the position of the leakage source; and the communication equipment is used for acquiring the operation information of the movable platform, the flow control equipment, the gas detection equipment, the navigation positioning equipment and the controller.

Description

Leakage source positioning device and system

Technical Field

The application relates to the technical field of dangerous chemical accident site treatment and positioning, in particular to a leakage source positioning device and system.

Background

Dangerous chemicals are often diffusive and toxic, and once leakage occurs, serious property loss and casualties may result. After the dangerous chemical substance leakage accident occurs, the dangerous chemical substance leakage source is positioned at the first time, and the basis for accident emergency disposal, emergency rescue and accident potential hazard assessment is provided. After the dangerous chemical substance leakage accident occurs, the dangerous chemical substance leakage source can be positioned according to the gas leakage condition in the dangerous chemical substance leakage accident.

The traditional hazardous gas leakage source positioning method is used for positioning the hazardous gas leakage source according to the concentration gradient and the diffusion direction of hazardous gas in an area, and the leakage accident site environment is often idealized. However, accidents involving hazardous chemical leakage are often accompanied by explosions, combustions and complex gas flows that make the site environment mostly non-ideal, which makes it impossible to accurately locate the source of the hazardous chemical leakage.

Disclosure of Invention

In view of the above, it is necessary to provide a leakage source positioning device and system.

A leakage source locating apparatus, the apparatus comprising: the system comprises a movable platform, flow control equipment, gas detection equipment, navigation positioning equipment, a controller and communication equipment;

the flow control device, the gas detection device, the navigation positioning device, the controller and the communication device are all arranged on the movable platform; the movable platform, the flow control device, the gas detection device, the navigation positioning device and the communication device are all electrically connected with the controller; the flow control device and the gas detection device are connected through a conduit;

the movable platform is used for driving the positioning device to move;

the flow control equipment is used for detecting the flow of the sample gas and sending the flow detection result to the controller, so that the controller controls the flow of the sample gas passing through the conduit according to the flow detection result;

the gas detection equipment is used for detecting the concentration of the flow-controlled sample gas and sending the concentration detection result to the controller;

the navigation positioning equipment is used for positioning the positioning device and sending a positioning result to the controller;

the controller is used for analyzing the received concentration detection result and the positioning result and determining the intensity and the position of a leakage source;

the communication device is used for acquiring the operation information of the movable platform, the flow control device, the gas detection device, the navigation positioning device and the controller.

In one embodiment, the movable platform comprises: the device comprises a bearing plate, a driving motor and a driving structure; the driving motor, the flow control device, the gas detection device, the navigation positioning device, the controller and the communication device are arranged on the bearing plate; the driving motor is electrically connected with the driving structure and used for providing power for the driving structure; the driving structure is rotatably connected with the bearing plate and is used for driving the bearing plate to move.

In one embodiment, the flow control device comprises a flow meter and an air pump; the guide pipe is respectively connected with the flowmeter and the air pump; the flowmeter is used for detecting the flow of the sample injection gas and sending the flow detection result to the controller, so that the controller controls the running speed of the air pump according to the flow detection result and controls the flow of the sample injection gas passing through the guide pipe.

In one embodiment, the gas detection apparatus comprises an ion mobility spectrometer and a combustible gas detector; the flow meter comprises a first flow meter and a second flow meter; the air pump comprises a first air pump and a second air pump; the conduit comprises a first conduit and a second conduit; the first conduit is respectively connected with the first flowmeter, the first air pump and the ion mobility spectrometer, and the second conduit is respectively connected with the second flowmeter, the second air pump and the combustible gas detector; the first flowmeter is used for carrying out first flow detection on the sample gas passing through the ion mobility spectrometer and sending a first flow detection result to the controller, so that the controller controls the running speed of the first air pump according to the first flow detection result and controls the flow of the sample gas passing through the first guide pipe; and the second flowmeter is used for carrying out second flow detection on the sample gas passing through the combustible gas detector and sending a second flow detection result to the controller, so that the controller controls the running speed of the second air pump according to the second flow detection result and controls the flow of the sample gas passing through the second guide pipe.

In one embodiment, the gas detection equipment comprises a sample feeding structure, an ion mobility spectrometer and a combustible gas detector; the sampling structure comprises: the sample inlet is connected with the expansion piece through a conduit, and the expansion piece is respectively connected with the ion mobility spectrometer and the combustible gas detector through conduits; the ion mobility spectrometer is used for monitoring the concentration of hazardous gas entering from the sample introduction structure; the combustible gas detector is used for detecting the concentration of the combustible gas entering from the sample injection structure.

In one embodiment, the sample injection structure comprises a plurality of sample injection ports and a plurality of expanders, and each sample injection port corresponds to one of the expanders.

In one embodiment, the gas detection apparatus further comprises an alarm apparatus; the alarm equipment is electrically connected with the combustible gas detector and used for giving an alarm according to the concentration detection result of the combustible gas detector.

In one embodiment, the retractor comprises: the device comprises a first power mechanism, a second power mechanism, a first mechanical arm and a second mechanical arm; the first mechanical arm is rotatably connected with the first power mechanism, the first power mechanism is fixedly arranged on the second mechanical arm, the second mechanical arm is rotatably connected with the second power mechanism, and a rotating shaft of the first power mechanism is intersected with a rotating shaft of the second power mechanism.

In one embodiment, the navigation positioning equipment comprises a GPS positioner, an inertial navigation element, a laser radar and/or a visual camera; the GPS positioner, the inertial navigation element, the laser radar and the vision camera are respectively and electrically connected with the controller; the GPS positioner is used for acquiring the position data of the positioning device and positioning the positioning device; the laser radar is used for acquiring first distance information between the positioning device and peripheral obstacles and sending the first distance information to the controller; the visual camera is used for acquiring images around the positioning device, determining second distance information between the visual camera and the peripheral obstacles according to the images, and sending the second distance information to the controller; the inertial navigation element is used for acquiring the speed and the posture of the positioning device, carrying out path calculation on the positioning device according to the speed and the posture and sending a path calculation result to the controller; the controller is configured to control movement of the positioning device according to at least one of the first distance information and the second distance information and the route estimation result.

In one embodiment, the positioning device comprises the positioning device and a ground workstation; the ground workstation is in communication connection with the communication device through a mobile communication transmission line.

The positioning device and the system comprise a movable platform, flow control equipment, gas detection equipment, navigation positioning equipment, a controller and communication equipment, wherein the controller can control the positioning device through the movable platform and set the movement of the equipment on the positioning device, further, the controller is connected with the movable platform, the flow control equipment, the gas detection equipment, the navigation positioning equipment and the communication equipment are electrically connected, the real-time information of the movable platform, the flow control equipment, the gas detection equipment and the navigation positioning equipment is obtained, the intensity of a hazardous chemical substance leakage source and the position of the leakage source are determined according to the obtained information, further, the flow control equipment can control the flow of sample injection gas, the gas detection equipment can accurately detect the hazardous gas, and the controller can accurately position the leakage source according to the obtained detection information.

Drawings

FIG. 1 is a schematic diagram of an exemplary embodiment of a leakage source locating apparatus;

FIG. 2 is a schematic diagram of the construction of the flow control apparatus 200 and the gas detection apparatus 300 in one embodiment;

fig. 3 is a schematic structural diagram of a leakage source positioning system in one embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

In one embodiment, as shown in fig. 1, a leak source locating apparatus 10 is provided that includes a movable platform 100, a flow control device 200, a gas detection device 300, a navigational positioning device 400, a controller 500, and a communication device 600.

The flow control apparatus 200, the gas detection apparatus 300, the navigation positioning apparatus 400, the controller 500, and the communication apparatus 600 are all disposed on the movable platform 100.

The movable platform 100 may be a mobile robot, an automobile model, or other device that can move flexibly, and the whole leakage source positioning device 10 is loaded on the movable platform 100, and the movement of the movable platform 100 drives the whole leakage source positioning device 10 to move.

The movable platform 100, flow control device 200, gas detection device 300, navigational positioning device 400, and communication device 600 are all electrically coupled to the controller 500.

The controller 500 is configured to acquire state information of the movable platform 100 in real time, complete control over the movable platform 100, and control the movable platform 100 to implement movement and rotation, autonomous tracking, automatic obstacle avoidance, autonomous navigation and positioning, and remote communication. Optionally, the controller 500 may further control the flow rate of the sample gas through the flow control device 200, and inversely deduce the strength and the position of the leakage source according to the detection positioning results of the gas detection device 300 and the navigation positioning device 400.

And the flow control device 200 is configured to perform flow detection on the sample gas, and send a flow detection result to the controller 500, so that the controller 500 performs flow control on the sample gas passing through the conduit according to the flow detection result.

The sample gas refers to a gas to be detected entering the positioning device 10 from the surrounding environment of the positioning device 10. The controller 500 receives the flow detection result sent by the flow control device 200, and dynamically controls the flow of the sample gas according to the flow detection result, so as to provide uniform and stable gas to be detected, and further, improve the detection precision.

And the gas detection device 300 is configured to perform concentration detection on the flow-controlled sample gas, and send a concentration detection result to the controller 500.

Wherein, the gas detection device 300 and the flow control device 200 are connected through a conduit, and the gas detected by the gas detection device 300 is the gas regulated and controlled by the flow control device 200 and the controller 500, so that the detection precision can be improved.

The navigation positioning apparatus 400 is used for positioning the positioning device 10 and sending the positioning result to the controller 500.

The navigation positioning device 400 is used for determining the position and the posture of the movable platform 100 and sensing obstacles and surrounding environment. Specifically, the navigation positioning apparatus 400 may use different detection units to complete the determination of the position and posture of the movable platform 100, and the sensing of obstacles and surrounding environment.

And the controller 500 is used for analyzing the received concentration detection result and the positioning result and determining the leakage source intensity and the leakage source position.

Specifically, the controller 500 may control the motion trajectory of the movable platform 100 according to the real-time information of the movable platform 100 and the gas detection apparatus 300, and control the strength and position of the back-leakage source according to the real-time information.

A communication device 600 for acquiring operation information of the movable platform 100, the flow control device 200, the gas detection device 300, the navigation positioning device 400 and the controller 500.

Specifically, the communication device 600 is capable of enabling remote real-time feedback of gas detection positioning information and movable platform 100 status information. The communication device 600 may also transmit control instructions of the controller 500 to the movable platform 100. Alternatively, the communication device 600 can enable communication between the movable platform 100 and the receiving end with a bandwidth greater than 2M. If the redundant communication link of the 3G/4G and the radio frequency station is equipped, the maximum communication distance under the visible condition is larger than 500 m.

The positioning device comprises a movable platform, flow control equipment, gas detection equipment, navigation positioning equipment, a controller and communication equipment, wherein the controller can control the positioning device through the movable platform and set the movable platform to move equipment on the positioning device, further, the controller is connected with the movable platform, the flow control equipment, the gas detection equipment, the navigation positioning equipment and the communication equipment are electrically connected, the real-time information of the movable platform, the flow control equipment, the gas detection equipment and the navigation positioning equipment is obtained, the intensity of a hazardous chemical substance leakage source and the position of the leakage source are determined according to the obtained information, further, the flow control equipment can control the flow of sample injection gas, the gas detection equipment can accurately detect the hazardous chemical gas, and the controller further accurately positions the leakage source according to the obtained detection information.

In one embodiment, the movable platform comprises: the device comprises a bearing plate, a driving motor and a driving structure; the driving motor, the flow control device, the gas detection device, the navigation positioning device, the controller and the communication device are arranged on the bearing plate.

Specifically, the material and shape size of the carrier plate are not limited, so long as the carrier plate can carry the driving motor, the flow control device, the gas detection device, the navigation positioning device, the controller and the communication device.

The driving motor is electrically connected with the driving structure and used for providing power for the driving structure.

Specifically, the drive motor powers the drive structure.

The driving structure is rotatably connected with the bearing plate and is used for driving the bearing plate to move.

Specifically, the specific structure of drive structure is not restricted, and drive structure can be gyro wheel, track or crawler-type structure to drive structure can drive the flexible motion of loading board can.

Optionally, the mobile platform comprises a housing, and the housing is fixedly connected with the bearing plate.

In particular, the provision of the housing serves to protect the internal structure of the housing from damage.

Optionally, a protective layer is arranged outside the shell, and the protective layer is a radiation-resistant heat-insulating material.

Specifically, the protective layer can be provided with a 1-5 mm-thick anti-radiation heat-insulating material to prevent the positioning device from being damaged due to overhigh temperature when the positioning device works on a hazardous chemical accident site. Further, the protective layers arranged for the flow control equipment, the gas detection equipment, the navigation positioning equipment, the controller and the communication equipment which are positioned in the shell adopt inner protective layers made of flame-retardant heat insulation materials.

The positioning device is provided with a flame-retardant heat-insulating and anti-radiation heat-insulating material so as to ensure reliable work in a high-temperature working environment. The shell of the movable platform is lined with heat insulation materials, and the outer part of the shell is covered with an aluminum foil composite flame-retardant radiation heat insulation film. The applicability of the positioning device to a high-temperature environment is improved by comprehensively utilizing the heat radiation reflection of the outer layer and the heat insulation of the inner layer. In the above embodiment, the movable platform includes: the bearing plate can bear the driving motor, the flow control equipment, the gas detection equipment, the navigation positioning equipment, the controller and the communication equipment, the shell is protected and arranged in the equipment, and further, the driving motor and the driving structure are matched to drive the bearing plate to move so as to realize acquisition and detection of gas leaked from a leakage source at different positions.

In one embodiment, as shown in FIG. 2, the flow control device 200 and the gas detection device 300 are schematically configured, wherein the flow control device 200 includes a flow meter 210 and a gas pump 220; the conduits are connected to the flow meter 210 and the air pump 220, respectively;

the flow meter 210 is configured to perform flow rate detection on the sample gas, and send a flow rate detection result to the controller 500, so that the controller 500 controls the operation speed of the air pump 220 according to the flow rate detection result, and controls the flow rate of the sample gas passing through the conduit.

The flow meter 210 is used to measure the flow of the sample gas, and is installed in the sample inlet or the conduit to record the amount of the gas flowing through. The air pump 220 can be an electric air pump, and the air pump 220 continuously compresses air through electric power to generate different air pressures so as to adjust the air inlet speed and the air inlet amount of the sample injection gas and ensure the stability of air inlet.

Specifically, the controller 500 adjusts the flow rate of the sample gas passing through the conduit by controlling the operation speed of the air pump 220 according to the flow rate detection result of the flow meter 210 and the flow rate requirement.

Optionally, the gas detection apparatus 300 includes an ion mobility spectrometer 310 and a combustible gas detector 320; the flow meter 210 includes a first flow meter 211 and a second flow meter 212; the air pump 220 includes a first air pump 221 and a second air pump 222; the conduit comprises a first conduit and a second conduit; the first conduit is respectively connected with the first flowmeter 211, the first air pump 221 and the ion mobility spectrometer 310, and the second conduit is respectively connected with the second flowmeter 212, the second air pump 222 and the combustible gas detector 320;

the first flow meter 211 is configured to perform first flow detection on the sample gas passing through the ion mobility spectrometer 310, and send a first flow detection result to the controller 500, so that the controller 500 controls the operation speed of the first air pump 221 according to the first flow detection result, and controls the flow rate of the sample gas passing through the first conduit;

and a second flow meter 212 for performing a second flow detection on the sample gas passing through the combustible gas detector 320, and sending a second flow detection result to the controller 500, so that the controller 500 controls the operation speed of the second air pump 222 according to the second flow detection result, and controls the flow rate of the sample gas passing through the second conduit.

Wherein, the sampling points of the first flowmeter 211, the first air pump 221 and the ion mobility spectrometer 310 are respectively arranged on the first conduit, and the gas can be collected from the first conduit by using a three-way pipe. Similarly, the sampling points of the second flow meter 212, the second air pump 222 and the flammable gas detector 320 are respectively disposed on the second conduit.

Specifically, the controller 500 may control the flow of the sample gas through the first conduit to adjust the gas flow through the ion mobility spectrometer 310, and the controller 500 may control the flow of the sample gas through the second conduit to adjust the gas flow through the combustible gas detector 320.

In the above embodiment, the flow control apparatus 200 includes the flow meter 210 and the gas pump 220, further, the flow meter 210 includes the first flow meter 211 and the second flow meter 212, the gas pump 220 includes the first gas pump 221 and the second gas pump 222, the controller 500 adjusts the operation speed of the first gas pump 221 according to the detection result of the first flow meter 211 to adjust the gas flow rate through the ion mobility spectrometer 310, and the controller 500 adjusts the operation speed of the second gas pump 222 according to the detection result of the second flow meter 212 to adjust the gas flow rate of the combustible gas detector 320.

In one embodiment, the gas detection equipment comprises a sample feeding structure, an ion mobility spectrometer and a combustible gas detector;

advance kind of structure includes: the sample inlet is connected with the expansion piece through a conduit, and the expansion piece is connected with the ion mobility spectrometer and the combustible gas detector through conduits respectively.

Wherein, advance a kind structure and be used for obtaining into kind gas from the different heights of multiangle. In particular, the retractor may be provided with a plurality of rotational degrees of freedom. The telescopic device can also be provided with mechanical arms with different lengths. The sample inlet can be driven to move to different positions through the telescopic device so as to realize the collection of samples with different heights and different distance ranges. Meanwhile, the expansion piece can also drive the sample inlet to move to a relatively narrow area, so that the ion mobility spectrometer and the combustible gas detector can collect gas samples in the narrow area. The ion mobility spectrometer and the combustible gas detector can realize gas collection in a wider range by operating the telescopic devices. Gas to be detected enters from the sample inlet, enters the ion mobility spectrometer and the combustible gas detector through the guide pipe connecting the sample inlet and the expansion piece, and is subjected to hazardous gas and combustible gas detection by the ion mobility spectrometer and the combustible gas detector. Because the hazardous chemical substance accident site has more smoke and dust and impurities, the influence of the smoke and dust impurities on the detection precision of the ion mobility spectrometer and the combustible gas detector is reduced as much as possible. Aiming at the characteristics of an ion mobility spectrometer and a combustible gas detector, the designed gas sample injection structure further comprises a dust filtering device, a gas pumping device and a height adjusting device, so that the sample injection gas is collected and purified. The purified gas is input into the ion mobility spectrometer and the sample inlet of the combustible gas detector, so that the interference of dust, impurities and the like to the measurement is avoided, and the collection and the measurement of the gas with different heights can be realized under the condition that the movable platform is kept static. The sampling structure is adopted to realize effective detection of hazardous chemical gas in the environment of smoke diffusion of hazardous chemical accident sites.

Optionally, the sample injection structure comprises a plurality of sample injection ports and a plurality of expanders, and each sample injection port corresponds to one expander.

In the embodiment of the invention, the sampling structure consisting of the plurality of sampling ports and the plurality of expanders can obtain the sampling gas in a wider range. The sampling structure can be adjusted according to different gas concentrations. Therefore, when the gas concentration is higher, the motion track and the position of the positioning device can be adjusted through the cooperation of the controller and the communication equipment. The sampling structure is fixedly arranged on the ion mobility spectrometer and the combustible gas detector, so that the filtering and purification of the sampling gas can be completed, and the detection precision of the ion mobility spectrometer and the combustible gas detector to the gas is improved. Optionally, multiple sample injection structures can be controlled through the distal end, and the height of the sample injection port is continuously adjustable (0< h <1m) to collect gas samples of desired height.

Optionally, the retractor comprises: the device comprises a first power mechanism, a second power mechanism, a first mechanical arm and a second mechanical arm; the first mechanical arm is rotatably connected with the first power mechanism, the first power mechanism is fixedly arranged on the second mechanical arm, the second mechanical arm is rotatably connected with the second power mechanism, and a rotating shaft of the first power mechanism is intersected with a rotating shaft of the second power mechanism.

The expansion piece is used for completing active guiding of the sample inlet and the guide pipe, and can have multiple degrees of freedom. The sample inlet is arranged on the first mechanical arm, and the guide pipe can be bound on the first mechanical arm and the second mechanical arm of the telescopic device. The sample inlet and the conduit can be moved to any position within the shaft diameter range of the expansion piece by utilizing the expansion piece, so that samples with different heights and different distances can be collected. In addition, the sample inlet can be moved to a narrow area by utilizing the expansion piece, so that the measurement of gas in a narrow roadway, which can not be entered by some large-scale equipment, can be realized. The rotating shaft of the first power mechanism is intersected with the rotating shaft of the second power mechanism. It can be understood that the intersecting of the rotating shafts of the first power mechanism and the second power mechanism is arranged to ensure the multi-degree-of-freedom rotation and extension of the telescopic device.

And the ion mobility spectrometer is used for monitoring the concentration of the hazardous gas entering from the sample injection structure.

Ion Mobility Spectrometry (IMS) performs Ion separation and qualification according to the difference of Ion mobility time, accurate quantitative measurement of multi-component hazardous gas can be realized, the detection resolution of gas can be greatly improved, and the lower detection limit can reach the ppt level (10-12). By adopting the ion mobility spectrometer for detection, the detection result of the gas concentration can be corresponding to the corresponding monitoring time, and a two-dimensional array [ the monitoring time, and the gas concentration corresponding to the monitoring time ] is obtained.

And the combustible gas detector is used for detecting the concentration of the combustible gas entering from the sample injection structure.

The combustible gas detector is a detector responding to the concentration of single or multiple combustible gases.

Optionally, the gas detection apparatus further comprises an alarm apparatus; the alarm device is electrically connected with the combustible gas detector and used for giving an alarm according to the concentration detection result of the combustible gas detector.

The specific form of the alarm device is not limited, and the alarm device may include an alarm reminding device in the form of sound, light, electricity, and the like. Ground monitoring personnel can monitor the relevant information of the alarm device, and can maintain and ensure the safety in time. Specifically, when the combustible gas detector detects that the concentration of the combustible gas reaches a dangerous threshold value, the alarm device is started to provide warning for personnel or vehicles on the hazardous chemical substance site.

In the above embodiment, the gas detection equipment includes introduction structure, ion mobility spectrometer and combustible gas detector, and wherein ion mobility spectrometer and combustible gas detector can carry out concentration detection and flow detection to the hazardous gas and combustible gas, and further, set up a plurality of introduction structures, a plurality of introduction structure introduction port height is continuously adjustable for the introduction gas scope that positioner obtained is more extensive.

In one embodiment, a navigational positioning device comprises: the navigation positioning equipment comprises a GPS positioner, an inertial navigation element, a laser radar and/or a visual camera;

the GPS positioner, the inertial navigation element, the laser radar and the vision camera are respectively and electrically connected with the controller;

the GPS positioner is used for acquiring the position data of the positioning device and positioning the positioning device;

the laser radar is used for acquiring first distance information between the positioning device and peripheral obstacles and sending the first distance information to the controller;

the visual camera is used for acquiring images around the positioning device, determining second distance information between the visual camera and peripheral obstacles according to the images and sending the second distance information to the controller;

the inertial navigation element is used for acquiring the speed and the posture of the positioning device, calculating the path of the positioning device according to the speed and the posture and sending the path calculation result to the controller;

and the controller is used for controlling the movement of the positioning device according to at least one of the first distance information and the second distance information and the path estimation result.

The GPS positioner is mainly used for acquiring specific position information of the positioning device. And obtaining a two-dimensional array [ monitoring time and gas concentration position corresponding to the monitoring time ], and combining the two-dimensional data [ monitoring time and gas concentration corresponding to the monitoring time ] obtained by the ion mobility spectrometer to obtain a three-dimensional array [ monitoring time, gas concentration corresponding to the monitoring time and gas concentration position corresponding to the monitoring time ]. The laser radar can be matched with the vision camera to obtain the distance information of the obstacles around the positioning device. In the embodiment of the invention, the laser radar is matched with the visual camera, the depth information of the laser radar and the visible light image information of the visual camera are fused, and the distance, the direction, the height, the speed, the posture, the shape and the like of the barrier in the dangerous chemical accident site can be detected. An Inertial Navigation (Inertial Navigation) element is installed inside the mobile platform and is mainly used for acquiring attitude data of the positioning device and carrying out path estimation.

Specifically, the controller may control the movement of the positioning device according to the route estimation result and the distance information (the first distance information or the second distance information or the first distance information and the second distance information in combination), so as to ensure that the positioning device can effectively avoid the obstacle during the movement.

Optionally, the navigational positioning device may further comprise an audio capture element. The audio acquisition element is used for acquiring various live voice information. Such as: the condition that the outside cannot be detected possibly exists in the dangerous chemical substance accident site, if trapped people exist, the high-definition voice information of the site can be rapidly and accurately acquired through the audio acquisition element, and whether the trapped people exist in the site or not is judged through audio.

In the above embodiment, the navigation positioning apparatus includes: the GPS positioner and the inertial navigation element further comprise a laser radar and/or a visual camera, the navigation positioning equipment is electrically connected with the controller, the controller can control the positioning device to realize autonomous navigation positioning, the controller can receive path planning data transmitted from a ground station, and sends control instructions to the driving motor and the driving mechanism, so that the position, the speed and the posture of the mobile platform are adjusted in real time, and the mobile platform is controlled to accurately advance along a pre-planned path. In the process of traveling along the planned path, the controller can automatically adjust the traveling path to avoid the obstacle according to the obstacle information measured by the laser radar and the vision camera.

In one embodiment, as shown in fig. 3, a leakage source locating system 20 is provided, comprising the locating device 10 described above and a ground workstation 700;

the ground station 700 is communicatively connected to the communication device 600 via a mobile communication transmission line.

The ground station 700 includes a receiving unit corresponding to a mobile communication transmission line, and the communication between the controller 500 and the ground station 700 is completed through the mobile communication transmission line and the receiving unit.

Specifically, the ground workstation 700 implements receiving and storing of monitoring data, remote control and state monitoring of the movable platform, path planning of the movable platform, and the like. The receiving unit of the ground workstation 700 is a high-performance workstation, and the receiving unit can receive and store monitoring data, remotely control the movable platform, monitor the state, plan the path and the like.

The leakage source positioning device is applied to the leakage source positioning device, and the leakage source strength and the leakage source position can be obtained according to the monitoring data of the ion mobility spectrometer and the calculation of the controller by adopting the following positioning scheme. The scheme 1 is specifically implemented as follows:

in one embodiment, a method for locating a leakage source is provided, comprising the steps of:

and S101, the controller constructs a target function model associated with the gas concentration information according to a preset atmospheric diffusion model.

In the embodiment of the invention, the atmospheric diffusion model is a mathematical model for calculating and simulating gas diffusion migration conditions under actual conditions. The atmospheric diffusion model may be selected according to an environmental state of the leakage source, for example, a diffusion model for a special meteorological condition and a terrain, a closed diffusion model, a smoking diffusion model, a mountain atmospheric diffusion model, and a coastal atmospheric diffusion model, which is not limited herein.

The gas concentration information refers to concentration information of gas released by a dangerous chemical leakage source in a space around the leakage source, and the gas concentration information is an identification symbol and is not actually measured data.

And S102, monitoring the concentration information of the current gas by the ion mobility spectrometer, and obtaining a calculation concentration sequence of an atmospheric diffusion model by the controller according to the concentration information of the current gas and the atmospheric diffusion model.

In the embodiment of the invention, the concentration information of the current gas is the monitored monitoring time at the current moment, the gas concentration corresponding to the monitoring time at the current moment and the gas concentration corresponding to the monitoring time at the current moment. The monitoring time at the current moment, the gas concentration corresponding to the monitoring time at the current moment and the gas concentration corresponding to the monitoring time at the current moment are in one-to-one correspondence. Optionally, the gas concentration size corresponding to the monitoring time is monitored by the ion mobility spectrometer, and the gas concentration position corresponding to the monitoring time is located by the navigation and positioning device.

In the embodiment of the invention, the concentration information of the current gas is input into the atmospheric diffusion model, so that the calculation concentration sequence of the atmospheric diffusion model can be obtained.

And step S103, the controller calculates a concentration sequence according to the objective function model, the concentration information of the current gas and the atmospheric diffusion model to obtain an objective function model calculation value.

In the embodiment of the invention, the monitored concentration information of the current gas and the atmosphere diffusion model calculation concentration sequence are input into the objective function model to obtain a sequence containing a plurality of function model calculation values, the sequence is sequenced and searched to obtain an optimal function model calculation value, and the optimal function model calculation value is used as the objective function model calculation value.

And step S104, the controller determines the intensity of the leakage source and the position of the leakage source according to the calculation value of the objective function model.

Specifically, a gas concentration level and a gas concentration position corresponding to the target function calculation value can be obtained by back-stepping according to the finally determined target function calculation value, and the corresponding gas concentration level and gas concentration position are used as the leakage source intensity and the leakage source position finally determined by the method.

In the above embodiment, the objective function model can be expressed as:

wherein L is₀Indicating the position of the leakage source to be determined, Q₀Indicating the strength of the gas leakage source to be determined, t_iDenotes the ith time, L_iRepresenting time as t_iPosition L of time monitoring point_i＝(x_i，y_i)，C_Mol(L_i，t_i) Is shown at time t_iTime, position (x)_i，y_i) The atmospheric diffusion model of (C) calculates the concentration_IMS(L_i，t_i) Is shown at time t_iTime, position (x)_i，y_i) The concentration of the gas monitored by the ion mobility spectrometer. Alternatively, when positioning is performed by using Global Positioning System (GPS) (x)_i，y_i) The longitude and latitude of the monitoring point under a global coordinate system are represented.

The method for positioning the upper leakage source comprises the steps of constructing an objective function model related to gas concentration information according to a preset atmospheric diffusion model, monitoring the concentration information of current gas, obtaining an atmospheric diffusion model calculation concentration sequence according to the monitored concentration information of the current gas and the preset atmospheric diffusion model, calculating the concentration sequence according to the objective function model, the concentration information of the current gas and the atmospheric diffusion model, obtaining an objective function model calculation value, and further positioning the leakage source strength and the leakage source position according to the objective function model calculation value. According to the method, the leakage source strength and the leakage source position can be obtained according to the target function model calculation value, and the dangerous gas leakage source can be accurately positioned.

In one embodiment, the concentration information of the current gas comprises a monitoring time and a gas concentration position corresponding to the monitoring time; step S102, monitoring the concentration information of the current gas, and obtaining an atmosphere diffusion model calculation concentration sequence according to the concentration information of the current gas and an atmosphere diffusion model, wherein the step S comprises the following steps:

and inputting the obtained model parameters related to the atmospheric diffusion model, the monitoring time and the gas concentration position corresponding to the monitoring time into the atmospheric diffusion model to obtain an atmospheric diffusion model calculation concentration sequence.

Alternatively, the atmospheric diffusion model may be a gaussian plume model. The gaussian plume model can be expressed as:

where C (x, y, t) represents the atmospheric model calculated concentration at location (x, y) at time t, v is wind speed, σ_x、σ_yAnd σ_zThe diffusion coefficients of the gas in the x (horizontal axis), y (horizontal axis), and z (vertical direction) directions, respectively. The wind speed v comprises information such as the speed and direction of wind, and is measured by the ultrasonic anemometer.

In the above embodiment, a gaussian plume model is selected as an implementation object, and model parameters (for example, diffusion coefficients of gas in the horizontal direction and the vertical direction, wind speed information corresponding to monitoring time, and the like), monitoring time, and a gas concentration position corresponding to the monitoring time, which are related to the gaussian plume model, are input into the gaussian plume model to obtain a calculated concentration sequence of the gaussian plume model, where the calculated concentration sequence of the gaussian plume model at this time only includes Q₀An unknown quantity, wherein only the unknown quantity Q will be included₀The Gaussian smoke mass model calculates a concentration sequence as atmospheric expansionAnd calculating a concentration sequence by using a dispersion model, and taking the concentration sequence calculated by using the atmospheric diffusion model as a basis for determining the intensity of the leakage source and the position of the leakage source in the target function.

In one embodiment, the method further includes the steps of inputting the acquired model parameters related to the atmospheric diffusion model, the monitoring time and the gas concentration position corresponding to the monitoring time into the atmospheric diffusion model, and previously:

and obtaining model parameters related to the atmospheric diffusion model according to the diffusion coefficients of the current gas in the horizontal direction and the vertical direction and the wind speed information corresponding to the monitoring time.

The wind speed information corresponding to the monitoring time refers to the speed and direction of wind at the gas concentration position corresponding to the monitoring time at the current monitoring time.

In the above embodiment, the atmospheric diffusion model is related to the current diffusion composition of the gas in both the horizontal direction and the vertical direction, and is related to the current wind direction and wind speed at the monitoring point, so in the calculation process, the model parameters related to the atmospheric diffusion model need to be obtained first.

In one embodiment, the concentration information of the current gas comprises a monitoring time, a gas concentration size corresponding to the monitoring time and a gas concentration position corresponding to the monitoring time; step S103, calculating a concentration sequence according to the objective function model, the concentration information of the current gas and the atmospheric diffusion model to obtain an objective function model calculation value, wherein the calculation value comprises the following steps:

and step S1031, calculating a concentration sequence according to the objective function model, the concentration information of the current gas and the atmospheric diffusion model to obtain a first objective function fitness sequence.

The first objective function fitness sequence has a first corresponding relation with the gas concentration corresponding to the monitoring time and the gas concentration corresponding to the monitoring time.

Specifically, the first objective function fitness sequence can be obtained by inputting the monitored concentration information of the current gas and the calculated concentration sequence of the atmospheric diffusion model into the objective function model, so that the first objective function fitness sequence and the concentration information of the current gasThere is a one-to-one correspondence between the monitoring time, the magnitude of the gas concentration corresponding to the monitoring time, and the position of the gas concentration corresponding to the monitoring time, and this one-to-one correspondence may be referred to as a first correspondence. For example, the concentration information sequence of the current gas may be represented as A_a1、A_a2……A_anThe first sequence of fitness of the objective function may be denoted as T_t1、 T_t2……T_tnWhere an equals tn, A_a1And T_t1Corresponds to, A_a2And T_t2Corresponds to, A_anAnd T_tnAnd (7) corresponding.

And S1032, sequencing and screening the first objective function fitness sequence to obtain a second objective function fitness sequence.

And sequencing the first objective function fitness sequence, and after eliminating extreme values, obtaining a second objective function fitness sequence, wherein the second objective function fitness sequence at the moment corresponds to elements in the first objective function fitness sequence. Therefore, there is a corresponding relationship between the second objective function fitness series and the current gas concentration information (monitoring time, gas concentration corresponding to the monitoring time, and gas concentration corresponding to the monitoring time). For example, the obtained second objective function fitness sequence may be represented as T_tt1、T_tt2……T_ttnWherein ttn is less than or equal to tn, T_tt1、T_tt2……T_ttnEach element in (a) is adapted to the first objective function fitness sequence T_t1、T_t2……T_tnCorresponds to a first target function fitness sequence T, and the first target function fitness sequence T_t1、T_t2……T_tnEach element in (a) also has concentration information sequence A with the current gas_a1、A_a2……A_anCorresponds to a unique element of, thus, T_tt1、T_tt2……T_ttnThe concentration information sequence A of each element in the gas mixture and the current gas_a1、 A_a2……A_anCorresponds to only one element in the list.

And step S1033, executing a preset times genetic algorithm on the second objective function fitness sequence to obtain an intermediate population fitness sequence.

And the intermediate population fitness sequence and the second target function fitness sequence have a second corresponding relation.

Optionally, in this step, after performing 60 generations of genetic algorithm iterations, an intermediate population is obtained, and the preset number of times of performing the genetic algorithm in the actual operation is not specifically limited. The obtained intermediate population fitness sequence corresponds to elements in the second objective function fitness sequence, and a corresponding relationship also exists between the second objective function fitness sequence and the elements in the first objective function fitness sequence, and a corresponding relationship also exists between the first objective function fitness sequence and the concentration information (monitoring time, gas concentration corresponding to the monitoring time, and gas concentration corresponding to the monitoring time) of the current gas. Therefore, the intermediate population fitness and the concentration information of the current gas have a one-to-one correspondence relationship. For example, the resulting sequence of intermediate population fitness may be denoted as M_m1、M_m2……M_mnWherein mn is not more than ttn, ttn is not more than tn, M_m1、M_m2……M_mnEach element in (a) is adapted to the second objective function fitness sequence T_tt1、 T_tt2……T_ttnCorresponds to a single element of, T_tt1、T_tt2……T_ttnEach element in (a) is adapted to the first objective function fitness sequence T_t1、T_t2……T_tnCorresponds to the concentration information sequence A of the current gas_a1、 A_a2……A_anCorresponds to a unique element of, thus, M_m1、M_m2……M_mnThe concentration information sequence A of each element in the gas mixture and the current gas_a1、A_a2……A_anCorresponds to only one element in the list.

And S1034, carrying out local optimization on the intermediate population fitness sequence to obtain the optimal intermediate population fitness.

The inventionIn the embodiment, the sequence of the intermediate population fitness degree is sequenced, an individual execution mode search algorithm with the intermediate population fitness degree in a preset proportion is selected for local optimization, and the optimal intermediate population fitness degree is obtained, as can be seen from the explanation in step S1033, the optimal intermediate population fitness degree at this time and the concentration information sequence a of the current gas_a1、A_a2……A_anCorresponds to a unique set of gas concentration magnitude corresponding to the monitoring time and gas concentration location corresponding to the monitoring time. Optionally, the individuals with the intermediate population fitness in the preset proportion may be set according to specific implementation conditions, and may be the intermediate population fitness in the first 20%.

And step S1035, obtaining an objective function model calculation value according to the first corresponding relation, the second corresponding relation, the optimal intermediate population fitness and the objective function model.

After the optimal intermediate population fitness obtained in step S1034 is obtained, because the optimal intermediate population fitness is included in the intermediate population fitness sequence and the second objective function fitness sequence have a second corresponding relationship, an element in the second objective function fitness corresponding to the optimal intermediate population fitness can be found from the second objective function fitness sequence according to the second corresponding relationship (wherein, for convenience of subsequent description, the element in the second objective function fitness corresponding to the optimal intermediate population fitness in the second objective function fitness sequence is collectively referred to as the second objective element), further, because the second objective function fitness sequence corresponds to the element in the first objective function fitness sequence, an element in the first objective function fitness can be found from the first objective function fitness sequence (wherein, for convenience of subsequent description, elements corresponding to the first target element in the first target function fitness sequence are collectively referred to as the first target element), and further, because a first corresponding relationship exists between the first target function fitness sequence and the gas concentration size corresponding to the monitoring time and the gas concentration position corresponding to the monitoring time, according to the first corresponding relationship, the concentration information (the monitoring time, the gas concentration size corresponding to the monitoring time, and the gas concentration position corresponding to the monitoring time) of the current gas corresponding to the first target element can be determined, and the concentration information of the current gas corresponding to the first target element is input into the target function model, so as to obtain a determined target function model calculation value.

In the above embodiment, the concentration sequence is calculated according to the objective function model, the concentration of the gas and the atmospheric diffusion model to obtain a first objective function fitness sequence, the first objective function fitness sequence is preprocessed and then a genetic algorithm is executed for a preset number of times to obtain an intermediate population fitness sequence, and further, local optimization is applied to obtain an optimal intermediate population fitness. And obtaining a specific gas concentration value corresponding to the monitoring time and an objective function model calculation value corresponding to the gas concentration position corresponding to the monitoring time according to the first corresponding relation, the second corresponding relation, the optimal intermediate population fitness and the objective function model.

In one embodiment, in step S1031, calculating a concentration sequence according to the objective function model, the concentration information of the current gas, and the atmospheric diffusion model to obtain a first objective function fitness sequence, including:

step S1036 is to determine an initial leakage source intensity set and an initial leakage source location set according to the gas concentration corresponding to the monitoring time and the gas concentration corresponding to the monitoring time.

Wherein for the leakage source position L ═ x, y and the leakage source intensity Q₀And carrying out real number encoding and random initialization to obtain an initial leakage source intensity set and an initial leakage source position set. Optionally, the leakage source position L ═ x, y and the leakage source intensity Q₀And performing real number coding and random initialization according to the gas concentration corresponding to the monitoring time and the gas concentration position corresponding to the monitoring time, wherein the gas concentration corresponding to the monitoring time and the gas concentration position corresponding to the monitoring time refer to the gas concentration corresponding to any monitoring time and the gas concentration position corresponding to any monitoring time after the concentration information of the current gas is monitored.

And step S1037, calculating a concentration sequence according to the initial leakage source intensity set and the atmospheric diffusion model to obtain an initial atmospheric diffusion model calculation concentration set.

Wherein, the concentration sequence calculated by the atmospheric diffusion model only contains the leakage source intensity Q of unknown parameters₀Step S102 for leakage source intensity Q₀Initialized, Q after initialization₀And inputting the atmospheric diffusion model calculation concentration sequence to obtain an initial atmospheric diffusion model calculation concentration set without unknown parameters.

Step S1038, a concentration set is calculated according to the initial leakage source intensity set, the initial leakage source position set, the concentration information of the current gas and the initial atmospheric diffusion model, and a first objective function fitness sequence is obtained.

And inputting the leakage source intensity set, the initial leakage source position set, the concentration information of the current gas and the initial atmospheric diffusion model calculation concentration set into an objective function model formula (1) to obtain a first objective function fitness sequence.

In the above embodiment, obtaining the first objective function fitness sequence provides a basis for determining the leakage source strength and the leakage source position in the objective function.

In one embodiment, the step S104 of determining the leakage source strength and the leakage source position according to the objective function model calculation value includes:

and if the calculated value of the objective function model is smaller than or equal to a preset threshold value, determining the gas concentration corresponding to the calculated value of the objective function model as the intensity of a leakage source, and determining the gas concentration position corresponding to the calculated value of the objective function model as the position of the leakage source.

Wherein, the calculated value of the objective function model is less than or equal to a preset threshold value and is a preset convergence condition, which represents the calculated concentration C of the atmospheric diffusion model_Mol(L_i，t_i) Monitoring concentration C with ion mobility spectrometer_IMS(L_i，t_i) The sum of squares of the differences is less than or equal to the set error limit, and the sum of squares of the differences is less than or equal to the error limit, which indicates that the back-stepping result is very close to the actual information of the real leakage source, the gas corresponding to the convergence condition is satisfiedThe volume concentration is determined as the leak source intensity, and the gas concentration position corresponding to the convergence condition is determined as the leak source position.

Optionally, if the calculated value of the objective function model is greater than the preset threshold, returning to the step of monitoring the concentration information of the current gas.

And returning to the step of monitoring the concentration information of the current gas, wherein the step of monitoring the concentration information of the current gas comprises updating the concentration information of the current gas, the updating of the concentration information of the current gas refers to the re-acquisition or updating of the acquisition time and position of the concentration information of the current gas for calculation, inputting the new concentration information of the current gas into a preset atmospheric diffusion model to obtain an updated calculation concentration sequence of the atmospheric diffusion model, and inputting the updated concentration information of the current gas and the updated calculation concentration sequence of the atmospheric diffusion model into an objective function model to obtain an updated calculation value of the objective function model. And comparing the size relation between the updated target function model calculation value and a preset threshold value until the updated target function model calculation value is less than or equal to the preset threshold value, determining the gas concentration corresponding to the target function model calculation value as the leakage source intensity, and determining the gas concentration position corresponding to the target function model calculation value as the leakage source position.

In the embodiment, the leakage source intensity and the leakage source position can be obtained according to the target function model calculation value and the preset convergence condition, and the parameters related to the model in the positioning method are continuously corrected under the condition that the target function model calculation value does not meet the preset convergence condition, so that the leakage source intensity and the leakage source position are obtained, and the dangerous gas leakage source is accurately positioned.

The leakage source positioning device is applied to the leakage source positioning device, and the leakage source strength and the leakage source position can be obtained according to the monitoring data of the ion mobility spectrometer and the calculation of the controller by adopting the following positioning scheme. The scheme 2 is specifically implemented as follows:

in step S2100, the controller constructs a target function model associated with the gas concentration information according to a preset atmospheric diffusion model.

And step S2200, monitoring the gas concentration information of the current position by the ion mobility spectrometer, and obtaining a target function model calculation value of the current position by the controller according to the gas concentration information of the current position, the atmospheric diffusion model and the target function model.

The gas concentration information of the current position comprises monitored monitoring time, gas concentration corresponding to the monitoring time, gas concentration position corresponding to the monitoring time and the like. The ion mobility spectrometer monitors the gas concentration in the surrounding space continuously, and when the ion mobility spectrometer captures the concentration information of the leaked source gas for the first time, the position where the leaked source gas is captured for the first time is taken as the current position.

In the embodiment of the present invention, the objective function model calculation value refers to a value of an objective function model calculated according to the monitored gas concentration information of the current position. Alternatively, the objective function model calculation value may be obtained by inputting the gas concentration information of the front position and the atmospheric diffusion model into the objective function model.

And S2300, monitoring the gas concentration information of the next position by the ion mobility spectrometer, and obtaining the target function model calculation value of the next position by the controller according to the gas concentration information of the next position, the atmospheric diffusion model and the target function model.

The gas concentration information of the next location is the same as the object monitored by the gas concentration information of the current location in step S2200, and the gas concentration information of the next location also includes the monitoring time monitored at the next location, the gas concentration corresponding to the monitoring time, and the gas concentration corresponding to the monitoring time. The monitoring time, the gas concentration corresponding to the monitoring time and the gas concentration corresponding to the monitoring time are in one-to-one correspondence. Similarly, the calculation of the objective function model at the next location is the same as the calculation of the objective function model at the current location in step S2200, and is not repeated herein.

In step S2400, the controller determines the intensity of the leakage source and the position of the leakage source according to the objective function model calculation value at the current position and the objective function model calculation value at the next position.

Specifically, the gas concentration level and the gas concentration position corresponding to the objective function calculated value of the current position and the objective function calculated value of the next position may be obtained by performing a back-stepping operation on the finally determined objective function model calculated value of the current position and the objective function calculated value of the next position. Further, according to the distance relation between the gas concentration position corresponding to the objective function calculation value of the current position and the gas concentration position corresponding to the objective function calculation value of the next position, the position of the leakage source is determined, and the gas concentration at the position of the leakage source is determined as the intensity of the leakage source.

In the above embodiment, the expression form of the objective function model is shown in the above formula (1), and is not described herein again.

The method for positioning the upper leakage source comprises the steps of constructing a target function model related to gas concentration information according to a preset atmospheric diffusion model, monitoring the gas concentration information of the current position, obtaining a target function model calculation value of the current position according to the gas concentration information of the current position, the atmospheric diffusion model and the target function model, monitoring the gas concentration information of the next position, obtaining a target function model calculation value of the next position according to the gas concentration information of the next position, the atmospheric diffusion model and the target function model, and further positioning the leakage source strength and the leakage source position according to the target function model calculation value of the current position and the target function model calculation value of the next position. According to the method, the leakage source strength and the leakage source position can be obtained according to the target function model calculation value of the current position and the target function model calculation value of the next position, and the dangerous gas leakage source can be accurately positioned.

In one embodiment, the gas concentration information of the current location includes a monitoring time and a gas concentration location corresponding to the monitoring time; step S2200, monitoring the gas concentration information of the current position, and obtaining an objective function model calculation value of the current position according to the gas concentration information of the current position, the atmospheric diffusion model and the objective function model, specifically comprising the following steps:

step S2210, monitoring the gas concentration information of the current position, and obtaining an atmosphere diffusion model calculation concentration sequence of the current position according to the gas concentration information of the current position and the atmosphere diffusion model.

Step S2220, calculating a concentration sequence according to the objective function model, the gas concentration information of the current position and the atmospheric diffusion model of the current position, and obtaining an objective function model calculation value of the current position.

In one embodiment, in step S2210, monitoring the gas concentration information at the current location, and obtaining an atmospheric diffusion model calculation concentration sequence at the current location according to the gas concentration information at the current location and the atmospheric diffusion model, the method includes:

and inputting the obtained model parameters related to the atmospheric diffusion model, the monitoring time and the gas concentration position corresponding to the monitoring time into the atmospheric diffusion model to obtain an atmospheric diffusion model calculation concentration sequence of the current position.

Alternatively, the atmospheric diffusion model may be a gaussian plume model. The expression of the gaussian plume model is shown in the above formula (2), and will not be described herein.

In the above embodiment, a gaussian plume model is selected as an implementation object, and model parameters (for example, diffusion coefficients of gas in the horizontal direction and the vertical direction, wind speed information corresponding to monitoring time, and the like), monitoring time, and a gas concentration position corresponding to the monitoring time, which are related to the gaussian plume model, are input into the gaussian plume model to obtain a calculated concentration sequence of the gaussian plume model, where the calculated concentration sequence of the gaussian plume model at this time only includes Q₀An unknown quantity, wherein only the unknown quantity Q will be included₀The calculated concentration sequence of the Gaussian smoke mass model is used as the calculated concentration sequence of the atmospheric diffusion model, and the calculated concentration sequence of the atmospheric diffusion model is used as the basis for determining the intensity of the leakage source and the position of the leakage source in the target function.

In one embodiment, the gas concentration information of the current position comprises monitoring time, a gas concentration size corresponding to the monitoring time and a gas concentration position corresponding to the monitoring time; step S2220, calculating a concentration sequence according to the objective function model, the gas concentration information of the current position and the atmospheric diffusion model of the current position to obtain an objective function model calculation value of the current position, which specifically comprises the following steps:

step S2221, a concentration sequence is calculated according to the objective function model, the gas concentration information of the current position and the atmospheric diffusion model of the current position, and a first objective function fitness sequence is obtained. The first objective function fitness sequence has a first corresponding relation with the gas concentration corresponding to the monitoring time and the gas concentration corresponding to the monitoring time.

Step S2222, the first objective function fitness sequence is sorted and screened to obtain a second objective function fitness sequence.

And step S2223, a preset times genetic algorithm is executed on the second objective function fitness sequence to obtain an intermediate population fitness sequence. And the intermediate population fitness sequence and the second target function fitness sequence have a second corresponding relation.

And S2224, carrying out local optimization on the intermediate population fitness sequence to obtain the optimal intermediate population fitness.

And step S2225, obtaining a target function model calculation value according to the first corresponding relation, the second corresponding relation, the optimal intermediate population fitness and the target function model.

In one embodiment, the method for obtaining the first objective function fitness sequence by calculating the concentration sequence according to the objective function model, the gas concentration information of the current position and the atmospheric diffusion model specifically comprises the following steps:

step S22211, according to the gas concentration corresponding to the monitoring time and the gas concentration corresponding to the monitoring time, an initial leakage source intensity set and an initial leakage source position set are determined.

And step S22212, calculating a concentration sequence according to the initial leakage source intensity set and the atmospheric diffusion model to obtain an initial atmospheric diffusion model calculation concentration set.

Step S22213, a concentration set is calculated according to the initial leakage source intensity set, the initial leakage source position set, the gas concentration information of the current position and the initial atmospheric diffusion model, and a first objective function fitness sequence is obtained.

In one embodiment, the step S2400 of determining the leakage source strength and the leakage source position according to the objective function model calculated value of the current position and the objective function model calculated value of the next position includes:

determining a gas concentration position corresponding to the target function model calculation value of the current position as a first leakage source position, and determining a gas concentration position corresponding to the target function model calculation value of the next position as a second leakage source position; determining a distance value between the first leakage source location and the second leakage source location; and if the distance value is smaller than or equal to the first preset threshold value, determining the gas concentration corresponding to the second leakage source position as the leakage source intensity, and determining the second leakage source position as the leakage source position.

Optionally, the next position is determined by:

where Δ L (i) is the step size of the i-th time step, κ_iIs a randomly generated number (k)_k∈[0，1]) α is the minimum step size, ρ ∈ (1, 3)]A step size adjustment factor; Δ Θ (i) is the direction of travel of the ith time step, e_iFor a random generation of a number (e)_i∈[0，1])，θ_kIs a directional adjustment factor.

Starting from the initial position, the gas search is carried out step by step according to the step size and the direction generated by the equations (3) and (4), and when i is equal to 1, the direction adjustment factor theta is taken₁When i is more than or equal to 2, the direction is adjusted by a factor theta_iThe direction is from the current position to the first leakage source position. At each subsequent travel time step, a number k is randomly generated_iAnd e_iAll are different, so that the step length and the direction in the advancing process are dynamically adjusted.

The basis for determining the intensity and the position of the leakage source is that when the distance between the position of the first leakage source and the position of the second leakage source is smaller than or equal to a preset threshold value, the positions of the leakage sources reversely deduced twice are very close to each other, the estimation result of the leakage source is stable enough, the gas concentration corresponding to the position of the second leakage source is determined as the intensity of the leakage source, and the position of the second leakage source is determined as the position of the leakage source.

Optionally, if the distance value is greater than a first preset threshold, taking the next position as an updated current position, returning to monitor gas concentration information of the next position, and obtaining a target function model calculation value of the next position according to the gas concentration information of the next position, the atmospheric diffusion model and the target function model.

In the embodiment of the present invention, if the distance between the first leakage source location and the second leakage source location is greater than the first preset threshold, it indicates that the leakage source locations obtained through two back-extrapolations are far apart, which indicates that the estimation result of the leakage source is not stable enough. At this time, the gas concentration information of the next position is used as the updated gas concentration information of the current position, the objective function model calculation value of the next position is used as the updated objective function model calculation value of the current position, and the second leakage source intensity and the second leakage source position determined by the next position are used as the updated first leakage source intensity and the first leakage source position. Further, according to the determination mode of the next position, the gas concentration information of the next position is obtained again, the second leakage source position and the second leakage source position are recalculated and determined, until the distance value between the first leakage source position and the second leakage source position is smaller than or equal to a first preset threshold value, the gas concentration corresponding to the second leakage source position is determined as the leakage source intensity, and the second leakage source position is determined as the leakage source position.

In the above embodiment, the leakage source strength and the leakage source position can be obtained according to the objective function model calculation value of the current position and the objective function model calculation value of the next position, so that the dangerous gas leakage source can be accurately positioned.

The leakage source positioning device is applied to the leakage source positioning device, and the leakage source strength and the leakage source position can be obtained according to the monitoring data of the ion mobility spectrometer and the calculation of the controller by adopting the following positioning scheme. The scheme 3 is specifically implemented as follows:

in step S3100, the controller constructs an objective function model associated with the gas concentration information according to a preset atmospheric diffusion model.

Step S3200, the ion mobility spectrometer monitors gas concentration information of a current period, and the controller obtains a target function model calculation value of the current period according to the gas concentration information of the current period, the atmospheric diffusion model and the target function model.

In the embodiment of the present invention, the calculation of the objective function model is performed once after monitoring the monitoring data for a certain period of time, where the "period" in the current period refers to a time period for monitoring the gas concentration information, where the period of the current period is not specifically limited, and optionally, the period of the current period may be 1 minute to 10 minutes. The gas concentration information of the current period includes information such as monitored monitoring time, a gas concentration corresponding to the monitoring time, and a gas concentration position corresponding to the monitoring time. And monitoring the concentration of the gas in the surrounding space by the ion mobility spectrometer, and when the concentration information of the leaked source gas is captured by the ion mobility spectrometer for the first time, taking the monitoring time corresponding to the leaked source gas captured for the first time as the starting time of the current period. It should be noted that the gas concentration information of the current period is monitored by the ion mobility spectrometer according to the direction of the gas concentration increase.

In the embodiment of the present invention, the objective function model calculation value refers to a value of an objective function model calculated according to the monitored gas concentration information of the current period. Alternatively, the objective function model calculation value may be obtained by inputting the gas concentration information of the front position and the atmospheric diffusion model into the objective function model.

In the embodiment of the invention, if the period is 5 minutes, the time point when the ion mobility spectrometer captures the leakage source gas concentration information for the first time is 10:00, the current period is 10:00-10:05, the ion mobility spectrometer monitors according to the gas concentration increasing direction, and when the monitoring is 10:05, the monitoring of the current period is finished, and the calculated value of the target function model of the current period is obtained.

And S3300, monitoring the gas concentration information of the next period by the ion mobility spectrometer, and obtaining a calculated value of an objective function model of the next period by the controller according to the gas concentration information of the next period, the atmospheric diffusion model and the objective function model.

In the embodiment of the present invention, the "period" in the next period is similar to the "period" in step S3200, and refers to a time period for monitoring the gas concentration information, and is not described in detail herein. In the embodiment of the invention, assuming that the next period is 10:05-10:10, a leakage source position corresponding to the gas concentration information of the current period is reversely deduced according to the calculated value of the objective function model of the current period, the ion mobility spectrometer moves along the direction of the reversely deduced leakage source position corresponding to the gas concentration information of the current period and monitors the position, and when the position is monitored to be 10:10, the monitoring of the next period is finished.

The gas concentration information of the next cycle is the same as the object monitored by the gas concentration information of the current cycle in step S3200, and the gas concentration information of the next cycle also includes the monitoring time monitored in the next cycle, the gas concentration corresponding to the monitoring time, and the gas concentration corresponding to the monitoring time. The monitoring time, the gas concentration corresponding to the monitoring time and the gas concentration corresponding to the monitoring time are in one-to-one correspondence. Similarly, the calculation method of the objective function model in the next cycle is the same as the calculation method of the objective function model in the current cycle in step S3200, and details thereof are not repeated herein.

In step S3400, the controller determines the intensity of the leakage source and the position of the leakage source according to the calculated value of the objective function model in the current cycle and the calculated value of the objective function model in the next cycle.

Specifically, the gas concentration level and the gas concentration position corresponding to the objective function calculated value of the current period and the objective function calculated value of the next period may be obtained by performing a back-stepping on the objective function model calculated value of the current period and the objective function calculated value of the next period. Further, according to the intensity relationship between the gas concentration corresponding to the objective function calculation value of the current period and the gas concentration corresponding to the objective function calculation value of the next period, and the distance relationship between the gas concentration position corresponding to the objective function calculation value of the current period and the gas concentration position corresponding to the objective function calculation value of the next period, the intensity of the leakage source and the position of the leakage source are determined.

The method for positioning the upper leakage source comprises the steps of constructing a target function model related to gas concentration information according to a preset atmospheric diffusion model, monitoring the gas concentration information of the current period, obtaining a target function model calculation value of the current period according to the gas concentration information of the current period, the atmospheric diffusion model and the target function model, monitoring the gas concentration information of the next period, obtaining a target function model calculation value of the next period according to the gas concentration information of the next period, the atmospheric diffusion model and the target function model, and further realizing the positioning of the leakage source strength and the leakage source position according to the target function model calculation value of the current period and the target function model calculation value of the next period. According to the method, the leakage source strength and the leakage source position can be obtained according to the target function model calculation value of the current period and the target function model calculation value of the next period, and the dangerous gas leakage source can be accurately positioned.

In one embodiment, the gas concentration information of the current period includes a monitoring time and a gas concentration position corresponding to the monitoring time; step S3200, monitoring gas concentration information of a current cycle, and obtaining a target function model calculation value of the current cycle according to the gas concentration information of the current cycle, the atmospheric diffusion model, and the target function model, specifically including the following steps:

step S3210, monitoring the gas concentration information of the current period, and obtaining the atmospheric diffusion model calculation concentration sequence of the current period according to the gas concentration information of the current period and the atmospheric diffusion model.

Step S3220, calculating a concentration sequence according to the objective function model, the gas concentration information of the current period and the atmospheric diffusion model of the current period, and obtaining an objective function model calculation value of the current period.

In one embodiment, in step S3210, monitoring the gas concentration information of the current period, and obtaining an atmospheric diffusion model calculation concentration sequence of the current period according to the gas concentration information of the current period and the atmospheric diffusion model, where the step includes:

and inputting the obtained model parameters related to the atmospheric diffusion model, the monitoring time and the gas concentration position corresponding to the monitoring time into the atmospheric diffusion model to obtain the atmospheric diffusion model calculation concentration sequence of the current period.

In one embodiment, the gas concentration information of the current period includes a monitoring time, a gas concentration size corresponding to the monitoring time, and a gas concentration position corresponding to the monitoring time; step S3220, calculating a concentration sequence according to the objective function model, the gas concentration information of the current period, and the atmospheric diffusion model of the current period, to obtain an objective function model calculation value of the current period, specifically including the following steps:

step S3221, a concentration sequence is calculated according to the objective function model, the gas concentration information of the current period and the atmospheric diffusion model of the current period, and a first objective function fitness sequence is obtained. The first objective function fitness sequence has a first corresponding relation with the gas concentration corresponding to the monitoring time and the gas concentration corresponding to the monitoring time.

Step S3222, the first objective function fitness sequence is ranked and screened, so as to obtain a second objective function fitness sequence.

Step S3223, a preset number of times genetic algorithm is performed on the second objective function fitness sequence, so as to obtain an intermediate population fitness sequence. And the intermediate population fitness sequence and the second target function fitness sequence have a second corresponding relation.

Step S3224, local optimization is performed on the intermediate population fitness sequence to obtain an optimal intermediate population fitness.

Step S3225, obtaining a target function model calculation value according to the first corresponding relationship, the second corresponding relationship, the optimal intermediate population fitness, and the target function model.

In one embodiment, the method for obtaining the first objective function fitness sequence by calculating the concentration sequence according to the objective function model, the gas concentration information of the current period and the atmospheric diffusion model specifically includes the following steps:

step S32211 determines an initial leakage source intensity set and an initial leakage source location set according to the magnitude of the gas concentration corresponding to the monitoring time and the position of the gas concentration corresponding to the monitoring time.

Step S32212, a concentration sequence is calculated according to the initial leakage source intensity set and the atmospheric diffusion model, and an initial atmospheric diffusion model calculation concentration set is obtained.

Step S32213, a concentration set is calculated according to the initial leakage source intensity set, the initial leakage source position set, the gas concentration information of the current period and the initial atmospheric diffusion model, and a first objective function fitness sequence is obtained.

In one embodiment, the step S3400 of determining the leakage source strength and the leakage source position according to the objective function model calculated value of the current cycle and the objective function model calculated value of the next cycle includes:

determining a gas concentration corresponding to the objective function model calculation value of the current cycle as a first leakage source intensity, determining a gas concentration position corresponding to the objective function model calculation value of the current cycle as a first leakage source position, determining a gas concentration corresponding to the objective function model calculation value of the next cycle as a second leakage source intensity, and determining a gas concentration corresponding to the objective function model calculation value of the next cycle as a second leakage source position.

In the embodiment of the invention, the ion mobility spectrometer monitors the leakage source gas by a path generated by column-dimensional distribution, and once the gas concentration information is monitored, the first moment of obtaining the gas concentration information is taken as the initial moment of the current periodStarting time, further, monitoring is carried out according to the direction of increasing gas concentration until time t_nWhere n is the length of the determined positioning period, and n may be 1 minute to 10 minutes. And obtaining an objective function model calculation value of the current period according to the data monitored in the current period, determining the gas concentration corresponding to the objective function model calculation value of the current period as the first leakage source intensity, and determining the gas concentration position corresponding to the objective function model calculation value of the current period as the first leakage source position.

Optionally, the next period is determined by t_nIs taken as a reference, travels towards the first leakage source position until the time t_2n，t_nTo t_2nIs the monitoring period of the next cycle.

Optionally, determining an intensity deviation value between the first leakage source intensity and the second leakage source intensity, determining a distance deviation value between the first leakage source location and the second leakage source location; and if the weighted sum of the intensity deviation value and the distance deviation value is less than or equal to a first preset threshold value, determining the second leakage source intensity as the leakage source intensity, and determining the second leakage source position as the leakage source position.

And determining the intensity and the position of the leakage source according to the fact that when the weighted sum of the intensity deviation value and the distance deviation value is smaller than or equal to a preset threshold value, the positions of the leakage source obtained by two reverse deductions are very close to each other, the estimation result of the leakage source is stable enough, the second intensity of the leakage source is determined as the intensity of the leakage source, and the position of the second leakage source is determined as the position of the leakage source.

Alternatively, the intensity deviation value between the first leakage source intensity and the second leakage source intensity may be expressed as

Wherein the content of the first and second substances,

the strength of the second source of leakage is indicated,

representing the intensity of the first leakage source, Δ Q_kRepresenting the absolute value of the difference between the intensity of the second source of leakage and the intensity of the first source of leakage, will be Δ Q_kReferred to as intensity deviation values. Wherein a distance deviation value between the first and second leakage source locations may be expressed as

Wherein, Δ L_kThe value of the distance deviation is represented,

the representation indicates a second leakage source location,

indicating the first leakage source location.

Alternatively, the weighted sum of intensity deviation values and distance deviation values may be expressed as Δ S_k＝ξΔL_k+(1-ξ)ΔQ_kWherein, Δ S_kAnd representing the weighted sum of the intensity deviation value and the distance deviation value, wherein xi is a preset weight parameter, and the size of xi is 0 to 1, (when xi is more than 0.5, the weight representing the position of the leakage source is more than the weight of the intensity of the leakage source, when xi is less than 0.5, the weight representing the intensity of the leakage source is more than the weight of the position of the leakage source, and when xi is equal to 0.5, the weight representing the position of the leakage source is equivalent to the weight of the intensity of the leakage source), and xi can be set according to requirements. When Δ S_kAnd when the error is lower than a certain error limit, the back-stepping result is very close to the actual information of the real leakage source, the gas concentration corresponding to the position of the second leakage source is determined as the estimated leakage source intensity, and the position of the second leakage source is determined as the estimated leakage source position.

Optionally, if the weighted sum is greater than a first preset threshold, taking the next cycle as an updated current cycle, returning to monitor gas concentration information of the next cycle, and obtaining an objective function model calculation value of the next cycle according to the gas concentration information of the next cycle, the atmospheric diffusion model and the objective function model.

In the embodiment of the invention, if the weighted sum is greater than the first preset threshold, it indicates that the leakage source positions obtained by the two back-steps are far away from each other, which indicates that the estimation result of the leakage source is not stable enough. At this time, the gas concentration information of the next period is used as updated gas concentration information of the current period, the objective function model calculation value of the next period is used as an updated objective function model calculation value of the current period, and the second leakage source intensity and the second leakage source position determined by the next period are used as an updated first leakage source intensity and a first leakage source position. After the information is updated, the ion mobility spectrometer takes the current position as a reference, moves towards the midpoint position of the first leakage source position before updating and the first leakage source position after updating (namely the second leakage source position before updating), monitors the gas concentration information again, and executes the steps of determining the calculated value of the objective function model and the like until the intensity of the leakage source and the position of the leakage source are obtained.

Wherein, for convenience of understanding, the above scheme is exemplified, for example, the first cycle period is 0 to t_nThe second cycle period is t_nTo t_2nThe third period of time is t_2nTo t_3nThe fourth period of time is t_3nTo t_4n… … th cycle period t_kn-1To t_kn. Taking the first period as the current period and the second period as the next period, at this time, the ion mobility spectrometer moves from the position corresponding to the time 0 to t along the direction of increasing the gas concentration_nTime of day, from 0 to t_nThe monitored gas concentration information in the time period is used for reversely deducing a leakage source intensity and a leakage source position, which can be called as a first periodic leakage source intensity and a first periodic leakage source position. Next, the ion mobility spectrometer is run at t_nThe position corresponding to the time is taken as a starting point, the position of the leakage source of the first period is taken as an end point, and the process is carried out until t_2nTime of day, using t_nTo t_2nThe monitored gas concentration information in the time period reversely deduces a leakage source intensity and a leakage source position, which can be called as a second period leakage source intensity and a second period leakage source position. At this time, if the weighted sum of the intensity deviation value and the distance deviation value determined in the first period and the second period (wherein, the intensity deviation isThe difference value represents an absolute value of a difference value between the leakage source strength determined in the second period and the leakage source strength determined in the first period, and the distance deviation value represents a distance between the leakage source position determined in the second period and the leakage source position determined in the first period) is smaller than or equal to a first preset threshold value, the leakage source strength in the second period is determined to be the leakage source strength, and the leakage source position in the second period is determined to be the leakage source position.

And if the weighted sum of the intensity deviation value and the distance deviation value determined in the first period and the second period is greater than a first preset threshold value, returning to the step of monitoring the gas concentration information of the next period, and obtaining a target function model calculation value of the next period according to the gas concentration information, the atmospheric diffusion model and the target function model of the next period. Specifically, the method comprises the following steps: taking the second period as the current period after updating, taking the third period as the next period after updating, and taking t as the index of the ion mobility spectrometer_2nThe position corresponding to the time is taken as a starting point, the middle point of the position of the first period leakage source and the position of the second period leakage source is taken as an end point, and the process is carried out until t_3nTime of day, using t_2nTo t_3nThe monitored gas concentration information in the time period reversely deduces a leakage source intensity and a leakage source position, which can be called as a third period leakage source intensity and a third period leakage source position.

At this time, if the weighted sum of the intensity deviation value and the distance deviation value determined in the second period and the third period is less than or equal to the first preset threshold, determining the third period leakage source intensity as the leakage source intensity, and determining the third period leakage source position as the leakage source position.

And if the weighted sum of the intensity deviation value and the distance deviation value determined in the second period and the third period is greater than the first preset threshold value, returning to the step of monitoring the gas concentration information of the next period, and obtaining a target function model calculation value of the next period according to the gas concentration information of the next period, the atmospheric diffusion model and the target function model. Specifically, the method comprises the following steps: taking the third period as the current period after updating, taking the fourth period as the next period after updating, and taking t as the reference value of the ion mobility spectrometer_3nThe corresponding position of the time is taken as a starting point, and the first period leakage source position, the second period leakage source position and the third period leakage source position are taken asThe central point of the position of the periodic leakage source is taken as an end point and the periodic leakage source advances to t_4nTime of day, using t_3nTo t_4nAnd (3) reversely deducing a leakage source intensity and a leakage source position from the monitored gas concentration information in the time period, wherein the leakage source intensity and the leakage source position can be called as a fourth period leakage source intensity and a fourth period leakage source position.

At this time, if the weighted sum of the intensity deviation value and the distance deviation value determined in the third period and the fourth period is less than or equal to the first preset threshold, determining that the fourth period leakage source intensity is the leakage source intensity, and determining that the fourth period leakage source position is the leakage source position.

And if the weighted sum of the intensity deviation value and the distance deviation value determined in the third period and the fourth period is greater than the first preset threshold value, returning to the step of monitoring the gas concentration information of the next period, and obtaining a target function model calculation value of the next period according to the gas concentration information of the next period, the atmospheric diffusion model and the target function model. Specifically, the updating is performed in sequence according to the above manner, and the data monitoring and the back-stepping are performed with the fourth period as the current period after the updating and the fifth period as the next period after the updating, which is not described herein again.

In the above embodiment, the leakage source strength and the leakage source position can be obtained according to the objective function model calculation value of the current period and the objective function model calculation value of the next period, so that the dangerous gas leakage source can be accurately positioned, and the leakage source positioning is performed once after the monitoring data of a certain duration is obtained, so that the operation amount can be greatly reduced, and the adverse effect of the unstable fluctuation of the monitoring data caused by the environmental noise on the leakage source positioning reverse-deduction is avoided.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A leakage source locating device, the locating device comprising: the system comprises a movable platform, flow control equipment, gas detection equipment, navigation positioning equipment, a controller and communication equipment;

the movable platform is used for driving the positioning device to move;

the gas detection equipment comprises a sample introduction structure, an ion mobility spectrometer, a combustible gas detector and/or an ultrasonic anemometer, wherein the ion mobility spectrometer is used for monitoring the concentration of hazardous gas entering from the sample introduction structure, the combustible gas detector is used for detecting the concentration of combustible gas entering from the sample introduction structure, and the ultrasonic anemometer is used for detecting the wind speed in the environment where the sample introduction gas is located;

the controller is used for analyzing the received concentration detection result and the positioning result and determining the intensity and the position of a leakage source; the controller constructs a target function model associated with gas concentration information according to a preset atmospheric diffusion model, monitors the concentration information of the current gas through the ion mobility spectrometer, and obtains an atmospheric diffusion model calculation concentration sequence according to the concentration information of the current gas and the atmospheric diffusion model; the controller calculates a concentration sequence according to the objective function model, the concentration information of the current gas and the atmospheric diffusion model to obtain an objective function model calculation value, and determines the intensity and the position of a leakage source according to the objective function model calculation value;

2. The positioning device of claim 1, wherein the movable platform comprises: the device comprises a bearing plate, a driving motor and a driving structure;

the driving motor, the flow control device, the gas detection device, the navigation positioning device, the controller and the communication device are arranged on the bearing plate;

the driving motor is electrically connected with the driving structure and used for providing power for the driving structure;

3. The positioning apparatus of claim 1, wherein the flow control device comprises a flow meter and an air pump; the guide pipe is respectively connected with the flowmeter and the air pump;

the flowmeter is used for detecting the flow of the sample injection gas and sending the flow detection result to the controller, so that the controller controls the running speed of the air pump according to the flow detection result and controls the flow of the sample injection gas passing through the guide pipe.

4. The positioning device of claim 3, wherein the flow meter comprises a first flow meter and a second flow meter; the air pump comprises a first air pump and a second air pump; the conduit comprises a first conduit and a second conduit; the first conduit is respectively connected with the first flowmeter, the first air pump and the ion mobility spectrometer, and the second conduit is respectively connected with the second flowmeter, the second air pump and the combustible gas detector;

the first flowmeter is used for carrying out first flow detection on the sample gas passing through the ion mobility spectrometer and sending a first flow detection result to the controller, so that the controller controls the running speed of the first air pump according to the first flow detection result and controls the flow of the sample gas passing through the first guide pipe;

and the second flowmeter is used for carrying out second flow detection on the sample gas passing through the combustible gas detector and sending a second flow detection result to the controller, so that the controller controls the running speed of the second air pump according to the second flow detection result and controls the flow of the sample gas passing through the second guide pipe.

5. The positioning device of claim 1, wherein the sample introduction structure comprises: the sample inlet is connected with the expansion piece through a conduit, and the expansion piece is connected with the ion mobility spectrometer and the combustible gas detector through a conduit.

6. The positioning device as set forth in claim 5 wherein said sample introduction structure comprises a plurality of sample introduction ports and a plurality of expanders, one for each of said sample introduction ports.

7. The positioning apparatus of claim 5, wherein the gas detection device further comprises an alarm device;

the alarm equipment is electrically connected with the combustible gas detector and used for giving an alarm according to the concentration detection result of the combustible gas detector.

8. The positioning device of claim 5, wherein the retractor comprises: the device comprises a first power mechanism, a second power mechanism, a first mechanical arm and a second mechanical arm;

the first mechanical arm is rotatably connected with the first power mechanism, the first power mechanism is fixedly arranged on the second mechanical arm, the second mechanical arm is rotatably connected with the second power mechanism, and a rotating shaft of the first power mechanism is intersected with a rotating shaft of the second power mechanism.

9. The positioning device according to claim 1, wherein the navigation positioning equipment comprises a GPS locator, an inertial navigation element, a laser radar and/or a visual camera;

the visual camera is used for acquiring images around the positioning device, determining second distance information between the visual camera and the peripheral obstacles according to the images, and sending the second distance information to the controller;

the inertial navigation element is used for acquiring the speed and the posture of the positioning device, carrying out path calculation on the positioning device according to the speed and the posture and sending a path calculation result to the controller;

the controller is configured to control movement of the positioning device according to at least one of the first distance information and the second distance information and the route estimation result.

10. A leakage source locating system comprising a locating device according to any one of claims 1 to 9 and a ground station;

the ground workstation is in communication connection with the communication device through a mobile communication transmission line.