Positive-pressure explosion-proof method and mobile device applying positive-pressure explosion-proof method

Abstract

The invention discloses a positive-pressure explosion-proof method which comprises the following steps: S1, after a positive-pressure cavity of a mobile device is purged, the pressure difference of the positive-pressure cavity is initialized to be P0; s2, acquiring explosion-proof state information of the mobile device; if the mobile device is in the safe area, executing S3; if not, executing S4; s3, whether the gas environment where the mobile device is located is safe or not is judged; if yes, whether the pressure difference is smaller than P0 is judged, and if yes, the pressure difference is recovered to P0; if not, the mobile device is controlled to stop moving and give an alarm; s4, the current temperature Tcurrent and the current differential pressure natural logarithm lnPcurrent of the positive pressure cavity are obtained; based on the current temperature Tcurrent and the natural logarithm lnPcurrent of the current pressure difference, the natural logarithm lnPcurrent of the current predicted pressure difference, the allowable deviation # imgabs0 # and the remaining explosion-proof available time Timepredict are obtained; and S5, determining whether to cut off a power supply of the mobile device, whether to return to a safe area immediately and whether to notify abnormity based on the natural logarithm lnP predict of the current predicted pressure difference, the allowable deviation # imgabs1 # and the remaining explosion-proof available time Timepredict. The prediction of the remaining explosion-proof available time is more accurate.

Description

Technical Field

[0001] The present invention relates to the technical field of explosion protection, and more particularly to a positive pressure explosion protection method and a mobile device applying the same. Background Art

[0002] A mobile device generally consists of a moving part and an upper-mounted part. The moving part can realize the moving function, and different upper-mounted parts can be carried thereon to realize related functions. At present, for the explosion protection methods of mobile devices, mainly explosion isolation methods (CN208756849, a fire extinguishing and reconnaissance explosion-proof robot) and positive pressure explosion protection methods (CN116968053 B, an explosion-proof mobile cooperation robot and its control method) are adopted.

[0003] Regarding the explosion isolation technology adopted in CN208756849, in order to withstand the pressure of internal explosion, its chassis components require a strong outer shell and a complex structure design, which results in a heavy explosion isolation shell. This further increases the performance requirements and weight of the power source and drive device, thereby increasing the manufacturing, storage, transportation and maintenance costs. In addition, although the explosion isolation technology can prevent the explosion from spreading to the external environment, the internal explosion itself is still a potential risk.

[0004] Regarding the positive pressure explosion protection technology adopted in CN116968053 B, it has the following advantages compared with the explosion isolation method: high safety, effectively preventing dangerous substances from entering the equipment interior through the positive pressure difference, avoiding ignition from the source; the equipment structure is relatively simple, without relying on a strong outer shell and a complex joint surface design like the explosion isolation technology; wide applicability, applicable to various types of dangerous environments, including gases, vapors and dusts. However, the positive pressure technology it uses still has the following limitations: the carrying of an additional high-pressure gas storage tank increases the weight and volume of the chassis components, and there is even a risk of gas storage tank explosion; when refilling air in the safe area, the air source connector and the gas cylinder connector need to be docked, and the manual operation is cumbersome; in addition, the prediction of the remaining available explosion protection time is not accurate enough, only considering the influence of the pressure difference change and ignoring the significant influence of different temperatures under actual working conditions.

[0005] Therefore, how to provide a positive pressure explosion protection method and a mobile device applying the same, which are small in size, light in weight, low in cost, high in safety, simple in air refilling, and accurate in predicting the remaining available explosion protection time is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0006] In view of this, the purpose of the present invention is to provide a positive pressure explosion protection method and a mobile device applying the same.

[0007] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0008] On the one hand, a positive pressure explosion protection method is provided, including the following steps:

[0009] S1: After purging the positive pressure cavity of the mobile device, initialize the pressure difference of the positive pressure cavity to P0; wherein, both the purging of the positive pressure cavity and the initialization of the pressure difference are carried out in the safety zone;

[0010] S2: Obtain the explosion protection status information of the mobile device in real time; wherein, the explosion protection status information includes the time Time required for the mobile device to return to the safety zone back , whether the mobile device is in the safety zone IsSafe and the lower pressure limit P low ;

[0011] If the mobile device is in the safety zone, execute S3; if the mobile device is not in the safety zone, execute S4;

[0012] S3: Judge whether the gas environment where the mobile device is located is safe;

[0013] If it is safe, judge whether the pressure difference of the positive pressure cavity is less than P0. If it is less, restore the pressure difference of the positive pressure cavity to P0;

[0014] If it is not safe, control the mobile device to stop moving and issue an alarm;

[0015] S4: Obtain the current temperature T current and the natural logarithm of the current pressure difference lnP current ; Based on the current temperature T current and the natural logarithm of the current pressure difference lnP current , obtain the natural logarithm of the current predicted pressure difference lnP predict , the allowable deviation and the remaining explosion protection available time Time predict ;

[0016] S5: Based on the natural logarithm of the current predicted pressure difference lnP predict , the allowable deviation and the remaining explosion protection available time Time predict decide whether to cut off the power supply of the mobile device, whether to immediately return to the safety zone, and whether to notify the abnormality.

[0017] Preferably, the mobile device is a mobile device such as a mobile robot chassis, a drone, etc. that adopts the positive pressure explosion protection method.

[0018] Preferably, the natural logarithm of the current predicted pressure difference lnP predict , the allowable deviation and the remaining explosion protection available time Time predict ;

[0019]

[0020] T current ∈[T i ,T i+1 ; i = 1, 2, ..., n - 1;

[0021] Wherein, represents the differential pressure leakage rate when the positive pressure cavity temperature is T i ; represents the root mean square error of differential pressure when the positive pressure cavity temperature is T i ; represents the differential pressure leakage rate when the positive pressure cavity temperature is T i+1 ; represents the root mean square error of differential pressure when the positive pressure cavity temperature is T i+1 ; Δt represents the time interval for obtaining the explosion-proof state information; P current-Δt represents the differential pressure of the positive pressure cavity when the explosion-proof state information was obtained last time.

[0022] Preferably, S4 further includes the following steps:

[0023] Select the temperature range [T1, T n of the positive pressure cavity according to the actual working conditions;

[0024] Select several temperature points {T1, T2, ..., T n ..., T i ..., T n} from the temperature range [T1, T

[0025] Obtain m data pairs {t i , ln(P(t j ))} when the positive pressure cavity temperature is T j ; where j = 1, 2...m, tj represents the j-th time point, and ln(P(t j )) represents the natural logarithm of the differential pressure P(t j ) corresponding to t j );

[0026] Perform linear regression analysis on the m data pairs {t j , ln(P(t j ))} using the least squares method to obtain the best target line such that the root mean square error between the m data pairs {t j , ln(P(t j ))} and the best target line is minimized; wherein, the root mean square error of differential pressure is the minimum root mean square error of the best target line; the differential pressure leakage rate represents the slope of the best target line.

[0027] Preferably, S5 specifically includes the following steps:

[0028] S51: Determine lnP current <lnP low Whether it holds; if it holds, cut off the power supply of the mobile device and issue an alarm; if it does not hold, execute S52;

[0029] S52: Determine Time predict <Time back Whether it holds; if it holds, control the mobile device to return to the safe area; if it does not hold, execute S53;

[0030] S53: Determine Whether it holds; if it holds, notify that the mobile device has an abnormality and needs maintenance; if it does not hold, repeat S2.

[0031] On the other hand, a mobile device is provided, which applies the positive pressure explosion-proof method described in any one of the above, and includes a controller, a differential pressure sensor, a temperature sensor, an air pump, an intake pump motor, a drive motor, an intake air path solenoid valve, and an exhaust air path solenoid valve located inside the positive pressure cavity;

[0032] The controller is electrically connected to the differential pressure sensor and is used to collect the differential pressure between the inside and the outside of the positive pressure cavity;

[0033] The controller is electrically connected to the temperature sensor and is used to collect the temperature of the positive pressure cavity;

[0034] The controller is electrically connected to the intake pump motor and is used to control the operating state of the air pump;

[0035] The controller is electrically connected to the drive motor and is used to control the rotation of the drive component;

[0036] The controller is electrically connected to the intake air path solenoid valve and is used to control the opening and closing of the intake air path solenoid valve;

[0037] The controller is electrically connected to the exhaust air path solenoid valve and is used to control the opening and closing of the exhaust air path solenoid valve;

[0038] One end of the differential pressure sensor is communicated with the inside of the positive pressure cavity, and the other end is communicated with the first intake port outside the positive pressure cavity;

[0039] One end of the air pump is communicated with the inside of the positive pressure cavity, and the other end is connected to one end of the intake air path solenoid valve; the other end of the intake air path solenoid valve is connected to the second intake port outside the positive pressure cavity, where the second intake port is an intake port with a filter box;

[0040] One end of the exhaust air path solenoid valve is communicated with the inside of the positive pressure cavity, and the other end is connected to the exhaust port outside the positive pressure cavity.

[0041] Preferably, the mobile device further includes a power supply module;

[0042] The power supply module includes a battery cell group, a battery management unit, a voltage regulation module, and a power-on / off contactor located inside the positive pressure cavity, as well as a manual main power switch, a charging interface, and a wire outlet connector located outside the positive pressure cavity;

[0043] The controller is electrically connected to the battery management unit for obtaining information of the battery cell group;

[0044] The controller is electrically connected to the power-on / off contactor through the manual main power switch for controlling the opening and closing of the power supply module;

[0045] The voltage regulation module is electrically connected to the controller, the differential pressure sensor, the temperature sensor, the intake pump motor, the drive motor, the intake air path solenoid valve, and the exhaust air path solenoid valve for supplying power to the controller, the differential pressure sensor, the temperature sensor, the intake pump motor, the drive motor, the intake air path solenoid valve, and the exhaust air path solenoid valve;

[0046] The charging interface charges the battery cell group through the battery management unit;

[0047] The battery cell group is connected to the wire outlet connector through the battery management unit;

[0048] The voltage regulation module is connected to the wire outlet connector.

[0049] Preferably, the mobile device further includes a wireless transmission module located inside the positive pressure cavity and an antenna located outside the positive pressure cavity;

[0050] The controller is electrically connected to the antenna through the wireless transmission module for receiving remote control instructions and cloud control instructions.

[0051] Preferably, the mobile device further includes a gas sensor module located outside the positive pressure cavity, and the gas sensor module is used to detect the gas environment where the mobile device is located.

[0052] Preferably, the controller is electrically connected to the wire outlet connector for sending the obtained information of the battery cell group to the upper computer.

[0053] Preferably, the mobile device further includes an indicator light located outside the positive pressure cavity;

[0054] The controller is electrically connected to the indicator light for displaying the operating state of the mobile device.

[0055] Preferably, the mobile device is a mobile device such as a mobile robot chassis or a drone that adopts the positive pressure explosion-proof method.

[0056] As can be seen from the above technical solutions, compared with the prior art, the present invention discloses a positive pressure explosion-proof method and a mobile device applying the same, which has the advantages of small volume, light weight, low cost, high safety, simple air replenishment, and accurate prediction of the remaining available explosion-proof time. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0058] Figure 1 It is a flowchart of a positive pressure explosion-proof method provided by the present invention;

[0059] Figure 2 It is a differential pressure natural logarithm - time curve graph at a certain temperature provided by the present invention;

[0060] Figure 3 It is a differential pressure natural logarithm - time curve graph at two different temperatures provided by the present invention;

[0061] Figure 4 It is a partial structural schematic diagram of the mobile robot chassis provided by the present invention;

[0062] Figure 5 It is an internal schematic diagram of the positive pressure cavity provided by the present invention;

[0063] Figure 6 It is a peripheral connection diagram of the controller provided by the present invention;

[0064] Figure 7 It is a schematic diagram of the positive pressure control component provided by the present invention.

[0065] In the figure: 1. Gas sensor module; 2. Second air inlet; 3. First air inlet; 4. Charging interface; 5. Indicator light; 6. Antenna; 7. Manual main power switch; 8. Outgoing cable connector 9. Exhaust port; 10. Positive pressure cavity; 11. Driving component; 12. Controller; 13: Power supply circuit; 14. Positive pressure control component; 15. Driving motor; DETAILED DESCRIPTION OF THE EMBODIMENTS

[0066] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0067] On the one hand, as Figure 1 shown, an embodiment of the present invention discloses a positive pressure explosion-proof method, including the following steps:

[0068] S1: After purging the positive pressure cavity of the mobile device, initialize the pressure difference of the positive pressure cavity to P0; wherein, both the purging of the positive pressure cavity and the initialization of the pressure difference are carried out in the safety area;

[0069] It can be understood that: the mobile device is a mobile robot chassis, a drone, or other mobile devices adopting the positive pressure explosion-proof method.

[0070] It can be understood that:

[0071] 1) The control method for purging the positive pressure cavity is: the controller controls to open the intake air path solenoid valve, the exhaust air path solenoid valve, and the air pump. The gas outside the positive pressure cavity 10 enters the positive pressure cavity 10 through the second intake port 2 and is discharged through the exhaust port 9; after purging for a certain time, the controller closes the air pump, the intake air path solenoid valve, and the exhaust air path solenoid valve to complete the purging, so as to ensure that the positive pressure cavity is filled with clean gas.

[0072] The second intake port 2 is an intake port with a filter box. The main components in the filter box are filter cotton, desiccant, and activated carbon agent, which can dehumidify, remove dust, and filter out toxic, harmful, and combustible gases for the gas inhaled into the positive pressure cavity.

[0073] 2) The control method for initializing the pressure difference (i.e., compensating the positive pressure) is: the controller controls to open the intake air path solenoid valve and the air pump, and close the exhaust air path solenoid valve. The gas outside the positive pressure cavity 10 enters the positive pressure cavity 10 through the second intake port 2. The controller collects the pressure difference signal through the pressure difference sensor. After reaching the required pressure difference P pre , close the intake air path solenoid valve and the air pump.

[0074] S2: Obtain the explosion-proof status information of the mobile device in real time; wherein, the explosion-proof status information includes the time Time required for the mobile device to return to the safety area back , whether the mobile device is in the safety area IsSafe, and the lower pressure difference limit P low ;

[0075] It can be understood that after the positive pressure cavity is purged and the pressure difference is initialized, the controller moves the device along the planned path in the movement planning thread, and during the movement, the explosion-proof status information of the moving device is obtained in real time at time intervals Δt.

[0076] If the moving device is in the safe area, execute S3; if the moving device is not in the safe area (i.e., in the explosion-proof area), execute S4;

[0077] S3: Determine whether the gas environment where the moving device is located is safe;

[0078] It can be understood that the gas sensor module is used to detect the gas environment where the moving device is located.

[0079] If it is safe, determine whether the pressure difference of the positive pressure cavity is less than P0. If it is less, restore the pressure difference of the positive pressure cavity to P0;

[0080] If it is not safe, control the moving device to stop moving and issue an alarm;

[0081] S4: Obtain the current temperature T current and the natural logarithm of the current pressure difference lnP current ; Based on the current temperature T current and the natural logarithm of the current pressure difference lnP current , obtain the natural logarithm of the current predicted pressure difference lnP predict , allowable deviation and the remaining explosion-proof available time Time predict ; where, P current represents the current pressure difference; P predict represents the predicted pressure difference;

[0082] S5: Based on the natural logarithm of the current predicted pressure difference lnP predict , allowable deviation and the remaining explosion-proof available time Time predict decide whether to cut off the power supply of the moving device, whether to immediately return to the safe area, and whether to notify the abnormality.

[0083] In an embodiment, the natural logarithm of the current predicted pressure difference lnP predict , allowable deviation and the remaining explosion-proof available time Time predict ;

[0084]

[0085]

[0086] T current ∈[T i ,T i+1; i = 1, 2, ..., n - 1;

[0087] Among them, represents the differential pressure leakage rate when the temperature of the positive pressure cavity is T i ; represents the root mean square error of the differential pressure when the temperature of the positive pressure cavity is T i ; represents the differential pressure leakage rate when the temperature of the positive pressure cavity is T i+1 ; represents the root mean square error of the differential pressure when the temperature of the positive pressure cavity is T i+1 ; Δt represents the time interval for obtaining the explosion-proof state information; P current-Δt represents the differential pressure of the positive pressure cavity when the explosion-proof state information was obtained last time.

[0088] In a certain embodiment, S4 further includes the following steps:

[0089] Select the temperature range [T1, T n of the positive pressure cavity according to the actual working conditions;

[0090] Select several temperature points {T1, T2, ..., T n ..., T i ..., T n} from the temperature range [T1, T

[0091] Obtain m data pairs {t i , ln(P(t j ))} when the temperature of the positive pressure cavity is T j ; where j = 1, 2...m, t j represents the jth time point, and ln(P(t j )) represents the natural logarithm of the differential pressure P(t j ) corresponding to t j ;

[0092] Perform linear regression analysis on the m data pairs {t j , ln(P(t j ))} using the least squares method to obtain the best target line such that the root mean square error between the m data pairs {t j , ln(P(t j ))} and the best target line is minimized; among them, the root mean square error of the differential pressure is the minimum root mean square error of the best target line; the differential pressure leakage rate represents the slope of the best target line.

[0093] In this embodiment, as Figure 2As shown, the pressure difference of m data pairs drops from approximately 350 Pa to approximately 50 Pa in about 25 minutes. After taking logarithms and performing linear regression, the pressure difference leakage rate can be obtained. Root mean square error of pressure difference

[0094] In this embodiment, as Figure 3 shown, [T1, T n+1 is [-20°C, 80°C]. A number of selected temperature points are T1 = -20°C, T2 = -10°C... T n+1 = 80°C. The corresponding pressure difference leakage rates and root mean square errors of pressure difference at each temperature point are

[0095] In a certain embodiment, S5 specifically includes the following steps:

[0096] S51: Determine whether lnP current < lnP low holds; if it holds, cut off the power supply of the mobile device and issue an alarm; if it does not hold, execute S52;

[0097] S52: Determine whether Time predict < Time back holds; if it holds, control the mobile device to return to the safe area; if it does not hold, execute S53;

[0098] S53: Determine whether holds; if it holds, notify the mobile device that abnormal maintenance is required; if it does not hold, repeat S2.

[0099] On the other hand, as Figures 4 - 7 shown, an embodiment of the present invention provides a mobile device that applies the positive pressure explosion protection method described in any one of the above, including a controller 12, a pressure difference sensor, a temperature sensor, an air pump, an intake air pump motor, a drive motor 15, an intake air path solenoid valve, and an exhaust air path solenoid valve located inside the positive pressure cavity;

[0100] It can be understood that: the mobile device is a mobile device such as a mobile robot chassis or a drone that adopts the positive pressure explosion protection method.

[0101] It can be understood that: the air pump, the pressure difference sensor, the intake air path solenoid valve, and the exhaust air path solenoid valve constitute the positive pressure control component 14;

[0102] The controller is composed of a multi-core central processing unit CPU, a system on chip SOC, and a storage unit RAM / ROM.

[0103] The controller is electrically connected to the pressure difference sensor (specifically connected through RS485) and is used to collect the pressure difference between the inside and the outside of the positive pressure cavity;

[0104] The controller is electrically connected to the temperature sensor (specifically through RS485 connection) and is used to collect the temperature of the positive pressure cavity;

[0105] The controller is electrically connected to the intake pump motor (specifically through CAN bus connection) and is used to control the operating state of the air pump (including the opening and closing of the air pump and flow control);

[0106] The controller is electrically connected to the drive motor (specifically through CAN bus connection) and is used to control the rotation of the drive component 11;

[0107] It can be understood that: when the mobile device is a drone, the drive component 11 is a rotor; when the mobile device is a mobile robot chassis, the drive component 11 is a drive wheel.

[0108] The controller is electrically connected to the intake air path solenoid valve (specifically through GPIO port connection) and is used to control the opening and closing of the intake air path solenoid valve;

[0109] The controller is electrically connected to the exhaust air path solenoid valve (specifically through GPIO port connection) and is used to control the opening and closing of the exhaust air path solenoid valve;

[0110] One end of the differential pressure sensor is communicated with the inside of the positive pressure cavity, and the other end is communicated with the first intake port 3 outside the positive pressure cavity;

[0111] The differential pressure sensor is used to measure the pressure difference between the inside and outside of the positive pressure cavity.

[0112] One end of the air pump is communicated with the inside of the positive pressure cavity, and the other end is connected to one end of the intake air path solenoid valve; the other end of the intake air path solenoid valve is connected to the second intake port outside the positive pressure cavity, where the second intake port is an intake port with a filter box;

[0113] One end of the exhaust air path solenoid valve is communicated with the inside of the positive pressure cavity, and the other end is connected to the exhaust port 9 outside the positive pressure cavity.

[0114] In a certain embodiment, the mobile device further includes a power module;

[0115] The power module includes a battery cell group, a battery management unit, a voltage regulating module, and an on / off contactor located inside the positive pressure cavity, as well as a manual power main switch 7, a charging interface 4, and a wire outlet connector 8 located outside the positive pressure cavity;

[0116] It can be understood that: the battery cell group, the battery management unit, the voltage regulating module, and the on / off contactor constitute a power supply circuit 13;

[0117] The controller is electrically connected to the battery management unit (specifically through RS232 connection) and is used to obtain information of the battery cell group;

[0118] The controller is electrically connected to the power-on / off contactor through the manual main power switch (specifically through the GPIO port) and is used to control the opening and closing of the power module;

[0119] It can be understood that: the GPIO port of the controller is connected to the control end of the power-on / off contactor through the manual main power switch; realizing the ability to control the opening and closing of the power-on / off contactor both manually and programmatically.

[0120] The power-on / off contactor is connected in series to the positive output terminal of the battery management unit and is used to control the power supply of the power module.

[0121] The voltage regulation module is electrically connected to the controller, differential pressure sensor, temperature sensor, intake pump motor, drive motor, intake air path solenoid valve, and exhaust air path solenoid valve, and is used to supply power to the controller, differential pressure sensor, temperature sensor, intake pump motor, drive motor, intake air path solenoid valve, and exhaust air path solenoid valve;

[0122] The charging interface charges the battery cell group through the battery management unit;

[0123] The battery cell group is connected to the outgoing line cable connector through the battery management unit;

[0124] The voltage regulation module is connected to the outgoing line cable connector.

[0125] It can be understood that: the outgoing line cable connector is used to supply power to the upper-mounted components of the mobile device.

[0126] In one embodiment, the mobile device further includes a wireless transmission module located inside the positive pressure cavity and an antenna 6 located outside the positive pressure cavity;

[0127] The controller is electrically connected to the antenna through the wireless transmission module (the controller is connected to the wireless transmission module through RS232) and is used to receive remote control instructions and cloud control instructions.

[0128] In one embodiment, the mobile device further includes a gas sensor module located outside the positive pressure cavity, and the gas sensor module is used to detect the gas environment where the mobile device is located.

[0129] The gas sensor module can detect the gas concentration in the surrounding environment (such as combustible gas, hydrogen sulfide, ammonia, oxygen, carbon monoxide).

[0130] In one embodiment, the controller is electrically connected to the outgoing cable connector (connected via the CAN bus) and is configured to send the information of the battery cell group obtained to the host computer.

[0131] In one embodiment, the mobile device further includes an indicator light 5 located outside the positive pressure cavity;

[0132] The controller is electrically connected to the indicator light and is configured to display the operating state of the mobile device.

[0133] In this specification, the various embodiments are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the various embodiments, reference can be made to each other. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple. For the relevant parts, reference can be made to the description in the method section.

[0134] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

Claims

1. A positive pressure explosion-proof method, characterized in that, It includes the following steps: S1: After purging the positive pressure cavity of the mobile device, initialize the pressure difference of the positive pressure cavity to P0; wherein, both the purging of the positive pressure cavity and the initialization of the pressure difference are carried out in the safety area; S2: Obtain the explosion-proof status information of the mobile device in real time; wherein, the explosion-proof status information includes the time Time required for the mobile device to return to the safe area, whether the mobile device is in the safe area IsSafe, and the lower limit of the pressure difference P back , whether the mobile device is in the safe area IsSafe and the lower limit of the pressure difference P low ; If the mobile device is in the safety area, execute S3; if the mobile device is not in the safety area, execute S4; S3: Determine whether the gas environment where the mobile device is located is safe; If it is safe, determine whether the pressure difference of the positive pressure cavity is less than P0. If it is less, restore the pressure difference of the positive pressure cavity to P0; If it is not safe, control the mobile device to stop moving and issue an alarm; S4: Obtain the current temperature T of the positive pressure cavity current and the natural logarithm of the current pressure difference lnP current ; Based on the current temperature T current and the natural logarithm of the current pressure difference lnP current , obtain the natural logarithm of the current predicted pressure difference lnP predict , the allowable deviation Δ lnPpredict and the remaining explosion-proof available time Time predict ; S5: Natural logarithm lnP of the current predicted pressure difference predict , allowable deviation Δ lnPpredict and remaining explosion-proof available time Time predict Determine whether to cut off the power supply of the mobile device, whether to immediately return to the safe area, and whether to notify of an abnormality.

2. The positive pressure explosion-proof method according to claim 1, characterized in that, The natural logarithm lnP of the current predicted differential pressure is obtained based on the following formula predict , the allowable deviation Δ lnPpredict and the remaining explosion-proof available time Time predict ; lnP predict = ln(P current-Δt ) - k Tcurrent *Δt; T current ∈ [T i , T i+1 ; i = 1, 2, ..., n - 1; in, Indicates that the temperature of the positive pressure chamber is T i The differential pressure leakage rate at 10 ... Indicates that the temperature of the positive pressure chamber is T i The RMS error of the pressure difference at ; Indicates that the temperature of the positive pressure chamber is T i+1 The differential pressure leakage rate at 10 ... Indicates that the temperature of the positive pressure chamber is T i+1 The root mean square error of the pressure difference when Δt represents the time interval for obtaining the explosion-proof state information; P current-Δt Indicates the pressure difference of the positive pressure chamber when the explosion-proof status information was obtained last time.

3. The positive pressure explosion protection method according to claim 2, characterized in that, S4 further includes the following steps: Select the temperature range [T1, T of the positive pressure cavity according to the actual working conditions n ; Select several temperature points {T1, T2,..., T n} from the temperature range [T1, T i ..., T n ; Obtain m data pairs {t i , ln(P(t j ))} at a positive pressure chamber temperature of T; where j = 1, 2... m, t j represents the j-th time point, and ln(P(t j )) represents the natural logarithm of the differential pressure P(t j ) corresponding to t j ; j ​ Using the least squares method for m data pairs {t j , ln(P(t j ))}, a linear regression analysis is performed to obtain the best target line such that the root mean square error between the m data pairs {t j , ln(P(t j ))} and the best target line is minimized; where the root mean square error of the pressure difference is the minimum root mean square error of the best target line; the pressure difference leakage rate represents the slope of the best target line.

4. A positive pressure explosion-proof method according to claim 3, characterized in that, S5 specifically includes the following steps: S51: Determine lnP current <lnP low Whether it holds; if it holds, cut off the power supply of the mobile device and issue an alarm; if it does not hold, execute S52; S52: Determine Time predict <Time back Is it true? If true, control the mobile device to return to the safe area; if not, execute S53; S53: Judgment Check if it holds. If it holds, notify the mobile device that it requires maintenance due to an abnormality. If it does not hold, repeat S2.

5. A mobile device, characterized in that, Apply the positive pressure explosion-proof method according to any one of claims 1-4, including a controller, a pressure difference sensor, a temperature sensor, an air pump, an intake pump motor, a drive motor, an intake air path solenoid valve, and an exhaust air path solenoid valve located inside the positive pressure cavity; The controller is electrically connected to the pressure difference sensor and is used to collect the pressure difference between the inside and the outside of the positive pressure cavity; The controller is electrically connected to the temperature sensor and is used to collect the temperature of the positive pressure cavity; The controller is electrically connected to the intake pump motor and is used to control the operating state of the air pump; The controller is electrically connected to the drive motor and is used to control the rotation of the drive component; The controller is electrically connected to the intake air path solenoid valve and is used to control the opening and closing of the intake air path solenoid valve; The controller is electrically connected to the exhaust air path solenoid valve and is used to control the opening and closing of the exhaust air path solenoid valve; One end of the pressure difference sensor is communicated with the inside of the positive pressure cavity, and the other end is communicated with the first intake port outside the positive pressure cavity; One end of the air pump is communicated with the inside of the positive pressure cavity, and the other end is connected to one end of the intake air path solenoid valve; the other end of the intake air path solenoid valve is connected to the second intake port outside the positive pressure cavity, wherein the second intake port is an intake port with a filter box; the filter box is used for dehumidifying, dust-removing, and filtering out toxic, harmful, and combustible gases of the gas inhaled into the positive pressure cavity; One end of the exhaust air path solenoid valve is communicated with the inside of the positive pressure cavity, and the other end is connected to the exhaust port outside the positive pressure cavity.

6. The mobile device according to claim 5, wherein It further includes a power supply module; The power supply module includes a battery cell group, a battery management unit, a voltage regulation module, and an on-off contactor located inside the positive pressure cavity, as well as a manual power main switch, a charging interface, and an outgoing line cable connector located outside the positive pressure cavity; The controller is electrically connected to the battery management unit and is used to obtain information of the battery cell group; The controller is electrically connected to the on-off contactor through the manual power main switch and is used to control the opening and closing of the power supply module; The voltage regulation module is electrically connected to the controller, the pressure difference sensor, the temperature sensor, the intake pump motor, the drive motor, the intake air path solenoid valve, and the exhaust air path solenoid valve and is used to supply power to the controller, the pressure difference sensor, the temperature sensor, the intake pump motor, the drive motor, the intake air path solenoid valve, and the exhaust air path solenoid valve; The charging interface charges the battery cell group through the battery management unit; The battery cell group is connected to the outgoing line cable connector through the battery management unit; The voltage regulating module is connected to the outgoing line cable connector.

7. The mobile device according to claim 6, characterized in that, It further includes a wireless transmission module inside the positive pressure cavity and an antenna outside the positive pressure cavity; The controller is electrically connected to the antenna through the wireless transmission module and is used to receive remote control instructions and cloud control instructions.

8. A mobile device according to claim 6, characterized in that It further includes a gas sensor module outside the positive pressure cavity, and the gas sensor module is used to detect the gas environment where the mobile device is located.

9. A mobile device according to claim 6, characterized in that, The controller is electrically connected to the outgoing line cable connector and is used to send the information of the battery cell group obtained to the host computer.

10. A mobile device according to claim 6, wherein It further includes an indicator light outside the positive pressure cavity; The controller is electrically connected to the indicator light and is used to display the operating state of the mobile device.

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