CN112783239A - Environment detection device and method - Google Patents
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Abstract
The present invention relates to an environment detecting device, comprising: the device comprises a motion unit, a detection unit and a control unit, wherein the motion unit, the detection unit and the control unit are electrically connected; the moving unit comprises a crawler-type chassis, an infrared obstacle avoidance module, an ultrasonic distance measurement module and an infrared thermal imaging module; the control unit controls the crawler-type chassis to move according to information detected by the infrared obstacle avoidance module, the ultrasonic distance measurement module and the infrared thermal imaging module; the detection unit detects environmental data for transmission to the control unit. The portability and the safety of the environment detection device are improved.
Description
Technical Field
The invention relates to the technical field of environment detection, in particular to an environment detection device and method.
Background
The intelligent wireless detection robot has the advantages that the spaces such as storage cabins, pipelines, mine roadways, building hole piles and house flues are narrow, accidents such as fire disasters, landslides, suffocation, gas poisoning and explosion easily occur in airtight spaces where gas does not flow, when workers do not conveniently enter the intelligent wireless detection robot, and when the danger coefficient is high, the intelligent wireless detection robot can go to the front line for detection under the command of operators is very important. The robot feeds back the obtained environmental hazard source, image, sound and other related data to the operation end, and the data are intelligently analyzed and early-warned in advance in the mobile phone APP. And finally, the information is displayed on a mobile phone screen, so that the information can help operators outside the closed space to perform investigation and early warning on the unknown environment in advance.
In the aspect of dangerous source detection in a closed space, most of domestic and foreign related detection equipment selects a wearing mode of being handheld or worn, the detection equipment is widely used due to low cost and simplicity in use, but the detection equipment needs to be worn by workers to enter an unknown environment in the actual application process, the dangerous and uncertain factors are too many, the detection effect can only be achieved, the intelligent degree is low, and the detection on the environmental dangerous source is not visual. In China, research and development in the field of disaster robots are still in the initiative period, and the existing robots have the characteristics of large volume, high manufacturing cost and the like and are not suitable for the environment with narrow space, namely a closed space.
Disclosure of Invention
Based on this, the invention aims to provide an environment detection device, which improves the portability and the safety of the environment detection device.
In order to achieve the purpose, the invention provides the following scheme:
an environment detecting device comprising: the device comprises a motion unit, a detection unit and a control unit, wherein the motion unit and the detection unit are electrically connected with the control unit; the moving unit comprises a crawler-type chassis, an infrared obstacle avoidance module, an ultrasonic distance measurement module and an infrared thermal imaging module; the control unit controls the crawler-type chassis to move according to information detected by the infrared obstacle avoidance module, the ultrasonic distance measurement module and the infrared thermal imaging module; the detection unit is used for sending detected environment data to the control unit.
Optionally, the tracked chassis is a swing arm tracked chassis rotatable through 270 °.
Optionally, the infrared thermal imaging module includes an infrared thermal imaging sensor and a holder, the infrared thermal imaging sensor is disposed on the holder, and the holder is configured to rotate the infrared thermal imaging sensor.
Optionally, the detection unit comprises an environmental hazard detection module;
the environment hazard source detection module comprises a closed air chamber and an air chamber port; and the environment gas is sucked into the closed gas chamber through the gas chamber port, and an electrochemical concentration sensor and a temperature and humidity sensor are arranged in the closed gas chamber.
Optionally, the electrochemical concentration sensors include a CO2 concentration sensor, a toxic gas concentration sensor, a combustible gas concentration sensor, and an oxidizer concentration sensor.
Optionally, the detection unit further comprises a microphone module, a smoke density detector, a pressure detector, a gas flow rate detector, and a video detector.
Optionally, the control unit includes a power supply module, a single chip module and a data transmission module; the single chip microcomputer module is respectively connected with the power supply module and the data transmission module.
Optionally, the mobile terminal further comprises a mobile application program, and the single chip microcomputer module is in communication connection with the mobile application program through the data transmission module.
Optionally, the mobile application includes:
the system setting module is used for setting parameters and sending the set parameters to the single chip microcomputer module;
the data analysis module is used for receiving the data sent by the singlechip module and carrying out data analysis;
and the data display module is used for receiving and displaying the data of the data analysis module.
The invention also discloses an environment detection method, which is applied to the environment detection device and comprises the following steps:
obtaining image or video information of a region to be detected through an infrared thermal imaging module;
judging whether a disaster exists according to the image or video information;
if so, acquiring the disaster type through the image or video information;
if not, acquiring the temperature of the area to be detected through the detection unit;
judging whether a heat source exists in the area to be detected or not according to the temperature of the area to be detected;
if no heat source exists, judging that no fire exists;
if a heat source exists, obtaining a temperature field of the area to be detected through an infrared thermal imaging module;
judging whether a fire condition exists according to the temperature field;
if not, judging that no fire exists;
if so, acquiring the position and the range of the fire source according to the temperature field;
obtaining the concentration of each set type of gas through a detection unit;
and acquiring the development situation of the disaster according to the concentration of each set gas.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention discloses an environment detection device.A control unit controls a crawler-type chassis to move according to information detected by an infrared obstacle avoidance module, an ultrasonic distance measurement module and an infrared thermal imaging module; the detection unit is used for sending detected environment data to the control unit, and therefore the portability and the safety of the environment detection device are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a side view of an environment detecting apparatus according to the present invention;
FIG. 2 is a top view of an environment detecting device according to the present invention;
FIG. 3 is a schematic diagram illustrating the relationship between units in an environment detecting apparatus according to the present invention;
FIG. 4 is a flowchart illustrating the operation of a mobile application in accordance with the present invention;
FIG. 5 is a flowchart illustrating an environment detection method according to the present invention;
the notation in the figure is:
the system comprises a crawler-type chassis, 2-an air chamber port, 3-a pan-tilt, 4-a sound pickup module, 5-a closed air chamber, 6-an air concentration sensor, 7-an infrared obstacle avoidance sensor, 8-a Bluetooth transmission module, 9-a temperature and humidity sensor and 10-an ultrasonic distance measurement module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide an environment detection device, which improves the portability and the safety of the environment detection device.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
An environment detecting apparatus as shown in fig. 1 to 3 includes: the device comprises a motion unit 101, a detection unit 103 and a control unit 102, wherein the motion unit 101 and the detection unit 103 are both electrically connected with the control unit 102; the moving unit 101 comprises a crawler-type chassis 1, an infrared obstacle avoidance module, an ultrasonic distance measurement module 10 and an infrared thermal imaging module; the control unit 102 controls the crawler-type chassis 1 to move according to the information detected by the infrared obstacle avoidance module, the ultrasonic distance measurement module 10 and the infrared thermal imaging module; the detection unit 103 detects for sending detected environmental data to the control unit 102.
The crawler-type chassis 1 is a swing arm crawler-type chassis 1 capable of rotating 270 degrees. The swing arm crawler-type chassis 1 has the characteristics of strong trafficability (the maximum climbing angle reaches 35 degrees), small turning radius (in-situ rotation is realized), large obstacle crossing height (100mm) and large ditch crossing depth (160mm), and can adapt to various unknown complex environments. The infrared obstacle avoidance module is composed of three infrared obstacle avoidance sensors 7 on the front side, the left side and the right side, no matter which infrared obstacle avoidance sensor 7 detects an obstacle, the remote control steering key in the direction where the infrared obstacle avoidance sensor 7 is located is out of order, and after the device is far away from the obstacle, the steering key which is out of order before is automatically recovered. The ultrasonic ranging module 10 is composed of two ultrasonic ranging sensors mounted in front and above, and can detect the terrain environment within 5m around, and the motion direction needs to be adjusted in time when the ranging value is gradually reduced.
Infrared thermal imaging module includes infrared thermal imaging sensor and cloud platform 3, infrared thermal imaging sensor sets up on the cloud platform 3, cloud platform 3 is used for the rotation infrared thermal imaging sensor's. The infrared thermal imaging module also includes a display. The cloud platform 3 can realize 360 rotations, carries out infrared scanning to the environment all around and seeks high temperature heat source. In a working environment with poor sight, the infrared imaging module can replace a camera to detect and display the front road condition.
The detection unit 103 comprises an environmental hazard source detection module;
the environment hazard source detection module comprises a closed air chamber 5 and an air chamber port 2; and the air chamber port 2 is used for sucking the environmental gas into the closed air chamber 5, and an electrochemical concentration sensor and a temperature and humidity sensor 9 are arranged in the closed air chamber 5.
The electrochemical concentration sensor 6 comprises CO2The device comprises a concentration sensor, a toxic gas concentration sensor, a combustible gas concentration sensor and a combustion improver concentration sensor. Toxic gases include CO and H2S, the combustible gas comprises C2H4And CH4The combustion improver comprises O2。
The detection unit 103 further includes a microphone module 4, a pressure detector, and a gas flow rate detector.
After the environmental hazard source detection module is powered on, the air pump and each sensor are started, and monitoring is started. In the first step, the inside of a closed space is directly judged through video shooting and image recognition technologySuch as a gas leakage fire and a cable fire in a utility tunnel, a coal fire and a wood crib fire in a mine, a liquid fire in an oil pipeline network, etc., if a disaster accident cannot be directly acquired through video imaging, the following steps are sequentially performed for detection and analysis. Secondly, measuring the temperature by a temperature sensor to know whether an exothermic source exists in the closed space, and if the temperature is higher than the daily temperature (generally below 40 ℃) of the closed space, causing caution; if the temperature is higher than 60 ℃ (critical temperature of human body), the staff is not allowed to enter. And further capturing a temperature field in the closed space through infrared thermal imaging, locking a high-temperature heat source, and judging whether a fire exists, the position of the fire source and the scale of the fire. Thirdly, judging the disaster development law according to the concentration and change of various gases monitored by the electrochemical sensor, such as according to the concentration and C of CO in a mine2H2Concentration, C2H4Concentration, CO/. DELTA.O2Concentration ratio, C2H6/CH4Determining the development stage of coal spontaneous combustion according to the change rule of the concentration ratio along with time; in a closed space according to O2Roughly calculating the fuel consumption and the total combustion heat generated by concentration; according to CO/CO2The concentration ratio judges whether the combustion belongs to a fuel control type or a ventilation control type, and provides a theoretical basis for follow-up prevention and control measures. Fourthly, analyzing the explosive risk by the concentration of various gases monitored by the electrochemical sensor, such as when the concentration of CO in the enclosed space reaches or approaches 12.5-74 percent and CH4The concentration reaches or approaches 12.5 to 74 percent, C2H4The concentration reaches or approaches 2.7% -36%, and the environment detection device gives timely and continuous alarm through the mobile application program until the concentration of the explosive gas is reduced below a safety value. Fifthly, the suffocation and toxicity risk analysis is carried out on the concentration of various gases monitored by the electrochemical sensor, such as monitoring O in the closed space2Judging possible suffocation accidents by concentration, monitoring CO and H2S and other toxic gas concentrations judge possible poisoning accidents, and danger grades are divided according to concentration ranges to remind users of avoiding risks, such as H2When the concentration of S gas is higher than 100ppmFor high risk, concentrations between 20 and 100ppm are dangerous, concentrations between 6.6 and 20ppm are moderately dangerous, and concentrations less than 6.6ppm are not dangerous. In addition, the sound collector module 4 collects sound in a closed space and sends the sound to a receiving end through a frequency modulation signal, so that real-time sound collection is realized. Meanwhile, the detection unit 103 is also provided with a smoke density detector, a pressure detector and a gas flow velocity detector, and can monitor the smoke concentration, the environmental pressure and the gas flow velocity in the closed space.
The control unit 102 includes a power supply module, a single chip module and a data transmission module. The single chip microcomputer module is respectively connected with the power supply module and the data transmission module.
The power supply unit provides power for the singlechip module, the data transmission module, the motion unit and the detection unit.
The data transmission module comprises a bluetooth transmission module 8.
The environment detection device also comprises a mobile application program 104, and the single chip microcomputer module is in communication connection with the mobile application program 104 through the data transmission module.
The mobile application 104 includes a system setup module, a data display module, and a data analysis module.
And the system setting module is used for setting parameters and sending the set parameters to the single chip microcomputer module.
And the data analysis module is used for receiving the data sent by the singlechip module and carrying out data analysis.
And the data display module is used for receiving and displaying the data of the data analysis module.
The power supply module is required to supply power to the motion unit 101 and also to supply power to each detection device. The single chip module adopts the super large scale integrated circuit technology to integrate the functions of a central processing unit CPU with data processing capacity, a random access memory RAM, a read only memory ROM, various I/O ports, an interrupt system, a timer/counter and the like on a silicon chip. The single chip microcomputer module not only stores all monitoring data, but also can analyze and calculate the monitoring data in advance at the storage end according to requirements to determine disaster risks. In addition, the movement of the intelligent detection robot (environment detection device) is also controlled by the command of the single chip microcomputer module. The data transmission module is connected with the single chip microcomputer by using a Bluetooth technology and selecting a V4.2 serial port transparent transmission Bluetooth, and sends original or analysis data received by the serial port to the mobile phone APP (mobile application program 104) in real time.
The parameter setting of the system setting module is divided into pre-parameter setting and early warning setting. At the beginning of the system use, the closed space to be measured needs to be pre-parameter set, the field condition of the closed space needs to be evaluated and classified, and the hazard degree of dangerous goods in the space needs to be estimated. Early warning setting needs to set up the early warning value of system, divide into red orange yellow blue level four early warning according to the danger degree. The early warning mechanism is mainly divided into two types, the first type is threshold early warning, namely the early warning mechanism in the system is triggered after a certain specific value is reached, and the second type is early warning triggered by the rapid change of the coefficient of the hazard source.
The mobile application program 104 displays data transmitted by the Bluetooth in real time, the data can be stored in historical data after being displayed, a database is established for different closed space disasters, and a large amount of data information related to the closed space disaster process is collected, stored and retrieved.
The mobile application program 104 counts the video images of the closed space, the toxic gas, the oxygen concentration, the combustible gas concentration, the smoke concentration, the space temperature, the operable space, the input and output space substances and other dangerous source data which possibly cause accidents, analyzes the severity of the dangerous source data by using a matrix comparison method, well predicts and classifies disasters, compares the data transmitted by the detector, and performs factorization on the dangerous degree of an accident site, thereby improving the risk identifiability of non-professionals on the disaster site.
In addition, the mobile application 104 further judges a hazard source, a hidden danger and even an accident reason by using a technical method based on scenario analysis, dynamic bayesian network and the like according to a safety principle, respectively performs theoretical modeling and mathematical modeling on different catastrophe scenes, performs risk coupling panoramic analysis and perception and situation analysis of field intelligent linkage on various events, and predicts a reaching range of a disaster, a dynamic evolution process of subsequent disaster development, a possibly caused secondary disaster and the like. The workflow of mobile application 104 is shown in fig. 4.
The invention also discloses a flow chart of an environment detection method, as shown in fig. 5, the environment detection method comprises the following steps:
step 101: and obtaining the image or video information of the area to be detected through the infrared thermal imaging module.
Step 102: and judging whether a disaster exists according to the image or video information.
If yes, go to step 103.
Step 103: and acquiring the disaster type through the image or video information.
If not, go to step 104.
Step 104: the temperature of the area to be detected is acquired by the detection unit.
Step 105: and judging whether a heat source exists in the area to be detected or not according to the temperature of the area to be detected.
If no heat source is present, go to step 106.
Step 106: and judging that no fire exists.
If a heat source is present, step 107 is performed.
Step 107: and obtaining the temperature field of the area to be detected through an infrared thermal imaging module.
Step 108: and judging whether fire occurs according to the temperature field.
If not, go to step 106.
If yes, go to step 109.
Step 109: and acquiring the position of the fire source and the range of the fire according to the temperature field.
Step 110: the concentration of each set type of gas is obtained by the detection unit.
Step 111: and acquiring the development situation of the disaster according to the concentration of each set gas. The development conditions of the disaster comprise the development degree of the disaster, explosive risks, suffocation and toxicity risks.
The environment detecting method of the present invention will be specifically described below.
The method comprises the steps that the typical disaster type in the closed space is directly judged through video shooting and image recognition technologies in the first step, if the typical disaster type is a gas leakage fire and a cable fire in a comprehensive pipe gallery, a coal fire and a wood pile fire in a mine, a liquid fire in an oil pipeline network and the like, and if the disaster accident cannot be directly obtained through video imaging, the detection and the analysis are sequentially carried out through the following steps.
Secondly, measuring the temperature by a temperature sensor to know whether an exothermic source exists in the closed space, and if the temperature is higher than the daily temperature (generally below 40 ℃) of the closed space, causing caution; if the temperature is higher than 60 ℃ (critical temperature of human body), the staff is not allowed to enter. And further capturing a temperature field in the closed space through infrared thermal imaging, locking a high-temperature heat source, and judging whether a fire exists, the position of the fire source and the scale of the fire.
Thirdly, judging the disaster development law according to the concentration and change of various gases monitored by the electrochemical sensor, such as according to the concentration and C of CO in a mine2H2Concentration, C2H4Concentration, CO/. DELTA.O2Concentration ratio, C2H6/CH4Determining the development stage of coal spontaneous combustion according to the change rule of the concentration ratio along with time; in a closed space according to O2Roughly calculating the fuel consumption and the total combustion heat generated by concentration; according to CO/CO2The concentration ratio judges whether the combustion belongs to a fuel control type or a ventilation control type, and provides a theoretical basis for follow-up prevention and control measures.
Fourthly, analyzing the explosive risk by the concentration of various gases monitored by the electrochemical sensor, such as when the concentration of CO in the enclosed space reaches or approaches 12.5-74 percent and CH4The concentration reaches or approaches 12.5 to 74 percent, C2H4The concentration reaches or approaches 2.7% -36%, and the environment detection device gives timely and continuous alarm through the mobile application program until the concentration of the explosive gas is reduced below a safety value.
The fifth step is through electrificationThe concentration of various gases monitored by the chemical sensor is analyzed for suffocation and toxicity risks, such as by monitoring O in the enclosed space2Judging possible suffocation accidents by concentration, monitoring CO and H2S and other toxic gas concentrations judge possible poisoning accidents, and danger grades are divided according to concentration ranges to remind users of avoiding risks, such as H2S gas concentrations above 100ppm are highly dangerous, between 20 and 100ppm are dangerous, between 6.6 and 20ppm are moderately dangerous, and less than 6.6ppm are not dangerous. In addition, carry out sound collection at airtight space through adapter module to send to the receiving terminal through frequency modulation signal, realize real-time sound collection. Meanwhile, the detection unit is also provided with a smoke density detector, a pressure detector and a gas flow velocity detector, the smoke density detector is used for monitoring the smoke concentration in the closed space, the pressure detector is used for monitoring the environmental pressure of the closed space, and the gas flow velocity detector is used for monitoring the gas flow velocity in the closed space.
The environment detection device of the invention has the following technical effects:
1. the intelligent degree of the traditional closed space disaster detection equipment is low, the equipment is carried and used by personnel, and the accident risk is increased.
3. The traditional closed space disaster detection equipment has single function and poor applicability, and cannot be applied to ever-changing working environments.
4. Due to uncertainty of the working environment, the invention adopts the rocker mechanical chassis (crawler chassis), can avoid danger through functions of infrared obstacle avoidance, zero-angle turning, 90-degree obstacle avoidance and the like, and masters the specific conditions of the working environment through the carried infrared thermal imaging module, the ultrasonic distance measurement module, the sound pickup module and the like. Meanwhile, the functions of audible, visual and audible are realized by combining various sensors. And because the infrared thermal imager is carried and the camera head is matched, the front side detection and the all-around scanning function can be realized.
5. The traditional airtight space disaster detection equipment can only monitor data of the airtight condition of the space and judge the danger by workers, the danger degree coefficient is digitalized, the pre-parameter setting is carried out in advance, the data are uploaded to the cloud end to be stored and compared with the model, the function of realizing the graded early warning is pioneered in the industry, the dangerous data can be quantized, and the practicability is high.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. An environment detection device, comprising: the device comprises a motion unit, a detection unit and a control unit, wherein the motion unit and the detection unit are electrically connected with the control unit; the moving unit comprises a crawler-type chassis, an infrared obstacle avoidance module, an ultrasonic distance measurement module and an infrared thermal imaging module; the control unit controls the crawler-type chassis to move according to information detected by the infrared obstacle avoidance module, the ultrasonic distance measurement module and the infrared thermal imaging module; the detection unit is used for sending detected environment data to the control unit.
2. The environment detecting device of claim 1, wherein the tracked chassis is a swing arm tracked chassis rotatable through 270 °.
3. The environment detection device of claim 1, wherein the infrared thermal imaging module comprises an infrared thermal imaging sensor and a pan-tilt, the infrared thermal imaging sensor being disposed on the pan-tilt, the pan-tilt being configured to rotate the infrared thermal imaging sensor.
4. The environment detection device of claim 1, wherein the detection unit comprises an environmental hazard detection module;
the environment hazard source detection module comprises a closed air chamber and an air chamber port; and the environment gas is sucked into the closed gas chamber through the gas chamber port, and an electrochemical concentration sensor and a temperature and humidity sensor are arranged in the closed gas chamber.
5. The environment detecting device according to claim 4, wherein the electrochemical concentration sensor includes a CO2 concentration sensor, a toxic gas concentration sensor, a combustible gas concentration sensor, and an oxidizer concentration sensor.
6. The environment detection device of claim 4, wherein the detection unit further comprises a microphone module, a smoke density detector, a pressure detector, a gas flow rate detector, and a video detector.
7. The environment detection device of claim 1, wherein the control unit comprises a power supply module, a single chip module and a data transmission module; the single chip microcomputer module is respectively connected with the power supply module and the data transmission module.
8. The environment detecting device of claim 7, further comprising a mobile application program, wherein the single chip microcomputer module is in communication connection with the mobile application program through the data transmission module.
9. The environment detection apparatus of claim 8, wherein the mobile application comprises:
the system setting module is used for setting parameters and sending the set parameters to the single chip microcomputer module;
the data analysis module is used for receiving the data sent by the singlechip module and carrying out data analysis;
and the data display module is used for receiving and displaying the data of the data analysis module.
10. An environment detection method applied to the environment detection apparatus according to any one of claims 1 to 9, the method comprising:
obtaining image or video information of a region to be detected through an infrared thermal imaging module;
judging whether a disaster exists according to the image or video information;
if so, acquiring the disaster type through the image or video information;
if not, acquiring the temperature of the area to be detected through the detection unit;
judging whether a heat source exists in the area to be detected or not according to the temperature of the area to be detected;
if no heat source exists, judging that no fire exists;
if a heat source exists, obtaining a temperature field of the area to be detected through an infrared thermal imaging module;
judging whether a fire condition exists according to the temperature field;
if not, judging that no fire exists;
if so, acquiring the position and the range of the fire source according to the temperature field;
obtaining the concentration of each set type of gas through a detection unit;
and acquiring the development situation of the disaster according to the concentration of each set gas.
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| CN202011611675.1A CN112783239A (en) | 2020-12-30 | 2020-12-30 | Environment detection device and method |
| AU2021100797A AU2021100797A4 (en) | 2020-12-30 | 2021-02-09 | Environmental detection device and method |
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| CN110673603A (en) * | 2019-10-31 | 2020-01-10 | 郑州轻工业学院 | Fire scene autonomous navigation reconnaissance robot |
| CN110860057A (en) * | 2019-11-18 | 2020-03-06 | 燕山大学 | Fire-fighting reconnaissance robot and reconnaissance method |
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