CN114999119B - Restricted space gas alarm system and method based on internet of things transmission function - Google Patents
Restricted space gas alarm system and method based on internet of things transmission function Download PDFInfo
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- CN114999119B CN114999119B CN202210575824.6A CN202210575824A CN114999119B CN 114999119 B CN114999119 B CN 114999119B CN 202210575824 A CN202210575824 A CN 202210575824A CN 114999119 B CN114999119 B CN 114999119B
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- G—PHYSICS
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- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- 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
- G08B21/14—Toxic gas alarms
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Abstract
The invention provides a limited space gas alarm system and a method based on an internet of things transmission function, wherein the system comprises: the acquisition module is used for controlling the first robot to enter the limited space when workers work in the limited space; the first control module is used for controlling the robot to acquire first space information of the limited space; the second control module is used for controlling the robot to acquire first gas information in the limited space based on the first space information; and the early warning module is used for determining whether to early warn the operator or not based on the first gas information, and if so, carrying out corresponding early warning. According to the limited space gas alarm system and method based on the internet of things transmission function, 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, and 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 an internet of things transmission function.
Background
At present, a construction site is often located in a limited space (such as the interior of various equipment of a factory, such as a furnace, a tank, a pipeline and the like), and safety accidents (such as poisoning of hydrogen sulfide in a wastewater treatment workshop) are easily caused when harmful gas leakage, insufficient oxygen content and the like occur due to the semi-closed characteristic of the limited space, so that detection of harmful gas components before operation is particularly necessary. The existing limited space gas detection technology obtains sampling data through manual collection, is not convenient and fast, and is not suitable for scenes in limited space which are unfavorable for entering.
Thus, a solution is needed.
Disclosure of Invention
The invention aims to provide a limited space gas alarm system and a limited space gas alarm method based on an Internet of things transmission function, which are used for controlling first gas information acquired by a first robot without manual acquisition, so that convenience is improved, and meanwhile, the robot can be applied to a limited space with a complicated space structure, and applicability is improved.
The embodiment of the invention provides a limited space gas alarm system and a method based on an internet of things transmission function, comprising 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 spatial information of the limited space;
the second control module is used for controlling the first robot to acquire first gas information in the limited space based on the first space information;
and the early warning module is used for determining whether to early warn the operator or not based on the first gas information, and if so, carrying out corresponding early warning.
Preferably, the second control module performs the following operations:
training a robot gas sampling control model;
and controlling the robot to acquire 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 internet of things transmission function trains gaseous sampling control model of robot, includes:
acquiring a plurality of first control records for manually performing robot gas sampling control;
verifying the first credibility of the formulation party corresponding to the first control record, and verifying the second credibility of the first control record;
When all pass the verification, the first control record which passes the verification is taken 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 verifies the first credibility of the formulation party corresponding to the first control record, and the limited space gas alarm system comprises:
acquiring 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 party contained in the formulation party;
inquiring a preset historical experience library of a formulator, determining a first historical experience value corresponding to the first formulator as a first target value, and associating with the first control record;
a first target value of the first target value associated with the first control record and a first credibility as a formulation party;
when the formulation type of the formulation party is collaborative formulation, acquiring a second formulation party contained in the formulation party;
acquiring participation types of the second formulator in the first control record formulation, wherein the participation types comprise: critical participation and non-critical participation;
When the participation type is key participation, inquiring the historical experience library of the formulator, determining a second historical experience value corresponding to the second formulator, and endowing a first weight coefficient preset by the second historical experience value to obtain a second target value and correlating with the first control record;
when the participation type is non-key participation, inquiring the historical experience library of the formulator, determining a third historical experience value corresponding to the second formulator, and endowing the third historical experience value with a preset second weight coefficient to obtain a third target value and correlating with the first control record;
accumulating and calculating a second target value associated with the first control record and a third target value associated with the first control record to obtain a second target value sum, and taking the second target value sum as a first credibility of a formulation party in collaborative formulation;
if the first credibility is larger than or equal to a preset first credibility threshold, verifying a formulation party corresponding to the first control record;
otherwise, the verification is not passed;
wherein the first weight coefficient is greater than the second weight coefficient.
Preferably, the limited space gas alarm system based on the transmission function of the internet of things, wherein the verifying the second credibility of the first control record includes:
Attempting to acquire at least one employing party historically employing the first control record;
if the attempt to acquire the authentication type is successful, acquiring the authentication type corresponding to the adoption party, wherein the authentication type comprises: organization authentication and individual authentication;
when the authentication type is organization authentication, acquiring a first approval value of the adoption party on the first control record, and endowing a third weight coefficient preset by the first approval value to acquire a fourth target value and correlating with the first control record;
when the authentication type is individual authentication, acquiring a second approval value of the adoption party on the first control record, and endowing a fourth weight coefficient preset by the second approval value to acquire a fifth target value and correlating with the first control record;
accumulating and calculating a fourth target value associated with the first control record and a fifth target value associated with the first control record to obtain a third target value sum, and taking the third target value sum as a second credibility of the first control record;
if the acquisition attempt fails, performing reliability verification on the first control record based on a preset reliability verification model to obtain second reliability of the first control record;
If the second credibility is larger 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 component of the first gas information to obtain the concentration of the gas component of at least one gas type;
acquiring an early warning judgment rule corresponding to the gas type;
based on the early warning judgment rule, carrying out early warning judgment according to the concentration of the corresponding gas component;
and when the early warning is determined to be needed, carrying out corresponding early warning on the operator.
Preferably, a limited space gas alarm system based on internet of things transmission function further includes:
the harmful gas blocking module is used for blocking the target gas when the target gas with the harmful gas type in the limited space is judged to be in the condition that the concentration of the gas component corresponding to the target gas exceeds the standard;
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 the 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 randomly displace 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 currently-delineated area of 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 simultaneously acquiring a second sampling efficiency of the second robot;
generating a sampling task of the first robot and the second robot for densely sampling in the densely sampling area based on the first sampling efficiency and the second sampling efficiency, and distributing the tasks to the first robot and the second robot;
After the first robot and the second robot receive the sampling task, performing intensive sampling in the intensive sampling area;
dynamically acquiring target distances of the first robot and the second robot, and dynamically acquiring form information of the first robot and the second robot when the target distances are 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 perform dynamic collision avoidance according to the dynamic collision avoidance rule of the robots;
acquiring second gas information sampled when the first robot and the second robot execute the sampling task when the first robot and the second robot complete the corresponding sampling task in the dense sampling area;
determining the source position of the target gas according to the second gas information based on a preset source position determining rule;
inquiring a preset pipeline distribution diagram corresponding to the limited space, and acquiring at least one target pipeline nearest to the source position;
Acquiring component information of pipeline gas in the target pipeline, and judging whether the gas types of the pipeline gas are consistent with the gas types of the target gas;
if yes, 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;
attempting to remotely close the control switch, and if the attempt to close is successful, controlling a third robot which is 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;
based on a preset blocking success judging rule, judging whether blocking is successful or not according to the third gas information;
if not, notifying a maintainer closest to the source position to wear maintenance equipment to go to the source position for manual maintenance blocking;
controlling the third robot to go to the entrance of the limited space to wait for the maintenance personnel;
when the maintenance personnel arrive at the entrance, the third robot is controlled to collect the visual area of the maintenance personnel, and meanwhile, the third robot is controlled to display preset follow-up reminding information to the maintenance personnel in the visual area, so that the maintenance personnel can follow the third robot to go to the source position.
Preferably, the limited space gas alarm system based on the transmission function of the internet of things, when the serviceman 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 manually maintaining and blocking the source position by the maintainer;
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 met, acquiring an early warning scheme corresponding to the early warning behavior which is met by the matching;
and based on the early warning scheme, sending out corresponding early warning.
Preferably, the limited space gas alarm method based on the transmission function of the internet of things comprises the following steps:
step S1: when working personnel work 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 acquire first gas information in the limited space based on the first space information;
step S4: and based on the first gas information, determining whether to perform early warning on the operator, and if so, performing corresponding early warning.
Preferably, a limited space gas alarm method based on the transmission function of the internet of things, wherein the step S3: based on the first spatial information, controlling the first robot to collect first gas information in the confined space, including:
training a robot gas sampling control model;
and controlling the first robot to acquire 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 thereof as well as the appended drawings.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain 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 an embodiment of the invention;
Fig. 2 is a flowchart of a limited space gas alarm method based on an internet of things transmission function in an embodiment of the invention.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
The embodiment of the invention provides an information extraction method and system, as shown in fig. 1, comprising the following steps:
an acquisition module 1 for controlling a first robot to enter a limited space when an operator works in the limited space;
a first control module 2, configured to control the first robot to collect first spatial information of the limited space;
a second control module 3, configured to control 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 perform early warning on the operator or not based on the first gas information, and performing corresponding early warning if the operator is subjected to early warning.
The working principle and the beneficial effects of the technical scheme are as follows:
when a worker prepares to enter a confined space (inside various equipment of a factory, such as a furnace, a tank, a pipe, etc.), a first robot (movable robot equipped with a miniature camera and a sensor) is controlled to enter the confined space. Acquiring first space information (such as topographic information, area information and the like of a limited space required to be monitored) of gas detection, controlling a first robot to acquire first gas information (component information and concentration information of the 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 or not, and if so, carrying out 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, so that manual acquisition is not needed, convenience is improved, and meanwhile, the robot can be applied to the limited space with a complex space structure, and applicability is improved.
The embodiment of the invention provides a limited space gas alarm system based on an internet of things transmission function, wherein the second control module executes the following operations:
training a robot gas sampling control model;
and controlling the first robot to acquire 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:
because of the spatial layout, the spatial area and the like of different limited spaces, the first gas information acquired by different robot gas sampling control strategies can be different, and the improper sampling control strategies can cause errors of results; therefore, a solution is needed;
training a robot gas sampling control model (training a neural network model by using a plurality of manually recorded records for controlling the robot gas sampling as training data, training to a converged neural network model), and determining first gas information (component information and concentration information) according to the acquired first space 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 rationality of robot sampling is improved.
The embodiment of the invention provides a limited space gas alarm system and a method based on an Internet of things transmission function, which are used for training a robot gas sampling control model and comprise the following steps:
acquiring a plurality of first control records for manually performing robot gas sampling control;
verifying the first credibility of the formulation party corresponding to the first control record, and verifying the second credibility of the first control record;
when all pass the verification, the first control record which passes the verification is taken 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 of the robot gas sampling control can be obtained through big data, but not 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 needed;
Acquiring a plurality of first control records (first control records for manually performing robot gas sampling control based on large data technology acquisition) of a first control record making party, respectively performing model training on the first control records (the greater the first reliability is, the higher the experience value of the first control record making party) and the second reliability of the first control records (the greater the second reliability is, the higher the acceptance degree of the corresponding acquisition party to the first control records is), and acquiring the corresponding first control records as the second control records when the first reliability is greater than or equal to a preset threshold (for example: 95) and the second reliability is greater than or equal to a preset threshold (for example: 90), and performing model training on the second control records (training on a neural network model by using the second control records to a converged neural network model);
according to the embodiment of the invention, the second control record which passes through the first reliability verification of the corresponding formulation party of the first control record and passes through the second reliability verification of the first control record is screened out, the model training is carried out on the second control record 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 limited space gas alarm system and a method based on an internet of things transmission function, which are used for verifying first credibility of a formulation party corresponding to a first control record and comprise the following steps:
acquiring 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 party contained in the formulation party;
inquiring a preset historical experience library of a formulator, determining a first historical experience value corresponding to the first formulator as a first target value, and associating with the first control record;
a first target value of the first target value associated with the first control record and a first credibility as a formulation party;
when the formulation type of the formulation party is collaborative formulation, acquiring a second formulation party contained in the formulation party;
acquiring participation types of the second formulator in the first control record formulation, wherein the participation types comprise: critical participation and non-critical participation;
when the participation type is key participation, inquiring the historical experience library of the formulator, determining a second historical experience value corresponding to the second formulator, and endowing a first weight coefficient preset by the second historical experience value to obtain a second target value and correlating with the first control record;
When the participation type is non-key participation, inquiring the historical experience library of the formulator, determining a third historical experience value corresponding to the second formulator, and endowing the third historical experience value with a preset second weight coefficient to obtain a third target value and correlating with the first control record;
accumulating and calculating a second target value associated with the first control record and a third target value associated with the first control record to obtain a second target value sum, and taking the second target value sum as a first credibility of a formulation party in collaborative formulation;
if the first credibility is larger than or equal to a preset first credibility threshold, verifying a formulation party corresponding to the first control record;
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 making control record making party is different, and a making party with low historical experience may lead to unreasonable sampling point making due to the lack of experience, so that the first credibility of the first making record is low (for example, the making party has only experience of making records once historically, and the corresponding first credibility of the first making record is low); therefore, a solution is needed;
The formulation type of the formulation party for obtaining the first control record includes: personal formulation (sample point formulation by individuals alone) and collaborative formulation (sample point formulation by multi-person collaboration); when the formulation type is personal formulation, a preset historical experience library (database, storing the corresponding relation between the sampling point record formulation person and the historical experience value thereof, wherein the higher the historical experience value is, the more times the sampling point formulation is carried out on the history of the formulation person is, the more experience is obtained), the historical experience value of the first formulation person is determined, the first target value of the first target value is taken as a first target value, the first credibility of the formulation party is taken as a first target value, when the formulation type is collaborative formulation, the participation type of the second formulation person is determined according to the participation degree of the second formulation person in the corresponding first control record process, and the participation type of the second formulation person can be divided into: the key participation and the non-key participation (can be obtained through engineering history files, for example, a record file records that a certain formulated record formulator A is a main formulator, B is a secondary formulator, 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 formulated 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 is multiplied by the second historical experience value when the second historical experience value is given), a third historical experience value of the second formulated person corresponding to the non-key participation type is obtained and the second weight coefficient is given, a third target value is obtained (the second weight coefficient is multiplied by the third historical experience value when the third historical experience value is given), the main participant has higher participation degree than the subordinate participation, the first weight coefficient is given, the first weight coefficient is higher, the second target value and the third target value are calculated in an accumulated mode to obtain the second target value sum, and the first reliability of the formulated party when the first reliability of the cooperative formulation party is greater than or equal to a preset first reliability threshold (for example: 500) and the reliability threshold is passed through verification;
The embodiment of the invention determines the first control record corresponding to the high historical experience value of the formulator based on the historical experience degree and participation degree of the formulator, verifies the first credibility of the first control record and improves the verification rationality.
The embodiment of the invention provides a limited space gas alarm system and a method based on an internet of things transmission function, which are used for verifying second credibility of a first control record and comprise the following steps:
attempting to acquire at least one employing party historically employing the first control record;
if the attempt to acquire the authentication type is successful, acquiring the authentication type corresponding to the adoption party, wherein the authentication type comprises: organization authentication and individual authentication;
when the authentication type is organization authentication, acquiring a first approval value of the adoption party on the first control record, and endowing a third weight coefficient preset by the first approval value to acquire a fourth target value and correlating with the first control record;
when the authentication type is individual authentication, acquiring a second approval value of the adoption party on the first control record, and endowing a fourth weight coefficient preset by the second approval value to acquire a fifth target value and correlating with the first control record;
Accumulating and calculating a fourth target value associated with the first control record and a fifth target value associated with the first control record to obtain a third target value sum, and taking the third target value sum as a second credibility of the first control record;
if the acquisition attempt fails, performing reliability verification on the first control record based on a preset reliability verification model to obtain second reliability of the first control record;
if the second credibility is larger than or equal to a preset second credibility threshold, the corresponding first control record passes verification; the method comprises the steps of carrying out a first treatment on the surface of the
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 adoption party can feed back the approval degree of the first control record (for example, feed back through a weather engineering communication forum or an academic communication blog and the like), and if the first control record with low approval degree is adopted, the second control record can be unreasonable; therefore, a solution is needed;
the method comprises the steps that the party attempting to acquire the first control record acquires the authentication type of the party if the attempt is successful, and the method comprises the following steps: organization authentication (approval of the first control record by the agency of metering authentication) and individual authentication (approval of the first control record by the individual unit); acquiring a first approval value when the authentication type is tissue authentication and endowing the first approval value with a preset third weight coefficient, acquiring a fourth target value (endowing the third weight coefficient and the first approval value to multiply) and endowing the authentication type with a second approval value when the authentication type is individual authentication and endowing the authentication type with a preset fourth weight coefficient to acquire a fifth target value (endowing the authentication type with the fourth weight coefficient and the second approval value to multiply), wherein the tissue authentication is more referential than the individual authentication, the third weight coefficient is larger than the fourth weight coefficient, and accumulating and calculating a third target value sum of the fourth target value and the fifth target value as a second credibility of the first control record;
If the acquisition attempt fails, performing reliability verification on the first control record based on a preset reliability verification model (a neural network model is trained by using a large number of records of the reliability of the manual verification robot control record as training data and training is performed until the neural network model is converged), so as to obtain second reliability of the first control record;
if the second confidence level is greater than or equal to a preset second confidence level threshold (e.g., 350), the first control record passes the second confidence level 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 adoption 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 embodiment of the invention provides a limited space gas alarm system and a method based on an internet of things transmission function, wherein an analysis module executes the following operations:
analyzing the gas component of the first gas information to obtain the concentration of the gas component of at least one gas type;
acquiring an early warning judgment rule corresponding to the gas type;
based on the early warning judgment rule, carrying out early warning judgment according to the concentration of the corresponding gas component;
And when the early warning is determined to be needed, 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 a gas component concentration (for example, NO corresponds to 0.2 ppm) of a first gas type, acquiring a gas type judgment rule (for example, when the oxygen content in the air is lower than 21%, the oxygen deficiency of an operator is caused, and the early warning is judged to be needed), and when the early warning is judged to be needed, carrying out early warning on the corresponding operator;
according to the method and the device for analyzing the first gas information, the first gas information is analyzed, the gas component concentration corresponding to the gas species is obtained, judgment is carried out based on the early warning judgment rule, and the rationality 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 harmful gas blocking module is used for blocking the target gas when the target gas with the harmful gas type in the limited space is judged to be in the condition that the concentration of the gas component corresponding to the target gas exceeds the standard;
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 the 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 randomly displace 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 currently-delineated area of 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 simultaneously acquiring a second sampling efficiency of the second robot;
generating a sampling task of the first robot and the second robot for densely sampling in the densely sampling area based on the first sampling efficiency and the second sampling efficiency, and distributing the tasks to the first robot and the second robot;
After the first robot and the second robot receive the sampling task, performing intensive sampling in the intensive sampling area;
dynamically acquiring target distances of the first robot and the second robot, and dynamically acquiring form information of the first robot and the second robot when the target distances are 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 perform dynamic collision avoidance according to the dynamic collision avoidance rule of the robots;
acquiring second gas information sampled when the first robot and the second robot execute the sampling task when the first robot and the second robot complete the corresponding sampling task in the dense sampling area;
determining the source position of the target gas according to the second gas information based on a preset source position determining rule;
inquiring a preset pipeline distribution diagram corresponding to the limited space, and acquiring at least one target pipeline nearest to the source position;
Acquiring component information of pipeline gas in the target pipeline, and judging whether the gas types of the pipeline gas are consistent with the gas types of the target gas;
if yes, 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;
attempting to remotely close the control switch, and if the attempt to close is successful, controlling a third robot which is 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;
based on a preset blocking success judging rule, judging whether blocking is successful or not according to the third gas information;
if not, notifying a maintainer closest to the source position to wear maintenance equipment to go to the source position for manual maintenance blocking;
controlling the third robot to go to the entrance of the limited space to wait for the maintenance personnel;
when the maintenance personnel arrive at the entrance, the third robot is controlled to collect the visual area of the maintenance personnel, and meanwhile, the third robot is controlled to display preset follow-up reminding information to the maintenance personnel in the visual area, so that the maintenance personnel can follow the third robot to go to the source position.
The working principle and the beneficial effects of the technical scheme are as follows:
when harmful gas is blocked, the whole space of a limited space is blindly sampled, the energy consumption is high, meanwhile, only one robot is used for sampling, the sampling efficiency is low, if two robots are used for sampling at the same time, because the cost problem is considered, the robots applied to engineering are not intelligent enough, and the obstacle avoidance which cannot be self-adapted can collide in the sampling process; therefore, a solution is needed;
acquiring three-dimensional field information of a limited space (a robot carries three-dimensional information of a 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 simulating and reproducing a geographical real scene of the limited space to be monitored based on the acquired three-dimensional information), acquiring a first sampling point of a target gas acquired by a first robot (an early warning judgment is needed for early warning of a first gas) corresponding to the concentration of a gas component, 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, for example, a unit circle with a radius of 3 m), controlling the trigger ring to randomly displace on a three-dimensional distribution map, and taking the current area of the trigger ring as a dense sampling area if the number of first positions falling in the trigger ring is larger than a preset number threshold (for example, 80); the method comprises the steps of acquiring first sampling efficiency (sampling area of a first robot in unit time) of a first robot, acquiring second sampling efficiency (sampling area of a second robot in unit time) of a preset second robot, and distributing a dense sampling area to the first robot and the second robot according to the sampling efficiency. When the first robot and the second robot start a sampling task, dynamically acquiring a target distance between the first robot and the second robot, and when the target distance is smaller than or equal to a preset safety distance threshold (for example, 1 m), dynamically acquiring form information (external shape of the robot) of the first robot and the second robot; based on a preset robot dynamic collision avoidance rule generating model (training a neural network model by using a plurality of manually recorded robot collision records, training to a converged neural network model), determining a robot dynamic collision avoidance rule according to form information (for example, a first robot predicts a change form at a moment t to cause a position of a certain part to appear on a predicted running path at a moment t of a second robot, and then judges that collision occurs at the moment t, and the first robot and/or the second robot carry out form change to avoid before the moment t); the first robot and the second robot perform dynamic collision avoidance according to the dynamic avoidance rules of the robots; when the first robot and the second robot finish sampling in the dense sampling area, second gas information obtained by the first robot and the second robot executing a sampling task is obtained, and the second gas information is determined based on a preset source position determination rule (for example, analyzing a second gas component, determining a corresponding maximum concentration of the gas type of the second gas component consistent with the gas type of the target gas, and taking the corresponding sampling position as the 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 judging the gas component information to be a leakage pipeline if the gas component information is consistent with the target gas component, for example: the target gas component is sulfur dioxide, and the acquired pipeline inner component closest to the target position is also sulfur dioxide, and the pipeline is judged to be a leakage pipeline); acquiring a corresponding control switch (such as a gas valve on gas transmission) on a leakage pipeline based on a preset pipeline-control switch comparison table (a database, a plurality of corresponding relations between a storage pipeline and the corresponding gas control switch), acquiring a control switch closest to the third position point (the greater the possibility of leakage of the control switch closer to the concentration maximum point), attempting to remotely close the control switch (such as remote control to close the electronic valve), if the control switch is attempted to be successfully closed, controlling a third robot which is close to the source position in the first robot and the second robot to acquire third gas information of the source position, and based on a preset blocking success judgment rule (such as that the target gas flow rate in the third gas information is lower than the target gas flow rate in the second gas information, the blocking success is judged), otherwise, performing manual blocking (the electronic valve malfunction possibly occurs under partial scenes or the corresponding valve of the pipeline is a common valve, and manual closing is required), notifying a maintenance personnel closest to the leakage control switch (based on an intelligent terminal of a built-in GPS positioning system to acquire position information of the maintenance personnel, notifying the maintenance personnel closest to the position to wear maintenance equipment (such as a gas mask detector, a gas mask, etc.), and the source position is required to be carried out toward the source position;
Controlling a third robot to wait for a maintenance person at an entrance of the limited space, collecting a visual area (a sight line range of the maintenance person) of the maintenance person when the third robot identifies the maintenance person at the entrance, and displaying follow-up reminding information to the maintenance person in the visual area (for example, the third robot displays the follow-up reminding information to the maintenance person through an l ed display screen), and leading the maintenance person to go to a source position by the third robot;
according to the embodiment of the invention, the dense sampling area is determined based on the first position point with the target gas concentration exceeding the standard, the dense sampling area is sampled simultaneously by controlling the first robot and the second robot, the sampling efficiency is improved, the timeliness of detecting the source position is improved, and the maintainer is led to reach the source position by the third robot, so that the convenience is improved.
The limited space gas alarm system based on the transmission function of the Internet of things provided by the embodiment of the invention, when the maintainer 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 manually maintaining and blocking the source position by the maintainer;
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 met, acquiring an early warning scheme corresponding to the early warning behavior which is met by the matching;
and based on the early warning scheme, sending out corresponding early warning.
The working principle and the beneficial effects of the technical scheme are as follows:
during the manual maintenance blocking of maintenance personnel, safety accidents (for example, poisoning events occur in the process of investigation due to irregular wearing of the anti-virus equipment of the investigation personnel) can occur, so that the risk of maintenance operation is improved; therefore, a solution is needed;
in the maintenance process, dynamically acquiring the operation behaviors of maintenance personnel (the maintenance personnel in a third robot shooting picture is acquired based on a face recognition technology, the operation behaviors of the maintenance personnel are acquired based on a behavior recognition technology), acquiring a preset early warning behavior library (a database for storing the behaviors needing early warning, for example, the maintenance personnel do not act continuously for 15 seconds, the maintenance personnel are judged to be in motion, poisoning events possibly happen because the precaution measures are not put in place, and the early warning behaviors are judged), matching the operation behaviors with the early warning behaviors, and if the matching is met, acquiring an early warning scheme corresponding to the early warning behaviors (for example, sending help-seeking information to an emergency 120 center, wherein poisoning accidents occur at the XX position, and carrying out safety arrangement and rescue);
According to the embodiment of the invention, the third robot monitors the operation behaviors of maintenance personnel in real time, so that the occurrence of safety accidents is 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 judging rule;
wherein, the adjustment 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;
extracting the characteristics of the standard environment information to obtain a plurality of first information characteristics;
acquiring current environment information of the operation of the limited space at regular time;
extracting the characteristics of the current environment information to obtain a plurality of second information characteristics;
performing feature matching on the first information feature and the second information feature to obtain a plurality of matching values;
based on the matching value, adjusting the concentration of the gas component in the early warning judgment rule;
and when the gas component concentrations in the early warning judgment rules needing to be adjusted are all adjusted, finishing the reformation of the early warning judgment rules.
The working principle and the beneficial effects of the technical scheme are as follows:
the method comprises the steps of performing feature extraction on acquired standard environmental information (including information such as temperature, humidity, wind direction, wind speed and the like of an early warning data generation source) of early warning judgment to acquire a plurality of first information features; acquiring current environmental information (temperature, humidity, wind direction, wind speed and the like of the limited space) of the operation of the limited space, and extracting features of the current environmental information to obtain 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 concentration of the gas component according to the following adjustment formula:
wherein c' is the post-adjustment judgmentThe concentration of the gas component in the fixed rule, c is the initial concentration of the gas component in the pre-adjustment early warning judging rule, mu i For the i-th 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 the reforming of 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, the early warning rule is regularly reformed, the proper early warning rule is ensured, and the early warning accuracy 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 is shown in fig. 2 and comprises the following steps:
step S1: when working personnel work 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 acquire first gas information in the limited space based on the first space information;
step S4: and based on the first gas information, determining whether to perform early warning on the operator, and if so, performing corresponding early warning.
The working principle and the beneficial effects of the technical scheme are described in the method claims and are not repeated.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (6)
1. Restricted space gas alarm system based on thing networking transmission function, characterized by comprising:
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 spatial information of the limited space;
the second control module is used for controlling the first robot to acquire first gas information in the limited space based on the first space information;
the early warning module is used for determining whether to early warn the operator or not based on the first gas information, and if so, carrying out corresponding early warning;
the early warning module performs the following operations:
analyzing the gas component of the first gas information to obtain the concentration of the gas component of at least one gas type;
acquiring an early warning judgment rule corresponding to the gas type;
based on the early warning judgment rule, carrying out early warning judgment according to the concentration of the corresponding gas component;
when the early warning is determined to be needed, carrying out corresponding early warning on the operator;
wherein, a restricted space gas alarm system based on internet of things transmission function still includes:
the harmful gas blocking module is used for blocking the target gas when the target gas with the harmful gas type in the limited space is judged to be in the condition that the concentration of the gas component corresponding to the target gas exceeds the standard;
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 the 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 randomly displace 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 currently-delineated area of 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 simultaneously acquiring a second sampling efficiency of the second robot;
generating a sampling task of the first robot and the second robot for densely sampling in the densely sampling area based on the first sampling efficiency and the second sampling efficiency, and distributing the tasks to the first robot and the second robot;
After the first robot and the second robot receive the sampling task, performing intensive sampling in the intensive sampling area;
dynamically acquiring target distances of the first robot and the second robot, and dynamically acquiring form information of the first robot and the second robot when the target distances are 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 perform dynamic collision avoidance according to the dynamic collision avoidance rule of the robots;
acquiring second gas information sampled when the first robot and the second robot execute the sampling task when the first robot and the second robot complete the corresponding sampling task in the dense sampling area;
determining the source position of the target gas according to the second gas information based on a preset source position determining rule;
inquiring a preset pipeline distribution diagram corresponding to the limited space, and acquiring at least one target pipeline nearest to the source position;
Acquiring component information of pipeline gas in the target pipeline, and judging whether the gas types of the pipeline gas are consistent with the gas types of the target gas;
if yes, 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;
attempting to remotely close the control switch, and if the attempt to close is successful, controlling a third robot which is 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;
based on a preset blocking success judging rule, judging whether blocking is successful or not according to the third gas information;
if not, notifying a maintainer closest to the source position to wear maintenance equipment to go to the source position for manual maintenance blocking;
controlling the third robot to go to the entrance of the limited space to wait for the maintenance personnel;
when the maintenance personnel arrive at the entrance, the third robot is controlled to collect the visual area of the maintenance personnel, and meanwhile, the third robot is controlled to display preset follow-up reminding information to the maintenance personnel in the visual area, so that the maintenance personnel can follow the third robot to go to the source position.
2. The limited space gas alarm system based on the internet of things transmission function as set forth in claim 1, wherein the second control module performs the following operations:
training a robot gas sampling control model;
and controlling the robot to acquire first gas information in the limited space according to the first space information based on the robot gas sampling control model.
3. The limited space gas alarm system based on the internet of things transmission function of claim 2, wherein training the robot gas sampling control model comprises:
acquiring a plurality of first control records for manually performing robot gas sampling control;
verifying the first credibility of the formulation party corresponding to the first control record, and verifying the second credibility of the first control record;
when all pass the verification, the first control record which passes the verification is taken as a second control record;
based on a preset model training algorithm, performing model training according to the second control record to obtain a robot gas sampling control model;
the verifying the first credibility of the formulation party corresponding to the first control record includes:
Acquiring 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 party contained in the formulation party;
inquiring a preset historical experience library of a formulator, determining a first historical experience value corresponding to the first formulator as a first target value, and associating with the first control record;
a first target value of the first target value associated with the first control record and a first credibility as a formulation party;
when the formulation type of the formulation party is collaborative formulation, acquiring a second formulation party contained in the formulation party;
acquiring participation types of the second formulator in the first control record formulation, wherein the participation types comprise: critical participation and non-critical participation;
when the participation type is key participation, inquiring the historical experience library of the formulator, determining a second historical experience value corresponding to the second formulator, and endowing a first weight coefficient preset by the second historical experience value to obtain a second target value and correlating with the first control record;
When the participation type is non-key participation, inquiring the historical experience library of the formulator, determining a third historical experience value corresponding to the second formulator, and endowing the third historical experience value with a preset second weight coefficient to obtain a third target value and correlating with the first control record;
accumulating and calculating a second target value associated with the first control record and a third target value associated with the first control record to obtain a second target value sum, and taking the second target value sum as a first credibility of a formulation party in collaborative formulation;
if the first credibility is larger than or equal to a preset first credibility threshold, verifying a formulation party corresponding to the first control record;
otherwise, the verification is not passed;
wherein the first weight coefficient is greater than the second weight coefficient;
wherein verifying the second trust of the first control record includes:
attempting to acquire at least one employing party historically employing the first control record;
if the attempt to acquire the authentication type is successful, acquiring the authentication type corresponding to the adoption party, wherein the authentication type comprises: organization authentication and individual authentication;
when the authentication type is organization authentication, acquiring a first approval value of the adoption party on the first control record, and endowing a third weight coefficient preset by the first approval value to acquire a fourth target value and correlating with the first control record;
When the authentication type is individual authentication, acquiring a second approval value of the adoption party on the first control record, and endowing a fourth weight coefficient preset by the second approval value to acquire a fifth target value and correlating with the first control record;
accumulating and calculating a fourth target value associated with the first control record and a fifth target value associated with the first control record to obtain a third target value sum, and taking the third target value sum as a second credibility of the first control record;
if the acquisition attempt fails, performing reliability verification on the first control record based on a preset reliability verification model to obtain second reliability of the first control record;
if the second credibility is larger 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.
4. The limited space gas alarm system based on the transmission function of the internet of things as set forth in claim 1, wherein the harmful gas blocking module performs the following operations when the serviceman performs manual maintenance blocking on the source location:
Controlling the third robot to collect a plurality of operation behaviors of manually maintaining and blocking the source position by the maintainer;
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 met, acquiring an early warning scheme corresponding to the early warning behavior which is met by the matching;
and based on the early warning scheme, sending out corresponding early warning.
5. The limited space gas alarm method based on the transmission function of the Internet of things is characterized by comprising the following steps of:
step S1: when working personnel work 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 acquire first gas information in the limited space based on the first space information;
step S4: based on the first gas information, determining whether to perform early warning on the operator, and if so, performing corresponding early warning;
wherein, step S4: based on the first gas information, determining whether to perform early warning on the operator, if so, performing corresponding early warning, including:
Analyzing the gas component of the first gas information to obtain the concentration of the gas component of at least one gas type;
acquiring an early warning judgment rule corresponding to the gas type;
based on the early warning judgment rule, carrying out early warning judgment according to the concentration of the corresponding gas component;
when the early warning is determined to be needed, carrying out corresponding early warning on the operator;
the limited space gas alarm method based on the transmission function of the Internet of things further comprises the following steps:
step S5: when the target gas with the gas species being harmful gas in the limited space is judged to be corresponding to the gas component concentration exceeding the standard, the target gas is blocked correspondingly;
wherein, step S5: when it is determined that the concentration of the gas component corresponding to the target gas in the limited space, in which the gas species are harmful, exceeds the standard, the target gas is blocked correspondingly, including:
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 the 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 randomly displace 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 currently-delineated area of 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 simultaneously acquiring a second sampling efficiency of the second robot;
generating a sampling task of the first robot and the second robot for densely sampling in the densely sampling area based on the first sampling efficiency and the second sampling efficiency, and distributing the tasks to the first robot and the second robot;
after the first robot and the second robot receive the sampling task, performing intensive sampling in the intensive sampling area;
dynamically acquiring target distances of the first robot and the second robot, and dynamically acquiring form information of the first robot and the second robot when the target distances are 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 perform dynamic collision avoidance according to the dynamic collision avoidance rule of the robots;
acquiring second gas information sampled when the first robot and the second robot execute the sampling task when the first robot and the second robot complete the corresponding sampling task in the dense sampling area;
determining the source position of the target gas according to the second gas information based on a preset source position determining rule;
inquiring a preset pipeline distribution diagram corresponding to the limited space, and acquiring at least one target pipeline nearest to the source position;
acquiring component information of pipeline gas in the target pipeline, and judging whether the gas types of the pipeline gas are consistent with the gas types of the target gas;
if yes, 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;
Attempting to remotely close the control switch, and if the attempt to close is successful, controlling a third robot which is 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;
based on a preset blocking success judging rule, judging whether blocking is successful or not according to the third gas information;
if not, notifying a maintainer closest to the source position to wear maintenance equipment to go to the source position for manual maintenance blocking;
controlling the third robot to go to the entrance of the limited space to wait for the maintenance personnel;
when the maintenance personnel arrive at the entrance, the third robot is controlled to collect the visual area of the maintenance personnel, and meanwhile, the third robot is controlled to display preset follow-up reminding information to the maintenance personnel in the visual area, so that the maintenance personnel can follow the third robot to go to the source position.
6. The limited space gas alarm method based on the transmission function of the internet of things as set forth in claim 5, wherein the step S3: based on the first spatial information, controlling the first robot to collect first gas information in the confined space, including:
Training a robot gas sampling control model;
and controlling the first robot to acquire 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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| US5578770A (en) * | 1995-09-11 | 1996-11-26 | Welker Engineering Company | Apparatus and method for gas detection |
| CN111220999A (en) * | 2019-11-29 | 2020-06-02 | 大连海事大学 | Restricted space detection system and method based on instant positioning and mapping technology |
| CN112285289A (en) * | 2020-10-23 | 2021-01-29 | 上海海事大学 | Device for detecting distribution characteristics of gas in limited space |
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