CN105301190A - Chemical accident site poisonous gas monitoring system and emergency processing method thereof - Google Patents

Abstract

The invention relates to a chemical accident site poisonous gas monitoring system and an emergency processing method thereof, and belongs to the technical field of dangerous chemical accident emergency rescue. The system comprises a mobile robot composed of a wheel-type driving mechanism, a support structure, a lead screw drive assembly, a poisonous gas monitoring assembly, an image collection assembly, a wireless sending module, a control command receiving module, a power module and a motion control module and a remote monitoring subsystem which is in wireless communication with the mobile robot. The method comprises the steps that the rotating speed of the mobile robot is controlled, and straight-line forward moving and turning of the mobile robot are achieved; the mobile robot is controlled to adjust the sampling height of a poisonous gas sensor; according to the poisonous gas concentration, GPS information and weather information, a gas diffusion model is selected, and leakage source intensity is obtained through calculation; according to the poisonous gas leakage accident module and the leakage source intensity, the maximum personal casualty influence range of a poisoning accident is obtained and displayed on a GIS map, and therefore the personnel evacuating range is determined.

Description

The on-the-spot toxic gas monitoring system of a kind of chemical accident and emergency processing method thereof

Technical field

The invention belongs to chemical accident emergency rescue technology field, therefore it is particularly a kind of for obtaining leakage accident on-the-spot concentration of toxic gases, GPS information and video information, and according to these information and weather information, accident scenarios is comprehensively analyzed and source of leaks intensity inverse, thus determine evacuating personnel scope, for accident emergency rescue provides the system and method for decision-making assistant information.

Technical background

Chemical accident may leak out a large amount of toxic and harmful, jeopardize nearby residents safety and rescue personnel's personal safety after occurring.In order to ensure the safety of rescue personnel, scientifically delimit periphery evacuating personnel scope, need to carry out Real-Time Monitoring by mobile-robot system to the toxic gas at scene and video, and carry out computational analysis according to on-the-spot weather information, concentration of toxic gases, Leakage Gas model, thus determine the coverage that accident is maximum, for accident emergency rescue provides decision support.

Because the physical property of toxic gas is different, what have is heavier than air, some ltas, and in diffusion process, the height of sedimentation is not identical yet.Therefore, in order to the comprehensive monitoring to on-the-spot toxic gas can be realized, not only require that mobile-robot system can carry out Real-Time Monitoring to multiple toxic gas simultaneously, but also need the diffusion property dynamic conditioning height of sampling according to gas with various.But, existing mobile robot's majority can only carry out Real-Time Monitoring to one or two kind of gas, can not dynamic conditioning height of sampling in monitoring poisonous gas process, the toxic gas information utilizing mobile robot to monitor carries out leaking source strength and accident impact range computation, determining that the Emergency decision method of evacuating personnel scope is showed no report.

Summary of the invention

The object of the invention is the weak point for overcoming prior art, proposing the on-the-spot toxic gas monitoring system of a kind of chemical accident and emergency processing method.This system carries out Real-Time Monitoring to 6 of chemical leakage accident scene kinds of concentration of toxic gases, GPS information and live videos, and can according to the diffusion property dynamic conditioning height of sampling of toxic gas, and carry out accident leakage source strength inverse according to these information, weather information, gas diffusion model, determine accident impact scope, thus for scientifically delimit evacuating personnel scope and accident emergency rescue aid decision making support is provided, improve emergency management and rescue commander efficiency.

The on-the-spot toxic gas monitoring system of a kind of chemical accident that the present invention proposes, is characterized in that,

Comprise mobile robot and the remote monitoring subsystem with this mobile robot's radio communication: wherein mobile robot comprises:

In-wheel driving mechanism is the travel mechanism realizing this mobile-robot system;

Supporting construction, each several part for this mobile-robot system of bearer connection becomes as a whole;

Lead screw transmission parts, for realizing the adjustment of this mobile-robot system toxic gas height of sampling;

Monitoring poisonous gas parts, for the monitoring of scene of the accident concentration of toxic gases and GPS information;

Image acquisition component, for the collection of scene of the accident video image;

Wireless sending module, for being wirelessly transmitted to remote monitoring subsystem by concentration of toxic gases, GPS information and video image;

Control command receiver module, for receiving the steering order such as mobile-robot system motion, toxic gas height of sampling, camera horizon and luffing angle;

Power module, powers for giving mobile-robot system each several part;

Motion-control module, for controlling the height of mobile-robot system direction of motion and speed, camera horizon angle and luffing angle, lead screw transmission parts slide block;

Remote monitoring subsystem, realization controls the motion control of mobile robot, the control of gas sampling height and concentration of toxic gases and video image information receives, shows and Treatment Analysis.

The present invention also proposes a kind of chemical accident emergency processing method of said system, and it is characterized in that, the method comprises the following steps:

1) site layout project monitoring poisonous gas mobile-robot system

Remote monitoring subsystem is deployed in the upwind region away from the scene of the accident, controls mobile robot by long-range wireless remote control mode, make it move to scene of the accident downwind area;

2) height of sampling of toxic gas sensor is controlled

According to the toxic gas physical property monitored, judge whether it is heavier than air; If toxic gas is heavier than air, then controlling gas sensor height of sampling is 100cm; If lta, then controlling gas sensor height of sampling is 150cm;

By controlling the height of slide block in mobile robot's lead screw transmission parts, realize the adjustment of toxic gas sensor height of sampling, concrete control method is as follows: will the distance of movement by slide block, be scaled the rotational angle controlling the stepper motor that leading screw rotates, rotational angle, divided by the stepping angle of stepper motor, obtains the step number of control step motor adjustment;

3) poisonous gas diffusion model is defined

When toxic gas generation instantaneous leak, adopt Gauss's cigarette group model as shown in formula (1); When toxic gas generation continuous release, adopt Gaussian plume model as shown in formula (2);

$C(x,y,z,t)=\frac{Q}{{\left(2\mathrm{\π}\right)}^{3/2}\·{\mathrm{\σ}}_x{\mathrm{\σ}}_y{\mathrm{\σ}}_z}\·e^{-\frac{{(x-ut)}^2}{2{\mathrm{\σ}}_x^2}}\·e^{-\frac{y^2}{2{\mathrm{\σ}}_y^2}}\·(e^{-\frac{{(z-H)}^2}{2{\mathrm{\σ}}_z^2}}+e^{-\frac{{(z+H)}^2}{2{\mathrm{\σ}}_z^2}})---\left(1\right)$

$C(x,y,z,t)=\frac{Q}{2{\mathrm{\πu\σ}}_y{\mathrm{\σ}}_z}\·e^{-\frac{y^2}{2{\mathrm{\σ}}_y^2}}\·(e^{-\frac{{(z-H)}^2}{2{\mathrm{\σ}}_z^2}}+e^{-\frac{{(z+H)}^2}{2{\mathrm{\σ}}_z^2}})---\left(2\right)$

Wherein: C (x, y, z, t) is for leaking medium is at the concentration value in certain position moment; Q is source of leaks intensity (mg/s); σ _x, σ _y, σ _zbe respectively the coefficient of diffusion on x, y, z axle, calculate according to atmospheric stability Selection parameter, unit is rice (m); X, y, z represents the coordinate figure in x, y, z, and unit is rice (m); U represents mean wind speed (m/s); T represents diffusion time, and unit is second (s); H represents the height of source of leaks, and unit is rice (m);

4) toxic gas source of leaks intensity is obtained:

Suppose there is poisonous gas leakage initial time is t0 (s), and concentration of toxic gases sampling instant is tc (s);

4-1) calculate source of leaks intensity during toxic gas instantaneous leak

4-1-1) according to the mean wind speed u of meteorological department's acquisition, the weather information of atmospheric stability, calculate the coefficient of diffusion σ of toxic gas on x, y, z axle _x, σ _y, σ _z;

4-1-2) obtain the information of mobile robot at the concentration of toxic gases of three diverse locations, gps coordinate, sampling instant tc=t0+t, according to the gps coordinate of source of leaks position, the gps coordinate of monitoring point is converted into the rectangular coordinate value (x, y, z) that Gauss's cigarette group model adopts;

4-1-3) by above-mentioned three groups of concentration of toxic gases C (x, y, z, t), formula (1) is brought in positional information (x, y, z), sampling instant (tc=t0+t) respectively into, stroke equation with three unknowns group, calculate source of leaks intensity, the height of source of leaks, the predicted value (Q, H, t0) of leakage initial time;

4-1-4) run Gauss's cigarette group model according to this group predicted value (Q, H, t0), measure the moment at each, the prediction concentrations value measuring concentration value and diffusion model is compared; If measure concentration value not mate with prediction concentrations value, then again provide one group of predicted value: if measure concentration value > prediction concentrations value, then source of leaks intensity Q is increased progressively and obtain a predicted value, if measure concentration value < prediction concentrations value, then source of leaks intensity Q is successively decreased one and be worth, again run this step 4-1-4); If measure concentration value and prediction concentrations value to match, then source of leaks intensity Q is considered to actual value, record predict source of leaks intensity, source of leaks height, leakage initial time (Q, H, t0);

4-2) calculate source of leaks intensity during toxic gas continuous release

4-2-1) according to the weather information such as mean wind speed u, atmospheric stability that meteorological department obtains, calculate the coefficient of diffusion σ of toxic gas in y, z-axis _y, σ _z;

4-2-2) obtain the information such as concentration of toxic gases, GPS information, sampling instant (tc=t0+t) of mobile robot at two diverse locations, according to the GPS information of source of leaks position, the gps coordinate of monitoring point is converted into the coordinate system coordinate figure (x that Gauss's cigarette group model adopts, y, z);

4-2-3) by two groups of concentration of toxic gases C (x, y, z, t), positional information (x, y, z) brings formula (2) respectively into, stroke equation with two unknowns group, calculates the predicted value (Q, H) of height of source of leaks intensity, source of leaks;

4-2-4) run Gauss's cigarette group model according to this group predicted value (Q, H), measure the moment at each, the prediction concentrations value measuring concentration value and diffusion model is compared; If measure concentration value not mate with prediction concentrations value, then again provide one group of predicted value: if measure concentration value > prediction concentrations value, then source of leaks intensity Q is increased progressively and obtain a predicted value, if measure concentration value < prediction concentrations value, then source of leaks intensity Q is successively decreased one and is worth, again run this step 4-2-4) (problem and upper step are together); If measurement concentration value and prediction concentrations value match, then source of leaks intensity Q is considered to actual value, records source of leaks intensity, the source of leaks height (Q, H) predicted.

5) determination of evacuating personnel scope

According to the toxic gas source of leaks intensity obtained, obtain the coverage of the maximum personnel death of toxic gas intoxication accident, severe injury, slight wound, and demonstrate in GIS map, to determine evacuating personnel scope.

Feature of the present invention and effect:

This system can the gas leakage concentration of the on-the-spot each monitoring point of Real-time Collection chemical leakage accident, GPS information and live video image information, and be wirelessly transmitted to remote monitoring subsystem, and can according to the height of sampling of toxic gas physical property dynamic conditioning toxic gas sensor; Remote monitoring subsystem is according to the positional information of the gas leakage concentration of the scene of the accident, wind direction and wind velocity, each monitoring point and gas diffusion Gauss model, calculate the intensity of source of leaks, calculate accident injury consequence, for the delimitation evacuating personnel scope of science provides aid decision making support, to the efficiency and control causality loss improving accident emergency rescue command, there is important effect.

Accompanying drawing explanation

Fig. 1 is system architecture composition diagram of the present invention.

Fig. 2 is circuit system annexation block diagram of the present invention.

Fig. 3 is method flow diagram of the present invention.

Embodiment

The on-the-spot toxic gas monitoring system of the chemical accident that the present invention proposes and emergency processing method thereof by reference to the accompanying drawings and embodiment be described in detail as follows:

System of the present invention comprises: the robot that in-wheel driving mechanism 1, supporting construction 2, lead screw transmission parts 3, monitoring poisonous gas parts 4, image acquisition component 5, wireless sending module 6, control command receiver module 7, power module 8, motion-control module 9 form, and with the remote monitoring subsystem 10 of robot radio communication; Monitoring poisonous gas parts comprise 6 kinds of toxic gas sensors, concentration of toxic gases collecting circuit board and GPS locating module; Image acquisition component comprises image acquisition and processing module and infrared high-definition camera, luffing angle control steering wheel, horizontally rotate control steering wheel;

Wherein the mechanical connection of robot each several part closes and is: in-wheel driving mechanism is connected with supporting construction; Lead screw transmission parts are connected with supporting construction; 6 kinds of toxic gas sensors of monitoring poisonous gas parts are inlaid on lead screw transmission parts, and GPS locating module is fixing on the support structure, the image acquisition and processing model calling of concentration of toxic gases collecting circuit board and image acquisition component; The image acquisition and processing module of image acquisition component is fixed on motion-control module, horizontally rotates to control steering wheel and be fixed in supporting construction, horizontally rotates to control steering wheel and control steering wheel with luffing angle and be connected; Pitch rotation controls steering wheel and is connected with infrared high-definition camera; Wireless sending module is connected with supporting construction; Power module is connected with supporting construction; Motion-control module is connected with image acquisition component, supporting construction;

The circuit connecting relation of robot each several part is: concentration of toxic gases collecting circuit board is connected with the signal wire of toxic gas sensor by AD interface, is connected by RS485 mouth with GPS sensor, is connected with wireless sending module by RS232 mouth; Image acquisition and processing module is connected with infrared high-definition camera by BNC mouth, is connected with wireless sending module by RJ45 Ethernet interface; Motion control circuit plate is connected by the control line of signal wire with revolver drive motor, right wheel drive motor, be connected by the control line that signal wire and luffing angle control steering wheel, level angle controls steering wheel, control motor by signal wire and leading screw to be connected, be connected with control command receiver module by RS232 mouth; The output terminal of power module is connected with the power input of each parts of robot respectively by power lead.

As shown in Figure 1, specific implementation and the function of each ingredient are respectively described below native system example structure:

Supporting construction 2, for carrying other parts of robot, comprise top layer back up pad 201, middle level back up pad 202, base layer support plate 203 and 8 support posts 204, wherein connected by 4 support posts respectively between top layer back up pad 201 and middle level back up pad 202, between middle level back up pad 202 and base layer support plate 203; 4 support post upper end screws between top layer back up pad and middle level back up pad tighten together with top layer back up pad, and lower end screw is connected with middle level back up pad; 4 support post upper end screws between middle level back up pad and base layer support plate are connected with middle level back up pad, and lower end screw tightens together with base layer support plate, and top layer back up pad is highly overhead 45cm;

In-wheel driving mechanism 1 is the travel mechanism of mobile robot, comprises revolver 101, universal wheel 102, rightly takes turns 103, revolver drive motor 104, right wheel drive motor 105; Revolver and right wheel shaft of taking turns are connected with the driving shaft of revolver drive motor, right wheel drive motor respectively, the wheel shaft of universal wheel is connected on the base layer support plate in supporting construction by fixture, revolver drive motor, right wheel drive motor are fixed by screws on the base layer support plate in supporting construction;

Lead screw transmission parts 3, comprise leading screw and control motor 301, guide pole 302, leading screw 303, supporting seat 304, slide block 305, DC stepper motor 301 is with movable slider 305 vertical movement by leading screw 303; Leading screw controls motor and is screwed in the middle level back up pad of supporting construction, supporting seat is screwed in the top layer back up pad of supporting construction, leading screw lower end is connected to leading screw by the through hole in the through hole on supporting seat fixture, top layer back up pad successively and controls on the driving shaft of motor, leading screw upper end is arranged on the fixture on supporting seat top by bearing, guide pole upper end is fixed on the fixture on supporting seat top, and guide pole lower end is fixed on the fixture of supporting seat bottom; Slide block is a rectangle box, 6 kinds of toxic gas sensors are inlaid on the side panel of slide block, slide block there are three through holes, the range of movement of slide block is distance 50cm ~ 150cm, wherein, middle through hole by screw thread and leading screw kneaded together, two through holes of both sides are each passed through two guide poles, and two through holes of both sides are smooth and diameter is greater than guide pole diameter;

Monitoring poisonous gas parts 4 comprise concentration of toxic gases collecting circuit board 401,6 kind of toxic gas sensor 402, GPS locating module 403, for the monitoring of scene of the accident concentration of toxic gases and GPS information, wherein 6 kinds of toxic gas sensors 402 are inlaid on the side panel of lead screw transmission parts slide block 305, and follow slide block 305 and move in vertical direction; GPS locating module is screwed in the middle level back up pad of supporting construction, and concentration of toxic gases collecting circuit board copper post and screw are fixed in image acquisition and processing module;

Image acquisition component 5, for the collection of scene of the accident video image, comprises image acquisition and processing module 501 and infrared high-definition camera 502, luffing angle control steering wheel 503, horizontally rotates control steering wheel 504; Image acquisition and processing module copper post and screw are fixed on motion-control module, horizontally rotating control steering wheel is fixed in the top layer back up pad of supporting construction by a support member, horizontally rotate the swing arm controlling steering wheel to be connected with the support member that installation luffing angle controls steering wheel, drive the support member installing luffing angle control steering wheel to horizontally rotate, range of adjustment is 0 ° ~ 180 °; The swing arm that pitch rotation controls steering wheel is connected with the support member of installation infrared high-definition camera, the support member of installation infrared high-definition camera is driven to rotate up and down, slewing area is-40 ° ~ 90 ° (with the angle of horizontal direction, being just upwards, is negative downwards);

Wireless sending module 6 is screwed in the back up pad of middle level, and its antenna is through the through hole in top layer back up pad; For concentration of toxic gases, GPS information and video image are wirelessly transmitted to remote monitoring subsystem 10;

Control command receiver module 7 is screwed in the middle level back up pad of supporting construction, its antenna passes the through hole in the top layer back up pad of supporting construction, for receiving the steering orders such as moveable robot movement, toxic gas height of sampling, camera horizon and luffing angle;

Power module 8 comprises lithium battery 801, power transfer module 802, and lithium battery is placed in the middle of the base layer support plate of supporting construction, and power transfer module is screwed on supporting construction base layer support plate, and lithium battery is connected by power lead with power transfer module; Power for giving mobile robot's each several part;

Motion-control module 9, is screwed in the middle level back up pad of supporting construction bottom it, top is by the image acquisition and processing model calling of screw and stud and image acquisition component; For controlling the height of moveable robot movement direction and speed, camera horizon angle and luffing angle, screw slider;

Remote monitoring subsystem 10, comprise data handling machine, wireless receiving module and control command sending module, data handling machine is connected with wireless receiving module and control command sending module by Serial Port Line, realizes the motion control of control, the control of gas sampling height and concentration of toxic gases and video image information receive, show and Treatment Analysis with robot remote radio communication.

Circuit connecting relation between device in above-described embodiment as shown in Figure 2,

Concentration of toxic gases collecting circuit board is connected with the signal wire of toxic gas sensor by AD interface, is connected by RS485 mouth with GPS sensor, is connected with wireless sending module by RS232 mouth;

Image acquisition and processing module is connected with infrared high-definition camera by BNC mouth, is connected with wireless sending module by RJ45 Ethernet interface;

Motion control circuit plate is that the pwm signal line of 12V is connected with the control line of revolver drive motor, right wheel drive motor by amplitude, be that the control line that pwm signal line controls steering wheel with luffing angle, level angle controls steering wheel of 5V is connected by amplitude, control motor by the pulse signal-line of 12V with leading screw to be connected, be connected with control command receiver module by RS232 mouth;

The output terminal of lithium battery is connected by power lead with the input end of voltage transformation module, the power input that 5V output terminal controls steering wheel by power lead with toxic gas sensor, GPS sensor, concentration of toxic gases collecting circuit board, luffing angle, level angle controls steering wheel of voltage transformation module is connected, and the 12V output terminal of voltage transformation module is connected by the power input of power lead with infrared high-definition camera, image acquisition and processing module, wireless sending module, control command receiver module; The 24V output terminal of voltage transformation module by power lead and leading screw control motor, the power input of revolver drive motor, right wheel drive motor, motion control circuit plate is connected;

Data handling machine is connected with wireless receiving module and control command sending module by RS232 mouth.

The mobile robot of native system can under the wireless instructions of remote monitoring subsystem controls, rescue personnel is replaced to enter the Lou scene of the accident, by concentration of toxic gases, video image is wireless etc., and information wireless sends remote monitoring subsystem to, remote monitoring subsystem is according to information such as concentration of toxic gases, wind direction, wind speed, carry out leakage accident and leak source strength inverse, thus determine evacuating personnel scope, for emergency management and rescue, commander provides aid decision making foundation.

The course of work of the present invention is:

When using of the present invention, first, to mobile robot's electrifying startup, after mobile robot's initialization, the height of sampling of toxic gas sensor is defaulted as 0.5m; Then, by remote monitoring subsystem to mobile robot's sending controling instruction, make it move quickly into the on-the-spot downwind area of chemical accident; Then, on-the-spot concentration of toxic gases and video information are wirelessly transmitted to remote monitoring subsystem by mobile robot, and according to the toxic gas information detected, carry out the dynamic conditioning of height of sampling; Then, remote monitoring subsystem is according to toxic gas leak type, determine gas diffusion model, and carry out leakage source strength according to on-the-spot concentration of toxic gases, weather information and the gas diffusion model determined and calculate, and then according to leakage source strength determination accident impact scope, thus delimit evacuating personnel scope.

Function and the embodiment of native system each several part are respectively described below:

(1) 6 kinds of poisonous gas sensor (NH of the present embodiment ₃, CL ₂, HCN, H ₂s, NO, SO ₂), adopt the membrapor electrochemical gas sensor of Shenzhen Fu Anda intelligence Science and Technology Ltd., important technological parameters is as follows:

NH ₃sensor: measurement range, 0 ~ 1000ppm; Resolution: 4ppm; Output signal, 4 ~ 20mA; Mission life, in air 2 years.

CL ₂sensor: measurement range: 0 ~ 200ppm; Resolution, 1ppm; Output signal, 4 ~ 20mA; Mission life, in air 2 years.

HCN sensor: measurement range, 0 ~ 100ppm; Resolution, 0.2ppm; Output signal, 4 ~ 20mA; Mission life, in air 2 years.

H ₂sensor: measurement range, 0-2000ppm; Resolution, 2ppm; Output signal, 4 ~ 20mA; Mission life, in air 2 years.

NO sensor: measurement range, 0 ~ 2000ppm; Resolution: 1ppm; Output signal, 4 ~ 20mA; Mission life, in air 2 years.

SO ₂sensor: measurement range, 0 ~ 2000ppm; Resolution: 1ppm; Output signal, 4 ~ 20mA; Mission life, in air 2 years.

(2) the GPS sensor of the present embodiment, adopts Xiamen Cai Mao company CM410GPS module, important technological parameters: tracking sensitivity ,-162dBm; Velocity accuracy, <0.01 meter per second (at a high speed) <0.01 ° (heading); Positioning precision, 2.5mCPE (Position), 2.0mCPE (SBAS); Output interface, RS485.GPS sensor is connected with concentration of toxic gases collecting circuit board by RS485 mouth, sends the GPS information of acquisition to concentration of toxic gases collecting circuit board.

(3) the concentration of toxic gases collecting circuit board of the present embodiment: the 8 circuit-switched data collection plates adopting National Institute of Safety Science and Technology's research and development, important technological parameters is as follows: AD port number, 8 12, tunnel ADC; RS232 interface, 2; RS485 interface, 1.Concentration of toxic gases collecting circuit board is connected with 6 road toxic gas sensor output lines by AD interface, be connected with GPS sensor by RS485 mouth, be connected with wireless sending module by RS232 interface, realize 6 tunnel concentration of toxic gases, the collection of GPS information and transmission.

(4) the infrared high-definition camera of the present embodiment, adopts the TM-S950R-2 infrared waterproof cartridge type video camera of Beijing Jin Shitianhang Science and Technology Ltd., important technological parameters: sensor type, 1080TVL1/3 " Sensor; Lens focus, 3.6mm; Signal to noise ratio (S/N ratio), is greater than 62dB; Minimal illumination, 0.01Lux (F1.2, AGCON), 0LuxwithIR; Power supply, 12V.

(5) the image acquisition and processing module of the present embodiment, adopt CS-6001HDS video server, important technological parameters is as follows: video input, 1 tunnel (NTSC, pal mode identifies automatically); Video frame rate, 25 frames/second (PAL), 30 frames/second (NTSC); Communication interface, 1 RJ4510M/100M self-adaptation Ethernet interface, 1 BNC mouth, 1 RS485 mouth; Power supply, DC12V.CS-6001HDS video server is connected with infrared high-definition camera by BNC mouth, is connected, the video analog signal that infrared high-definition camera gathers is changed into network digital signal by RJ45 Ethernet interface with wireless sending module.

(6) leading screw of the present embodiment controls motor, adopts the stepper motor GM43-42BY of HKTTMOTOR company, important technological parameters: stepping angle, 7.5 degree; Reduction gear ratio, 1/25; Holding torque, 10000gcm; Operating voltage, DC24V.

(7) the revolver drive motor of the present embodiment and right wheel drive motor, adopts the DC brushless motor GMP42-TEC4260 of HKTTMOTOR company, important technological parameters: rated speed, 4300r/min; Output power, 19W; Operating voltage, DC24V.

(8) luffing angle of the present embodiment controls steering wheel and level angle control steering wheel, adopts brightness to contain MG946R Servo-controller, important technological parameters: moment of torsion, 10.5kg/cm; Speed, 0.20sec/60degree; Operating voltage, 5V.

(9) motion-control module of the present embodiment, adopt 8 road circuit for controlling motor plates of National Institute of Safety Science and Technology's research and development, important technological parameters is as follows: main control chip, Atmega48; Dominant frequency, 11.0592MHz; Control signal exports, the pwm signal that the pwm signal that 3 tunnel amplitudes are 12V, 3 tunnel amplitudes are 5V, 2 road 12V pulse signals; RS232 interface, 2.Circuit for controlling motor plate is that the pwm signal line of 12V is connected with driving revolver, right DC MOTOR CONTROL line of taking turns by 2 tunnel amplitudes, the control line that pwm signal line controls steering wheel with luffing angle respectively, level angle controls steering wheel being 5V by 2 tunnel amplitudes is connected, control motor by the pulse signal-line of 12V with leading screw to be connected, be connected with control command receiver module by RS232 mouth, according to the steering order received, realize the control of moveable robot movement direction and speed, screw slider height, camera horizon angle and luffing angle.

(10) wireless sending module of the present embodiment, adopts the GS800ET-D5 communication module of Lv Pu garden, Beijing Science and Technology Ltd., important technological parameters: modulation system, TDD-OFDM; Type of coding, H.264; Emissive power, 5w; Interface, RS232 and RJ45; Power supply, 12V.The information such as concentration of toxic gases, GPS location, video are sent to remote monitoring subsystem by wireless sending module.

(11) wireless receiving module of the present embodiment, adopts the GS800ER-D5 communication module of Lv Pu garden, Beijing Science and Technology Ltd., important technological parameters: modulation system, TDD-OFDM; Type of coding, H.264; Interface, RS232 and RJ45; Power supply, 12V.Wireless receiving module receives the information such as concentration of toxic gases, GPS location, video of self-movement robot, and passes to data handling machine.

(12) lithium battery of the present embodiment, adopts lithium battery group XC-24V-20Ah-PVC225-80-60, important technological parameters: output voltage, 21V ~ 29.4V; Maximum operating currenbt, 20A; Battery capacity, 20000mAh.The output terminal of lithium battery group is connected with the voltage input end of voltage transformation module.

(13) voltage transformation module of the present embodiment, sampling Hangzhou Mei Zan Electronics Co., Ltd. MDH120-24T051224 tri-road out-put supply module, important technological parameters: input voltage range, 18-386V; Output voltage, 5V, 12V, 24V; Voltage accuracy, ± 1%; Output power, 300W.The voltage input end of three road out-put supply modules is connected with the output terminal of lithium battery group.

(14) data handling machine of the present embodiment, adopts the PrecisionT5810 workstation of DELL company, important technological parameters: processor, extremely four core processors; Operating system, 7 professional versions; Internal memory, 16GB; Hard disk, 1TB, data handling machine stores the data processor worked out by conventional programming techniques in advance.

(15) the control command sending module of the present embodiment and control command receiver module, adopts the SA68D21DL wireless data transmission module of Beijing Jie Mai communication apparatus company limited, important technological parameters: working frequency range, 227.000MHz-233.000MHz; Wireless code speed, 1200bps; Interface standard, RS232, RS485, Transistor-Transistor Logic level are optional.

The embodiment workflow of the emergency processing method of the said system that the present invention adopts as shown in Figure 3, comprises the following steps:

1) site layout project toxic gas monitoring system:

Remote monitoring subsystem is deployed in the upwind region away from the scene of the accident, controls mobile robot by long-range wireless remote control mode, make it move to scene of the accident downwind area;

2) height of sampling of toxic gas sensor is controlled:

According to the toxic gas physical property that various toxic gas sensor monitors, judge whether it is heavier than air; If toxic gas is heavier than air, then controlling gas sensor height of sampling is 100cm; If lta, then by the height of slide block in control lead screw transmission parts, realize toxic gas sensor height of sampling and be adjusted to 150cm;

Concrete control method is as follows: will the distance of movement by slide block, and be scaled the rotational angle controlling the stepper motor that leading screw rotates, rotational angle, divided by the stepping angle of stepper motor, obtains the step number of control step motor adjustment;

3) determination of toxic gas diffusion model:

When toxic gas generation instantaneous leak, adopt Gauss's cigarette group model as shown in formula (1); When toxic gas generation continuous release, adopt Gaussian plume model as shown in formula (2),

$C(x,y,z,t)=\frac{Q}{{\left(2\mathrm{\&pi;}\right)}^{3/2}\&CenterDot;{\mathrm{\&sigma;}}_x{\mathrm{\&sigma;}}_y{\mathrm{\&sigma;}}_z}\&CenterDot;e^{-\frac{{(x-ut)}^2}{2{\mathrm{\&sigma;}}_x^2}}\&CenterDot;e^{-\frac{y^2}{2{\mathrm{\&sigma;}}_y^2}}\&CenterDot;(e^{-\frac{{(z-H)}^2}{2{\mathrm{\&sigma;}}_z^2}}+e^{-\frac{{(z+H)}^2}{2{\mathrm{\&sigma;}}_z^2}})---\left(1\right)$

$C(x,y,z,t)=\frac{Q}{2{\mathrm{\&pi;u\&sigma;}}_y{\mathrm{\&sigma;}}_z}\&CenterDot;e^{-\frac{y^2}{2{\mathrm{\&sigma;}}_y^2}}\&CenterDot;(e^{-\frac{{(z-H)}^2}{2{\mathrm{\&sigma;}}_z^2}}+e^{-\frac{{(z+H)}^2}{2{\mathrm{\&sigma;}}_z^2}})---\left(2\right)$

Wherein: C (x, y, z, t) is for leaking medium is at the concentration value in certain position moment; Q is source of leaks intensity (mg/s); σ _x, σ _y, σ _zbe respectively the coefficient of diffusion on x, y, z axle, calculate according to atmospheric stability Selection parameter, unit is rice (m); X, y, z represents the coordinate figure in x, y, z, and unit is rice (m); U represents mean wind speed (m/s); T represents diffusion time, and unit is second (s); H represents the height of source of leaks, and unit is rice (m);

4) toxic gas source of leaks intensity is obtained:

Suppose there is poisonous gas leakage initial time is t0 (s), and concentration of toxic gases sampling instant is tc (s);

4-1) calculate source of leaks intensity during toxic gas instantaneous leak

4-1-1) according to the mean wind speed u of meteorological department's acquisition, the weather information of atmospheric stability, calculate the coefficient of diffusion σ of toxic gas on x, y, z axle _x, σ _y, σ _z;

4-1-2) obtain the information of mobile robot at the concentration of toxic gases of three diverse locations, gps coordinate, sampling instant tc=t0+t, according to the gps coordinate of source of leaks position, the gps coordinate of monitoring point is converted into the rectangular coordinate value (x, y, z) that Gauss's cigarette group model adopts;

4-1-3) by above-mentioned three groups of concentration of toxic gases C (x, y, z, t), formula (1) is brought in positional information (x, y, z), sampling instant (tc=t0+t) respectively into, stroke equation with three unknowns group, calculate source of leaks intensity, the height of source of leaks, the predicted value (Q, H, t0) of leakage initial time;

4-1-4) run Gauss's cigarette group model according to this group predicted value (Q, H, t0), measure the moment at each, the prediction concentrations value measuring concentration value and diffusion model is compared; If measure concentration value not mate with prediction concentrations value, then again provide one group of predicted value: if measure concentration value > prediction concentrations value, then source of leaks intensity Q is increased progressively and obtain a predicted value, if measure concentration value < prediction concentrations value, then source of leaks intensity Q is successively decreased one and be worth, again run this step 4-1-4); If measure concentration value and prediction concentrations value to match, then source of leaks intensity Q is considered to actual value, record predict source of leaks intensity, source of leaks height, leakage initial time (Q, H, t0);

4-2) calculate source of leaks intensity during toxic gas continuous release

4-2-1) according to the weather information such as mean wind speed u, atmospheric stability that meteorological department obtains, calculate the coefficient of diffusion σ of toxic gas in y, z-axis _y, σ _z;

4-2-2) obtain the information such as concentration of toxic gases, GPS information, sampling instant (tc=t0+t) of mobile robot at two diverse locations, according to the GPS information of source of leaks position, the gps coordinate of monitoring point is converted into the coordinate system coordinate figure (x that Gauss's cigarette group model adopts, y, z);

4-2-3) by two groups of concentration of toxic gases C (x, y, z, t), positional information (x, y, z) brings formula (2) respectively into, stroke equation with two unknowns group, calculates the predicted value (Q, H) of height of source of leaks intensity, source of leaks;

4-2-4) run Gauss's cigarette group model according to this group predicted value (Q, H), measure the moment at each, the prediction concentrations value measuring concentration value and diffusion model is compared; If measure concentration value not mate with prediction concentrations value, then again provide one group of predicted value: if measure concentration value > prediction concentrations value, then source of leaks intensity Q is increased progressively and obtain a predicted value, if measure concentration value < prediction concentrations value, then source of leaks intensity Q is successively decreased one and is worth, again run this step 4-2-4) (problem and upper step are together); If measurement concentration value and prediction concentrations value match, then source of leaks intensity Q is considered to actual value, records source of leaks intensity, the source of leaks height (Q, H) predicted.

5) evacuating personnel scope is determined:

According to the toxic gas source of leaks intensity obtained, obtain the coverage of the maximum personnel death of toxic gas intoxication accident, severe injury, slight wound, and show in GIS map, to determine evacuating personnel scope.

Claims (9)

1. the on-the-spot toxic gas monitoring system of chemical accident, is characterized in that, comprise mobile robot and the remote monitoring subsystem with this mobile robot's radio communication: wherein mobile robot comprises:

In-wheel driving mechanism is the travel mechanism realizing this mobile-robot system;

Supporting construction, each several part for this mobile-robot system of bearer connection becomes as a whole;

Lead screw transmission parts, for realizing the adjustment of this mobile-robot system toxic gas height of sampling;

Monitoring poisonous gas parts, for the monitoring of scene of the accident concentration of toxic gases and GPS information;

Image acquisition component, for the collection of scene of the accident video image;

Wireless sending module, for being wirelessly transmitted to remote monitoring subsystem by concentration of toxic gases, GPS information and video image;

Control command receiver module, for receiving the steering order such as mobile-robot system motion, toxic gas height of sampling, camera horizon and luffing angle;

Power module, powers for giving mobile-robot system each several part;

Motion-control module, for controlling the height of mobile-robot system direction of motion and speed, camera horizon angle and luffing angle, lead screw transmission parts slide block;

Remote monitoring subsystem, realization controls the motion control of mobile robot, the control of gas sampling height and concentration of toxic gases and video image information receives, shows and Treatment Analysis.

2. the system as claimed in claim 1, is characterized in that, described monitoring poisonous gas parts comprise 6 kinds of toxic gas sensors, concentration of toxic gases collecting circuit board and GPS locating module; Image acquisition component comprises image acquisition and processing module and infrared high-definition camera, luffing angle control steering wheel, horizontally rotate control steering wheel;

The mechanical connection of mobile robot's each several part closes and is: in-wheel driving mechanism is connected with supporting construction; Lead screw transmission parts are connected with supporting construction; 6 kinds of toxic gas sensors of monitoring poisonous gas parts are inlaid on lead screw transmission parts, and GPS locating module is fixing on the support structure, the image acquisition and processing model calling of concentration of toxic gases collecting circuit board and image acquisition component; The image acquisition and processing module of image acquisition component is fixed on motion-control module, horizontally rotates to control steering wheel and be fixed in supporting construction, horizontally rotates to control steering wheel and control steering wheel with luffing angle and be connected; Pitch rotation controls steering wheel and is connected with infrared high-definition camera; Wireless sending module is connected with supporting construction; Power module is connected with supporting construction; Motion-control module is connected with image acquisition component, supporting construction;

The circuit connecting relation of mobile robot's each several part is: concentration of toxic gases collecting circuit board is connected with the signal wire of toxic gas sensor by AD interface, is connected by RS485 mouth with GPS sensor, is connected with wireless sending module by RS232 mouth; Image acquisition and processing module is connected with infrared high-definition camera by BNC mouth, is connected with wireless sending module by RJ45 Ethernet interface; Motion control circuit plate is connected by the control line of signal wire with revolver drive motor, right wheel drive motor, be connected by the control line that signal wire and luffing angle control steering wheel, level angle controls steering wheel, control motor by signal wire and leading screw to be connected, be connected with control command receiver module by RS232 mouth; The output terminal of power module is connected with the power input of each parts of mobile robot respectively by power lead.

3. the system as claimed in claim 1, it is characterized in that, described supporting construction comprises top layer back up pad, middle level back up pad, base layer support plate and 8 support posts, is wherein connected by 4 support posts respectively between top layer back up pad and middle level back up pad, between middle level back up pad and base layer support plate; 4 support post upper ends between top layer back up pad and middle level back up pad tighten together with top layer back up pad, and lower end is connected with middle level back up pad; 4 support post upper ends between middle level back up pad and base layer support plate are connected with middle level back up pad, and lower end tightens together with base layer support plate.

4. system as claimed in claim 3, it is characterized in that, described in-wheel driving mechanism is the travel mechanism of mobile robot, comprises revolver, universal wheel, rightly to take turns, revolver drive motor, right wheel drive motor; Revolver and right wheel shaft of taking turns are connected with the driving shaft of revolver drive motor, right wheel drive motor respectively, the wheel shaft of universal wheel is connected on the base layer support plate in supporting construction by fixture, revolver drive motor, right wheel drive motor are fixed by screws on the base layer support plate in supporting construction.

5. system as claimed in claim 3, is characterized in that, described lead screw transmission parts, comprises leading screw and controls motor, guide pole, leading screw, supporting seat, slide block; Leading screw controls motor by the vertical movement of leading screw band movable slider; Leading screw controls motor and is fixed in the middle level back up pad of supporting construction, supporting seat is fixed in the top layer back up pad of supporting construction, leading screw lower end is connected to leading screw by the through hole in the through hole on supporting seat fixture, top layer back up pad successively and controls on the driving shaft of motor, leading screw upper end is arranged on supporting seat top by bearing, guide pole upper end is fixed on supporting seat top, and guide pole lower end is fixed on supporting seat bottom.

6. system as claimed in claim 5, it is characterized in that, in described monitoring poisonous gas parts, 6 kinds of toxic gas sensors are inlaid on the side panel of lead screw transmission parts slide block, and follow slide block and move in vertical direction; GPS locating module is fixed in the middle level back up pad of supporting construction, and concentration of toxic gases collecting circuit board is fixed in image acquisition and processing module.

7. system as claimed in claim 6, it is characterized in that, described 6 kinds of poisonous gas sensors are NH ₃sensor, CL ₂sensor, HCN sensor, H ₂sensor, NO sensor and SO ₂sensor; , 6 kinds of toxic gas sensor height of sampling range of adjustment are distance ground 50cm ~ 150cm.

8. system as claimed in claim 3, it is characterized in that, the image acquisition and processing module of described image acquisition component is fixed on motion-control module, horizontally rotating control steering wheel is fixed in the top layer back up pad of supporting construction, horizontally rotate the swing arm controlling steering wheel to be connected with the support member that installation luffing angle controls steering wheel, drive the support member installing luffing angle control steering wheel to horizontally rotate, range of adjustment is 0 ° ~ 180 °; The swing arm that pitch rotation controls steering wheel is connected with the support member of installation infrared high-definition camera, and drive the support member of installation infrared high-definition camera to rotate up and down, slewing area is-40 ° ~ 90 °.

9. adopt a chemical accident emergency processing method for system as claimed in claim 1, it is characterized in that, the method comprises the following steps:

1) site layout project monitoring poisonous gas mobile-robot system

Remote monitoring subsystem is deployed in the upwind region away from the scene of the accident, controls mobile robot by long-range wireless remote control mode, make it move to scene of the accident downwind area;

2) height of sampling of toxic gas sensor is controlled

According to the toxic gas physical property monitored, judge whether it is heavier than air; If toxic gas is heavier than air, then controlling gas sensor height of sampling is 100cm; If lta, then controlling gas sensor height of sampling is 150cm;

By controlling the height of slide block in mobile robot's lead screw transmission parts, realize the adjustment of toxic gas sensor height of sampling, concrete control method is as follows: will the distance of movement by slide block, be scaled the rotational angle controlling the stepper motor that leading screw rotates, rotational angle, divided by the stepping angle of stepper motor, obtains the step number of control step motor adjustment;

3) poisonous gas diffusion model is defined

When toxic gas generation instantaneous leak, adopt Gauss's cigarette group model as shown in formula (1); When toxic gas generation continuous release, adopt Gaussian plume model as shown in formula (2);

Wherein: C (x, y, z, t) is for leaking medium is at the concentration value in certain position moment; Q is source of leaks intensity (mg/s); σ _x, σ _y, σ _zbe respectively the coefficient of diffusion on x, y, z axle, calculate according to atmospheric stability Selection parameter, unit is rice (m); X, y, z represents the coordinate figure in x, y, z, and unit is rice (m); U represents mean wind speed (m/s); T represents diffusion time, and unit is second (s); H represents the height of source of leaks, and unit is rice (m);

4) toxic gas source of leaks intensity is obtained:

Suppose there is poisonous gas leakage initial time is t0 (s), and concentration of toxic gases sampling instant is tc (s);

4-1) calculate source of leaks intensity during toxic gas instantaneous leak

4-1-1) according to the mean wind speed u of meteorological department's acquisition, the weather information of atmospheric stability, calculate the coefficient of diffusion σ of toxic gas on x, y, z axle _x, σ _y, σ _z;

4-1-2) obtain the information of mobile robot at the concentration of toxic gases of three diverse locations, gps coordinate, sampling instant tc=t0+t, according to the gps coordinate of source of leaks position, the gps coordinate of monitoring point is converted into the rectangular coordinate value (x, y, z) that Gauss's cigarette group model adopts;

4-1-3) by above-mentioned three groups of concentration of toxic gases C (x, y, z, t), formula (1) is brought in positional information (x, y, z), sampling instant (tc=t0+t) respectively into, stroke equation with three unknowns group, calculate source of leaks intensity, the height of source of leaks, the predicted value (Q, H, t0) of leakage initial time;

4-1-4) run Gauss's cigarette group model according to this group predicted value (Q, H, t0), measure the moment at each, the prediction concentrations value measuring concentration value and diffusion model is compared; If measure concentration value not mate with prediction concentrations value, then again provide one group of predicted value: if measure concentration value > prediction concentrations value, then source of leaks intensity Q is increased progressively and obtain a predicted value, if measure concentration value < prediction concentrations value, then source of leaks intensity Q is successively decreased one and be worth, again run this step 4-1-4); If measure concentration value and prediction concentrations value to match, then source of leaks intensity Q is considered to actual value, record predict source of leaks intensity, source of leaks height, leakage initial time (Q, H, t0);

4-2) calculate source of leaks intensity during toxic gas continuous release

4-2-1) according to mean wind speed u, atmospheric stability weather information that meteorological department obtains, calculate the coefficient of diffusion σ of toxic gas in y, z-axis _y, σ _z;

4-2-2) obtain concentration of toxic gases, GPS information, sampling instant (tc=t0+t) information of mobile robot at two diverse locations, according to the GPS information of source of leaks position, the gps coordinate of monitoring point is converted into the coordinate system coordinate figure (x that Gauss's cigarette group model adopts, y, z);

4-2-3) by two groups of concentration of toxic gases C (x, y, z, t), positional information (x, y, z) brings formula (2) respectively into, stroke equation with two unknowns group, calculates the predicted value (Q, H) of height of source of leaks intensity, source of leaks;

4-2-4) run Gauss's cigarette group model according to this group predicted value (Q, H), measure the moment at each, the prediction concentrations value measuring concentration value and diffusion model is compared; If measure concentration value not mate with prediction concentrations value, then again provide one group of predicted value: if measure concentration value > prediction concentrations value, then source of leaks intensity Q is increased progressively and obtain a predicted value, if measure concentration value < prediction concentrations value, then source of leaks intensity Q is successively decreased one and be worth, again run this step 4-2-4); If measurement concentration value and prediction concentrations value match, then source of leaks intensity Q is considered to actual value, records source of leaks intensity, the source of leaks height (Q, H) predicted;

5) determination of evacuating personnel scope

According to the toxic gas source of leaks intensity obtained, obtain the coverage of the maximum personnel death of toxic gas intoxication accident, severe injury, slight wound, and demonstrate in GIS map, to determine evacuating personnel scope.