CN119224242B - A gas detection method and system for dangerous workplaces - Google Patents
A gas detection method and system for dangerous workplaces Download PDFInfo
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
- G01N33/0009—General constructional details of gas analysers, e.g. portable test equipment
- G01N33/0062—General constructional details of gas analysers, e.g. portable test equipment concerning the measuring method or the display, e.g. intermittent measurement or digital display
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
- G01N33/0009—General constructional details of gas analysers, e.g. portable test equipment
- G01N33/0027—General constructional details of gas analysers, e.g. portable test equipment concerning the detector
- G01N33/0031—General constructional details of gas analysers, e.g. portable test equipment concerning the detector comprising two or more sensors, e.g. a sensor array
- G01N33/0034—General constructional details of gas analysers, e.g. portable test equipment concerning the detector comprising two or more sensors, e.g. a sensor array comprising neural networks or related mathematical techniques
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- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
- G01N33/0009—General constructional details of gas analysers, e.g. portable test equipment
- G01N33/0062—General constructional details of gas analysers, e.g. portable test equipment concerning the measuring method or the display, e.g. intermittent measurement or digital display
- G01N33/0063—General constructional details of gas analysers, e.g. portable test equipment concerning the measuring method or the display, e.g. intermittent measurement or digital display using a threshold to release an alarm or displaying means
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- G01N33/0009—General constructional details of gas analysers, e.g. portable test equipment
- G01N33/0062—General constructional details of gas analysers, e.g. portable test equipment concerning the measuring method or the display, e.g. intermittent measurement or digital display
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- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
The invention relates to the technical field of gas detection, in particular to a gas detection method and system for dangerous operation places. The method comprises the steps of obtaining gas concentration and position information of each detection point in real time, dividing the whole detection area into a plurality of grids, calculating the concentration density of each grid by a nuclear density analysis method based on the gas concentration and position information of each detection point, constructing a gas concentration plane distribution diagram of the whole detection area based on the concentration densities of all grids, and manually inspecting the position with the gas concentration exceeding the limit based on the gas concentration plane distribution diagram, so that the reliability and the accuracy of gas detection in an operation environment with complex or uneven gas diffusion are ensured.
Description
Technical Field
The invention relates to the technical field of gas detection, in particular to a gas detection method and system for dangerous operation places.
Background
In recent years, as the progress of industrialization and the processing scale of the chemical industry are increased year by year, many industrial activities involve the production, use, storage and transportation of toxic and harmful chemicals, and these industrial activities are gradually developed toward the trend of large scale and large scale, so that the risks of leakage and emission of toxic and harmful gases are increased, and non-negligible harm is caused to the environment and human health. Therefore, how to accurately detect toxic and harmful gases and ensure the operation safety of detection personnel in dangerous operation environments is a current research hot spot.
Therefore, according to the Chinese patent 202211486924.8, according to the gas detection sensors arranged at each point of the monitoring area, the toxic gas concentration of each point of the monitoring area is detected, inverse distance weighted data fitting is carried out, a toxic gas concentration distribution diagram of any position in the monitoring area is obtained, the defect of the gas detection sensors is overcome, the concentration of the toxic gas in the area can be obtained more intuitively, and then unmanned aerial vehicle inspection is carried out according to the toxic gas distribution diagram, so that abnormal points can be positioned quickly, and compared with manual inspection, the method is safer and quicker. The inverse distance weighted data fitting method adopted in the prior patent is an interpolation technology, and estimates the value at the fitting point by calculating the distance between each sampling point and the fitting point and giving different weights to the distances, so that the method is very effective in processing continuous data, but in an actual detection working environment, toxic and harmful gas diffusion is influenced by various factors including temperature, humidity, wind speed and physicochemical characteristics of the gas, the factors can lead to very complex and uneven distribution of the gas in space, thereby leading to larger adverse effects on the fitting point caused by the points with larger distance, and the inverse distance weighted data fitting method can not accurately capture the adverse effects under the condition of complex or uneven gas diffusion, thereby leading to larger difference between fitting results and actual gas distribution, and being difficult to ensure the reliability and accuracy of gas detection. Meanwhile, although unmanned aerial vehicle inspection can provide a high-efficiency and low-cost solution under certain conditions, unmanned aerial vehicles can be difficult to operate under dangerous operation environments, such as a narrow space or a complex terrain structure, and when an emergency occurs, unmanned aerial vehicles rely on preset programs and sensor data, cannot timely make an optimal decision aiming at environmental changes, and cannot guarantee timely response to the emergency, so that manual inspection is not indispensable, and safety guarantee for inspection personnel is particularly important.
Disclosure of Invention
Aiming at the technical problems, the invention provides a gas detection method and a gas detection system for dangerous operation sites, which aim to ensure the reliability and the accuracy of gas detection in an operation environment with complex or uneven gas diffusion and dynamically monitor the safety of inspectors.
In a first aspect, the present application provides a method of gas detection in a hazardous operation site, comprising the steps of:
102, acquiring gas concentration and position information of each detection point in real time;
104, dividing the whole detection area into a plurality of grids, and calculating the concentration density of each grid by adopting a nuclear density analysis method based on the gas concentration and the position information of each detection point;
step 106, constructing a gas concentration plane distribution map of the whole detection area based on the concentration densities of all grids;
and step 108, manually inspecting the position with the gas concentration exceeding the limit on the basis of the gas concentration plane distribution diagram.
In some embodiments, in step 104, based on the gas concentration and the position information of each detection point, a nuclear density analysis is used to calculate a concentration density of each grid, including:
Acquiring the position of a central point of each grid;
calculating the x-axis distance and the y-axis distance between the center point of each grid and each detection point based on the position of the center point of the grid and the position information of each detection point, and recording the distance data of the grid;
And calculating the concentration density of each grid by adopting a preset kernel function based on the distance data of each grid and the gas concentration of each detection point.
In some embodiments, calculating the concentration density of each grid using a predetermined kernel function based on the distance data of each grid and the gas concentration of each detection point comprises:
Determining the bandwidth by adopting a rule of thumb of Silverman;
based on the determined bandwidth, the distance data for each grid, and the gas concentration at each detection point, the concentration density for each grid is calculated using a gaussian kernel function.
In some embodiments, calculating the concentration density of each grid using a gaussian kernel function based on the determined bandwidth, the distance data for each grid, and the gas concentration at each detection point, comprises:
Calculating the weight between the grid center point and each detection point by using a Gaussian kernel function based on the determined bandwidth and the distance data of each grid;
Multiplying the weight between the grid center point and each detection point by the gas concentration of each detection point to obtain the weighted concentration between the grid center point and each detection point;
and (5) averaging all weighted concentrations to obtain the concentration density of the grid.
In some embodiments, after step 106, before step 108, further comprising:
generating a gas concentration time change curve of each grid based on the concentration density of each grid in a preset time period;
periodically correcting the gas concentration time change curve;
identifying the gas concentration rising trend of each grid based on the corrected gas concentration time change curve;
And (5) carrying out early warning on the gas concentration of the detection area based on the gas concentration rising trend of each grid.
In some embodiments, after step 108, the steps of:
step 110, adopting a handheld inspection device to monitor acceleration and angular velocity in the inspection process in real time;
And 112, carrying out safety monitoring and alarming on the inspector based on the acceleration and the angular speed in the inspection process.
In some embodiments, in step 112, based on the acceleration and the angular velocity during the inspection, the security monitoring alarm is given to the inspector, including:
Determining the change amplitude of the angular velocity based on the angular velocity in the inspection process;
comparing the change amplitude of the angular velocity with a first preset threshold value, judging the current safety of the patrol inspector if the change amplitude of the angular velocity is smaller than the first preset threshold value, and executing the following steps if the change amplitude of the angular velocity is larger than or equal to the first preset threshold value:
Presetting a window period, and determining the variation amplitude of acceleration in the window period;
comparing the variation amplitude of the acceleration with a second preset threshold value, judging the current safety of the inspector if the variation amplitude of the acceleration is smaller than the second preset threshold value, judging the inspector to fall if the variation amplitude of the acceleration is larger than or equal to the second preset threshold value, and sending out a safety alarm of the inspector.
In a second aspect, the application provides a gas detection system for a hazardous operation place, comprising a gas detector host, a plurality of gas detector slaves and a handheld patrol inspector, wherein the gas detector host is positioned outside a detection area, each gas detector slave is positioned at a detection point in the detection area, a communication networking link is formed among the gas detector host, each gas detector slave and the handheld patrol inspector,
The gas detector slave machine is used for acquiring the gas concentration and the position information of the corresponding detection point in real time;
The gas detector host is used for dividing the whole detection area into a plurality of grids, calculating the concentration density of each grid by adopting a nuclear density analysis method based on the gas concentration and the position information of each detection point, and constructing a gas concentration plane distribution map of the whole detection area based on the concentration densities of all the grids;
the handheld patrol inspector is used for being carried by a patrol inspector to enter the detection area, and the position with the gas concentration exceeding the limit is manually patrol inspected based on the gas concentration plane distribution diagram.
In some embodiments, the handheld inspection device comprises a communication unit and an attitude sensing unit, wherein a plurality of gas detector slaves and a gas detector host are all in communication connection with the communication unit of the handheld inspection device, the attitude sensing unit is connected with the communication unit, the attitude sensing unit is used for monitoring acceleration and angular velocity in the inspection process in real time, safety monitoring and alarming are carried out on an inspector based on the acceleration and the angular velocity in the inspection process, and alarm information is sent to the gas detector host through the communication unit.
In some embodiments, the gas detector slave comprises an infrared detection unit and a sensor detection unit, wherein the infrared detection unit is used for acquiring gas imaging information of a corresponding detection point in real time so as to early warn the gas concentration in advance, and the sensor detection unit is used for acquiring the gas concentration and position information of the corresponding detection point in real time.
The beneficial technical effects of the invention at least comprise:
1. the gas detection method and the gas detection system for the dangerous operation place are adopted, the detection area is wholly divided into a plurality of grids, the concentration density of each grid is calculated by adopting a nuclear density analysis method based on the distance between the center point of each grid and each detection point and the gas concentration of each detection point, namely, the weight of each grid is calculated through a kernel function, and then the gas concentration data is spatially interpolated, so that good smoothness can be provided, the influence of noise and abnormal values is reduced, the distribution of the gas in the space is more accurately simulated, the gas concentration density estimation error caused by complex or uneven gas distribution is furthest overcome, the gas concentration density estimation precision is improved, and the gas concentration in the dangerous operation range is comprehensively and timely monitored by combining with the subsequent construction of the gas concentration plane distribution map of the whole detection area, so that rescue operation can be relied on;
2. The bandwidth is determined through the rule of thumb of Silverman, the optimal bandwidth is calculated based on the statistical characteristics of data while the estimated smoothness and deviation are balanced, and the more objective and accurate selection of the Gaussian kernel function bandwidth is realized; then, the Gaussian kernel function is adopted to calculate the weight of the grid, so that the grid weight can be distributed more uniformly in the whole detection area, a smoother curve is formed in a gas concentration plane distribution map of the whole detection area constructed later, the gas concentration plane distribution map is closer to a real working environment, meanwhile, the characteristic captures local information of data points better, particularly captures concentration change near a detection point, and the accuracy of the gas concentration plane distribution of the whole detection area constructed later in the local area is improved;
3. the method has the advantages that the two real-time monitoring parameters of acceleration and angular velocity are combined to serve as the basis for carrying out safety dynamic monitoring on the inspector, so that the safety state of the inspector can be evaluated more comprehensively, specifically, whether the inspector suddenly loses balance or not is reflected through the change amplitude of the angular velocity, whether the inspector encounters safety risk events such as collision or falling or not is further confirmed through the combination of the change amplitude of the acceleration, the probability of misjudgment is reduced through a layered threshold judgment method, the accuracy and reliability of safety dynamic monitoring and alarming on the inspector are improved, timely early warning is carried out when the inspector is in danger, rescue workers are helped to make rescue plans in time, and the safety coefficient of the inspector is improved;
4. The communication networking link is formed by the gas detector host, each gas detector slave and the handheld patrol device, so that 'one-point multi-transmission' is realized regardless of environmental conditions, namely, each sensor module can be used as a backup of other modules, when a certain module fails or signals are attenuated, the other modules can continuously transmit data, the continuity and the integrity of the data are ensured, the redundancy and the reliability of the data are enhanced, or when the environmental conditions change, the communication path can be adjusted through the communication networking link, an obstacle or an area with serious attenuation is bypassed, the stable transmission of the data is maintained, the self-adaptability of the system is enhanced, and meanwhile, each device can mutually check the detection data and the alarm state, so that the emergency monitoring cooperativity of the system is improved;
5. Through setting up infrared detecting element and sensor detecting element simultaneously in the gas detector slave machine, can be to some trace gas leakage early discovers, even the gas concentration is lower, also can send early warning rapidly, increase one protection before sensor detecting element detects gas concentration, thereby provide more accurate poisonous harmful gas testing result, more reliable in time than traditional single sensor detection method, the security is higher, moreover, add infrared detecting element cooperation sensor detecting element, can also acquire specific gas leakage point or leak source's locating information when detecting gas leakage concentration, help leaking gas's tracing to the source.
Other features and advantages of the present invention will be disclosed in the following detailed description of the invention and the accompanying drawings.
Drawings
The invention is further described with reference to the accompanying drawings:
FIG. 1 is a flow chart of a method for detecting gas in a hazardous operation location according to an embodiment of the present invention.
FIG. 2 is a schematic diagram of a gas detection system in a hazardous operation location according to an embodiment of the present invention.
Detailed Description
The technical solutions of the embodiments of the present invention will be explained and illustrated below with reference to the drawings of the embodiments of the present invention, but the following embodiments are only preferred embodiments of the present invention, and not all embodiments. Based on the examples in the implementation manner, other examples obtained by a person skilled in the art without making creative efforts fall within the protection scope of the present invention.
In the following description, directional or positional relationships such as the terms "inner", "outer", "upper", "lower", "left", "right", etc., are presented for convenience in describing the embodiments and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention.
Referring to fig. 1, fig. 1 is a schematic flow chart of a method for detecting gas in a dangerous operation place according to an embodiment of the present disclosure.
As shown in fig. 1, the gas detection method of the dangerous operation site at least comprises the following steps:
And 102, acquiring the gas concentration and the position information of each detection point in real time.
It can be understood that a plurality of detection points are preset in the detection area, and a fixed gas detector is installed at each detection point, including but not limited to an infrared gas detector, a gas detection sensor and the like, the fixed gas detector can be further provided with a remote monitoring system, a GPS or a Beidou positioning system, such as video monitoring, a video monitoring picture and gas concentration detection data are integrated to know the condition of each detection point in the detection area in real time, accurate position information is provided for each gas detector through the GPS or the Beidou positioning system, and a data basis is provided for the subsequent fusion of the position information and the gas concentration data, so that the association of the spatial position and the gas concentration is realized.
And 104, dividing the whole detection area into a plurality of grids, and calculating the concentration density of each grid by adopting a nuclear density analysis method based on the gas concentration and the position information of each detection point.
Further, in the present embodiment, in step 104, based on the gas concentration and the position information of each detection point, the concentration density of each grid is calculated by using a nuclear density analysis method, including:
step 202, a center point position of each grid is obtained.
Specifically, in this embodiment, the implementation manner of obtaining the center point position of each grid may be:
1. And initializing, namely determining the spatial range and the resolution of the whole detection area. And determining the number and the size of the divided grids according to the resolution required by the whole detection area, wherein the higher the resolution is, the smaller the grid is, and the higher the precision is.
2. Coordinate conversion, namely ensuring that all detection points are in the same coordinate system. Geographic Information System (GIS) tools or libraries can be used to convert geographic coordinates to planar coordinates if desired for actual terrain conditions. Position information of each detection point and coordinates of each grid point are generated in the same coordinate system.
3. For each mesh, the coordinates of its center point may be calculated by taking the average of its four vertex coordinates.
Step 204, calculating the x-axis distance and the y-axis distance between the center point of each grid and each detection point based on the position of the center point of the grid and the position information of each detection point, and recording the distances as the distance data of the grid.
Step 206, calculating the concentration density of each grid by using a preset kernel function based on the distance data of each grid and the gas concentration of each detection point.
The preset kernel functions in the present embodiment include, but are not limited to, gaussian kernel functions, fourth kernel functions, triangular kernel functions, and the like.
Taking a triangle kernel function as a preset kernel function as an example, the implementation manner of calculating the density of each grid is as follows:
(1) First, in kernel density analysis, bandwidth is a critical parameter that controls the width of the kernel function and thus affects the smoothness of the density estimate. For trigonometric kernel functions, the choice of bandwidth may be more dependent on the specific application scenario and the data itself, so Cross-validation (Cross-validation) may be used to determine the optimal bandwidth or by observing the weight as a function of bandwidth.
(2) Secondly, calculating the concentration density of each grid by adopting a trigonometric kernel function based on the determined bandwidth, the distance data of each grid and the gas concentration of each detection point, wherein the concentration density calculating method of one grid specifically comprises the following steps:
Calculating a weight between a grid center point and each detection point using a trigonometric kernel based on the determined bandwidth and the distance data of each grid, wherein the trigonometric kernel can be expressed as:
where u represents the distance data of the grid, Parameters representing the kernel function, i.e. the determined bandwidth;
Multiplying the weight between the grid center point and each detection point by the gas concentration of each detection point to obtain the weighted concentration between the grid center point and each detection point;
and (5) averaging all weighted concentrations to obtain the concentration density of the grid.
According to the embodiment, the detection area is wholly divided into a plurality of grids, the concentration density of each grid is calculated by adopting a nuclear density analysis method based on the distance between the center point of each grid and each detection point and the gas concentration of each detection point, namely, the weight of each grid is calculated through a kernel function, and then the gas concentration data is subjected to spatial interpolation, so that good smoothness can be provided, the influence of noise and abnormal values is reduced, the distribution of gas in space is more accurately simulated, the gas concentration density estimation error caused by complex or uneven gas distribution is overcome to the greatest extent, the gas concentration density estimation precision is improved, and a reliable and accurate data base is provided for the subsequent construction of the gas concentration plane distribution map of the whole detection area.
Preferably, in the present embodiment, calculating the density of each grid using a preset kernel function based on the distance data of each grid and the gas concentration of each detection point includes:
Determining the bandwidth by adopting a rule of thumb of Silverman;
based on the determined bandwidth, the distance data for each grid, and the gas concentration at each detection point, the concentration density for each grid is calculated using a gaussian kernel function.
Specifically, determining bandwidth using the rule of thumb of Silverman can be expressed as:
Wherein, The standard deviation of the gas concentration data is expressed to describe the degree of deviation between each concentration value in the gas concentration detection data set and the average concentration value in the data set, and m represents the total number of grid center points.
It will be appreciated that the rule of thumb of Silverman aims to find a suitable bandwidth so that the kernel density estimate is neither too smooth (resulting in loss of detail) nor too rough (resulting in too much noise in the estimate), i.e. the smoothness and bias of the equilibrium estimate, and therefore better monitoring can be achieved using the rule of thumb of Silverman in the kernel density estimate of a univariate dataset of gas concentration.
Specifically, based on the determined bandwidth, the distance data of each grid, and the gas concentration of each detection point, the concentration density of each grid is calculated using a gaussian kernel function, including:
step 302, calculating the weight between the grid center point and each detection point by using a Gaussian kernel function based on the determined bandwidth and the distance data of each grid;
step 304, multiplying the weight between the grid center point and each detection point by the gas concentration of each detection point to obtain the weighted concentration between the grid center point and each detection point;
step 306, averaging all weighted concentrations to obtain the concentration density of the grid. The density of the grid is expressed as:
Wherein, (x, y) represents the center point position of the grid, f (x, y) represents the density of the grid, h represents the preset bandwidth, i represents the serial number of the detection points, n represents the total number of the detection points, (xi, yi) represents the position of each detection point, ci represents the gas concentration value obtained by each detection point, and K () represents the gaussian kernel function.
Wherein, the gaussian kernel function can be expressed as:
It should be understood that steps 302-306 of this embodiment only provide an example of calculating the concentration of one grid using a gaussian kernel function based on the determined bandwidth, the distance data of each grid, and the gas concentration of each detection point, and the other grids may refer to this embodiment in which the concentration density is calculated using a gaussian kernel function based on the determined bandwidth, the distance data of each grid, and the gas concentration of each detection point.
Compared with other kernel functions (such as linear kernel function, four-time kernel function, triangular kernel function and the like), the method comprises the steps of determining the bandwidth through a rule of thumb of Silverman, calculating the optimal bandwidth based on the statistical characteristics of data while balancing the estimated smoothness and deviation, realizing more objective and accurate selection of the bandwidth of the Gaussian kernel function, calculating the weight of the grid through the Gaussian kernel function, gradually reducing the grid weight calculated through the Gaussian kernel function along with the increase of the distance, and enabling the grid weight to be distributed more uniformly in the whole detection area due to the slower descending speed, so that a smoother curve is formed in the gas concentration plane distribution map of the whole detection area which is constructed later, the gas concentration plane distribution map is closer to a real operation environment, local information of data points is captured better due to the characteristics, particularly concentration changes near the detection points are captured, and accuracy of the gas concentration plane distribution of the whole detection area which is constructed later in the local area is improved.
And 106, constructing a gas concentration plane distribution map of the whole detection area based on the concentration densities of all grids.
For example, the density of the whole grid may be visualized as a heat map, and the visualized heat map is taken as a gas concentration plane distribution map. Therefore, the gas concentration distribution in the whole dangerous operation environment can be analyzed based on the gas concentration plane distribution diagram, and a basis is provided for making emergency rescue measures.
It will be appreciated that the gas concentration at each detection point is obtained in real time, and thus the constructed gas concentration plane profile is updated in real time. Further, in this embodiment, after step 106, before step 108, the following steps may be further included:
And generating a gas concentration time change curve of each grid based on the concentration density of each grid in a preset time period. The method comprises the steps of arranging concentration density data of grids in a preset time period according to a time sequence, drawing a time sequence chart by using data points, drawing gas concentration time change curves of different grids respectively by using a horizontal axis as time and a vertical axis as concentration density data of the grids, and smoothing or predicting gas concentration by using a proper smoothing curve algorithm or a machine learning method to generate a gas concentration time change curve capable of reflecting the gas concentration change trend of the actual detection process of toxic and harmful gas at the grid.
And periodically correcting the time change curve of the gas concentration. Specifically, a periodic window (e.g., daily) may be selected, and the concentration density value at the corresponding time point of each new period may be inserted as a correction value into the original curve in place of the concentration density value at the corresponding time point.
And identifying the gas concentration rising trend of each grid based on the corrected gas concentration time change curve. The method comprises the steps of carrying out trend analysis on a corrected gas concentration time change curve, such as linear regression, moving average and the like, presetting a rising trend threshold, identifying that the gas concentration of a corresponding grid rises too fast when the slope of the corrected curve exceeds the threshold, and identifying that the gas concentration of the corresponding grid rises within a controllable range when the slope of the corrected curve does not exceed the threshold.
And (5) carrying out early warning on the gas concentration of the detection area based on the gas concentration rising trend of each grid. When the identification result is that the gas concentration of the grid is too fast in rising trend, an alarm is sent out to early warn the gas concentration of the area in the detection area.
And step 108, manually inspecting the position with the gas concentration exceeding the limit on the basis of the gas concentration plane distribution diagram.
It can be understood that in this embodiment, an upper limit threshold of the gas concentration is set, a position where the gas concentration exceeds the upper limit threshold is identified according to the gas concentration value in the gas concentration plane distribution diagram, and the inspector is further arranged to manually inspect the areas according to the position where the gas concentration exceeds the upper limit to confirm whether an actual safety risk exists.
Further, in order to ensure the security of the inspector, in this embodiment, after step 108, the method further includes the following steps:
step 110, adopting a handheld inspection device to monitor acceleration and angular velocity in the inspection process in real time;
And 112, carrying out safety monitoring and alarming on the inspector based on the acceleration and the angular speed in the inspection process.
Specifically, in the embodiment, in step 112, based on the acceleration and the angular velocity in the inspection process, safety monitoring and alarming are performed on the inspector, including:
Determining the change amplitude of the angular velocity based on the angular velocity in the inspection process;
comparing the change amplitude of the angular velocity with a first preset threshold value, judging the current safety of the patrol inspector if the change amplitude of the angular velocity is smaller than the first preset threshold value, and executing the following steps if the change amplitude of the angular velocity is larger than or equal to the first preset threshold value:
Presetting a window period, and determining the variation amplitude of acceleration in the window period;
comparing the variation amplitude of the acceleration with a second preset threshold value, judging the current safety of the inspector if the variation amplitude of the acceleration is smaller than the second preset threshold value, judging the inspector to fall if the variation amplitude of the acceleration is larger than or equal to the second preset threshold value, and sending out a safety alarm of the inspector.
In this embodiment, the implementation manner of performing safety monitoring and alarming on the inspector based on the acceleration and the angular velocity in the inspection process is as follows:
Firstly, an accelerometer and an acceleration value and an angular velocity value of a gyroscope are acquired in real time through a gesture sensor arranged in a handheld patrol inspector, and the acceleration value and the angular velocity value are used as a movement state monitoring basis of the patrol inspector. Assuming that the acquisition frequency of the attitude sensor is 100Hz, the cut-off frequency of the low-pass filtering is set to be 5Hz, and the acquired signals are subjected to filtering treatment and data correction, and Kalman filtering is used, wherein the Q value of the dynamic noise covariance matrix is 1e-5. When the angular velocity change is acquired, determining the change amplitude of the angular velocity;
secondly, comparing the change amplitude of the angular velocity with a first preset threshold (taking 50 degrees/s as an example), if the change amplitude of the angular velocity is smaller than 50 degrees/s, judging that no falling and other states occur, and returning the hand-held patrol inspector to a gas detection data acquisition process safely at present, if the change amplitude of the angular velocity is larger than or equal to 50 degrees/s, setting a window period to be 2s, and starting to detect the change amplitude of the acceleration within 2 s;
And comparing the variation amplitude of the acceleration with a second preset threshold (taking 0.8G as an example), judging that the patrol inspector falls off or other safety risk events if the variation amplitude of the acceleration is more than or equal to 0.8G, simultaneously immediately sending a safety alarm of the patrol inspector to the host by the handheld patrol inspector, and judging that the patrol inspector is normal activity event if the variation amplitude of the acceleration is less than 0.8G.
Further, the set of data of the variation amplitude of the angular velocity and the variation amplitude of the acceleration can be added into a training sample of the support vector machine and marked as normal activity (wherein the training coefficient c=1 and gamma=0.1) for assisting the safe dynamic monitoring of the inspector. By constructing the support vector machine by using the conventional acceleration variation amplitude and acceleration variation amplitude data, the reliability of the handheld patrol inspector for safety dynamic monitoring and alarming of the patrol inspector can be improved.
It can be understood that only an example of safety monitoring and alarming for the inspector based on acceleration and angular velocity in the inspection process is illustrated herein, and the specific first preset threshold, second preset threshold and window period can be adjusted according to actual needs to adapt to different toxic and harmful gas monitoring requirements and dangerous operation environment conditions, which is not limited in this embodiment.
According to the method, the system and the device, the two real-time monitoring parameters of acceleration and angular velocity are combined to serve as the basis for carrying out safety dynamic monitoring on the inspector, so that the safety state of the inspector can be evaluated more comprehensively, specifically, whether the inspector suddenly loses balance or not is reflected through the change amplitude of the angular velocity, whether the inspector encounters a safety risk event such as impact or falling or not is further confirmed through the change amplitude of the acceleration, the probability of misjudgment is reduced through a layered threshold judgment method, the accuracy and the reliability of safety dynamic monitoring and alarming on the inspector are improved, timely early warning is carried out when the inspector is in danger, rescue workers are helped to make rescue plans in time, and the safety coefficient of the inspector is improved.
Referring to fig. 2, fig. 2 is a schematic diagram of a gas detection system in a dangerous operation place according to an embodiment of the present disclosure.
As shown in fig. 2, the gas detection system of the dangerous operation place at least comprises a gas detector host, a plurality of gas detector slaves and a handheld inspection device, wherein the gas detector host is located outside the detection area, each gas detector slave is located at a detection point in the detection area, and a communication networking link is formed among the gas detector host, each gas detector slave and the handheld inspection device, wherein:
the gas detector slave machine is used for acquiring the gas concentration and the position information of the corresponding detection point in real time;
The gas detector host is used for dividing the whole detection area into a plurality of grids, calculating the concentration density of each grid by adopting a nuclear density analysis method based on the gas concentration and the position information of each detection point, and constructing a gas concentration plane distribution map of the whole detection area based on the concentration densities of all the grids;
the handheld patrol inspector is used for being carried by a patrol inspector to enter the detection area, and the position with the gas concentration exceeding the limit is manually patrol inspected based on the gas concentration plane distribution diagram.
It will be appreciated that the gas detector host, each gas detector slave and the handheld patrol detector form a communication networking link, please refer to fig. 2, which is that each gas detector slave is in communication connection with each other, each gas detector slave is in communication connection with the gas detector host, each gas detector slave is in communication connection with the handheld patrol detector, the gas detector host is in communication connection with the handheld patrol detector, and the gas detector host can also be in communication connection with an external network.
Specifically, in a communication networking link, data intercommunication and alarm information synchronization are carried out among a plurality of slaves, when one slave gives an alarm, other slaves, a host computer and a handheld patrol inspector can all receive the alarm information, the host computer can comprehensively and real-timely control the gas concentration change state in a dangerous operation range by collecting the gas concentration information and the position information monitored by the slaves and constructing a gas concentration plane distribution map of the whole detection area, and the gas concentration plane distribution map of the whole detection area is sent to the handheld patrol inspector and is matched with a display screen of the handheld patrol inspector, so that an internal detection network which can cooperatively operate and is not interfered by a detection environment is formed.
The common multi-parameter poisonous and harmful gas detection system is generally provided with a small number of sensor modules to form an array, a small number of gas factors are detected, data transmission is carried out in a wired and wifi/4G mode within a certain distance, a plurality of sensor modules are subjected to unified management and control and instruction issuing through an uploading cloud platform, collaborative operation among the plurality of sensor modules is difficult to achieve, in addition, wireless signals can be attenuated due to obstacles (such as buildings and metal structures) in the transmission process, and especially in long-distance transmission, the signal attenuation is more serious, and the accuracy and the integrity of data are affected. Therefore, in this embodiment, a communication networking link is formed, so that "one-point multi-transmission" is achieved regardless of environmental conditions, that is, each sensor module can be used as a backup for other modules, when a certain module fails or signals attenuate, the other modules can continue to transmit data, so as to ensure continuity and integrity of the data, enhance redundancy and reliability of the data, or when environmental conditions change, a communication path can be adjusted through the communication networking link, thereby bypassing an obstacle or an area with serious attenuation, maintaining stable transmission of the data, enhancing the adaptability of the system, and simultaneously, each device can mutually check detection data and alarm states, so as to improve emergency monitoring cooperativity of the system.
Further, in this embodiment, the handheld inspection device includes communication unit and gesture sensing unit, and a plurality of gas detector slaves and gas detector host computer all with handheld inspection device's communication unit communication connection, gesture sensing unit is connected with communication unit, and wherein, gesture sensing unit is used for real-time supervision to patrol acceleration and angular velocity in-process, based on the acceleration and the angular velocity of patrolling and examining in-process, carries out safety monitoring warning to the inspector to send alarm information to gas detector host computer through communication unit.
Optionally, the handheld patrol inspector can be further provided with a communication unit and a satellite positioning unit, wherein the satellite positioning unit is used for acquiring positioning information of patrol inspectors and providing a position basis for rescue personnel to make rescue plans. In the process of inspecting, if the attitude sensing unit detects that the inspector has dangerous situations, the handheld inspector can immediately send out an alarm, alarm information is timely sent to the gas detector host through the communication unit, and the host can inquire about the situations of the inspector through the communication module after receiving the alarm information.
It can be appreciated that other technical concepts of the gas detection system for a dangerous operation place provided in this embodiment are similar to those of the gas detection method for a dangerous operation place described above, and the description of this embodiment is omitted here.
In still another embodiment of the present disclosure, the slave gas detector may include at least an infrared detection unit configured to acquire gas imaging information of a corresponding detection point in real time to early warn the gas concentration in advance, and a sensor detection unit configured to acquire the gas concentration and the position information of the corresponding detection point in real time.
It will be appreciated that the infrared detection unit and the sensor detection unit monitor simultaneously during the real-time detection.
Furthermore, the gas detector slave machine can be further provided with a video unit and a satellite positioning unit, and can visually monitor the accident scene in real time when early warning occurs.
Specifically, the gas detector slave may be used to perform the following operations:
If the infrared detection unit preferentially sends out early warning, taking an infrared thermal imaging camera as an infrared detection unit as an example, when the infrared thermal imaging camera detects gas leakage in a limited space according to gas imaging information of a corresponding detection point obtained in real time, a slave machine where the infrared thermal imaging camera is located sends out early warning and synchronously sends the early warning to a host machine and a handheld patrol inspector, the slave machine is automatically connected with a video unit, and the host machine can master the site condition through the video unit at the first time of receiving the early warning;
If the subsequent sensor detection unit does not send out an alarm and the infrared detection unit does not detect continuous early warning, the early warning state is automatically eliminated;
If the subsequent sensor detection unit does not send out an alarm, but the infrared detection unit continuously gives an alarm, judging according to a field inspector, and manually eliminating the early-warning state of the slave;
If the subsequent sensor detection unit sends out the concentration overrun alarm, alarm information can be synchronized among all the slaves, all the slaves can be summarized to the master and the handheld patrol inspector, and the alarm information needs to be judged by the patrol inspector according to the field condition to manually eliminate the alarm state of the slaves. After overrun alarm occurs, the host computer provides reliable and accurate reference basis for rescue and evacuation work according to the gas concentration plane distribution map of the whole detection area updated in real time.
It will be appreciated that for part of the gas, the corresponding electrochemical sensor may have a technical problem of slower response, or the electrochemical sensor may actually leak in a short time because the gas diffusion time is longer due to the larger detection area space, but the sensor does not have a corresponding alarm. Therefore, according to the embodiment, the infrared detection unit and the sensor detection unit are arranged in the gas detector slave machine at the same time, and as the infrared imaging response is faster than the corresponding speed of the concentration of the electrochemical sensor, the gas leakage of some trace amounts can be found out early, even if the gas concentration is lower, early warning can be sent out quickly, and a protection is added before the sensor detection unit detects the gas concentration, so that a more accurate toxic and harmful gas detection result is provided.
In the foregoing, the preferred embodiments of the present disclosure and the description of the technical principles applied thereto are only preferred embodiments, and it should be understood by those skilled in the art that the scope of protection in the present disclosure is not limited to the specific combination of the technical features described above, but other technical solutions formed by any combination of the technical features described above or the equivalent thereof are also contemplated without departing from the concept disclosed above. Such as those described above, are mutually substituted with the technical features having similar functions disclosed in the present disclosure (but not limited thereto).
Moreover, although operations are depicted in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order. In certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the present disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination.
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| CN115307826A (en) * | 2021-05-06 | 2022-11-08 | Abb瑞士股份有限公司 | Techniques for improving visualization of gas leak detection data |
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| CN211628375U (en) * | 2020-03-13 | 2020-10-02 | 中国人民解放军空军杭州特勤疗养中心疗养三区 | Tumble alarm system |
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