CN114999119A - Limited space gas alarm system and method based on transmission function of Internet of things - Google Patents
Limited space gas alarm system and method based on transmission function of Internet of things Download PDFInfo
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- CN114999119A CN114999119A CN202210575824.6A CN202210575824A CN114999119A CN 114999119 A CN114999119 A CN 114999119A CN 202210575824 A CN202210575824 A CN 202210575824A CN 114999119 A CN114999119 A CN 114999119A
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- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
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- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/12—Alarms for ensuring the safety of persons responsive to undesired emission of substances, e.g. pollution alarms
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Abstract
The invention provides a limited space gas alarm system and method based on the transmission function of the Internet of things, wherein the system comprises: the acquisition module is used for controlling the first robot to enter the limited space when a worker works in the limited space; the first control module is used for controlling the robot to collect first space information of the limited space; the second control module is used for controlling the robot to collect the first gas information in the limited space based on the first space information; and the early warning module is used for determining whether to perform early warning on the operating personnel based on the first gas information, and performing corresponding early warning if the operating personnel perform early warning. According to the limited space gas alarm system and method based on the transmission function of the Internet of things, the first gas information acquired by the first robot is controlled based on the acquired first space information of the limited space, manual acquisition is not needed, convenience is improved, meanwhile, the robot can be applied to the limited space with a complex space structure, and applicability is improved.
Description
Technical Field
The invention relates to the technical field of limited space gas detection, in particular to a limited space gas alarm system and method based on the transmission function of the Internet of things.
Background
At present, construction sites are often located in limited spaces (such as the interiors of various devices of factories, such as furnaces, tanks, pipelines and the like), and due to the semi-closed characteristic of the limited spaces, safety accidents (such as poisoning caused by hydrogen sulfide in a wastewater treatment workshop) are easily caused when harmful gas leakage or insufficient oxygen content occurs, so that detection of harmful gas components before operation is particularly necessary. The existing technology for detecting the gas in the confined space obtains sampling data through manual collection, is not convenient and fast, and is not suitable for scenes which are not beneficial to entering the confined space.
Therefore, a solution is needed.
Disclosure of Invention
One of the purposes of the invention is to provide a limited space gas alarm system and method based on the transmission function of the internet of things, the acquired first space information of the limited space controls the first gas information acquired by the first robot, manual acquisition is not needed, the convenience is improved, and meanwhile, the robot can be applied to a limited space with a complex space structure, and the applicability is improved.
The embodiment of the invention provides a limited space gas alarm system and method based on the transmission function of the Internet of things, which comprises the following steps:
the acquisition module is used for controlling the first robot to enter the limited space when a worker works in the limited space;
the first control module is used for controlling the first robot to acquire first space information of the limited space;
the second control module is used for controlling the first robot to collect first gas information in the limited space based on the first space information;
and the early warning module is used for determining whether to carry out early warning on the operating personnel based on the first gas information, and if so, carrying out corresponding early warning.
Preferably, the second control module executes the following operations:
training a robot gas sampling control model;
and controlling the robot to collect first gas information in the limited space according to the first space information based on the robot gas sampling control model.
Preferably, a limited space gas alarm system based on thing networking transmission function trains the gaseous sampling control model of robot, includes:
acquiring a plurality of first control records for manually carrying out robot gas sampling control;
verifying the first credibility of the formulating party corresponding to the first control record, and simultaneously verifying the second credibility of the first control record;
when both pass the verification, the first control record passing the verification is used as a second control record;
and performing model training according to the second control record based on a preset model training algorithm to obtain a robot gas sampling control model.
Preferably, the limited space gas alarm system based on the transmission function of the internet of things, the verification of the first credibility of the formulating party corresponding to the first control record includes:
obtaining a formulation type of a formulation party of the first control record, wherein the formulation type comprises: personal formulation and collaborative formulation;
when the formulation type of the formulation party is personal formulation, acquiring a first formulation person contained in the formulation party;
querying a preset maker historical experience base, determining a first historical experience value corresponding to the first maker as a first target value, and associating the first historical experience value with the first control record;
comparing a first target value of the first target value associated with the first control record to a first confidence level that is the formulating party;
when the formulation type of the formulation party is a collaborative formulation, acquiring a second formulation person contained in the formulation party;
acquiring an participation type of the second maker participating in the first control record making, wherein the participation type comprises: critical and non-critical participation;
when the participation type is key participation, inquiring the historical experience library of the maker, determining a second historical experience value corresponding to the second maker, giving a preset first weight coefficient to the second historical experience value, obtaining a second target value, and associating the second target value with the first control record;
when the participation type is non-key participation, querying the historical experience library of the maker, determining a third historical experience value corresponding to the second maker, giving a preset second weight coefficient to the third historical experience value to obtain a third target value, and associating the third target value with the first control record;
a second target value of the second target value and the third target value associated with the first control record and a first reliability as a formulation party;
if the first credibility is greater than or equal to a preset first credibility threshold, the maker corresponding to the first control record passes verification;
otherwise, the verification is not passed;
wherein the first weight coefficient is greater than the second weight coefficient.
Preferably, the verification of the second credibility of the first control record based on the limited space gas alarm system with the transmission function of the internet of things includes:
attempting to acquire at least one adopting party that historically adopted the first control record;
if the attempt acquisition is successful, acquiring an authentication type corresponding to the adopting party, wherein the authentication type comprises: organization authentication and individual authentication;
when the authentication type is organization authentication, acquiring a first authorized value of the adopting party to the first control record, endowing a preset third weight coefficient to the first authorized value, acquiring a fourth target value, and associating the fourth target value with the first control record;
when the authentication type is individual authentication, acquiring a second authorized value of the first control record by the adopting party, endowing a preset fourth weight coefficient to the second authorized value, acquiring a fifth target value, and associating the fifth target value with the first control record;
comparing the fourth target value associated with the first control record with a third target value of the fifth target value and a second confidence level as a first control record;
if the attempt acquisition fails, verifying the reliability of the first control record based on a preset reliability verification model to obtain a second reliability of the first control record;
if the second credibility is greater than or equal to a preset second credibility threshold, the corresponding first control record passes verification;
otherwise, the verification is not passed;
wherein the third weight coefficient is greater than the fourth weight coefficient.
Preferably, the analysis module performs the following operations:
analyzing the gas components of the first gas information to obtain the gas component concentration of at least one gas type;
acquiring an early warning judgment rule corresponding to the gas type;
performing early warning judgment according to the concentration of the corresponding gas component based on the early warning judgment rule;
and when the operator needs early warning, carrying out corresponding early warning on the operator.
Preferably, a restricted space gas alarm system based on thing networking transmission function still includes:
the harmful gas blocking module is used for correspondingly blocking the target gas when the target gas with the gas type of harmful gas in the limited space is judged to be over the standard corresponding to the gas component concentration;
the harmful gas blocking module performs the following operations:
extracting three-dimensional field information of the restricted space from the spatial information;
constructing a three-dimensional distribution map corresponding to the limited space based on the three-dimensional field information;
acquiring a first sampling point of target gas acquired by the first robot, wherein the first sampling point corresponds to the gas component concentration;
determining a first position corresponding to the first sampling point in the three-dimensional distribution map, and mapping the gas component concentration corresponding to the target gas on the first position;
acquiring a preset trigger ring, and controlling the trigger ring to perform random displacement on the three-dimensional distribution map;
if the number of the first positions falling in the trigger ring is larger than a preset number threshold, taking the area currently defined by the trigger ring as a dense sampling area;
controlling the first robot to enter the dense sampling area, and simultaneously controlling the second robot to enter the dense sampling area;
acquiring a first sampling efficiency of the first robot, and acquiring a second sampling efficiency of the second robot;
based on the first sampling efficiency and the second sampling efficiency, generating sampling tasks for the first robot and the second robot to carry out dense sampling in the dense sampling area, and distributing the sampling tasks to the first robot and the second robot;
after the first robot and the second robot receive the sampling task, carrying out dense sampling in the dense sampling area;
dynamically acquiring the target distance between the first robot and the second robot, and dynamically acquiring form information of the first robot and the second robot when the target distance is smaller than or equal to a preset safety distance threshold;
generating a model based on a preset robot dynamic collision avoidance rule, and determining the robot dynamic collision avoidance rule according to the form information;
controlling the first robot and the second robot to carry out dynamic collision avoidance according to the robot dynamic collision avoidance rule;
when the first robot and the second robot finish the corresponding sampling task in the dense sampling area, acquiring second gas information sampled when the first robot and the second robot execute the sampling task;
determining the source position of the target gas according to the second gas information based on a preset source position determination rule;
inquiring a preset pipeline distribution diagram corresponding to the limited space, and acquiring at least one target pipeline closest to the source position;
acquiring component information of the pipeline gas in the target pipeline, and judging whether the gas type of the pipeline gas is consistent with that of the target gas;
if so, taking the corresponding target pipeline as a leakage pipeline;
determining a control switch corresponding to the leakage pipeline based on a preset pipeline-control switch comparison table;
trying to remotely close the control switch, and if the trying to close is successful, controlling a third robot closer to the source position in the first robot and the second robot to go to the source position;
when the third robot reaches the source position, controlling the third robot to acquire current third gas information of the source position;
judging whether the blocking is successful or not according to the third gas information based on a preset blocking success judgment rule;
if not, notifying a maintenance person closest to the source position to wear maintenance equipment and move to the source position for manual maintenance blocking;
controlling the third robot to go to an entrance of the restricted space to wait for the maintenance personnel;
when the maintenance personal arrives during the entrance, control the third robot gathers maintenance personal's visual region, simultaneously, control the third robot is in the visual region to maintenance personal demonstrates the warning information of following of predetermineeing, makes maintenance personal follows the third robot goes to the source position.
Preferably, the limited space gas alarm system based on the transmission function of the internet of things, the harmful gas blocking module executes the following operations when the maintenance personnel manually maintain and block the source position:
controlling the third robot to collect a plurality of operation behaviors of manual maintenance blocking of the source position by the maintenance personnel;
acquiring a preset early warning behavior library, and matching the operation behavior with the early warning behavior in the early warning behavior library;
if the matching is in accordance with the preset pre-warning behavior, acquiring a pre-warning scheme corresponding to the pre-warning behavior in accordance with the matching;
and sending out corresponding early warning based on the early warning scheme.
Preferably, the limited space gas alarm method based on the transmission function of the internet of things comprises the following steps:
step S1: when a worker works in a limited space, controlling a first robot to enter the limited space;
step S2: controlling the first robot to acquire first space information of the limited space;
step S3: controlling the first robot to collect first gas information in the limited space based on the first space information;
step S4: and determining whether to perform early warning on the operator or not based on the first gas information, and if so, performing corresponding early warning.
Preferably, the limited space air alarm method based on the transmission function of the internet of things, includes the steps of S3: controlling the first robot to collect first gas information in the restricted space based on the first space information, including:
training a robot gas sampling control model;
and controlling the first robot to collect first gas information in the limited space according to the first space information based on the robot gas sampling control model.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic diagram of a limited space gas alarm system based on the transmission function of the internet of things in the embodiment of the invention;
fig. 2 is a flowchart of a limited space gas alarm method based on the transmission function of the internet of things in the embodiment of the invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
An embodiment of the present invention provides an information extraction method and system, as shown in fig. 1, including:
the system comprises an acquisition module 1, a control module and a control module, wherein the acquisition module is used for controlling a first robot to enter a limited space when an operator works in the limited space;
the first control module 2 is used for controlling the first robot to acquire first space information of the limited space;
the second control module 3 is used for controlling the first robot to collect first gas information in the limited space based on the first space information;
and the early warning module 4 is used for determining whether to carry out early warning on the operating personnel based on the first gas information, and if so, carrying out corresponding early warning.
The working principle and the beneficial effects of the technical scheme are as follows:
when a worker prepares to access a restricted space (inside various devices of a plant, such as a furnace, a tank, a pipe, etc.), a first robot (a movable robot equipped with a micro-camera and a sensor) is controlled to access the restricted space. Acquiring first space information (such as topographic information, area information and the like of a space to be monitored) of a limited space needing gas detection, controlling a first robot to acquire first gas information (component information and concentration information of gas, such as sulfur dioxide, the concentration of which is 0.02%) in the limited space based on the first space information, judging whether harmful gas exists, and if so, performing corresponding early warning on constructors in the limited space;
according to the embodiment of the invention, the first gas information acquired by the first robot is controlled based on the acquired first space information of the limited space, manual acquisition is not needed, the convenience is improved, and meanwhile, the robot can be applied to the limited space with a complex space structure, and the applicability is improved.
The invention provides a limited space gas alarm system based on the transmission function of the Internet of things, wherein a second control module executes the following operations:
training a robot gas sampling control model;
and controlling the first robot to collect first gas information in the limited space according to the first space information based on the robot gas sampling control model.
The working principle and the beneficial effects of the technical scheme are as follows:
due to the spatial layout, the spatial area and the like of different limited spaces, first gas information acquired by different robot gas sampling control strategies can be different, and result errors can be caused by inappropriate sampling control strategies; therefore, a solution is urgently needed;
training a robot gas sampling control model (training a neural network model by using a plurality of manually recorded records for controlling robot gas sampling as training data and training the neural network model to a converged neural network model), and determining first gas information (component information and concentration information) according to the obtained first spatial information;
according to the embodiment of the invention, the robot gas sampling control model is trained, and the robot gas sampling control model suitable for the limited space is determined based on the acquired first space information, so that the sampling reasonability of the robot is improved.
The invention provides a limited space gas alarm system and method based on the transmission function of the Internet of things, and a training robot gas sampling control model comprises the following steps:
acquiring a plurality of first control records for artificially carrying out robot gas sampling control;
verifying the first credibility of the maker corresponding to the first control record, and simultaneously verifying the second credibility of the first control record;
when both pass the verification, the first control record passing the verification is used as a second control record;
and performing model training according to the second control record based on a preset model training algorithm to obtain a robot gas sampling control model.
The working principle and the beneficial effects of the technical scheme are as follows:
when the robot gas sampling control model is trained, a plurality of first control records can be controlled by acquiring a plurality of robot gas samples through big data, but all the control records have high reliability, and if the reliability of the first control records is low, the trained robot gas sampling control model is unreasonable; therefore, a solution is urgently needed;
the method comprises the steps of obtaining a plurality of first control records (the first control records which are acquired based on a big data technology and used for artificially performing robot gas sampling control), respectively obtaining a first credibility of a first control record maker (the first credibility is higher, the experience value of the first control record maker is higher) and a second credibility of the first control records (the second credibility is higher, the recognition degree of a corresponding collector to the first control records is higher), obtaining the corresponding first control records as second control records when the first credibility is larger than or equal to a preset threshold (for example, 95) and the second credibility is larger than or equal to a preset threshold (for example, 90), and performing model training on the second control records (training a neural network model by using the second control records until the second control records are converged);
according to the embodiment of the invention, the second control records which are verified by the first control record corresponding to the first available reliability of the maker and verified by the second reliability of the first control record are screened out, model training is carried out on the second control records to obtain the robot gas sampling control model, and the reliability of the robot gas sampling control model is improved.
The embodiment of the invention provides a system and a method for alarming limited space gas based on the transmission function of the Internet of things, which are used for verifying the first credibility of a maker corresponding to a first control record and comprise the following steps:
obtaining a formulation type of a formulation party of the first control record, wherein the formulation type comprises: personal formulation and collaborative formulation;
when the formulation type of the formulation party is personal formulation, acquiring a first formulation person contained in the formulation party;
querying a preset maker historical experience base, determining a first historical experience value corresponding to the first maker as a first target value, and associating the first historical experience value with the first control record;
comparing a first target value of the first target value associated with the first control record to a first confidence level that is the formulating party;
when the formulation type of the formulation party is a collaborative formulation, acquiring a second formulation person contained in the formulation party;
acquiring an participation type of the second maker participating in the first control record making, wherein the participation type comprises: critical and non-critical participation;
when the participation type is key participation, inquiring the historical experience library of the maker, determining a second historical experience value corresponding to the second maker, giving a preset first weight coefficient to the second historical experience value, obtaining a second target value, and associating the second target value with the first control record;
when the participation type is non-critical participation, querying the maker historical experience library, determining a third historical experience value corresponding to the second maker, giving a preset second weight coefficient to the third historical experience value, obtaining a third target value, and associating the third target value with the first control record;
a second target value of the second target value and the third target value associated with the first control record and a first reliability as a formulation party;
if the first credibility is larger than or equal to a preset first credibility threshold, the maker corresponding to the first control record passes verification;
otherwise, the verification is not passed;
wherein the first weight coefficient is greater than the second weight coefficient.
The working principle and the beneficial effects of the technical scheme are as follows:
the historical experience of the first formulated control record formulating parties is different, and the formulating parties with low historical experience can cause unreasonable formulation of sampling points due to lack of experience, so that the first credibility of the first formulated record is low (for example, the formulating parties only have the experience of formulating the record once historically, and the first credibility of the corresponding first formulated record is low); therefore, a solution is urgently needed;
therefore, the making type of the maker for obtaining the first control record comprises the following steps: personal formulation (a person completes the formulation of the sampling point independently) and collaborative formulation (a plurality of persons completes the formulation of the sampling point collaboratively); when the formulation type is a personal formulation, acquiring a preset formulation historical experience database (database for storing the corresponding relation between a sampling point record formulation person and the historical experience value of the sampling point record formulation person, wherein the higher the historical experience value is, the more times the formulation person historically performs sampling point formulation are, and the more experience is), determining the historical experience value of a first formulation person as a first target value, and determining the participation type of a second formulation person according to the participation degree of the second formulation person in the corresponding first control record process when the formulation type is a collaborative formulation, wherein the participation type of the second formulation person can be divided into: key participation and non-key participation (which can be obtained by a project history record file, for example, a record file records a certain record making person A as a main making person, B as a secondary making person, the participation type of A is key participation, the participation type of B is non-key participation), a second historical experience value of a second making person corresponding to the key participation type is obtained, a first weight coefficient is given to the second historical experience value, a second target value is obtained (the first weight coefficient and the second historical experience value are multiplied when the second target value is given), a third historical experience value of the second making person corresponding to the non-key participation type is obtained, a second weight coefficient is given to the third target value, and the third target value is obtained (the second weight coefficient and the third historical experience value are multiplied when the third target value is given), because the main participant has higher participation degree than the subordinate participation, the first weight coefficient is given to the higher weight, accumulating and calculating the second target value and the third target value to obtain a second target value sum, using the second target value sum as a first credibility of a formulation party during cooperative formulation, and passing verification if the first credibility is greater than or equal to a preset first credibility threshold (for example, 500);
according to the embodiment of the invention, the first control record corresponding to the high historical experience value of the maker is determined based on the historical experience degree and the participation degree of the maker, the first credibility of the first control record is verified, and the verification rationality is improved.
The embodiment of the invention provides a limited space gas alarm system and method based on the transmission function of the Internet of things, which are used for verifying the second credibility of a first control record and comprise the following steps:
attempting to acquire at least one adopting party that historically adopted the first control record;
if the attempt acquisition is successful, acquiring an authentication type corresponding to the adopting party, wherein the authentication type comprises: organization authentication and individual authentication;
when the authentication type is organization authentication, acquiring a first authorized value of the adopting party to the first control record, endowing a preset third weight coefficient to the first authorized value, acquiring a fourth target value, and associating the fourth target value with the first control record;
when the authentication type is individual authentication, acquiring a second authorized value of the first control record by the adopting party, endowing a preset fourth weight coefficient to the second authorized value, acquiring a fifth target value, and associating the fifth target value with the first control record;
if the attempt acquisition fails, verifying the reliability of the first control record based on a preset reliability verification model to obtain a sixth target value, and associating the sixth target value with the first control record;
accumulating and calculating a fourth target value, a fifth target value and a sixth target value associated with the first control record to obtain a second reliability;
if the second credibility is greater than or equal to a preset second credibility threshold, the corresponding first control record passes verification;
otherwise, the verification is not passed;
wherein the third weight coefficient is greater than the fourth weight coefficient.
The working principle and the beneficial effects of the technical scheme are as follows:
when the first control record is adopted, the adopting party can feed back the recognition degree of the first control record (for example, the feedback is carried out through a meteorological engineering communication forum or an academic communication blog and the like), and if the first control record with low recognition degree is adopted, the second control record can be unreasonable; therefore, a solution is urgently needed;
the method includes that an adopting party attempting to acquire a first control record acquires the authentication type of the adopting party if the attempt is successful, and the method includes the following steps: organization certification (approval of the first control record by the institution that metered the certification) and individual certification (approval of the first control record by the individual unit); acquiring a first authorized value when the authentication type is organization authentication and giving the first authorized value a preset third weight coefficient, acquiring a fourth target value (the third weight coefficient is multiplied by the first authorized value when the authentication type is given), acquiring a second authorized value when the authentication type is individual authentication and giving the second authorized value a preset fourth weight coefficient, acquiring a fifth target value (the fourth weight coefficient is multiplied by the second authorized value when the authentication type is given), wherein the third weight coefficient is larger than the fourth weight coefficient because the organization authentication has more referential property than the individual authentication, and accumulating and calculating the third target value and the third target value which are not good as the fourth target value and the fifth target value to be used as the second credibility of the first control record;
if the attempt acquisition fails, performing reliability verification on the first control record based on a preset reliability verification model (training the neural network model by using records of reliability of a large number of manual verification robot control records as training data to obtain a converged neural network model), and obtaining second reliability of the first control record;
if the second reliability is greater than or equal to a preset second reliability threshold (for example, 350), the first control record passes the second reliability verification;
the embodiment of the invention determines the approval degree of different types of authenticators to the first control record based on the approval type of the first control record adopting party, verifies the second credibility of the first control record, screens out the first control record verified by the second credibility, and improves the rationality.
The invention provides a limited space gas alarm system and method based on the transmission function of the Internet of things, wherein an analysis module executes the following operations:
analyzing the gas components of the first gas information to obtain the gas component concentration of at least one gas type;
acquiring an early warning judgment rule corresponding to the gas type;
performing early warning judgment according to the concentration of the corresponding gas component based on the early warning judgment rule;
and when the operator needs early warning, carrying out corresponding early warning on the operator.
The working principle and the beneficial effects of the technical scheme are as follows:
acquiring first gas information, analyzing a first gas component, acquiring the gas component concentration (for example, NO corresponds to the concentration of 0.2ppm) of a first gas type, acquiring a gas type judgment rule (for example, oxygen deficiency of operators is caused when the oxygen content in the air is lower than 21%, and early warning is required when the judgment is required), and early warning corresponding operators when the judgment is required;
the embodiment of the invention analyzes the acquired first gas information, acquires the gas component concentration corresponding to the gas type, and judges based on the early warning judgment rule, thereby improving the rationality.
The embodiment of the invention provides a limited space gas alarm system based on the transmission function of the Internet of things, which further comprises:
the harmful gas blocking module is used for correspondingly blocking the target gas when the target gas with the gas type of harmful gas in the limited space is judged to be over the standard corresponding to the gas component concentration;
the harmful gas blocking module performs the following operations:
extracting three-dimensional field information of the limited space from the space information;
constructing a three-dimensional distribution map corresponding to the limited space based on the three-dimensional field information;
acquiring a first sampling point of target gas acquired by the first robot, wherein the first sampling point corresponds to the gas component concentration;
determining a first position corresponding to the first sampling point in the three-dimensional distribution map, and mapping the gas component concentration corresponding to the target gas on the first position;
acquiring a preset trigger ring, and controlling the trigger ring to perform random displacement on the three-dimensional distribution map;
if the number of the first positions falling in the trigger ring is larger than a preset number threshold, taking the area currently defined by the trigger ring as a dense sampling area;
controlling the first robot to enter the dense sampling area, and simultaneously controlling the second robot to enter the dense sampling area;
acquiring a first sampling efficiency of the first robot, and acquiring a second sampling efficiency of the second robot;
based on the first sampling efficiency and the second sampling efficiency, generating a sampling task for the first robot and the second robot to carry out dense sampling in the dense sampling area, and distributing the sampling task to the first robot and the second robot;
after receiving the sampling task, the first robot and the second robot carry out dense sampling in the dense sampling area;
dynamically acquiring the target distance between the first robot and the second robot, and dynamically acquiring form information of the first robot and the second robot when the target distance is smaller than or equal to a preset safety distance threshold;
generating a model based on a preset robot dynamic collision avoidance rule, and determining the robot dynamic collision avoidance rule according to the form information;
controlling the first robot and the second robot to carry out dynamic collision avoidance according to the robot dynamic collision avoidance rule;
when the first robot and the second robot finish the corresponding sampling task in the dense sampling area, acquiring second gas information sampled when the first robot and the second robot execute the sampling task;
determining the source position of the target gas according to the second gas information based on a preset source position determination rule;
inquiring a preset pipeline distribution diagram corresponding to the limited space, and acquiring at least one target pipeline closest to the source position;
acquiring component information of the pipeline gas in the target pipeline, and judging whether the gas type of the pipeline gas is consistent with that of the target gas;
if so, taking the corresponding target pipeline as a leakage pipeline;
determining a control switch corresponding to the leakage pipeline based on a preset pipeline-control switch comparison table;
trying to remotely close the control switch, and if the trying to close is successful, controlling a third robot which is closer to the source position in the first robot and the second robot to move to the source position;
when the third robot reaches the source position, controlling the third robot to acquire current third gas information of the source position;
judging whether the blocking is successful or not according to the third gas information based on a preset blocking success judgment rule;
if not, notifying a maintenance person closest to the source position to wear maintenance equipment and move to the source position for manual maintenance blocking;
controlling the third robot to go to an entrance of the restricted space to wait for the maintenance personnel;
when the maintenance personal arrives during the entrance, control the third robot gathers maintenance personal's visual region, simultaneously, control the third robot is in the visual region to maintenance personal demonstrates the warning information of following of predetermineeing, makes maintenance personal follows the third robot goes to the source position.
The working principle and the beneficial effects of the technical scheme are as follows:
when harmful gas is blocked, sampling is carried out in all limited spaces blindly, energy consumption is high, meanwhile, only one robot is used for sampling, sampling efficiency is low, if two robots are used for sampling simultaneously, due to the fact that cost is considered, robots applied in engineering are not intelligent enough, and obstacle avoidance which cannot be self-adaptive can collide in the sampling process; therefore, a solution is urgently needed;
acquiring three-dimensional field information of a limited space (the robot carries three-dimensional information of the limited space acquired by a millimeter wave radar sensor), constructing a three-dimensional distribution map corresponding to the limited space (a three-dimensional model generated by simulation reproduction of geographical real scenes of the limited space to be monitored based on the acquired three-dimensional information), acquiring a first sampling point, corresponding to the gas component concentration, acquired by a first robot to target gas (the early warning is judged to be first gas to be early warned), determining a first position of the first sampling point, and mapping the corresponding concentration to the first position; acquiring a preset trigger ring (a unit circle with a preset radius, such as a unit circle with a radius of 3 m), controlling the trigger ring to randomly displace on the three-dimensional distribution map, and if the number of first positions falling in the trigger ring is greater than a preset number threshold (such as 80), taking a region currently defined by the trigger ring as a dense sampling region; the method comprises the steps of obtaining a first sampling efficiency (sampling area of the first robot in unit time) of the first robot, obtaining a preset second sampling efficiency (sampling area of the second robot in unit time) of the second robot, and distributing an intensive sampling area to the first robot and the second robot according to the sampling efficiency. After the first robot and the second robot start sampling tasks, dynamically acquiring a target distance between the first robot and the second robot, and dynamically acquiring form information (external shapes of the robots) of the first robot and the second robot when the target distance is smaller than or equal to a preset safe distance threshold (for example: 1 m); generating a model based on a preset robot dynamic collision avoidance rule (training a neural network model by utilizing a plurality of robot collision records recorded manually to a converged neural network model), and determining a robot dynamic collision avoidance rule according to morphological information (for example, if a first robot predicts a change form at the time t to cause the position of a certain part to appear on a predicted travelling path at the time t of a second robot, the first robot and/or the second robot judges that collision will occur at the time t and carries out morphological change before the time t to avoid); the first robot and the second robot carry out dynamic collision avoidance according to the robot dynamic avoidance rule; when the first robot and the second robot finish sampling in the dense sampling area, acquiring second gas information obtained by the first robot and the second robot executing a sampling task, and determining rules based on a preset source position (for example, analyzing a second gas component, determining a corresponding maximum concentration of the second gas component in a gas type consistent with that of a target gas, and taking a corresponding sampling position as a source position);
inquiring a pipeline distribution diagram (corresponding pipeline distribution for transmitting various gases) preset in a limited space, determining at least one target pipeline, acquiring gas component information in the target pipeline, and if the gas component information is consistent with the target gas component, judging that the target pipeline is a leakage pipeline, for example: the target gas component is sulfur dioxide, and the obtained component in the pipeline closest to the target position is also sulfur dioxide, so that the pipeline is judged to be a leakage pipeline); based on a preset pipeline-control switch comparison table (database, storing a plurality of corresponding relations between pipelines and corresponding gas control switches), acquiring corresponding control switches (such as gas valves on gas transmission) on leakage pipelines, acquiring control switches closest to the third position point (the control switches closer to the maximum concentration point are more likely to leak), trying to remotely close the control switches (such as remotely closing electronic valves), controlling a third robot closer to a source position in the first robot and the second robot to acquire third gas information of the source position if the trying to close is successful, and performing manual blocking (such as that the target gas flow rate in the third gas information is lower than that in the second gas information, the blocking is determined to be successful) if the third robot is not successfully closed, wherein the electronic valves may fail or the corresponding pipelines are ordinary valves in a part of scenes, need to be manually turned off), notify the maintenance personnel nearest to the leakage control switch (the intelligent terminal based on the built-in GPS positioning system obtains the position information of the maintenance personnel, notifies the maintenance personnel nearest to the source position) to wear the maintenance equipment (for example: gas masks, gas detectors, etc.) to the source location for maintenance;
controlling a third robot to wait for maintenance personnel at an entrance of a limited space, acquiring a visual area (sight range of the maintenance personnel) of the maintenance personnel when the third robot identifies the maintenance personnel at the entrance, and displaying follow-up reminding information to the maintenance personnel in the visual area (for example, the third robot displays that the maintenance personnel please follow the third robot through an l ed display screen), wherein the third robot leads the maintenance personnel to go to a source position;
according to the embodiment of the invention, the dense sampling area is determined based on the first position point of the target gas with the standard exceeding concentration, the first robot and the second robot are controlled to simultaneously sample the dense sampling area, the sampling efficiency is improved, the timeliness of source position detection is improved, and the third robot brings maintenance personnel to the source position and improves the convenience.
In the limited space gas alarm system based on the transmission function of the internet of things, when the maintenance personnel performs manual maintenance blocking on the source position, the harmful gas blocking module performs the following operations:
controlling the third robot to collect a plurality of operation behaviors of manual maintenance blocking of the source position by the maintenance personnel;
acquiring a preset early warning behavior library, and matching the operation behavior with early warning behaviors in the early warning behavior library;
if the matching is in accordance with the preset pre-warning behavior, acquiring a pre-warning scheme corresponding to the pre-warning behavior in accordance with the matching;
and sending out corresponding early warning based on the early warning scheme.
The working principle and the beneficial effects of the technical scheme are as follows:
safety accidents may occur when maintenance personnel perform manual maintenance blocking (for example, the toxic event occurs during the troubleshooting process when the troubleshooting personnel carry out the non-standard wearing of the anti-virus equipment), so that the risk of maintenance operation is improved; therefore, a solution is urgently needed;
in the maintenance process, dynamically acquiring operation behaviors of maintenance personnel (acquiring the maintenance personnel in a third robot shooting picture based on a face recognition technology and acquiring the operation behaviors of the maintenance personnel based on a behavior recognition technology), acquiring a preset early warning behavior library (a database storing behaviors needing early warning, for example, if the maintenance personnel continuously do not act for 15 seconds, judging that the maintenance personnel is faint and possibly has a poisoning event because the prevention measures are not in place, judging that the maintenance personnel have the early warning behaviors), matching the operation behaviors with the early warning behaviors, and if the operation behaviors are matched with the early warning behaviors, acquiring an early warning scheme corresponding to the early warning behaviors (for example, sending help-seeking information to a 120 emergency center: a poisoning accident occurs at the XX position, and asking for arrangement and rescue);
according to the embodiment of the invention, the operation behavior of the maintenance personnel is monitored in real time through the third robot, so that safety accidents are prevented, and the safety of maintenance blocking operation is improved.
The embodiment of the invention provides a limited space gas alarm system based on the transmission function of the Internet of things, which further comprises:
the adjusting module is used for reforming the early warning judgment rule;
wherein the adjusting module performs the following operations:
acquiring corresponding combination items of a plurality of gas types and gas component concentrations in the early warning judgment rule;
acquiring standard environment information of the early warning judgment;
performing feature extraction on the standard environment information to obtain a plurality of first information features;
acquiring current environment information of the operation carried out in the limited space at regular time;
extracting the features of the current environment information to obtain a plurality of second information features;
performing feature matching on the first information features and the second information features to obtain a plurality of matching values;
adjusting the gas component concentration in the early warning judgment rule based on the matching value;
and when the gas component concentration in the early warning judgment rule needing to be adjusted is completely adjusted, reforming the early warning judgment rule.
The working principle and the beneficial effects of the technical scheme are as follows:
the method comprises the steps that the obtained standard environment information (including temperature, humidity, wind direction, wind speed and other information of an early warning data generation source) of early warning judgment is subjected to feature extraction, and a plurality of first information features are obtained; acquiring current environment information (information such as temperature, humidity, wind direction and wind speed of the limited space) of the limited space for operation, and performing feature extraction on the current environment information to acquire a plurality of second information features; matching the first information characteristic with the second information characteristic to obtain a plurality of matching values, and adjusting the gas component concentration, wherein the adjustment formula is as follows:
wherein c' is the gas component concentration in the post-adjustment determination rule, c is the initial gas component concentration in the pre-adjustment warning determination rule, μ i Is the ith matching value, n is the total number of second information features, gamma i Is the ith adjustment coefficient;
updating the adjusted gas component concentration, and recombining the gas component concentration with the corresponding gas type to finish reforming the early warning rule;
according to the embodiment of the invention, based on the acquired environmental information, the environmental information of the limited space is matched with the standard environmental information, and the early warning rule is reformed at regular time, so that the proper early warning rule is ensured, and the accuracy of early warning is improved.
The embodiment of the invention provides a limited space gas alarm method based on the transmission function of the Internet of things, which comprises the following steps of:
step S1: when a worker works in a limited space, controlling a first robot to enter the limited space;
step S2: controlling the first robot to acquire first space information of the limited space;
step S3: controlling the first robot to collect first gas information in the limited space based on the first space information;
step S4: and determining whether to perform early warning on the operator or not based on the first gas information, and if so, performing corresponding early warning.
The working principle and the beneficial effects of the technical scheme are already explained in the method claim, and are not described in detail.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. The utility model provides a limited space gas alarm system based on thing networking transmission function which characterized in that includes:
the acquisition module is used for controlling the first robot to enter the limited space when a worker works in the limited space;
the first control module is used for controlling the first robot to collect first space information of the limited space;
the second control module is used for controlling the first robot to collect first gas information in the limited space based on the first space information;
and the early warning module is used for determining whether to carry out early warning on the operating personnel based on the first gas information, and if so, carrying out corresponding early warning.
2. The limited space gas alarm system based on the transmission function of the internet of things as claimed in claim 1, wherein the second control module performs the following operations:
training a robot gas sampling control model;
and controlling the robot to collect first gas information in the limited space according to the first space information based on the robot gas sampling control model.
3. The internet-of-things transmission function-based confined space gas alarm system as recited in claim 2, wherein the training robot gas sampling control model comprises:
acquiring a plurality of first control records for artificially carrying out robot gas sampling control;
verifying the first credibility of the maker corresponding to the first control record, and simultaneously verifying the second credibility of the first control record;
when both pass the verification, the first control record passing the verification is used as a second control record;
and performing model training according to the second control record based on a preset model training algorithm to obtain a robot gas sampling control model.
4. The system of claim 3, wherein the verifying the first credibility of the enactment party corresponding to the first control record comprises:
obtaining a formulation type of a formulation party of the first control record, wherein the formulation type comprises: personal formulation and collaborative formulation;
when the formulation type of the formulation party is personal formulation, acquiring a first formulation person contained in the formulation party;
querying a preset maker historical experience base, determining a first historical experience value corresponding to the first maker as a first target value, and associating the first historical experience value with the first control record;
a first target value of the first target value associated with the first control record and a first degree of reliability as a formulation party;
when the formulation type of the formulation party is a collaborative formulation, acquiring a second formulation person contained in the formulation party;
acquiring an participation type of the second maker participating in the first control record making, wherein the participation type comprises: critical and non-critical participation;
when the participation type is key participation, inquiring the historical experience library of the maker, determining a second historical experience value corresponding to the second maker, giving a preset first weight coefficient to the second historical experience value, obtaining a second target value, and associating the second target value with the first control record;
when the participation type is non-critical participation, querying the maker historical experience library, determining a third historical experience value corresponding to the second maker, giving a preset second weight coefficient to the third historical experience value, obtaining a third target value, and associating the third target value with the first control record;
a second target value of the second target value and the third target value associated with the first control record and a first reliability as a formulation party;
if the first credibility is greater than or equal to a preset first credibility threshold, the maker corresponding to the first control record passes verification;
otherwise, the verification is not passed;
wherein the first weight coefficient is greater than the second weight coefficient.
5. The system of claim 3, wherein the verifying the second credibility of the first control record comprises:
attempting to acquire at least one adopting party that historically adopted the first control record;
if the attempt acquisition is successful, acquiring an authentication type corresponding to the adopting party, wherein the authentication type comprises: organization authentication and individual authentication;
when the authentication type is organization authentication, acquiring a first authorized value of the adopting party to the first control record, endowing a preset third weight coefficient to the first authorized value, acquiring a fourth target value, and associating the fourth target value with the first control record;
when the authentication type is individual authentication, acquiring a second authorized value of the first control record by the adopting party, endowing a preset fourth weight coefficient to the second authorized value, acquiring a fifth target value, and associating the fifth target value with the first control record;
comparing the fourth target value associated with the first control record with a third target value of the fifth target value and a second confidence level as a first control record;
if the attempt acquisition fails, verifying the reliability of the first control record based on a preset reliability verification model to obtain a second reliability of the first control record;
if the second credibility is greater than or equal to a preset second credibility threshold, the corresponding first control record passes verification;
otherwise, the verification is not passed;
wherein the third weight coefficient is greater than the fourth weight coefficient.
6. The system and method for alarming limited space atmosphere based on the transmission function of the internet of things as claimed in claim 1, wherein the analysis module performs the following operations:
analyzing the gas components of the first gas information to obtain the gas component concentration of at least one gas type;
acquiring an early warning judgment rule corresponding to the gas type;
performing early warning judgment according to the concentration of the corresponding gas component based on the early warning judgment rule;
and when the operator needs early warning, carrying out corresponding early warning on the operator.
7. The internet-of-things transmission function-based limited space gas alarm system of claim 6, further comprising:
the harmful gas blocking module is used for correspondingly blocking the target gas when the target gas with the gas type of harmful gas in the limited space is judged to be over the standard corresponding to the gas component concentration;
the harmful gas blocking module performs the following operations:
extracting three-dimensional field information of the limited space from the space information;
constructing a three-dimensional distribution map corresponding to the limited space based on the three-dimensional field information;
acquiring a first sampling point of target gas acquired by the first robot, wherein the first sampling point corresponds to the gas component concentration;
determining a first position corresponding to the first sampling point in the three-dimensional distribution map, and mapping the gas component concentration corresponding to the target gas on the first position;
acquiring a preset trigger ring, and controlling the trigger ring to perform random displacement on the three-dimensional distribution map;
if the number of the first positions falling in the trigger ring is larger than a preset number threshold, taking the area currently defined by the trigger ring as a dense sampling area;
controlling the first robot to enter the dense sampling area, and simultaneously controlling the second robot to enter the dense sampling area;
acquiring a first sampling efficiency of the first robot, and acquiring a second sampling efficiency of the second robot;
based on the first sampling efficiency and the second sampling efficiency, generating a sampling task for the first robot and the second robot to carry out dense sampling in the dense sampling area, and distributing the sampling task to the first robot and the second robot;
after receiving the sampling task, the first robot and the second robot carry out dense sampling in the dense sampling area;
dynamically acquiring a target distance between the first robot and the second robot, and dynamically acquiring form information of the first robot and the second robot when the target distance is less than or equal to a preset safe distance threshold;
generating a model based on a preset robot dynamic collision avoidance rule, and determining the robot dynamic collision avoidance rule according to the form information;
controlling the first robot and the second robot to carry out dynamic collision avoidance according to the robot dynamic collision avoidance rule;
when the first robot and the second robot finish the corresponding sampling task in the dense sampling area, acquiring second gas information sampled when the first robot and the second robot execute the sampling task;
determining the source position of the target gas according to the second gas information based on a preset source position determination rule;
inquiring a preset pipeline distribution diagram corresponding to the limited space, and acquiring at least one target pipeline closest to the source position;
acquiring component information of the pipeline gas in the target pipeline, and judging whether the gas type of the pipeline gas is consistent with that of the target gas;
if so, taking the corresponding target pipeline as a leakage pipeline;
determining a control switch corresponding to the leakage pipeline based on a preset pipeline-control switch comparison table;
trying to remotely close the control switch, and if the trying to close is successful, controlling a third robot which is closer to the source position in the first robot and the second robot to move to the source position;
when the third robot reaches the source position, controlling the third robot to acquire current third gas information of the source position;
judging whether the blocking is successful or not according to the third gas information based on a preset blocking success judgment rule;
if not, notifying a maintenance person closest to the source position to wear maintenance equipment and move to the source position for manual maintenance blocking;
controlling the third robot to go to an entrance of the restricted space to wait for the maintenance personnel;
when the maintenance personal arrives during the entrance, control the third robot gathers maintenance personal's visual region, simultaneously, control the third robot is in the visual region to maintenance personal demonstrates the warning information of following of predetermineeing, makes maintenance personal follows the third robot goes to the source position.
8. The system as claimed in claim 7, wherein the harmful gas blocking module performs the following operations when the maintenance personnel performs manual maintenance blocking on the source position:
controlling the third robot to collect a plurality of operation behaviors of manual maintenance blocking of the source position by the maintenance personnel;
acquiring a preset early warning behavior library, and matching the operation behavior with early warning behaviors in the early warning behavior library;
if the matching is in accordance with the preset pre-warning behavior, acquiring a pre-warning scheme corresponding to the pre-warning behavior in accordance with the matching;
and sending out corresponding early warning based on the early warning scheme.
9. A limited space gas alarm method based on the transmission function of the Internet of things is characterized by comprising the following steps:
step S1: when a worker works in a limited space, controlling a first robot to enter the limited space;
step S2: controlling the first robot to acquire first space information of the limited space;
step S3: controlling the first robot to collect first gas information in the limited space based on the first space information;
step S4: and determining whether to perform early warning on the operator or not based on the first gas information, and if so, performing corresponding early warning.
10. The limited space gas alarm method based on the transmission function of the internet of things according to claim 9, wherein the step S3: controlling the first robot to collect first gas information in the restricted space based on the first space information, including:
training a robot gas sampling control model;
and controlling the first robot to collect first gas information in the limited space according to the first space information based on the robot gas sampling control model.
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