CN114493332A - Hydrogen supply safety control method and device, computer equipment and storage medium - Google Patents
Hydrogen supply safety control method and device, computer equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the invention discloses a hydrogen supply safety control method, a hydrogen supply safety control device, computer equipment and a storage medium. The method comprises the following steps: acquiring an image of a hydrogen sensitive color change sensing patch arranged on a hydrogen pipeline, and inputting the image into a leakage monitoring model; judging whether the hydrogen leakage condition occurs or not; if the leakage point exists, determining the leakage point by adopting a particle image velocimetry method, a background schlieren technology and an infrared thermal imaging technology; starting an exhaust and air exhaust device according to the leakage point; acquiring an environmental photo of the position of a hydrogenation station; inputting the environment picture into a firework management and control model; judging whether fireworks exist or not; if so, sending the information of the position of the firework to the terminal; acquiring an operation video of a hydrogen supply operator; inputting the operation video into a personnel specification management and control model; and when the operation is not standard, sending the operation video of the hydrogen supply operator to the terminal. By implementing the method provided by the embodiment of the invention, the safety control can be realized from multiple links, and the safety control strength is improved, so that the control is comprehensive.
Description
Technical Field
The invention relates to the technical field of safety management of a hydrogen refueling station, in particular to a hydrogen supply safety control method, a hydrogen supply safety control device, computer equipment and a storage medium.
Background
The research and development of fuel automobiles are carried out by a plurality of automobile enterprises at home and abroad, the state invests special funds to encourage the research and development of related technologies, the construction of filling stations and the popularization of fuel cell automobiles, hydrogen is used as an energy source of fuel cells and is a secondary energy source, and a proper hydrogen supply route and technology must be found for converting hydrogen from chemical products into traffic fuels.
The existing hydrogen supply mode comprises a centralized hydrogen supply mode and a distributed hydrogen supply mode, the two modes need to be safely managed and controlled when hydrogen is supplied, the monitoring of the manual detection hydrogen supply pipeline and the ambient smoke and fire condition is adopted at present, however, due to the adoption of the manual detection and monitoring mode, the monitoring is not comprehensive, the safety management and control force is poor, and the standard of the safety management and control can not be completely met only aiming at the hydrogen supply pipeline and the ambient smoke and fire condition.
Therefore, it is necessary to design a new method to implement security management and control from multiple links, and improve the security management and control strength, so that the management and control is comprehensive.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a hydrogen supply safety control method, a hydrogen supply safety control device, computer equipment and a storage medium.
In order to achieve the purpose, the invention adopts the following technical scheme: a hydrogen supply safety control method comprising:
acquiring an image of a hydrogen-sensitive color change sensing patch arranged on a hydrogen pipeline to obtain a first image;
inputting the first image into a leakage monitoring model to judge whether hydrogen leakage occurs or not so as to obtain a judgment result;
judging whether the judgment result is that hydrogen leakage occurs or not;
if the hydrogen leakage condition occurs in the judgment result, determining a leakage point on the hydrogen pipeline by adopting a particle image velocimetry method, a background schlieren technology and an infrared thermal imaging technology;
starting an exhaust and air exhaust device according to the leakage point to perform exhaust and air exhaust operation of the leakage point;
acquiring an environmental photo of the position of a hydrogenation station;
inputting the environment picture into a firework management and control model to detect whether fireworks exist or not so as to obtain a firework detection result;
judging whether fireworks exist in the firework detection result or not;
if the smoke and fire detection result indicates that smoke and fire exist, the information of the position of the smoke and fire is sent to a terminal to alarm the smoke and fire;
acquiring an operation video of a hydrogen supply operator;
inputting the operation video into a personnel standard control model to detect personnel operation standardization so as to obtain an operation detection result;
when the operation detection result is that the operation is not standard, the operation video of the hydrogen supply operator is sent to a terminal to carry out operation alarm;
if the hydrogen leakage condition does not occur in the judgment result, the environment photo of the position where the hydrogen adding station is located is obtained;
and if the result of the smoke and fire detection is not that smoke and fire exist, the operation video of the hydrogen supply operator is acquired.
The further technical scheme is as follows: the leakage monitoring model is obtained by training a deep neural network by using a plurality of images with labels of different leakage grades as a sample set.
The further technical scheme is as follows: the method for determining the leakage point on the hydrogen pipeline by combining the particle image velocimetry, the background schlieren technology and the infrared thermal imaging technology comprises the following steps:
acquiring a particle image on a hydrogen pipeline by adopting a particle image velocimetry method;
determining a particle motion track according to the particle image to obtain a velocity vector diagram of the particle;
acquiring an infrared thermal imaging image on the hydrogen pipeline by adopting an infrared thermal imager;
performing corner detection, feature point extraction and optical flow clustering analysis on the infrared thermal imaging image to obtain a first target image;
acquiring a background schlieren image on the hydrogen pipeline by using a schlieren instrument;
selecting a corresponding color weight according to the distribution characteristics of color components of pixel points, processing the background schlieren image by adopting a median filtering method to remove noise, selecting a threshold according to a gray histogram, and cutting the background schlieren image to determine a gas target in the background schlieren image so as to obtain a second target image;
fusing the velocity vector diagram of the particles, the first target image and the second target image to obtain a flow field distribution image;
and determining leakage points according to the flow field distribution image.
The further technical scheme is as follows: the method for acquiring the particle image on the hydrogen pipeline by adopting the particle image velocimetry comprises the following steps:
dispersing liquid tracer particles on the surface of a hydrogen pipeline;
irradiating the surface of the hydrogen pipeline by using laser rays to obtain an illuminated area;
and exposing the illuminated area and acquiring an image of the liquid tracer particles to obtain a particle image.
The further technical scheme is as follows: the flow field profile image comprises a velocity of the particles, a temperature, and a density field of the particles;
the determining of the leakage point according to the flow field distribution image comprises the following steps:
and determining the position where the speed, the temperature and the density field of the particles meet the set conditions to obtain the leakage point.
The further technical scheme is as follows: the firework management and control model is obtained by training a deep neural network by using a plurality of images with firework labels and non-firework labels as sample sets.
The further technical scheme is as follows: the personnel standard control model comprises a plurality of control models, each control model is a model for classifying one index of personnel standard control, and each control model is obtained by training the deep neural network by using a plurality of labels with irregular operation indexes and images with labels with corresponding operation indexes as a sample set.
The invention also provides a hydrogen supply safety control device, comprising:
the hydrogen sensor comprises a first image acquisition unit, a second image acquisition unit and a control unit, wherein the first image acquisition unit is used for acquiring an image of a hydrogen sensitive color change sensing patch arranged on a hydrogen pipeline to obtain a first image;
the judging unit is used for inputting the first image into a leakage monitoring model to judge whether the hydrogen leakage condition occurs or not so as to obtain a judging result;
a situation judging unit for judging whether the judgment result is that hydrogen leakage situation occurs; if the hydrogen leakage condition does not occur in the judgment result, the environment photo of the position where the hydrogen adding station is located is obtained;
the leakage point determining unit is used for determining a leakage point on the hydrogen pipeline by adopting a particle image velocimetry method, a background schlieren technology and an infrared thermal imaging technology if the hydrogen leakage condition appears in the judgment result;
the starting unit is used for starting the exhaust and air exhaust device according to the leakage point so as to perform the exhaust and air exhaust operation of the leakage point and perform hydrogen leakage alarm;
the environment photo obtaining unit is used for obtaining an environment photo of the position of the hydrogen station;
the first result determining unit is used for inputting the environment picture into a firework management and control model to detect whether fireworks exist or not so as to obtain a firework detection result;
the first result judging unit is used for judging whether fireworks exist in the firework detection result or not; if the result of the smoke and fire detection is not that smoke and fire exist, the operation video of the hydrogen supply operator is obtained;
the firework alarming unit is used for sending information of the position where firework is located to the terminal to alarm firework if the firework detection result shows that firework exists;
the operation video acquisition unit is used for acquiring the operation video of a hydrogen supply operator;
the normative detection unit is used for inputting the operation video into a personnel normative control model to detect the operation normative of personnel so as to obtain an operation detection result;
and the operation warning unit is used for sending the operation video of the hydrogen supply operator to a terminal to carry out operation warning when the operation detection result is that the operation is not standard.
The invention also provides computer equipment which comprises a memory and a processor, wherein the memory is stored with a computer program, and the processor realizes the method when executing the computer program.
The invention also provides a storage medium storing a computer program which, when executed by a processor, implements the method described above.
Compared with the prior art, the invention has the beneficial effects that: according to the method, the hydrogen leakage condition is judged by adopting a leakage monitoring model formed by acquiring an image of a hydrogen sensitive color change sensing patch on a hydrogen pipeline and combining a deep neural network, when hydrogen leakage occurs, a leakage point is determined by adopting a particle image speed measurement method and a background schlieren technology and an infrared thermal imaging technology, the leakage point is determined more accurately by a triple determination mode, smoke and fire conditions are detected by combining an environment picture, the compliance of operators is detected, safety control is realized from multiple links by starting from the hydrogen leakage condition, the smoke and fire conditions and the operation compliance, the safety control strength is improved, and the control is comprehensive.
The invention is further described below with reference to the accompanying drawings and specific embodiments.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic view of an application scenario of a hydrogen supply safety control method according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a hydrogen supply safety control method according to an embodiment of the present invention;
FIG. 3 is a schematic sub-flow chart of a hydrogen supply safety control method according to an embodiment of the present invention;
FIG. 4 is a schematic sub-flow chart of a hydrogen supply safety control method according to an embodiment of the present invention;
FIG. 5 is a schematic sub-flow chart of a hydrogen supply safety control method according to an embodiment of the present invention;
fig. 6 is a schematic block diagram of a hydrogen supply safety management and control device according to an embodiment of the present invention;
fig. 7 is a schematic block diagram of a leak point determination unit of the hydrogen supply safety control device according to the embodiment of the present invention;
fig. 8 is a schematic block diagram of a particle image acquiring subunit of the hydrogen supply safety control device according to the embodiment of the present invention;
FIG. 9 is a schematic block diagram of a computer device provided by an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
Referring to fig. 1 and fig. 2, fig. 1 is a schematic view of an application scenario of a hydrogen supply safety control method according to an embodiment of the present invention. Fig. 2 is a schematic flow chart of a hydrogen supply safety control method according to an embodiment of the present invention. The hydrogen supply safety control method is applied to the server. The server performs data interaction with the camera, the sensor and the terminal, determines whether leakage occurs on a hydrogen pipeline or not through the change of an image of the hydrogen sensitive color change sensing patch, determines a leakage point by combining a particle image speed measurement method and a background schlieren technology with an infrared thermal imaging technology, detects and alarms whether smoke and fire exist around the hydrogen station, monitors the normalization of an operator, and timely alarms when out-of-compliance operation occurs.
Fig. 2 is a schematic flow chart of a hydrogen supply safety control method according to an embodiment of the present invention. As shown in fig. 2, the method includes the following steps S110 to S220.
And S110, acquiring an image of the hydrogen-sensitive color change sensing patch arranged on the hydrogen pipeline to obtain a first image.
In this embodiment, the first image is an image of the hydrogen-sensitive color change sensor patch on the surface of the hydrogen gas conduit.
In this embodiment, the hydrogen-sensitive color change sensing patch includes a hydrogen-sensitive catalytic layer, and the material of the hydrogen-sensitive catalytic layer is palladium metal or platinum metal.
When hydrogen is adsorbed by palladium metal or platinum metal, the hydrogen is activated. Hydrogen gas becomes a hydrogen atom and a charged hydrogen atom in multiple valence states.
The hydrogen sensitive color change sensing patch comprises a packaging layer, a color change layer, a hydrogen sensitive catalytic layer and a substrate layer; the substrate layer is made of polytetrafluoroethylene material; the hydrogen-sensitive catalytic layer is made of platinum material and can perform catalytic reaction with hydrogen penetrating through the substrate layer; the inert layer is made of a titanium material and does not perform catalytic reaction with hydrogen penetrating through the substrate layer; the barrier layer is made of glass fiber and isolates gas; the color-changing layer is made of a color-changing nano material, and reacts with the catalyzed hydrogen to change the color of the color-changing layer.
And S120, inputting the first image into a leakage monitoring model to judge whether the hydrogen leakage condition occurs or not so as to obtain a judgment result.
In the present embodiment, the determination result refers to whether or not hydrogen leakage occurs and the degree of leakage at different concentrations.
In this embodiment, it is necessary to determine the color of the hydrogen-sensitive color-change sensing patch when no leakage occurs, as a reference image, and determine the color of the hydrogen-sensitive color-change sensing patch when hydrogen gas of different concentrations leaks, so as to facilitate marking of the leakage level.
Specifically, the leakage monitoring model is obtained by training a deep neural network by using a plurality of images with labels of different leakage grades as a sample set.
In one embodiment, referring to fig. 3, the leakage monitoring model is obtained by training the deep neural network using a plurality of images with labels of different leakage levels as a sample set, and may include steps S121 to S123.
And S121, collecting images of the hydrogen sensitive color change sensing patches on the hydrogen pipelines with different leakage degrees to obtain initial images.
In this embodiment, the initial image includes an image of the hydrogen sensitive color change sensing patch when no hydrogen leakage occurs on the hydrogen gas pipeline and an image of the hydrogen sensitive color change sensing patch when hydrogen leakage of different concentrations occurs.
And S122, labeling the leakage grade label of the initial image by combining the gas concentration detected by the combustible gas detector to obtain a sample set.
In this embodiment, according to the gas concentration of the combustible gas detector under the condition of detecting that hydrogen gas leakage with different concentrations occurs, the leakage level corresponding to the gas concentration is used as a label to label the initial image, and the initial image is used as a sample set, and in addition, the sample set is divided into a training set and a testing set.
And S123, training and testing the pre-constructed deep neural network by adopting the sample set to obtain a leakage monitoring model.
In this embodiment, a training set is used to train a pre-constructed deep neural network, a loss function is used to calculate a loss value of a real label and an obtained result after training, when the loss value tends to be stable, it indicates that the deep neural network has converged, and then a test set is used to test the converged deep neural network, thereby obtaining a leakage monitoring model.
The automatic judgment of the leakage condition on the hydrogen pipeline is carried out by combining the leakage monitoring model with the image, and the clear distinction and judgment can be carried out from the difference of the leakage concentration without manual inspection, and the accuracy is high.
S130, judging whether the judgment result is that hydrogen leakage occurs or not;
and S140, if the hydrogen leakage condition appears in the judgment result, determining a leakage point on the hydrogen pipeline by adopting a particle image velocimetry method, a background schlieren technology and an infrared thermal imaging technology.
In the present embodiment, the leak point refers to a specific position where hydrogen leakage occurs.
In an embodiment, referring to fig. 4, the step S140 may include steps S141 to S148.
And S141, obtaining a particle image on the hydrogen pipeline by adopting a particle image velocimetry method.
In this embodiment, the particle image refers to an image obtained by scattering trace particle atomized droplets on the surface of an object to be measured, illuminating the surface of the object to be measured by a pulsed laser light source, and recording the flow of particles by a CCD camera.
In an embodiment, referring to fig. 5, the step S141 may include steps S1411 to S1413.
S1411, scattering liquid tracer particles on the surface of the hydrogen pipeline.
In this embodiment, liquid tracer particles such as ink, milk, and a dyeing solution prepared from various dyes are atomized by an atomizer and spread on the surface of the hydrogen gas pipe. And (4) identifying whether gas leakage exists at each position of the hydrogen pipeline by means of liquid tracer particles.
And S1412, irradiating the surface of the hydrogen pipeline by using laser rays to obtain an illuminated area.
In the present embodiment, the illuminated region refers to a region formed by irradiating the surface of the hydrogen gas conduit with a sheet of light formed by a laser beam.
Specifically, laser rays emitted by a helium-neon laser source are reflected and refracted by optical lenses and then are converged into laser beams with required intensity, the laser beams pass through optical lenses which are arranged according to a certain sequence and rule, and finally a sheet of light for illuminating an observation area is formed, wherein the optical lenses are reflectors or refractors; the number and the positions are designed according to the distance and the angular position between the helium-neon laser source and the hydrogen pipeline.
S1413, exposing the illuminated area and collecting an image of the liquid tracer particles to obtain a particle image.
Specifically, an image of the particles is recorded in the CCD camera by two or more exposures in succession in the area illuminated by the pulsed laser sheet light.
S142, determining a particle motion track according to the particle image to obtain a velocity vector diagram of the particle;
in one embodiment, the velocity vector diagram of the particle is a graph of the velocity and direction of particle movement.
Specifically, a particle image is divided into a plurality of inquiry areas by using a digital image processing technology, each inquiry area is provided with a plurality of particles, the motion track of the particles can be extracted by a Young's fringe method, a Fourier transform method or an image correlation method, when hydrogen leakage occurs, the particles are in an outward spraying state due to acting force on the particles, and if the motion track of the particles is sprayed outward, leakage occurs, the presented particle velocity vector diagram also has the characteristic of unique motion track of outward spraying.
And S143, acquiring an infrared thermal imaging image on the hydrogen pipeline by adopting an infrared thermal imager.
In this embodiment, the infrared thermal imaging image refers to an infrared thermal imaging photo of the hydrogen surface obtained by using a thermal infrared imager.
S144, carrying out corner detection, feature point extraction and optical flow clustering analysis on the infrared thermal imaging image to obtain a first target image.
In this embodiment, the first target image is obtained by performing corner detection on an infrared thermal imaging image, extracting feature points of the infrared thermal image, and performing optical flow cluster analysis on the feature points to achieve the purpose of separating a target, i.e., a gas from a background, so as to detect a moving target and obtain a target image.
The first target image is a thermal imaging image of a hydrogen gas leakage situation on the hydrogen gas pipeline.
And S145, acquiring a background schlieren image on the hydrogen pipeline by adopting a schlieren instrument.
In the present embodiment, the background schlieren image refers to an image of the hydrogen pipe taken by a schlieren meter.
S146, according to the distribution characteristics of the color components of the pixel points, selecting a corresponding color weight, processing the background schlieren image by adopting a median filtering method, removing noise, selecting a threshold value according to the gray level histogram, and cutting the background schlieren image to determine a gas target in the background schlieren image so as to obtain a second target image.
In this embodiment, the second target image is an image with a gas target within the background schlieren image.
And S147, fusing the velocity vector diagram of the particles, the first target image and the second target image to obtain a flow field distribution image.
In this embodiment, the flow field profile image includes the velocity of the particles, the temperature, and the density field of the particles.
The method comprises the steps of researching the flow field distribution of hydrogen leaked to the atmosphere in the hydrogen leakage process by utilizing a PIV technology, a schlieren instrument and a high-speed camera in combination with a thermal distribution field of the hydrogen leakage captured by a thermal infrared imager, measuring the motion trail of single hydrogen particles and the flow field distribution of a large amount of hydrogen in the atmosphere in the hydrogen leakage process, fusing captured images, reflecting the characteristics of the obtained images on one image in a centralized manner, enabling the fused images to reflect the speed and the temperature of the particles in the flow field and the density field of the hydrogen leakage, monitoring the surface of a hydrogen pipeline and the distribution condition of the hydrogen flow field in the air when the hydrogen leakage occurs, and determining leakage points according to the flow field distribution condition.
In this embodiment, when analyzing the background schlieren image captured by the schlieren instrument, if a target that cannot be automatically recognized appears, a manual method may be selected to select the feature point. For image data which is good in image quality and suitable for extracting the target, the identification of the target in the image can be obtained by using an automatic mode, and each step of image processing can be checked manually; and finally, in the fusion process, a curve fitting image obtained by the PIV technology is superposed on an image only comprising a hydrogen pipeline, temperature information obtained by an infrared thermal imager is superposed and corresponds to the curve fitting image obtained by the PIV technology, finally, an image obtained by a schlieren instrument is fused on the image, and the obtained four images are fused to obtain a flow field distribution image with various information.
And S148, determining leakage points according to the flow field distribution image.
Specifically, the position where the velocity of the particle, the temperature, and the density field of the particle all satisfy the set conditions is determined to obtain the leak point.
In this embodiment, if the velocity vector diagram of the particles in a certain region shows that the motion trajectory of the particles is an outward injection trajectory, the temperature satisfies a set value, and the density field of the particles reaches a set threshold, it indicates that the position is a leakage point, and the reference object is determined in combination with the flow field distribution image, so that the coordinates of the leakage point can be obtained quickly, and a rescue action can be taken.
The set value to be met by the temperature can be set according to actual conditions, and the set threshold value to be met by the particle density field can be set according to actual conditions.
And S150, starting the exhaust and air exhaust device according to the leakage point to perform the exhaust and air exhaust operation of the leakage point.
In this embodiment, the existing exhaust and discharge device can be used to perform the exhaust and discharge operation of the whole hydrogen supply pipeline, and of course, the exhaust and discharge operation can be performed only for the leakage point, and the operation can be selected according to the actual situation.
After the exhaust and exhaust device is started, the hydrogen leakage concentration of the leakage point needs to be detected in real time so as to adjust parameters such as wind power output by the exhaust and exhaust device in real time and ensure that the hydrogen leakage concentration of the leakage point meets the non-explosive rule.
And S160, obtaining an environmental photo of the position of the hydrogen station.
In this embodiment, the environment photo is the photo of hydrogenation station position, including the photo of keeping away from pipeline certain limit within a definite range etc. carries out hydrogen supply safety control from the firework management and control angle of environment, improves the management and control dynamics.
And S170, inputting the environment picture into a firework management and control model to detect whether fireworks exist or not so as to obtain a firework detection result.
In this embodiment, the firework detection result indicates whether there is a firework condition, and when there is a firework condition, the firework is located, so as to extinguish a fire in time and prevent the explosion of the hydrogen filling station.
In the embodiment, the firework management and control model is obtained by training a deep neural network by using a plurality of images with firework labels and non-firework labels as sample sets.
In this embodiment, the deep neural network may be a VGG model or the like, which depends on the actual situation, and it belongs to the prior art for performing two types of classification training processes by using the VGG model, and details are not described here.
S180, judging whether fireworks exist in the firework detection result or not;
and S190, if the firework detection result shows that the firework exists, sending the information of the position where the firework is located to a terminal to alarm the firework.
In this embodiment, with the information transmission of firework position to terminal, the terminal holder can in time put out a fire the operation according to this position.
And S200, acquiring an operation video of a hydrogen supply operator.
In this embodiment, the operation video refers to a work video of a hydrogen supply operator in the hydrogen supply operation process.
S210, inputting the operation video into a personnel standard control model to detect personnel operation standardization so as to obtain an operation detection result.
In this embodiment, the operation detection result indicates that the operator is not performing the operation according to which index and is performing the operation according to which index.
Specifically, the personnel specification control model comprises a plurality of control models, each control model is a model for classifying one index of the personnel specification control, and each control model is obtained by training the deep neural network by using a plurality of images with labels with irregular operation of corresponding indexes and labels with operation specifications of corresponding indexes as a sample set.
For the content of the personnel standard control, a plurality of indexes are used for measuring, a control model is established for each index, a classifier is trained by adopting images which are in compliance and non-compliance, so that the classifier can directly output corresponding operations according to the images, the operations correspond to the compliance and non-compliance of the corresponding index, the operation detection result comprises a plurality of contents, and the compliance judgment of each index corresponds to a result, so that the operation detection result belongs to a result set, and the operation detection result is not in compliance only if a certain element is not in compliance.
And S220, when the operation detection result is that the operation is not standard, sending the operation video of the hydrogen supply operator to a terminal to alarm the operation.
And sending the operation video of the hydrogen supply operator to a terminal, and outputting a certain element which does not comply with the operation detection result, so that a supervisor can pertinently correct the operation non-compliance part of the operator to perform operation alarm.
If the hydrogen leakage does not occur in the determination result, the step S160 is executed;
if the result of the smoke detection is not that smoke exists, the step S200 is executed.
The hydrogen supply safety control method comprises the steps of judging the hydrogen leakage condition by adopting a leakage monitoring model formed by combining an image of a hydrogen sensitive color change sensing patch on a hydrogen pipeline and a deep neural network, when hydrogen leakage occurs, adopting a particle image speed measurement method, determining the leakage point by combining a background schlieren technology and an infrared thermal image technology, determining the leakage point more accurately by using a triple determination mode, detecting the smoke and fire condition by combining an environment photo, detecting the compliance of an operator, starting from the hydrogen leakage condition, starting from the smoke and fire condition and the operation compliance condition, realizing safety control from multiple links, improving the safety control strength, and enabling the control to have comprehensiveness.
Fig. 6 is a schematic block diagram of a hydrogen supply safety management and control device 300 according to an embodiment of the present invention. As shown in fig. 6, the present invention further provides a hydrogen supply safety control device 300 corresponding to the above hydrogen supply safety control method. The hydrogen supply safety management and control apparatus 300 includes a unit for executing the above-described hydrogen supply safety management and control method, and the apparatus may be configured in a server. Specifically, referring to fig. 6, the hydrogen supply safety management and control device 300 includes a first image acquisition unit 301, a determination unit 302, a situation judgment unit 303, a leakage point determination unit 304, a startup unit 305, an environmental photograph acquisition unit 306, a first result determination unit 307, a first result judgment unit 308, a smoke and fire alarm unit 309, an operation video acquisition unit 310, a normalization detection unit 311, and an operation alarm unit 312.
A first image acquisition unit 301, configured to acquire an image of a hydrogen-sensitive color-change sensor patch arranged on a hydrogen gas pipeline to obtain a first image; a determination unit 302, configured to input the first image into a leakage monitoring model to determine whether a hydrogen leakage condition occurs, so as to obtain a determination result; a situation judging unit 303 for judging whether the judgment result is that a hydrogen leakage situation occurs; if the hydrogen leakage condition does not occur in the judgment result, the environment photo of the position where the hydrogen adding station is located is obtained; a leakage point determining unit 304, configured to determine a leakage point on the hydrogen pipeline by using a particle image velocimetry method, a background schlieren technique and an infrared thermal imaging technique if the hydrogen leakage condition occurs in the determination result; a starting unit 305 for starting the exhaust and exhaust device according to the leakage point to perform the exhaust and exhaust operation of the leakage point and perform hydrogen leakage alarm; an environment photo obtaining unit 306, configured to obtain an environment photo of a location where the hydrogen refueling station is located; a first result determining unit 307, configured to input the environment photo into a firework management and control model to perform firework detection to obtain a firework detection result; a first result judging unit 308 for judging whether fireworks exist in the firework detection result; if the result of the smoke and fire detection is not that smoke and fire exist, the operation video of the hydrogen supply operator is obtained; the firework warning unit 309 is configured to send information of a position where a firework is located to the terminal to perform firework warning if the firework detection result indicates that the firework exists; an operation video acquiring unit 310 for acquiring an operation video of a hydrogen supply operator; the normative detection unit 311 is configured to input the operation video into a personnel normative control model to perform personnel operation normative detection, so as to obtain an operation detection result; and an operation alarm unit 312, configured to send an operation video of the hydrogen supply operator to a terminal to perform an operation alarm when the operation detection result is that the operation is not standard.
The gas safety management and control device 300 of the hydrogen filling station further comprises a model determination unit for training the deep neural network by using a plurality of images with labels with different leakage levels as a sample set to obtain a leakage monitoring model.
In an embodiment, the model determining unit includes an initial image acquiring subunit, a labeling subunit, and a training subunit.
The initial image acquisition subunit is used for acquiring images of the hydrogen sensitive color-change sensing patches on the hydrogen pipelines with different leakage degrees to obtain initial images; the labeling subunit is used for labeling the leakage grade label of the initial image by combining the gas concentration detected by the combustible gas detector to obtain a sample set; and the training subunit is used for training and testing the pre-constructed deep neural network by adopting the sample set so as to obtain a leakage monitoring model.
The first leak determination unit 304 includes a particle image acquisition subunit 3041, a vector diagram determination subunit 3042, a thermal imaging diagram acquisition subunit 3043, an analysis subunit 3044, a schlieren image acquisition subunit 3045, a processing subunit 3046, a fusion subunit 3047, and a leak determination subunit 3048.
A particle image obtaining subunit 3041, configured to obtain a particle image on the hydrogen pipeline by using a particle image velocimetry method; a vector diagram determining subunit 3042, configured to determine a particle motion trajectory according to the particle image, so as to obtain a velocity vector diagram of the particle; a thermal imaging image obtaining subunit 3043, configured to obtain an infrared thermal imaging image on the hydrogen pipe by using a thermal infrared imager; an analysis subunit 3044, configured to perform corner detection, feature point extraction, and optical flow clustering analysis on the infrared thermal imaging image to obtain a first target image; a schlieren image acquiring subunit 3045, configured to acquire a background schlieren image on the hydrogen pipeline by using a schlieren instrument; a processing subunit 3046, configured to select a corresponding color weight according to the distribution characteristics of the color components of the pixel points, process the background schlieren image by using a median filtering method, remove noise, select a threshold according to the gray histogram, and cut the background schlieren image to determine a gas target in the background schlieren image, so as to obtain a second target image; a fusion subunit 3047, configured to fuse the velocity vector diagram of the particle, the first target image, and the second target image to obtain a flow field distribution image. And a leak determination subunit 3048 configured to determine a leak according to the flow field distribution image.
In an embodiment, referring to fig. 8, the particle image acquiring subunit 3041 includes a scattering module 30411, an illuminating module 30412 and an acquiring module 30413.
A dispersion module 30411 for dispersing the liquid tracer particles on the surface of the hydrogen gas pipe; an irradiation module 30412 for irradiating the surface of the hydrogen gas pipe with laser rays to obtain an illuminated area; an acquiring module 30413, configured to expose the illuminated area and acquire an image of the liquid tracer particle to obtain a particle image.
In an embodiment, the leak determination subunit 3048 is configured to determine a position where the velocity of the particle, the temperature, and the density field of the particle all satisfy the set conditions to obtain a leak.
It should be noted that, as can be clearly understood by those skilled in the art, the specific implementation processes of the hydrogen supply safety management and control device 300 and each unit may refer to the corresponding descriptions in the foregoing method embodiments, and for convenience and brevity of description, no further description is provided herein.
The hydrogen supply safety management and control apparatus 300 may be implemented in the form of a computer program that can be run on a computer device as shown in fig. 9.
Referring to fig. 9, fig. 9 is a schematic block diagram of a computer device according to an embodiment of the present application. The computer device 500 may be a server, wherein the server may be an independent server or a server cluster composed of a plurality of servers.
Referring to fig. 9, the computer device 500 includes a processor 502, memory, and a network interface 505 connected by a system bus 501, where the memory may include a non-volatile storage medium 503 and an internal memory 504.
The non-volatile storage medium 503 may store an operating system 5031 and a computer program 5032. The computer programs 5032 include program instructions that, when executed, cause the processor 502 to perform a hydrogen supply safety management method.
The processor 502 is used to provide computing and control capabilities to support the operation of the overall computer device 500.
The internal memory 504 provides an environment for the operation of the computer program 5032 in the non-volatile storage medium 503, and when the computer program 5032 is executed by the processor 502, the processor 502 can execute a hydrogen supply safety control method.
The network interface 505 is used for network communication with other devices. Those skilled in the art will appreciate that the configuration shown in fig. 9 is a block diagram of only a portion of the configuration associated with the present application and does not constitute a limitation of the computer device 500 to which the present application may be applied, and that a particular computer device 500 may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
Wherein the processor 502 is configured to run the computer program 5032 stored in the memory to implement the following steps:
acquiring an image of a hydrogen-sensitive color change sensing patch arranged on a hydrogen pipeline to obtain a first image; inputting the first image into a leakage monitoring model to judge whether hydrogen leakage occurs or not so as to obtain a judgment result; judging whether the judgment result is that hydrogen leakage occurs or not; if the hydrogen leakage condition occurs in the judgment result, determining a leakage point on the hydrogen pipeline by adopting a particle image velocimetry method, a background schlieren technology and an infrared thermal imaging technology; starting an exhaust and air exhaust device according to the leakage point to perform exhaust and air exhaust operation of the leakage point; acquiring an environmental photo of the position of a hydrogenation station; inputting the environment picture into a firework management and control model to detect whether fireworks exist or not so as to obtain a firework detection result; judging whether fireworks exist in the firework detection result or not; if the smoke and fire detection result indicates that smoke and fire exist, the information of the position of the smoke and fire is sent to a terminal to alarm the smoke and fire; acquiring an operation video of a hydrogen supply operator; inputting the operation video into a personnel standard control model to detect personnel operation standardization so as to obtain an operation detection result; when the operation detection result is that the operation is not standard, the operation video of the hydrogen supply operator is sent to a terminal to carry out operation alarm; if the hydrogen leakage condition does not occur in the judgment result, the environment photo of the position where the hydrogen adding station is located is obtained; and if the result of the smoke and fire detection is not that smoke and fire exist, the operation video of the hydrogen supply operator is acquired.
Wherein, the leakage monitoring model is obtained by training the deep neural network by using a plurality of images with labels of different leakage grades as a sample set.
The firework management and control model is obtained by training a deep neural network by using a plurality of images with firework labels and non-firework labels as sample sets.
The personnel standard control model comprises a plurality of control models, each control model is a model for classifying one index of personnel standard control, and each control model is obtained by training the deep neural network by using a plurality of labels with irregular operation indexes and images with labels with corresponding operation indexes as a sample set.
In an embodiment, when the processor 502 determines the leakage point on the hydrogen pipeline by using the particle image velocimetry, the background schlieren technology and the thermal infrared imaging technology, the following steps are specifically implemented:
acquiring a particle image on a hydrogen pipeline by adopting a particle image velocimetry method; determining a particle motion track according to the particle image to obtain a velocity vector diagram of the particle; acquiring an infrared thermal imaging image on the hydrogen pipeline by adopting an infrared thermal imager; carrying out corner detection, feature point extraction and optical flow clustering analysis on the infrared thermal imaging image to obtain a first target image; acquiring a background schlieren image on the hydrogen pipeline by using a schlieren instrument; selecting a corresponding color weight according to the distribution characteristics of color components of pixel points, processing the background schlieren image by adopting a median filtering method to remove noise, selecting a threshold according to a gray histogram, and cutting the background schlieren image to determine a gas target in the background schlieren image so as to obtain a second target image; fusing the velocity vector diagram of the particles, the first target image and the second target image to obtain a flow field distribution image; and determining leakage points according to the flow field distribution image.
Wherein the flow field distribution image includes a velocity of the particles, a temperature, and a density field of the particles.
In an embodiment, when the step of obtaining the particle image on the hydrogen pipeline by using the particle image velocimetry is implemented by the processor 502, the following steps are specifically implemented:
dispersing liquid tracer particles on the surface of a hydrogen pipeline; irradiating the surface of the hydrogen pipeline by using laser rays to obtain an illuminated area; and exposing the illuminated area and acquiring an image of the liquid tracer particles to obtain a particle image.
In an embodiment, when the processor 502 implements the step of determining the leak points according to the flow field distribution image, the following steps are implemented:
and determining the position where the speed, the temperature and the density field of the particles meet the set conditions to obtain the leakage point.
It should be understood that in the embodiment of the present Application, the Processor 502 may be a Central Processing Unit (CPU), and the Processor 502 may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like. Wherein a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
It will be understood by those skilled in the art that all or part of the flow of the method implementing the above embodiments may be implemented by a computer program instructing associated hardware. The computer program includes program instructions, and the computer program may be stored in a storage medium, which is a computer-readable storage medium. The program instructions are executed by at least one processor in the computer system to implement the flow steps of the embodiments of the method described above.
Accordingly, the present invention also provides a storage medium. The storage medium may be a computer-readable storage medium. The storage medium stores a computer program, wherein the computer program, when executed by a processor, causes the processor to perform the steps of:
acquiring an image of a hydrogen-sensitive color change sensing patch arranged on a hydrogen pipeline to obtain a first image; inputting the first image into a leakage monitoring model to judge whether hydrogen leakage occurs or not so as to obtain a judgment result; judging whether the judgment result is that hydrogen leakage occurs or not; if the hydrogen leakage condition occurs in the judgment result, determining a leakage point on the hydrogen pipeline by adopting a particle image velocimetry method, a background schlieren technology and an infrared thermal imaging technology; starting an exhaust and air exhaust device according to the leakage point to perform exhaust and air exhaust operation of the leakage point; acquiring an environmental photo of the position of a hydrogenation station; inputting the environment picture into a firework management and control model to detect whether fireworks exist or not so as to obtain a firework detection result; judging whether fireworks exist in the firework detection result or not; if the smoke and fire detection result indicates that smoke and fire exist, the information of the position of the smoke and fire is sent to a terminal to alarm the smoke and fire; acquiring an operation video of a hydrogen supply operator; inputting the operation video into a personnel standard control model to detect personnel operation standardization so as to obtain an operation detection result; when the operation detection result is that the operation is not standard, the operation video of the hydrogen supply operator is sent to a terminal to carry out operation alarm; if the hydrogen leakage condition does not occur in the judgment result, the environment photo of the position where the hydrogen adding station is located is obtained; and if the result of the smoke and fire detection is not that smoke and fire exist, the operation video of the hydrogen supply operator is acquired.
Wherein, the leakage monitoring model is obtained by training the deep neural network by using a plurality of images with labels of different leakage grades as a sample set.
The firework management and control model is obtained by training a deep neural network by using a plurality of images with firework labels and non-firework labels as sample sets.
The personnel standard control model comprises a plurality of control models, each control model is a model for classifying one index of personnel standard control, and each control model is obtained by training the deep neural network by using a plurality of labels with irregular operation indexes and images with labels with corresponding operation indexes as a sample set.
In an embodiment, when the processor executes the computer program to determine the leakage point on the hydrogen pipeline by using the particle image velocimetry, the background schlieren technology and the thermal infrared imaging technology, the following steps are specifically implemented:
acquiring a particle image on a hydrogen pipeline by adopting a particle image velocimetry method; determining a particle motion track according to the particle image to obtain a velocity vector diagram of the particle; acquiring an infrared thermal imaging image on the hydrogen pipeline by adopting an infrared thermal imager; carrying out corner detection, feature point extraction and optical flow clustering analysis on the infrared thermal imaging image to obtain a first target image; acquiring a background schlieren image on the hydrogen pipeline by using a schlieren instrument; selecting a corresponding color weight according to the distribution characteristics of color components of pixel points, processing the background schlieren image by adopting a median filtering method to remove noise, selecting a threshold according to a gray histogram, and cutting the background schlieren image to determine a gas target in the background schlieren image so as to obtain a second target image; fusing the velocity vector diagram of the particles, the first target image and the second target image to obtain a flow field distribution image; and determining leakage points according to the flow field distribution image.
Wherein the flow field distribution image comprises a velocity of the particles, a temperature, and a density field of the particles.
In an embodiment, when the processor executes the computer program to implement the step of obtaining the particle image on the hydrogen pipeline by using the particle image velocimetry, the following steps are specifically implemented:
dispersing liquid tracer particles on the surface of a hydrogen pipeline; irradiating the surface of the hydrogen pipeline by using laser rays to obtain an illuminated area; and exposing the illuminated area and acquiring an image of the liquid tracer particles to obtain a particle image.
In an embodiment, when the step of determining a leak point according to the flow field distribution image is implemented by the processor executing the computer program, the following steps are specifically implemented:
and determining the position where the speed, the temperature and the density field of the particles meet the set conditions to obtain the leakage point.
The storage medium may be a usb disk, a removable hard disk, a Read-Only Memory (ROM), a magnetic disk, or an optical disk, which can store various computer readable storage media.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative. For example, the division of each unit is only one logic function division, and there may be another division manner in actual implementation. For example, various elements or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented.
The steps in the method of the embodiment of the invention can be sequentially adjusted, combined and deleted according to actual needs. The units in the device of the embodiment of the invention can be merged, divided and deleted according to actual needs. In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a storage medium. Based on such understanding, the technical solution of the present invention essentially or partially contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a terminal, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A hydrogen supply safety control method is characterized by comprising the following steps:
acquiring an image of a hydrogen-sensitive color change sensing patch arranged on a hydrogen pipeline to obtain a first image;
inputting the first image into a leakage monitoring model to judge whether hydrogen leakage occurs or not so as to obtain a judgment result;
judging whether the judgment result is that hydrogen leakage occurs or not;
if the hydrogen leakage condition occurs in the judgment result, determining a leakage point on the hydrogen pipeline by adopting a particle image velocimetry method, a background schlieren technology and an infrared thermal imaging technology;
starting an exhaust and air exhaust device according to the leakage point to perform exhaust and air exhaust operation of the leakage point;
acquiring an environmental photo of the position of a hydrogenation station;
inputting the environment picture into a firework management and control model to detect whether fireworks exist or not so as to obtain a firework detection result;
judging whether fireworks exist in the firework detection result or not;
if the smoke and fire detection result indicates that smoke and fire exist, the information of the position of the smoke and fire is sent to a terminal to alarm the smoke and fire;
acquiring an operation video of a hydrogen supply operator;
inputting the operation video into a personnel standard control model to detect personnel operation standardization so as to obtain an operation detection result;
when the operation detection result is that the operation is not standard, the operation video of the hydrogen supply operator is sent to a terminal to carry out operation alarm;
if the hydrogen leakage condition does not occur in the judgment result, the environment photo of the position where the hydrogen adding station is located is obtained;
and if the result of the smoke and fire detection is not that smoke and fire exist, the operation video of the hydrogen supply operator is acquired.
2. The hydrogen supply safety control method according to claim 1, wherein the leakage monitoring model is obtained by training a deep neural network with a plurality of images with labels of different leakage levels as a sample set.
3. The hydrogen supply safety control method according to claim 1, wherein the determining of the leakage point on the hydrogen pipeline by using a particle image velocimetry method, a background schlieren technique and an infrared thermography technique comprises:
acquiring a particle image on a hydrogen pipeline by adopting a particle image velocimetry method;
determining a particle motion track according to the particle image to obtain a velocity vector diagram of the particle;
acquiring an infrared thermal imaging image on the hydrogen pipeline by adopting an infrared thermal imager;
performing corner detection, feature point extraction and optical flow clustering analysis on the infrared thermal imaging image to obtain a first target image;
acquiring a background schlieren image on the hydrogen pipeline by using a schlieren instrument;
selecting a corresponding color weight according to the distribution characteristics of color components of pixel points, processing the background schlieren image by adopting a median filtering method to remove noise, selecting a threshold according to a gray histogram, and cutting the background schlieren image to determine a gas target in the background schlieren image so as to obtain a second target image;
fusing the velocity vector diagram of the particles, the first target image and the second target image to obtain a flow field distribution image;
and determining leakage points according to the flow field distribution image.
4. The hydrogen supply safety control method according to claim 3, wherein the obtaining of the particle image on the hydrogen pipeline by using a particle image velocimetry method comprises:
dispersing liquid tracer particles on the surface of a hydrogen pipeline;
irradiating the surface of the hydrogen pipeline by using laser rays to obtain an illuminated area;
and exposing the illuminated area and acquiring an image of the liquid tracer particles to obtain a particle image.
5. The hydrogen supply safety control method according to claim 3, wherein the flow field distribution image includes a velocity of the particles, a temperature, and a density field of the particles;
the determining of the leakage point according to the flow field distribution image comprises the following steps:
and determining the position where the speed, the temperature and the density field of the particles meet the set conditions to obtain the leakage point.
6. The hydrogen supply safety control method according to claim 1, wherein the firework control model is obtained by training a deep neural network with a plurality of images with firework labels and non-firework labels as a sample set.
7. The hydrogen supply safety control method according to claim 1, wherein the personnel specification control model comprises a plurality of control models, each control model is a model for classifying one of indexes controlled by the personnel specification, and each control model is obtained by training a deep neural network by using a plurality of labels with abnormal operation of the corresponding indexes and images with labels with operation specifications of the corresponding indexes as a sample set.
8. Hydrogen supply safety management and control device, its characterized in that includes:
the hydrogen sensor comprises a first image acquisition unit, a second image acquisition unit and a control unit, wherein the first image acquisition unit is used for acquiring an image of a hydrogen sensitive color change sensing patch arranged on a hydrogen pipeline to obtain a first image;
the judging unit is used for inputting the first image into a leakage monitoring model to judge whether the hydrogen leakage condition occurs or not so as to obtain a judging result;
a situation judging unit for judging whether the judgment result is that hydrogen leakage situation occurs; if the hydrogen leakage condition does not occur in the judgment result, the environment photo of the position where the hydrogen adding station is located is obtained;
the leakage point determining unit is used for determining a leakage point on the hydrogen pipeline by adopting a particle image velocimetry method, a background schlieren technology and an infrared thermal imaging technology if the hydrogen leakage condition appears in the judgment result;
the starting unit is used for starting the exhaust and air exhaust device according to the leakage point so as to perform the exhaust and air exhaust operation of the leakage point and perform hydrogen leakage alarm;
the environment photo acquisition unit is used for acquiring an environment photo of the position of the hydrogen filling station;
the first result determining unit is used for inputting the environment picture into a firework management and control model to detect whether fireworks exist or not so as to obtain a firework detection result;
the first result judging unit is used for judging whether fireworks exist in the firework detection result; if the result of the smoke and fire detection is not that smoke and fire exist, the operation video of the hydrogen supply operator is obtained;
the firework alarming unit is used for sending information of the position where firework is located to the terminal to alarm firework if the firework detection result shows that firework exists;
the operation video acquisition unit is used for acquiring the operation video of a hydrogen supply operator;
the normative detection unit is used for inputting the operation video into a personnel normative control model to detect the operation normative of personnel so as to obtain an operation detection result;
and the operation warning unit is used for sending the operation video of the hydrogen supply operator to a terminal to carry out operation warning when the operation detection result is that the operation is not standard.
9. A computer device, characterized in that the computer device comprises a memory, on which a computer program is stored, and a processor, which when executing the computer program implements the method according to any of claims 1 to 7.
10. A storage medium, characterized in that the storage medium stores a computer program which, when executed by a processor, implements the method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210133823.6A CN114493332A (en) | 2022-02-11 | 2022-02-11 | Hydrogen supply safety control method and device, computer equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116796030A (en) * | 2023-08-24 | 2023-09-22 | 北京龙德缘电力科技发展有限公司 | System for normative action flow broadcasting and voice interaction in work ticket |
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