Positive pressure explosion-proof method and mobile device applying same

Abstract

This invention discloses a positive pressure explosion-proof method, comprising: S1: after purging the positive pressure chamber of the mobile device, initializing the pressure difference of the positive pressure chamber to P0; S2: acquiring the explosion-proof status information of the mobile device; if the mobile device is in a safe zone, then execute S3; if it is not in a safe zone, then execute S4; S3: determining whether the gas environment in which the mobile device is located is safe; if safe, determining whether the pressure difference is less than P0, if less, restoring the pressure difference to P0; if unsafe, controlling the mobile device to stop moving and issuing an alarm; S4: acquiring the current temperature T of the positive pressure chamber. 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 Permissible deviations and remaining explosion-proof usable time predict S5: lnP based on the natural logarithm of the current predicted pressure difference. predict Permissible deviations and remaining explosion-proof usable time predict It determines whether to cut off the power to the mobile device, whether to immediately return to a safe area, and whether to notify of any abnormalities. Its prediction of remaining explosion-proof availability time is more accurate.

Description

Technical Field

[0001] This invention relates to the field of explosion-proof technology, and more specifically to a positive pressure explosion-proof method and a mobile device using the same. Background Technology

[0002] Mobile devices generally consist of moving parts and upper components. The moving parts enable movement, and different upper components can be mounted on them to perform related functions. Currently, explosion-proof methods for mobile devices mainly employ explosion-proof methods (CN208756849 A Firefighting and Reconnaissance Explosion-proof Robot) and positive pressure explosion-proof methods (CN116968053 B An Explosion-proof Mobile Collaborative Robot and Its Control Method).

[0003] Regarding the explosion-proof technology used in CN208756849, in order to withstand the pressure of an internal explosion, its chassis components require a robust outer shell and a complex structural design. This results in a heavy explosion-proof shell, which further increases the performance requirements and weight of the power source and drive unit, thereby increasing manufacturing, storage, transportation, and maintenance costs. Furthermore, while explosion-proof technology can prevent the propagation of an explosion to the external environment, the internal explosion itself remains a potential risk.

[0004] Regarding the positive pressure explosion-proof technology adopted in CN116968053 B, it has the following advantages over explosion-proof methods: high safety, effectively preventing hazardous substances from entering the equipment through positive pressure differential, thus avoiding ignition at the source; relatively simple equipment structure, not requiring a robust outer shell and complex joint surface design like explosion-proof technology; wide applicability, suitable for various types of hazardous environments, including gases, vapors, and dust. However, the positive pressure technology still has the following limitations: carrying an additional high-pressure gas tank increases the weight and volume of the chassis components, and even poses a risk of gas tank explosion; when entering the safe zone to replenish gas, the gas source connector and gas cylinder connector need to be connected, which is cumbersome to operate manually; in addition, its remaining explosion-proof usable time prediction is not accurate enough, only considering the impact of pressure differential changes and ignoring the significant impact of different temperatures under actual operating conditions.

[0005] Therefore, how to provide a positive pressure explosion-proof method and a mobile device that uses it, which is small in size, light in weight, low in cost, high in safety, simple to replenish gas, and accurately predicts the remaining explosion-proof usable time, is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0006] In view of this, the object of the present invention is to provide a positive pressure explosion-proof method and a mobile device using the same.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

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

[0009] S1: After purging the positive pressure chamber of the mobile device, initialize the pressure difference of the positive pressure chamber to P0; wherein, both the purging of the positive pressure chamber and the initialization of the pressure difference are performed in the safe zone;

[0010] S2: Real-time acquisition of the explosion-proof status information of the mobile device; wherein, the explosion-proof status information includes the time required for the mobile device to return to the safe zone. back Is the mobile device in the safe zone (IsSafe) and is the differential pressure limit (P)? low ;

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

[0012] S3: Determine whether the gas environment in which the mobile device is located is safe;

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

[0014] If it is unsafe, control the mobile device to stop moving and issue an alarm;

[0015] 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 Tolerance and remaining explosion-proof usable time. predict ;

[0016] S5: lnP based on the natural logarithm of the current predicted pressure difference. predict Tolerance and remaining explosion-proof usable time. predict Decide whether to cut off the power to the mobile device, whether to immediately return to a safe area, and whether to notify of any abnormalities.

[0017] Preferably, the mobile device is a mobile robot chassis, a drone, or other mobile device that uses a positive pressure explosion-proof method.

[0018] Preferably, the natural logarithm lnP of the current predicted pressure difference is obtained based on the following formula. predict Tolerance and remaining explosion-proof usable time. predict ;

[0019]

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

[0021] in, The positive pressure chamber temperature is represented by T. i Differential pressure leakage rate; The positive pressure chamber temperature is represented by T. i The root mean square error of the pressure difference at that time; The positive pressure chamber temperature is represented by T. i+1 Differential pressure leakage rate; The positive pressure chamber temperature is represented by T. i+1 The root mean square error of the pressure difference at that time; Δt represents the time interval for acquiring the explosion-proof status information; P current-Δt This indicates the pressure difference in the positive pressure chamber when the explosion-proof status information was last obtained.

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

[0023] Select the temperature range [T1, T] of the positive pressure chamber based on actual operating conditions. n ];

[0024] From the temperature range [T1, T n Select several temperature points {T1,T2,...,T] in the [database]. i ...,T n};

[0025] The temperature of the positive pressure chamber is obtained as T. i m data pairs {t} j ,ln(P(t) j ))};where j=1,2...m, tj represents the j-th time point, ln(P(t j )) represents t j The corresponding pressure difference P(t) j The natural logarithm of ).

[0026] The least squares method is used to analyze m data pairs {t}. j ,ln(P(t) j Perform linear regression analysis on m data points to obtain the optimal target line that satisfies the condition of {t}. j ,ln(P(t) j The root mean square error between the target line and the target line is minimized; among which, the root mean square error of the pressure difference is minimized. The minimum root mean square error of the optimal target straight line; differential pressure leakage rate. This represents the slope of the optimal target line.

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

[0028] S51: Determine lnP current <lnP low If the condition is met, cut off the power to the mobile device and issue an alarm; if the condition is not met, execute S52.

[0029] S52: Determine Time predict <Time back If the condition is met, control the mobile device to return to the safe zone; if not, execute S53.

[0030] S53: Judgment If the condition is met, notify the mobile device that it is malfunctioning and requires maintenance; if not, repeat step S2.

[0031] On the other hand, a mobile device is provided that applies the positive pressure explosion-proof method described in any one of the above, including a controller, a differential pressure sensor, a temperature sensor, an air pump, an intake air 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 pressure difference between the inside and 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 air pump motor and is used to control the operating status of the air pump;

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

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

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

[0038] One end of the differential pressure sensor is connected to the inside of the positive pressure chamber, and the other end is connected to the first air inlet outside the positive pressure chamber;

[0039] One end of the air pump is connected to the inside of the positive pressure chamber, and the other end is connected to one end of the air intake solenoid valve; the other end of the air intake solenoid valve is connected to a second air inlet outside the positive pressure chamber, wherein the second air inlet is an air inlet with a filter box.

[0040] One end of the exhaust gas path solenoid valve is connected to the inside of the positive pressure chamber, and the other end is connected to the exhaust port outside the positive pressure chamber.

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

[0042] The power module includes a battery cell pack, a battery management unit, a voltage regulating module, and upper and lower power contactors located inside the positive pressure cavity, as well as a manual power switch, a charging interface, and an outgoing cable connector located outside the positive pressure cavity.

[0043] The controller is electrically connected to the battery management unit and is used to obtain information about the battery cell pack.

[0044] The controller is electrically connected to the upper and lower electrical contactors via the manual main power switch, and is used to control the opening and closing of the power module;

[0045] The pressure regulating module is electrically connected to the controller, differential pressure sensor, temperature sensor, intake pump motor, drive motor, intake solenoid valve, and exhaust solenoid valve, and is used to supply power to the controller, differential pressure sensor, temperature sensor, intake pump motor, drive motor, intake solenoid valve, and exhaust solenoid valve.

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

[0047] The battery cell assembly is connected to the outgoing cable connector via the battery management unit;

[0048] The voltage regulating module is connected to the outgoing cable 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 via the wireless transmission module, and is used to receive remote control commands and cloud control commands.

[0051] Preferably, the mobile device further includes a gas sensor module located outside the positive pressure chamber, the gas sensor module being used to detect the gas environment in which the mobile device is located.

[0052] Preferably, the controller is electrically connected to the outgoing cable connector and is used to send the acquired battery cell group information to the host computer.

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

[0054] The controller is electrically connected to the indicator light and is used to display the operating status of the mobile device.

[0055] Preferably, the mobile device is a mobile robot chassis, a drone, or other mobile device that uses a 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 using the same, which is small in size, light in weight, low in cost, high in safety, simple to replenish gas, and accurately predicts the remaining explosion-proof usable time. Attached Figure Description

[0057] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

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

[0059] Figure 2 This invention provides a natural logarithm-time curve of differential pressure at a certain temperature;

[0060] Figure 3 The present invention provides a natural logarithm-time curve of differential pressure at two different temperatures;

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

[0062] Figure 5 This is a schematic diagram of the internal structure of the positive pressure cavity provided by the present invention;

[0063] Figure 6 Peripheral connection diagram of the controller provided by the present invention;

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

[0065] In the diagram: 1. Gas sensor module; 2. Second air inlet; 3. First air inlet; 4. Charging interface; 5. Indicator light; 6. Antenna; 7. Manual power switch; 8. Outlet cable connector; 9. Exhaust port; 10. Positive pressure chamber; 11. Drive component; 12. Controller; 13. Power circuit; 14. Positive pressure control component; 15. Drive motor; Detailed Implementation

[0066] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

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

[0068] S1: After purging the positive pressure chamber of the mobile device, initialize the pressure difference of the positive pressure chamber to P0; wherein, both the purging of the positive pressure chamber and the initialization of the pressure difference are performed in the safe zone;

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

[0070] It is understandable that:

[0071] 1) The control method for purging the positive pressure chamber is as follows: the controller controls the opening of the inlet solenoid valve, the exhaust solenoid valve and the air pump. The gas outside the positive pressure chamber 10 enters the positive pressure chamber 10 through the second inlet 2 and is discharged through the exhaust port 9. After purging for a certain period of time, the controller closes the air pump, the inlet solenoid valve and the exhaust solenoid valve to complete the purging, thereby ensuring that the gas inside the positive pressure chamber is clean.

[0072] The second air inlet 2 is an air inlet with a filter box. The main components of the filter box are filter cotton, desiccant and activated carbon agent, which can dehumidify and remove dust from the gas drawn into the positive pressure chamber, and filter out toxic, harmful and flammable gases.

[0073] 2) The differential pressure initialization (i.e., positive pressure compensation) control method is as follows: The controller controls the opening of the intake air path solenoid valve and the air pump, and closes the exhaust air path solenoid valve. The gas outside the positive pressure chamber 10 enters the positive pressure chamber 10 through the second air inlet 2. The controller collects the differential pressure signal through the differential pressure sensor, and the required differential pressure P is reached. pre After that, close the intake solenoid valve and the air pump.

[0074] S2: Real-time acquisition of the explosion-proof status information of the mobile device; wherein, the explosion-proof status information includes the time required for the mobile device to return to the safe zone. back Is the mobile device in the safe zone (IsSafe) and is the differential pressure limit (P)? low ;

[0075] It is understandable that after the positive pressure chamber is purged and the differential pressure is initialized, the controller's mobile device moves according to the planned path in the mobile planning thread. During the movement, the explosion-proof status information of the mobile device is obtained in real time at time intervals Δt.

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

[0077] S3: Determine whether the gas environment in which the mobile device is located is safe;

[0078] It is understandable that a gas sensor module is used to detect the gas environment in which the mobile device is located.

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

[0080] If it is unsafe, control the mobile device to stop moving and issue an alarm;

[0081] 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 Tolerance and remaining explosion-proof usable time. predict Among them, P current P represents the current pressure difference; predict Indicates the predicted pressure difference;

[0082] S5: lnP based on the natural logarithm of the current predicted pressure difference. predict Tolerance and remaining explosion-proof usable time. predict Decide whether to cut off the power to the mobile device, whether to immediately return to a safe area, and whether to notify of any abnormalities.

[0083] In one embodiment, the natural logarithm lnP of the current predicted pressure difference is obtained based on the following formula. predict Tolerance and remaining explosion-proof usable time. predict ;

[0084]

[0085]

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

[0087] in, The positive pressure chamber temperature is represented by T. i Differential pressure leakage rate; The positive pressure chamber temperature is represented by T. i The root mean square error of the pressure difference at that time; The positive pressure chamber temperature is represented by T. i+1 Differential pressure leakage rate; The positive pressure chamber temperature is represented by T. i+1 The root mean square error of the pressure difference at that time; Δt represents the time interval for acquiring the explosion-proof status information; P current-Δt This indicates the pressure difference in the positive pressure chamber when the explosion-proof status information was last obtained.

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

[0089] Select the temperature range [T1, T] of the positive pressure chamber based on actual operating conditions. n ];

[0090] From the temperature range [T1, T n Select several temperature points {T1,T2,...,T] in the [database]. i ...,T n};

[0091] The temperature of the positive pressure chamber is obtained as T. i m data pairs {t} j ,ln(P(t) j ))};where j=1,2...m,t j Let ln(P(t) represent the j-th time point. j )) represents t j The corresponding pressure difference P(t) j The natural logarithm of ).

[0092] The least squares method is used to analyze m data pairs {t}. j ,ln(P(t) j Perform linear regression analysis on m data points to obtain the optimal target line that satisfies the condition of {t}. j ,ln(P(t) j The root mean square error between the target line and the target line is minimized; among which, the root mean square error of the pressure difference is minimized. The minimum root mean square error of the optimal target straight line; differential pressure leakage rate. This represents the slope of the optimal target line.

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

[0094] In this embodiment, as Figure 3 As shown, [T1,T n+1 The temperature range is [-20℃, 80℃]. Several selected temperature points are T1 = -20℃, T2 = -10℃, ..., T... n+1 =80℃, the differential pressure leakage rate and root mean square error of differential pressure at each temperature point are:

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

[0096] S51: Determine lnP current <lnP low If the condition is met, cut off the power to the mobile device and issue an alarm; if the condition is not met, execute S52.

[0097] S52: Determine Time predict <Time back If the condition is met, control the mobile device to return to the safe zone; if not, execute S53.

[0098] S53: Judgment If the condition is met, notify the mobile device that it is malfunctioning and requires maintenance; if not, repeat step S2.

[0099] On the other hand, such as Figures 4-7 The present invention provides a mobile device that applies the positive pressure explosion-proof method described in any one of the above, including a controller 12, a differential pressure 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 is understood that the mobile device is a mobile robot chassis, a drone, or other mobile device that uses a positive pressure explosion-proof method.

[0101] It is understandable that the air pump, differential pressure sensor, intake solenoid valve, and exhaust solenoid valve constitute the positive pressure control component 14.

[0102] The controller consists of a multi-core CPU, a system-on-a-chip (SoC), and RAM / ROM storage units.

[0103] The controller is electrically connected to the differential pressure sensor (specifically via RS485 connection) to collect the pressure difference between the inside and outside of the positive pressure chamber;

[0104] The controller is electrically connected to the temperature sensor (specifically via RS485 connection) to collect the temperature of the positive pressure chamber;

[0105] The controller is electrically connected to the air pump motor (specifically via a CAN bus) and is used to control the operating status 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 via a CAN bus) and is used to control the rotation of the drive component 11;

[0107] It is understandable 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 passage solenoid valve (specifically via a GPIO port) and is used to control the opening and closing of the intake air passage solenoid valve.

[0109] The controller is electrically connected to the exhaust gas path solenoid valve (specifically via a GPIO port) and is used to control the opening and closing of the exhaust gas path solenoid valve.

[0110] One end of the differential pressure sensor is connected to the inside of the positive pressure chamber, and the other end is connected to the first air inlet 3 outside the positive pressure chamber;

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

[0112] One end of the air pump is connected to the inside of the positive pressure chamber, and the other end is connected to one end of the air intake solenoid valve; the other end of the air intake solenoid valve is connected to a second air inlet outside the positive pressure chamber, wherein the second air inlet is an air inlet with a filter box.

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

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

[0115] The power module includes a battery cell pack, a battery management unit, a voltage regulating module and upper and lower power contactors located inside the positive pressure cavity, as well as a manual power switch 7, a charging interface 4 and an outgoing cable connector 8 located outside the positive pressure cavity.

[0116] It is understandable that the battery cell pack, battery management unit, voltage regulator module and upper and lower contactors constitute the power circuit 13;

[0117] The controller is electrically connected to the battery management unit (specifically via RS232 connection) and is used to obtain information about the battery cell pack.

[0118] The controller is electrically connected to the upper and lower electrical contactors (specifically via GPIO ports) through the manual main power switch, and is used to control the opening and closing of the power module;

[0119] It is understood that the GPIO port of the controller is connected to the control terminal of the upper and lower power contactors via a manual main power switch; this enables both manual and programmatic control of the opening and closing of the upper and lower power contactors.

[0120] The upper and lower electrical contactors are connected in series at the positive output terminal of the battery management unit to control whether the power module is powered on.

[0121] The pressure regulating module is electrically connected to the controller, differential pressure sensor, temperature sensor, intake pump motor, drive motor, intake solenoid valve, and exhaust solenoid valve, and is used to supply power to the controller, differential pressure sensor, temperature sensor, intake pump motor, drive motor, intake solenoid valve, and exhaust solenoid valve.

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

[0123] The battery cell assembly is connected to the outgoing cable connector via the battery management unit;

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

[0125] It is understood that the outgoing cable connector is used to supply power to the upper 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 via the wireless transmission module (the controller is connected to the wireless transmission module via RS232) and is used to receive remote control commands and cloud control commands.

[0128] In one embodiment, the mobile device further includes a gas sensor module located outside the positive pressure chamber, the gas sensor module being used to detect the gas environment in which the mobile device is located.

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

[0130] In one embodiment, the controller is electrically connected to the outgoing cable connector (via a CAN bus) and is used to send the acquired battery cell pack information to a host computer.

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

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

[0133] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0134] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those 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 invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A positive pressure explosion-proof method, characterized in that, Includes the following steps: S1: After purging the positive pressure chamber of the mobile device, initialize the pressure difference of the positive pressure chamber to P0; wherein, both the purging of the positive pressure chamber and the initialization of the pressure difference are performed in the safe zone; S2: Real-time acquisition of the explosion-proof status information of the mobile device; wherein, the explosion-proof status information includes the time required for the mobile device to return to the safe zone. back Is the mobile device in the safe zone (IsSafe) and is the differential pressure limit (P)? low ; If the mobile device is in the safe zone, execute S3; if the mobile device is not in the safe zone, execute S4. S3: Determine whether the gas environment in which the mobile device is located is safe; If it is safe, determine whether the pressure difference of the positive pressure chamber is less than P0. If it is less, restore the pressure difference of the positive pressure chamber to P0. If it is unsafe, 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 Tolerance Δ lnPpredict and remaining explosion-proof usable time. predict ; S5: lnP based on the natural logarithm of the current predicted pressure difference. predict Tolerance Δ lnPpredict and remaining explosion-proof usable time. predict Decide whether to cut off the power to the mobile device, whether to immediately return to a safe area, and whether to notify of any abnormalities.

2. The positive pressure explosion-proof method according to claim 1, characterized in that, The natural logarithm of the current predicted pressure difference, lnP, is obtained using the following formula. predict Tolerance Δ lnPpredict and remaining explosion-proof usable time. predict ; lnP predict =ln(P current-Δt )-k Tcurrent *Δt; T current ∈[T i ,T i+1 ];i=1,2,...,n-1; in, The positive pressure chamber temperature is represented by T. i Differential pressure leakage rate; The positive pressure chamber temperature is represented by T. i The root mean square error of the pressure difference at that time; The positive pressure chamber temperature is represented by T. i+1 Differential pressure leakage rate; The positive pressure chamber temperature is represented by T. i+1 The root mean square error of the pressure difference at that time; Δt represents the time interval for acquiring the explosion-proof status information; P current-Δt This indicates the pressure difference in the positive pressure chamber when the explosion-proof status information was last obtained.

3. The positive pressure explosion-proof method according to claim 2, characterized in that, S4 further includes the following steps: Select the temperature range [T1, T] of the positive pressure chamber based on actual operating conditions. n ]; From the temperature range [T1, T n Select several temperature points {T1,T2,...,T] in the [database]. i ...,T n }; The temperature of the positive pressure chamber is obtained as T. i m data pairs {t} j ,ln(P(t) j ))};where j=1,2...m,t j Let ln(P(t) represent the j-th time point. j )) represents t j The corresponding pressure difference P(t) j The natural logarithm of ). The least squares method is used to analyze m data pairs {t}. j ,ln(P(t) j Perform linear regression analysis on m data points to obtain the optimal target line that satisfies the condition of {t}. j ,ln(P(t) j The root mean square error between the target line and the target line is minimized; among which, the root mean square error of the pressure difference is minimized. The minimum root mean square error of the optimal target straight line; differential pressure leakage rate. This represents the slope of the optimal target line.

4. The positive pressure explosion-proof method according to claim 3, characterized in that, S5 specifically includes the following steps: S51: Determine lnP current <lnP low If the condition is met, cut off the power to the mobile device and issue an alarm; if the condition is not met, execute S52. S52: Determine Time predict <Time back If the condition is met, control the mobile device to return to the safe zone; if not, execute S53. S53: Judgment If the condition is met, notify the mobile device that it is malfunctioning and requires maintenance; if not, repeat step S2.

5. A mobile device, characterized in that, The positive pressure explosion-proof method according to any one of claims 1-4 includes a controller, a differential pressure sensor, a temperature sensor, an air pump, an intake air 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 differential pressure sensor and is used to collect the pressure difference between the inside and 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 air pump motor and is used to control the operating status of the air pump; The controller is electrically connected to the drive motor and is used to control the rotation of the drive components; The controller is electrically connected to the intake air passage solenoid valve and is used to control the opening and closing of the intake air passage solenoid valve. The controller is electrically connected to the exhaust gas path solenoid valve and is used to control the opening and closing of the exhaust gas path solenoid valve. One end of the differential pressure sensor is connected to the inside of the positive pressure chamber, and the other end is connected to the first air inlet outside the positive pressure chamber; One end of the air pump is connected to the inside of the positive pressure chamber, and the other end is connected to one end of the air intake solenoid valve; the other end of the air intake solenoid valve is connected to a second air inlet outside the positive pressure chamber, wherein the second air inlet is an air inlet with a filter box; the filter box is used to dehumidify and remove dust from the gas drawn into the positive pressure chamber, and to filter out toxic, harmful and flammable gases. One end of the exhaust gas path solenoid valve is connected to the inside of the positive pressure chamber, and the other end is connected to the exhaust port outside the positive pressure chamber.

6. A mobile device according to claim 5, characterized in that, It also includes a power module; The power module includes a battery cell pack, a battery management unit, a voltage regulating module, and upper and lower power contactors located inside the positive pressure cavity, as well as a manual power switch, a charging interface, and an outgoing cable connector located outside the positive pressure cavity. The controller is electrically connected to the battery management unit and is used to obtain information about the battery cell pack. The controller is electrically connected to the upper and lower electrical contactors via the manual main power switch, and is used to control the opening and closing of the power module; The pressure regulating module is electrically connected to the controller, differential pressure sensor, temperature sensor, intake pump motor, drive motor, intake solenoid valve, and exhaust solenoid valve, and is used to supply power to the controller, differential pressure sensor, temperature sensor, intake pump motor, drive motor, intake solenoid valve, and exhaust solenoid valve. The charging interface charges the battery cell pack through the battery management unit; The battery cell assembly is connected to the outgoing cable connector via the battery management unit; The voltage regulating module is connected to the outgoing cable connector.

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

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

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

10. A mobile device according to claim 6, characterized in that, It also includes indicator lights located outside the positive pressure chamber; The controller is electrically connected to the indicator light and is used to display the operating status of the mobile device.

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