Liquid ammonia leakage detection and spraying system, method, equipment and medium based on multi-mode perception

Abstract

The invention provides a liquid ammonia leakage detection and spraying system based on multi-mode sensing. The system comprises a sensing module, a decision module and an execution module, the sensing module is used for collecting multi-modal data around the liquid ammonia storage device; the decision module is used for judging whether liquid ammonia leakage occurs or not according to the multi-modal data, fusing the multi-modal data through a Kalman filtering algorithm to obtain leakage parameters, and generating a dynamic spraying strategy according to the leakage parameters; and the execution module is used for spraying according to the dynamic spraying strategy. Compared with the prior art, the liquid ammonia leakage detecting and spraying system based on multi-modal sensing has the advantages that the occurrence of liquid ammonia leakage is judged by collecting multi-modal data, the dynamic spraying strategy is generated, and the multi-degree-of-freedom spraying head is controlled according to the dynamic spraying strategy to accurately spray a leakage point; therefore, the effects of accurately and efficiently inhibiting liquid ammonia leakage and saving water resources are achieved. The method has the same beneficial effects.

Description

Technical Field

[0001] The present application relates to the technical field of ammonia detection, and in particular to a liquid ammonia leak detection and spraying system, method, equipment and medium based on multimodal sensing. Background Art

[0002] Liquid ammonia (NH3) is a liquefied gas with dangerous properties such as flammability, explosiveness, and toxicity. Once leaked, it quickly vaporizes and forms a low-temperature vapor cloud, which spreads over a wide range and can easily cause poisoning, explosions, and environmental pollution accidents.

[0003] In the event of a liquid ammonia leak, traditional liquid ammonia leak detection systems consist solely of an electrochemical sensor (such as an ammonia detector), a solenoid valve, and a fixed sprinkler head. The ammonia detector triggers an alarm, which then controls the solenoid valve to open, allowing the fixed sprinkler head to spray water to dilute the leaked liquid ammonia. This method suffers from a delayed response and is unable to contain initial spread. Fixed sprinkler heads have limited coverage, making it difficult to dynamically adjust the water volume and angle of the spray, resulting in low spray efficiency. Furthermore, traditional methods lack the ability to locate the leak source, requiring manual on-site investigations to locate the leak point.

[0004] Currently, existing technologies have the following technical issues: 1. Traditional electrochemical detection methods can delay liquid ammonia leak detection, resulting in significant system response delays, making it impossible to quickly identify small leaks and detect the initial spread of liquid ammonia leaks. Traditional electrochemical sensors have high false alarm rates and failure rates and are susceptible to environmental interference. 2. Spray coverage is inaccurate. Fixed spray systems struggle to adapt to dynamic liquid ammonia leak scenarios and are unable to dynamically adjust spray strategies based on changes in the on-site physical environment. This results in low dilution efficiency and significant water waste, increasing wastewater treatment costs.

[0005] In view of this, providing a liquid ammonia leak detection and spraying system and method based on multimodal perception to dynamically generate a spraying strategy is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the Invention

[0006] In order to solve the above technical problems, the purpose of the present invention is to provide a liquid ammonia leak detection and spraying system, method, equipment and medium based on multimodal perception. By judging when a leak occurs based on the multimodal data collected by the sensing module, a dynamic spraying strategy is generated, thereby controlling the multi-degree-of-freedom sprinkler head according to the multimodal data to accurately spray the leakage point, so as to achieve the effect of accurately and efficiently suppressing liquid ammonia leakage and saving water resources.

[0007] The first object of the present invention is to provide a liquid ammonia leak detection and spraying system based on multimodal sensing; The technical solutions provided by the present invention are as follows: A liquid ammonia leak detection and spraying system based on multimodal sensing, comprising: Perception module, decision module and execution module; The sensing module is configured to collect multimodal data around the liquid ammonia storage device, wherein the multimodal data includes temperature, ammonia concentration, wind speed, and wind direction; The decision module is configured to determine whether a leak occurs based on the multimodal data, fuse the multimodal data using a Kalman filter algorithm to obtain leakage parameters, and generate a dynamic spraying strategy based on the leakage parameters; wherein the leakage parameters include the location of the leakage point, the leakage amount, and the diffusion trend; The execution module is used to perform spraying according to the dynamic spraying strategy.

[0008] Preferably, the sensing module includes: a thermal imaging collector, an ammonia detector and a wind speed sensor; The thermal imaging collector is used to monitor the surface temperature changes of the liquid ammonia storage device, identify abnormal temperature increase areas and the distribution of low-temperature vapor clouds, and preliminarily determine the location of the leak; The ammonia detector is used to detect the ammonia concentration to accurately locate the leakage point; The wind speed sensor is used to monitor wind speed and wind direction.

[0009] Preferably, the decision module includes: a PLC controller and an edge computing controller; The PLC controller is configured to determine whether a liquid ammonia leak occurs based on the multimodal data and send a spray control instruction, and send a spray control instruction to the execution module based on the dynamic spray strategy; wherein the spray control instruction includes: a start spray instruction, an end spray instruction, an adjustment spray direction and angle instruction, and an adjustment spray water pressure and flow instruction; The edge computing controller is used to perform feature fusion on the multimodal data through a Kalman filter algorithm when a liquid ammonia leak occurs to estimate leakage parameters, and generate a dynamic spray strategy based on the leakage parameters and send it to the PLC controller.

[0010] Preferably, the execution module includes: a deluge valve group and a multi-degree-of-freedom sprinkler head; The deluge valve group is used to open or close the multi-degree-of-freedom sprinkler head according to the sprinkler control instruction; The multi-degree-of-freedom sprinkler head is used to adjust the sprinkler angle, sprinkler water pressure and sprinkler water flow rate according to the sprinkler control instruction.

[0011] Preferably, generating a dynamic spray strategy according to the leakage parameters specifically includes: Open the multi-degree-of-freedom sprinkler head at the corresponding position according to the location of the leakage point; adjusting a spray direction of the multi-degree-of-freedom sprinkler head based on wind speed and wind direction; The spray water flow rate is calculated according to the formula Q=k*q*t, where Q is the spray water flow rate, k is the preset safety factor with a value range of 3-5, q is the leakage volume, and t is the neutralization reaction time of water and ammonia; The spray angle is calculated according to the formula α=2arctan(d / 2h), where α is the spray angle, d is the spray distance, and h is the spray height.

[0012] Preferably, the determining whether liquid ammonia leakage occurs according to the multimodal data is specifically as follows: When the ammonia concentration exceeds the preset threshold, or there is a temperature anomaly and a low-temperature vapor cloud, it is determined that a liquid ammonia leak has occurred.

[0013] Preferably, the PLC controller is also used to send the end spraying instruction to the deluge valve group to stop spraying when the ammonia concentration is lower than a preset threshold and the temperature returns to normal.

[0014] The second object of the present invention is to provide a liquid ammonia leak detection and spraying method based on multimodal sensing; The technical solutions provided by the present invention are as follows: A liquid ammonia leak detection and spraying method based on multimodal sensing includes the following steps: Collecting multimodal data around the liquid ammonia storage device, wherein the multimodal data includes temperature, ammonia concentration, wind speed, and wind direction; Determining whether a leak occurs based on the multimodal data, fusing the multimodal data using a Kalman filter algorithm to obtain leakage parameters, and generating a dynamic spraying strategy based on the leakage parameters, wherein the leakage parameters include the location of the leak point, the leakage amount, and the diffusion trend; Spraying is performed according to the dynamic spraying strategy.

[0015] A third object of the present invention is to provide a computer device; The technical solutions provided by the present invention are as follows: A computer device includes a memory and a processor, wherein the memory stores a computer program and the processor executes the method steps of a liquid ammonia leak detection and spraying method based on multimodal perception.

[0016] A fourth object of the present invention is to provide a computer-readable storage medium; The technical solutions provided by the present invention are as follows: A computer-readable storage medium stores a computer program, wherein the computer program is executed by a processor to perform the method steps of a liquid ammonia leak detection and spraying method based on multimodal sensing.

[0017] The present invention provides a liquid ammonia leak detection and spraying system based on multimodal sensing, comprising: a sensing module, a decision module, and an execution module. The sensing module is configured to collect multimodal data around a liquid ammonia storage device, wherein the multimodal data includes temperature, ammonia concentration, wind speed, and wind direction. The decision module is configured to determine whether a liquid ammonia leak has occurred based on the multimodal data, fuse the multimodal data using a Kalman filter algorithm to obtain leakage parameters, and generate a dynamic spraying strategy based on the leakage parameters. The execution module is configured to spray according to the dynamic spraying strategy. Compared to the prior art, the present invention's liquid ammonia leak detection and spraying system based on multimodal sensing determines the occurrence of a liquid ammonia leak by collecting multimodal data and generates a dynamic spraying strategy. Based on the dynamic spraying strategy, the system controls a multi-degree-of-freedom spray head to precisely spray the leak point, thereby achieving the effects of rapidly identifying liquid ammonia leaks, accurately and efficiently suppressing leaks, and conserving water resources.

[0018] The present invention also provides a liquid ammonia leak detection and spraying method based on multimodal sensing. Since this method solves the same technical problem as the liquid ammonia leak detection and spraying system based on multimodal sensing, belongs to the same technical concept, and should have the same beneficial effects, it will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 Schematic diagram of the structure of a liquid ammonia leak detection and spraying system based on multimodal sensing in an embodiment of the present invention; Figure 2 Schematic diagram of a device for liquid ammonia leak detection and spraying system based on multimodal sensing in an embodiment of the present invention; Figure 3 This is a flow chart of generating a dynamic spraying strategy using a Kalman filter algorithm in an embodiment of the present invention; Figure 4 This is a flow chart of a liquid ammonia leak detection and spraying method based on multimodal sensing in an embodiment of the present invention; Figure 5 This is a diagram of the internal structure of a computer device according to an embodiment of the present invention; In the figure: 1. Liquid ammonia storage tank; 2. Thermal imaging collector; 3. Ammonia detector; 4. Wind speed sensor; 5. Deluge valve group; 6. Multi-degree-of-freedom sprinkler head; 7. Fire water pipe; 8. Inlet butterfly valve; 9. Basket filter; 10. Outlet butterfly valve; 11. Discharge guide; 12. Liquid ammonia storage tank cofferdam. DETAILED DESCRIPTION

[0021] In order to help those skilled in the art better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of this application.

[0022] like Figure 1 As shown, an embodiment of the present invention provides a liquid ammonia leak detection and spraying system based on multimodal sensing, including: Perception module, decision module and execution module; A sensing module is used to collect multimodal data around the liquid ammonia storage device, where the multimodal data includes temperature, ammonia concentration, wind speed and direction; A decision module is used to determine whether a liquid ammonia leak has occurred based on multimodal data, fuse the multimodal data using a Kalman filter algorithm to obtain leakage parameters, and generate a dynamic spray strategy based on the leakage parameters. Leakage parameters include the location of the leak point, the amount of leakage, and the diffusion trend. The execution module is used to spray according to the dynamic spray strategy.

[0023] In actual use, the perception module collects environmental data around the liquid ammonia storage device in real time through multimodal sensors (such as thermal imaging collectors, ammonia detectors, wind speed sensors, etc.) to ensure the comprehensiveness and timeliness of liquid ammonia leak detection; the decision module uses the Kalman filter algorithm to perform spatiotemporal alignment and fusion of multi-source and multimodal data to eliminate noise interference, accurately predict the location of the leak point, leakage volume and diffusion trend, and generate dynamic spraying strategies, such as Figure 3 As shown in the figure, the execution module adjusts the spray parameters (such as opening and closing the spray, spray angle, spray water pressure and spray water flow) according to the dynamic spray strategy to form a targeted water curtain, thereby effectively suppressing the leakage of liquid ammonia. At the same time, during the spraying process, the decision module can also adjust the spray strategy in real time.

[0024] Preferably, the sensing module includes: a thermal imaging collector, an ammonia detector and a wind speed sensor; Thermal imaging collectors are used to monitor surface temperature changes of liquid ammonia storage devices, identify abnormally high temperature areas and the distribution of low-temperature vapor clouds, and preliminarily determine the location of leaks; Ammonia detector, used to detect ammonia concentration and accurately locate the leakage point; Wind speed sensor, used to monitor wind speed and direction.

[0025] In actual use, the thermal imaging collector can be a thermal imaging camera. Preferably, multiple 360° high-definition thermal imaging cameras can be used to collect temperature changes and low-temperature vapor cloud changes and directions around the liquid ammonia storage device to preliminarily locate the leakage point; the ammonia detector can be multiple infrared spectrum ammonia detectors 3, which monitor the ammonia concentration in the air in real time, accurately locate the leakage source, and determine the leakage amount; the wind speed sensor can be a three-dimensional ultrasonic wind speed sensor, which monitors wind speed and wind direction in real time to provide data support for spray direction and water pressure adjustment.

[0026] Preferably, the decision module includes: a PLC controller and an edge computing controller; A PLC controller is used to determine whether a liquid ammonia leak has occurred based on multimodal data and send spray control instructions, and to send spray control instructions to the execution module based on the dynamic spray strategy. The spray control instructions include: spray start instructions, spray end instructions, spray direction and angle adjustment instructions, and spray water pressure and flow adjustment instructions; The edge computing controller is used to perform feature fusion on multimodal data through the Kalman filter algorithm when a liquid ammonia leak occurs to estimate the leakage parameters, generate a dynamic spray strategy based on the leakage parameters, and send it to the PLC controller.

[0027] In actual use, the PLC controller serves as the logical control core of the system. It receives multimodal data collected by the perception module, and then determines whether a liquid ammonia leak occurs based on the multimodal data. When a liquid ammonia leak is determined to have occurred, it sends a start spraying instruction and transmits the multimodal data to the edge computing controller. The edge computing controller uses the Kalman filter algorithm to perform feature fusion on the multimodal data to estimate the leakage parameters, and generates a dynamic spraying strategy based on the leakage parameters and sends it to the PLC controller. The PLC controller sends a spraying control instruction to the execution module based on the dynamic spraying strategy.

[0028] In actual operation, the multimodal sensing-based liquid ammonia leak detection and spraying system also includes an alarm module for audible and visual alarms. When the PLC controller detects a liquid ammonia leak, it immediately sends an alarm command to the alarm module, notifying relevant personnel in a timely manner.

[0029] Preferably, the execution module includes: a deluge valve group and a multi-degree-of-freedom sprinkler head; Deluge valve group, used to open or close the multi-degree-of-freedom sprinkler head according to the sprinkler control command; The multi-degree-of-freedom sprinkler head is used to adjust the spray angle, spray water pressure and spray water flow according to the spray control instructions.

[0030] In actual application, the liquid ammonia leak detection and spraying system based on multimodal sensing includes multiple multi-degree-of-freedom sprinkler heads. The spraying parameters such as the spray head direction and angle, spray water pressure and spray water flow of the multi-degree-of-freedom sprinkler heads can be adjusted according to the spray control instructions; the rain valve group 5 can receive remote control instructions and independently control the opening or closing of each multi-degree-of-freedom sprinkler head according to the spray control instructions, thereby achieving precise spray suppression of the leakage point and saving water resources.

[0031] Preferably, generating a dynamic spraying strategy according to leakage parameters specifically includes: Open the multi-degree-of-freedom sprinkler head at the corresponding position according to the location of the leakage point; Adjust the spray direction of multi-degree-of-freedom sprinkler heads based on wind speed and direction; The spray water flow rate is calculated according to the formula Q=k*q*t, where Q is the spray water flow rate, k is the preset safety factor with a value range of 3-5, q is the leakage volume, and t is the neutralization reaction time of water and ammonia; The spray angle is calculated according to the formula α=2arctan(d / 2h), where α is the spray angle, d is the spray distance, and h is the spray height.

[0032] Preferably, whether liquid ammonia leakage occurs is determined based on the multimodal data, specifically: When the ammonia concentration exceeds the preset threshold, or there is a temperature anomaly and a low-temperature vapor cloud, it is determined that a liquid ammonia leak has occurred.

[0033] Preferably, the PLC controller is also used to send an end-spraying instruction to the deluge valve group to stop spraying when the ammonia concentration is lower than a preset threshold and the temperature returns to normal.

[0034] As an implementation method, Figure 2The figure shows a device that utilizes a liquid ammonia leak detection and spraying system based on multimodal sensing. This device is based on a 20-meter-diameter liquid ammonia storage tank 1. Infrared spectral ammonia detectors 3 are placed at intervals of 5 meters on the tank top and bottom, completely covering the tank 1 and ensuring comprehensive monitoring. Each infrared spectral ammonia detector 3 is equipped with a corresponding multi-degree-of-freedom spray head 6, and each infrared spectral ammonia detector 3 and corresponding multi-degree-of-freedom spray head 6 are numbered and mapped one to the other. The output signal of the infrared spectral ammonia detector 3 is connected to a PLC system via communication. The control device of the multi-degree-of-freedom spray head 6 is connected to the PLC system, which can remotely and automatically control the spray water pressure, flow rate, and spray angle. Preferably, the liquid ammonia storage tank 1 is divided into eight zones: four zones at the top (A, B, C, and D) and four zones at the bottom (E, F, G, and H). Each zone corresponds to an infrared spectral ammonia detector 3 and a multi-degree-of-freedom spray head 6. During the actual detection process, when liquid ammonia leaks in area A of the tank roof, the infrared spectrum ammonia detector 3 in area A detects the leakage value and transmits it to the PLC module in real time. When the leakage value detected is greater than 25ppm, the PLC module will alarm and provide sound and light prompts to the operator; when the leakage volume is detected to reach 52ppm, the PLC module sends a start spraying instruction to the deluge valve group 5; the temperature anomaly judgment logic is as follows: the 360° high-definition thermal imaging camera 2 monitors that the temperature in area A on the surface of the liquid ammonia storage tank 1 is abnormal, and the surface temperature T(abnormal) in the abnormal area is lower than the normal surface temperature T(positive) and lower than the ambient temperature T(circular), that is, T(abnormal) < T(positive) and T(abnormal) < T(circular), which indicates that there is a temperature anomaly. After receiving multimodal data from the sensing module, the PLC module transmits this data in real time to the edge computing controller. Using the Kalman filter algorithm, the edge computing controller determines the location of the leak using the leakage volume detected by the infrared ammonia detector 3 and the temperature anomaly detected by the thermal imaging camera 2. The controller also determines the diffusion trend using the wind speed detected by the wind speed sensor 4 and the low-temperature vapor cloud detected by the thermal imaging camera 2. Based on these conditions, a specific spraying strategy is formulated. Sprinkler heads corresponding to the leak area are selected, while downwind sprinklers are selected based on wind direction, leakage volume, and leakage area. The spray angle and direction are calculated using the spray angle calculation formula α = 2arctan(d / 2h), where d is the spray distance and h is the spray height. The required water flow rate is calculated using the water flow demand formula Q = k*q*t, where k is a safety factor of 3-5, q is the leakage volume, and t is the neutralization reaction time between water and ammonia.For example, if the leak is located in the center of Area A, q = 0.1 kg / s, the sprinkler coverage radius is 5 meters, and the wind direction is downwind, the sprinklers in Area A are prioritized, while those in Area B can also be selected based on the downwind direction. Flow rate calculation: Q = k * q * t = 5 * 0.1 * 60 = 30 L / min. Spray angle calculation: If the spray distance d is 5 and the spray height h is 6, α = 2 arctan (d / 2h) = 2 arctan (5 / 6) ≈ 80 degrees. The edge computing controller generates a dynamic spray strategy based on the leak parameters and sends it to the PLC controller. The PLC sends spray control instructions to the execution module based on the dynamic spray strategy.

[0035] The system also monitors the spraying effect in real time, including changes in ammonia concentration, temperature, and low-temperature vapor cloud distribution. Based on these monitoring results, the edge computing controller dynamically adjusts the spraying strategy to optimize the suppression effect. When the ammonia concentration falls below a preset threshold and the temperature returns to normal, a command to end the spraying is sent to deluge valve group 5, halting the spraying process. The system then enters standby mode, awaiting the next command.

[0036] In actual use, a device employing a liquid ammonia leak detection and sprinkler system based on multimodal sensing includes a fire hose 7, an inlet butterfly valve 8, an outlet butterfly valve 10, a basket filter 9, a discharge guide 11, and a liquid ammonia storage tank cofferdam 12. The fire hose is connected to the inlet butterfly valve 8, followed by the basket filter 9 to filter coarse particles in the fire water and prevent clogging of the sprinkler head. A discharge guide 11 is installed between the inlet butterfly valve 8 and the basket filter 9 to drain residual water in the pipe during winter to prevent freezing due to low temperatures. An outlet butterfly valve 10 is installed after the basket filter 9 and connected to a deluge valve assembly 5. The deluge valve assembly includes a control solenoid valve that can automatically open the deluge valve upon receiving a remote control signal. After the deluge valve group 5, the fire water pipeline is divided into two routes. One route goes to the top of the liquid ammonia storage tank 1 and is arranged in a ring along the liquid ammonia storage tank 1 with a height of 1.2 times the diameter of the tank; the other route leads to the bottom of the tank and is buried underground along the ring of the tank. The fire pipe 7 buried underground is insulated to prevent ice from forming in the pipe in winter; a multi-degree-of-freedom adjustable sprinkler head 6 is installed in the ring fire water pipe at the top of the tank, and a high-pressure atomizing nozzle is configured; four multi-degree-of-freedom sprinkler heads 6 are respectively set in four directions at the top of the tank, which can fully cover the top area of ​​the tank, and four multi-degree-of-freedom sprinkler heads 6 are also respectively set in four directions at the bottom of the tank, which can fully cover the bottom area of ​​the tank and the liquid ammonia storage tank cofferdam 12.

[0037] The present invention provides a liquid ammonia leak detection and spraying system based on multimodal sensing, comprising: a sensing module, a decision module, and an execution module. The sensing module is configured to collect multimodal data from around a liquid ammonia storage device, wherein the multimodal data includes temperature, ammonia concentration, wind speed, and wind direction. The decision module is configured to determine whether a liquid ammonia leak has occurred based on the multimodal data, fuse the multimodal data using a Kalman filter algorithm to obtain leakage parameters, and generate a dynamic spraying strategy based on the leakage parameters. The execution module is configured to spray according to the dynamic spraying strategy. Compared to the prior art, the present invention's liquid ammonia leak detection and spraying system based on multimodal sensing determines the occurrence of a liquid ammonia leak by collecting multimodal data and generates a dynamic spraying strategy. Based on the dynamic spraying strategy, the system controls a multi-degree-of-freedom spray head to precisely spray the leak point, thereby achieving the effects of rapidly identifying liquid ammonia leaks, accurately and efficiently suppressing leaks, and conserving water resources.

[0038] In one embodiment, Figure 4 As shown, a liquid ammonia leak detection and spraying method based on multimodal sensing is provided, comprising the following steps: S1. Collecting multimodal data around the liquid ammonia storage device, where the multimodal data includes temperature, ammonia concentration, wind speed, and wind direction; S2. Determine whether a leak occurs based on the multimodal data, fuse the multimodal data using a Kalman filter algorithm to obtain leakage parameters, and generate a dynamic spraying strategy based on the leakage parameters, where the leakage parameters include the location of the leak point, the leakage amount, and the diffusion trend; S3. Spray according to the dynamic spraying strategy.

[0039] The specific definition of a liquid ammonia leak detection and spraying method based on multimodal sensing can be found in the definition of a liquid ammonia leak detection and spraying system based on multimodal sensing above and will not be repeated here. Each module in the aforementioned liquid ammonia leak detection and spraying system based on multimodal sensing can be implemented in whole or in part through software, hardware, or a combination thereof. Each of these modules can be embedded in or independent of a processor in a computer device in hardware form, or can be stored in a computer device memory in software form, so that the processor can call and execute the corresponding operations of each of these modules.

[0040] Those skilled in the art will understand that Figure 5 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0041] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented: Collecting multimodal data around the liquid ammonia storage device, wherein the multimodal data includes temperature, ammonia concentration, wind speed, and wind direction; Determine whether a leak has occurred based on multimodal data, fuse the multimodal data using a Kalman filter algorithm to obtain leakage parameters, and generate a dynamic spray strategy based on the leakage parameters, where the leakage parameters include the location of the leak point, the leakage amount, and the diffusion trend; Spraying is carried out according to the dynamic spraying strategy.

[0042] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented: Collecting multimodal data around the liquid ammonia storage device, wherein the multimodal data includes temperature, ammonia concentration, wind speed, and wind direction; Determine whether a leak has occurred based on multimodal data, fuse the multimodal data using a Kalman filter algorithm to obtain leakage parameters, and generate a dynamic spray strategy based on the leakage parameters, where the leakage parameters include the location of the leak point, the leakage amount, and the diffusion trend; Spraying is carried out according to the dynamic spraying strategy.

[0043] In the embodiments provided in this application, it should be understood that the disclosed methods and systems can be implemented in other ways. The system embodiments described above are merely illustrative. For example, the division of modules is merely a logical function division. In actual implementation, there may be other division methods, such as: multiple modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0044] In addition, all functional modules in the embodiments of the present invention may be integrated into one processor, or each module may be a separate device, or two or more modules may be integrated into one device; the functional modules in the embodiments of the present invention may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0045] Those skilled in the art will understand that all or part of the steps of the above-mentioned method embodiment can be completed by program instructions and related hardware. The aforementioned program instructions can be stored in a computer-readable storage medium. When the program instructions are executed, the steps of the above-mentioned method embodiment are executed; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM), magnetic disks or optical disks, and other media that can store program codes.

[0046] It should be understood that the use of "system," "device," "unit," and / or "module" in this application is merely a method for distinguishing different components, elements, parts, portions, or assemblies at different levels. However, if other terms can achieve the same purpose, the terms may be replaced by other expressions.

[0047] As used in this application and the claims, unless the context clearly indicates an exception, the terms "a," "an," "an," and / or "the" are not intended to refer to the singular and may include the plural, unless the context clearly indicates otherwise. Generally speaking, the terms "comprises" and "include" only indicate the inclusion of the steps and elements specifically identified, and these steps and elements do not constitute an exclusive list. A method or apparatus may also include other steps or elements. The phrase "comprises a..." does not preclude the presence of additional identical elements in the process, method, product, or apparatus that includes the elements.

[0048] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. Throughout the description of this application, "plurality" or "several" means two or more, unless otherwise specifically defined.

[0049] If a flow chart is used in this application, the flow chart is used to illustrate the operations performed by the system according to the embodiments of the application. It should be understood that the previous or subsequent operations are not necessarily performed in exact order. Instead, the steps can be processed in reverse order or simultaneously. At the same time, other operations can be added to these processes, or one or more operations can be removed from these processes.

[0050] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A liquid ammonia leak detection and spraying system based on multimodal sensing, characterized in that: include: Perception module, decision module and execution module; The sensing module is configured to collect multimodal data around the liquid ammonia storage device, wherein the multimodal data includes temperature, ammonia concentration, wind speed, and wind direction; The decision module is configured to determine whether a liquid ammonia leak occurs based on the multimodal data, fuse the multimodal data using a Kalman filter algorithm to obtain leakage parameters, and generate a dynamic spray strategy based on the leakage parameters; wherein the leakage parameters include the location of the leakage point, the leakage amount, and the diffusion trend; The execution module is used to perform spraying according to the dynamic spraying strategy.

2. The liquid ammonia leak detection and spraying system according to claim 1, characterized in that: The sensing module includes: a thermal imaging collector, an ammonia detector and a wind speed sensor; The thermal imaging collector is used to monitor the surface temperature changes of the liquid ammonia storage device, identify abnormal temperature increase areas and the distribution of low-temperature vapor clouds, and preliminarily determine the location of the leak; The ammonia detector is used to detect the ammonia concentration to accurately locate the leakage point; The wind speed sensor is used to monitor wind speed and wind direction.

3. The liquid ammonia leak detection and spraying system according to claim 2, characterized in that: The decision module includes: a PLC controller and an edge computing controller; The PLC controller is configured to determine whether a liquid ammonia leak occurs based on the multimodal data and send a spray control instruction, and send a spray control instruction to the execution module based on the dynamic spray strategy; wherein the spray control instruction includes: a start spray instruction, an end spray instruction, an adjustment spray direction and angle instruction, and an adjustment spray water pressure and flow instruction; The edge computing controller is used to perform feature fusion on the multimodal data through a Kalman filter algorithm when a liquid ammonia leak occurs to estimate leakage parameters, and generate a dynamic spray strategy based on the leakage parameters and send it to the PLC controller.

4. The liquid ammonia leak detection and spraying system according to claim 3, characterized in that: The execution module includes: a deluge valve group and a multi-degree-of-freedom sprinkler head; The deluge valve group is used to open or close the multi-degree-of-freedom sprinkler head according to the sprinkler control instruction; The multi-degree-of-freedom sprinkler head is used to adjust the sprinkler angle, sprinkler water pressure and sprinkler water flow rate according to the sprinkler control instruction.

5. The liquid ammonia leak detection and spraying system according to claim 4, characterized in that: Generating a dynamic spraying strategy according to the leakage parameters specifically includes: Open the multi-degree-of-freedom sprinkler head at the corresponding position according to the location of the leakage point; adjusting a spray direction of the multi-degree-of-freedom sprinkler head based on wind speed and wind direction; The spray water flow rate is calculated according to the formula Q=k*q*t, where Q is the spray water flow rate, k is the preset safety factor with a value range of 3-5, q is the leakage volume, and t is the neutralization reaction time of water and ammonia; The spray angle is calculated according to the formula α=2arctan(d / 2h), where α is the spray angle, d is the spray distance, and h is the spray height.

6. The liquid ammonia leak detection and spraying system according to claim 4, characterized in that: The determining whether liquid ammonia leakage occurs according to the multimodal data is specifically as follows: When the ammonia concentration exceeds the preset threshold, or there is a temperature anomaly and a low-temperature vapor cloud, it is determined that a liquid ammonia leak has occurred.

7. The liquid ammonia leak detection and spraying system according to claim 4, characterized in that: The PLC controller is also used to send the end spraying instruction to the deluge valve group to stop spraying when the ammonia concentration is lower than a preset threshold and the temperature returns to normal.

8. A liquid ammonia leak detection and spraying method based on multimodal sensing, characterized in that: The following steps are involved: Collecting multimodal data around the liquid ammonia storage device, wherein the multimodal data includes temperature, ammonia concentration, wind speed, and wind direction; Determining whether a liquid ammonia leak occurs based on the multimodal data, fusing the multimodal data using a Kalman filter algorithm to obtain leakage parameters, and generating a dynamic spraying strategy based on the leakage parameters, wherein the leakage parameters include leakage point location, leakage amount, and diffusion trend; Spraying is performed according to the dynamic spraying strategy.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to claim 8 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to claim 8 are implemented.

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