Chemical detection methods, devices, and systems, detection fire trucks, and storage media

Abstract

The present disclosure relates to a chemical detection method, device and system, a detection fire engine and a storage medium. The method comprises: controlling a UAV to ascend and conduct chemical detection according to a predetermined path; receiving UAV detection data returned by the UAV; determining whether to enable an all-terrain mobile device to conduct chemical detection according to the UAV detection data; in the case of determining to enable the all-terrain mobile device to conduct chemical detection, controlling the all-terrain mobile device to conduct chemical detection, and after the all-terrain mobile device reaches a target point position where the chemical is located, remotely starting a Fourier infrared detector arranged on the detection fire engine to scan the chemical aiming at the target point position; and receiving a chemical analysis report returned by the Fourier infrared detector. Through air-ground multi-platform cooperation and non-contact spectral analysis technology, the present disclosure can realize rapid, accurate and all-round detection of chemicals in complex scenes.

Description

Technical Field

[0001] This disclosure relates to the field of chemical detection technology, and in particular to a chemical detection method, apparatus and system, detection fire truck and storage medium. Background Technology

[0002] Major accidents such as hazardous chemical leaks, explosions, and fires pose serious challenges to industrial society. In emergency response to such incidents, rapidly and accurately obtaining on-site information, including the type, concentration, distribution range, and diffusion trend of hazardous chemicals, is a decisive prerequisite for effectively controlling the disaster, ensuring the safety of rescue personnel, and minimizing property and environmental damage. Summary of the Invention

[0003] The inventors discovered through research that the chemical detection technologies and equipment systems of related fields are facing increasingly prominent bottlenecks and challenges when dealing with complex and ever-changing disaster sites. First, the related hazardous chemical detection technologies mostly rely on a single mode, such as fire trucks carrying detection equipment, fire trucks carrying drones for independent reconnaissance, or fire trucks carrying robots. However, these methods suffer from poor applicability to complex terrain, limited detection dimensions, and high personnel safety risks, making it difficult to form an effective closed-loop detection system.

[0004] In view of at least one of the above technical problems, this disclosure provides a chemical detection method, device and system, detection fire truck and storage medium. Through multi-platform collaboration between air and ground and non-contact spectral analysis technology, it can achieve rapid, accurate and all-round detection of chemicals in complex scenarios, while ensuring personnel safety.

[0005] According to one aspect of this disclosure, a method for detecting chemicals is provided, comprising: Control the drone to take off and conduct chemical reconnaissance along a predetermined path; Receive drone reconnaissance data returned by the drone, wherein the drone reconnaissance data includes the target area where the chemicals are located; Based on the UAV reconnaissance data, determine whether to activate an all-terrain mobile device for chemical reconnaissance; If it is determined that the all-terrain mobile device should be used for chemical reconnaissance, the all-terrain mobile device should be controlled to perform chemical reconnaissance, and after the all-terrain mobile device reaches the target location of the chemical, the Fourier transform infrared detector installed on the detection fire truck should be remotely activated to scan the chemical at the target location. Receive chemical analysis reports returned by Fourier transform infrared detectors, wherein the chemical analysis reports include the chemical composition and concentration.

[0006] In some embodiments of this disclosure, the chemical detection method further includes: Receives live video and environmental data returned by all-terrain mobile devices; Receive infrared spectral data returned by the Fourier transform infrared detector; A chemical distribution heatmap is generated based on the UAV reconnaissance data, the on-site video and environmental data, and the infrared spectral data.

[0007] In some embodiments of this disclosure, the chemical detection method further includes: Based on the chemical analysis report, determine whether the chemical is a hazardous chemical; If the chemical is a hazardous chemical, the chemical distribution heat map is matched with a predetermined knowledge base to determine a disposal recommendation report, wherein the disposal recommendation report includes at least one of the following: warning range, protection level, and disposal method; Output the proposed treatment report.

[0008] In some embodiments of this disclosure, the chemical detection method further includes: If it is determined that the all-terrain mobile device should not be used for chemical reconnaissance, the Fourier transform infrared detector is activated to scan the target area.

[0009] In some embodiments of this disclosure, the drone reconnaissance data includes at least one of the following: the location of temperature anomalies, the location of gas clouds, and the type of chemicals.

[0010] In some embodiments of this disclosure, controlling the drone to take off and conduct chemical reconnaissance along a predetermined path includes at least one of the following steps: Control the drone to take off and conduct chemical reconnaissance along a predetermined path; The drone is instructed to use a visible light camera, an infrared thermal imager, and a gas sensor to locate the temperature anomaly area and the gas cloud. The drone is instructed to identify the type of chemical using artificial intelligence algorithms.

[0011] In some embodiments of this disclosure, the drone reconnaissance data includes the location of the target area and surrounding terrain data.

[0012] In some embodiments of this disclosure, determining whether to activate an all-terrain mobile device for chemical reconnaissance based on the UAV reconnaissance data includes: Based on the location of the target area and surrounding terrain data, determine whether to activate an all-terrain mobile device for chemical reconnaissance.

[0013] In some embodiments of this disclosure, the drone reconnaissance data includes chemical types.

[0014] In some embodiments of this disclosure, determining whether to activate an all-terrain mobile device for chemical reconnaissance based on the UAV reconnaissance data includes: Based on the type of chemical, determine whether to activate an all-terrain mobile device for chemical reconnaissance.

[0015] In some embodiments of this disclosure, determining whether to activate an all-terrain mobile device for chemical reconnaissance based on the type of chemical includes at least one of the following steps: If the chemical type is at least one of solid and liquid, it is determined that an all-terrain mobile device should be used for chemical reconnaissance. If the chemical type is a gas, it is determined that all-terrain mobile devices will not be used for chemical reconnaissance.

[0016] In some embodiments of this disclosure, controlling the all-terrain mobile device to perform chemical reconnaissance includes at least one of the following steps: The all-terrain mobile device is instructed to autonomously navigate to the target point; During the movement of the all-terrain mobile device, it is instructed to use multispectral imaging for chemical reconnaissance. The all-terrain mobile device is instructed to use environmental sensors to collect on-site environmental data; The all-terrain mobile device is instructed to collect chemicals in gaseous form; The all-terrain mobile device is instructed to use a robotic arm to collect chemicals in solid or liquid form.

[0017] In some embodiments of this disclosure, the chemical analysis report includes the chemical composition and concentration.

[0018] In some embodiments of this disclosure, activating the Fourier transform infrared detector mounted on the detection fire truck and scanning the chemical at the target location includes: Return the target point position to the Fourier transform infrared detector; The Fourier transform infrared detector is activated and aimed at the target point. The chemical is then irradiated and its absorption spectrum is analyzed. The Fourier transform infrared detector is controlled to compare the absorption spectrum with the built-in database.

[0019] According to another aspect of this disclosure, a chemical detection device is provided, comprising: The drone control module is configured to control the drone to take off and conduct chemical reconnaissance along a predetermined path; and to receive drone reconnaissance data returned by the drone, wherein the drone reconnaissance data includes the target area where the chemicals are located. The all-terrain mobile device control module is configured to determine whether to activate the all-terrain mobile device for chemical reconnaissance based on the UAV reconnaissance data; if it is determined that the all-terrain mobile device should be activated for chemical reconnaissance, the module controls the all-terrain mobile device to conduct chemical reconnaissance, and controls the all-terrain mobile device to remotely activate the Fourier transform infrared detector installed on the detection fire truck after reaching the target location of the chemical, and scan the chemical at the target location. The report receiving module is configured to receive chemical analysis reports returned by a Fourier transform infrared detector, wherein the chemical analysis reports include the chemical composition and concentration.

[0020] In some embodiments of this disclosure, the chemical detection device further includes at least one of the following modules: The data processing module is configured to process, fuse, and analyze multi-source data in real time, wherein the multi-source data includes at least one of image data, gas concentration data, spectral data, temperature data, location, and collected samples. The human-computer interaction module is configured to display at least one of the following in real time: the drone's position, the robot's position, and environmental status information.

[0021] According to another aspect of this disclosure, a chemical detection device is provided, comprising: Memory, used to store instructions; A processor is configured to execute the instructions, causing the chemical detection device to implement the chemical detection method as described in any of the above embodiments.

[0022] According to another aspect of this disclosure, a detection fire truck is provided, including a chemical detection device as described in any of the above embodiments.

[0023] In some embodiments of this disclosure, the detection fire truck further includes at least one of the following devices: Emergency power supply; Dedicated storage and charging case for drones; A dedicated storage and charging compartment for all-terrain mobile devices; Satellite communication equipment.

[0024] According to another aspect of this disclosure, a chemical detection system is provided, including a detection fire truck as described in any of the above embodiments.

[0025] In some embodiments of this disclosure, the chemical detection system further includes: A Fourier transform infrared (FTIR) detector is configured to irradiate the target and analyze the absorption spectrum of the target; compare the absorption spectrum with a built-in database to determine the chemical composition and concentration, wherein the probe of the Fourier transform infrared detector can be replaced according to the form of the chemical, and the form of the chemical includes at least one of gaseous, liquid and solid states.

[0026] In some embodiments of this disclosure, the chemical detection system further includes a drone, wherein the drone includes at least one of the following devices: The sensor device integrates a high-definition visible light camera for acquiring panoramic images, an infrared thermal imager for detecting leaks or fires through temperature anomalies, and a gas concentration sensor for sensing chemicals and mapping concentration profiles. The image recognition device is configured to analyze video streams in real time during flight to identify hazard features, including tank leaks and pipeline ruptures. The positioning device is configured to bind all reconnaissance data with precise coordinates and transmit it back to the fire truck in real time.

[0027] In some embodiments of this disclosure, the chemical detection system further includes an all-terrain mobile device, wherein the all-terrain mobile device includes at least one of the following devices: All-terrain mobile platforms employing quadruped or bipedal biomimetic structures; A multispectral imaging device is configured to detect the characteristic spectral reflectance of chemicals in different wavelength bands, wherein the multispectral imaging device can identify the spectra in the ultraviolet, visible, and near-infrared bands; Environmental sensors are configured to comprehensively perceive the on-site environment; A robotic arm is configured to handle chemicals of both solid and liquid types; The control terminal is configured to remotely activate the Fourier transform infrared detector after the all-terrain mobile device reaches the optimal detection position.

[0028] According to another aspect of this disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions that, when executed by a processor, implement the chemical detection method as described in any of the above embodiments.

[0029] According to another aspect of this disclosure, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, it implements the chemical detection method as described in any of the above embodiments.

[0030] This disclosure utilizes multi-platform collaboration between air and ground and non-contact spectral analysis technology to achieve rapid, accurate, and comprehensive detection of chemicals in complex scenarios, while ensuring personnel safety. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this disclosure 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 some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a schematic diagram of some embodiments of the chemical detection method disclosed herein.

[0033] Figure 2 The diagram illustrates some other embodiments of the chemical detection method disclosed herein.

[0034] Figure 3 This is a schematic diagram of some further embodiments of the chemical detection method disclosed herein.

[0035] Figure 4 The diagram illustrates some other embodiments of the chemical detection method disclosed herein.

[0036] Figure 5 This is a schematic diagram of some embodiments of the chemical detection device disclosed herein.

[0037] Figure 6 This is a schematic diagram of the structure of some other embodiments of the chemical detection device disclosed herein.

[0038] Figure 7 This is a schematic diagram of some embodiments of the fire truck for detection in this disclosure.

[0039] Figure 8 This is a schematic diagram of some embodiments of the chemical detection system disclosed herein. Detailed Implementation

[0040] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0041] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of this disclosure.

[0042] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0043] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0044] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0045] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0046] The inventors discovered through research that the mainstream detection methods in related technologies mainly rely on three independent modes: First, fire trucks carrying detection equipment approach the scene, but their large size limits their access to ruins, narrow spaces, or rugged terrain due to road and terrain constraints, often leaving them unable to reach the scene in the early stages of an accident; Second, drones are used for aerial reconnaissance, which can quickly overcome terrain obstacles and provide macroscopic images and thermal maps, but their sensors are usually limited to broad-spectrum gas concentration monitoring and cannot accurately identify chemical components; Third, and most dangerous, is sending rescue personnel wearing heavy protective suits and carrying portable equipment into the core danger zone for manual detection. This not only exposes rescue personnel to multiple risks of poisoning, explosions, burns, and collapses, but also greatly limits the comprehensiveness and accuracy of the detection due to their work efficiency and psychological burden.

[0047] Currently, these three technologies operate independently, hindering data sharing and integration, and failing to meet the stringent requirements of modern rescue efforts for information integrity, real-time performance, and accuracy. Secondly, these technologies cannot effectively solve the "last mile" problem of accurate identification. Although drone technology can achieve preliminary location of hazards over a wide area, a critical technological gap exists between "discovering a suspected area" and "confirming specific substances." There is a lack of ground-based mobile platforms capable of autonomously entering complex environments to perform high-precision detection under drone guidance. While wheeled or tracked robots have some applications, their terrain mobility is far inferior to that of humans, making them prone to overturning or becoming trapped in extreme environments filled with rubble and ruins, unable to reliably complete close-range sampling and detection tasks. This forces many reconnaissance tasks to rely on high-risk human intervention in the crucial identification stage. Furthermore, data fragmentation and the lag in decision support restrict the effectiveness of rescue command. Data from different platforms and at different times and spaces (such as images, gas concentrations, and geographical locations) are often isolated, lacking a powerful central hub for integrated fusion and analysis. Commanders are required to simultaneously view fragmented information from multiple screens and piece together the situation in their minds based on experience. This is not only inefficient but also highly prone to delays or errors in decision-making due to information overload or misjudgment. The "golden time" for emergency rescue is wasted in this inefficient information processing.

[0048] Therefore, there is an urgent need in this field for a disruptive detection solution that can break down platform barriers, integrate multi-dimensional data, and achieve human-machine collaboration.

[0049] The inventors also discovered through research that one related technology employs a system consisting of a ground mobile robot, a drone, and a control terminal. The ground mobile robot is a tracked robot equipped with a 360-degree camera, a front-facing camera, a Raman spectroscopy detector, and built-in wireless GPS positioning for data transmission and reception. The drone is responsible for aerial route planning, equipped with a camera, wireless transceiver, and GPS positioning to provide terrain navigation for the robot. The control terminal is manually operated, receiving and displaying data. The drone and robot do not interact; information is displayed independently and determined by human judgment.

[0050] The technical challenges of using drone swarms for collaborative detection are: 1) Limited analytical capabilities: Accurate, on-site Fourier transform infrared spectroscopy analysis is impossible, and the sample-and-return method carries time delays and risks of sample contamination / escape. 2) Poor anti-interference capabilities: Drones exhibit poor stability in complex airflow conditions (such as fire scenes) and cannot enter building interiors or densely covered areas. 3) Payload and endurance conflict: High-precision analytical instruments are typically heavy, conflicting with the drone's endurance.

[0051] The technical problems with the reconnaissance solution combining drones and wheeled / tracked robots are: 1) Terrain adaptability is a fatal weakness: This is the most critical defect. Wheeled / tracked robots are almost unable to move in unstructured terrains such as ruins, stairs, ditches, and swamps, making it impossible to complete the critical task of "close-range reconnaissance." 2) Weak obstacle-crossing ability: They are prone to overturning or getting stuck, resulting in low reliability.

[0052] The inventors also discovered through research that the related technology has a core causal defect: defects in the ground mobile platform → missing key data → broken collaborative chain → failure of detection mission.

[0053] (1) Initial cause: The relevant technology of ground mobile platform is not adaptable to the terrain. At present, the ground mobile platform adopts tracked or multi-wheeled devices. In extremely complex terrains filled with ruins, rubble, stairs or ditches, the mobile mechanism is very easy to get stuck, overturn or become impassable. Especially after the explosion, the ground mobile platform cannot enter the site, resulting in the failure of reconnaissance or sampling.

[0054] One drawback of the related technology is that the system has almost zero ground proximity to complex disaster sites (earthquakes, explosions, stairs), resulting in a large number of blind spots in detection.

[0055] (2) Chain reaction: The relevant technical data flow is interrupted, and the collaboration fails. Since the ground robot cannot reach the key points designated by the UAV, a preset "air-ground collaboration" process is interrupted. The direct consequence is that the suspected target discovered by the UAV cannot be confirmed by the ground equipment. The system cannot obtain close-range, high-precision data from the core danger zone.

[0056] The second drawback of the related technology is that the "air-ground" collaborative logic has a fatal flaw: its collaboration is conditional (limited to flat terrain) rather than global, which leads to reduced system reliability.

[0057] (3) Final Consequences: Incomplete information for relevant technical decision-making, risks remain. The relevant technical command center can only obtain macro-level overview data of the UAV, but lacks accurate identification of key points on the ground. This leads to hesitation in relevant technical rescue decisions due to insufficient information, or the need to redeploy personnel into high-risk environments for manual verification, which completely violates the original intention of using unmanned systems.

[0058] The third drawback of the related technology is that it cannot fundamentally eliminate the need for personnel to enter high-risk environments, thus limiting the improvement in safety.

[0059] Conclusion: Although the related technologies appear to have achieved synergy, the mobility bottleneck of the ground platform for these technologies cannot be resolved, causing the overall system's performance to plummet in complex scenarios where it is most needed to function effectively.

[0060] The present disclosure will now be described through specific embodiments.

[0061] Figure 1 This is a schematic diagram of some embodiments of the chemical detection method of this disclosure. Preferably, this embodiment can be performed by the chemical detection device, fire truck, or chemical detection system of this disclosure. Figure 1 As shown, Figure 1 The method of the embodiment may include at least one of steps 11 to 15.

[0062] In step 11, the drone is controlled to take off and conduct chemical reconnaissance along a predetermined path.

[0063] In some embodiments of this disclosure, step 11 may include at least one of steps 111 to 113.

[0064] In step 111, the drone is controlled to take off and conduct chemical reconnaissance along a predetermined path.

[0065] In step 112, the UAV is instructed to use a visible light camera, an infrared thermal imager, and a gas sensor to locate the temperature anomaly area and the gas cloud.

[0066] In step 113, the drone is instructed to identify the type of chemical using an artificial intelligence algorithm.

[0067] In step 12, drone reconnaissance data returned by the drone is received, wherein the drone reconnaissance data includes the target area where the chemicals are located.

[0068] In some embodiments of this disclosure, the drone reconnaissance data may include at least one of the following: the location of a temperature anomaly zone, the location of a gas cloud, and the type of chemical.

[0069] In some embodiments of this disclosure, the UAV reconnaissance data may further include at least one of the location of the target area and surrounding terrain data.

[0070] In some embodiments of this disclosure, the drone reconnaissance data may also include chemical types.

[0071] In step 13, based on the UAV reconnaissance data, it is determined whether to activate an all-terrain mobile device for chemical reconnaissance.

[0072] In some embodiments of this disclosure, step 13 may include: determining whether to activate an all-terrain mobile device for chemical reconnaissance based on the location of the target area and surrounding terrain data.

[0073] In some embodiments of this disclosure, step 13 may include: determining whether to activate an all-terrain mobile device for chemical reconnaissance based on the type of chemical.

[0074] In some embodiments of this disclosure, the step of determining whether to activate an all-terrain mobile device for chemical reconnaissance based on the type of chemical may include at least one of steps 131 and 132: In step 131, if the chemical type is at least one of solid and liquid, it is determined that an all-terrain mobile device is activated for chemical reconnaissance.

[0075] In step 132, if the chemical type is a gas, it is determined that the all-terrain mobile device will not be used for chemical reconnaissance.

[0076] In step 14, if it is determined that the all-terrain mobile device is to be used for chemical reconnaissance, the all-terrain mobile device is controlled to perform chemical reconnaissance, and after the all-terrain mobile device reaches the target location of the chemical, the Fourier transform infrared detector installed on the detection fire truck is remotely activated to scan the chemical at the target location.

[0077] In some embodiments of this disclosure, the all-terrain mobile device adopts an all-terrain mobile platform with a quadrupedal bionic structure or a bipedal bionic structure.

[0078] In some embodiments of this disclosure, the all-terrain mobility device may be a quadrupedal robot dog, a bipedal robot, or a humanoid robot.

[0079] In some embodiments of this disclosure, step 14, the step of controlling the all-terrain mobile device to perform chemical reconnaissance, may include at least one of steps 141 to 145.

[0080] In step 141, the all-terrain mobile device is instructed to autonomously navigate to the target point.

[0081] In step 142, during the movement of the all-terrain mobile device, the device is instructed to use multispectral imaging for chemical reconnaissance.

[0082] In step 143, the all-terrain mobile device is instructed to collect on-site environmental data using environmental sensors.

[0083] In step 144, the all-terrain mobile device is instructed to collect chemicals in gaseous form.

[0084] In step 145, the all-terrain mobile device is instructed to use a robotic arm to collect chemicals in solid or liquid form.

[0085] In some embodiments of this disclosure, step 14, which involves activating a Fourier transform infrared detector installed on the detection fire truck and scanning the chemical at the target point, may include at least one of steps 146 to 148.

[0086] In step 146, the target point position is returned to the Fourier transform infrared detector.

[0087] In step 147, the Fourier transform infrared detector is activated and aligned with the target point location, and the chemical is irradiated and its absorption spectrum is analyzed.

[0088] In step 148, the Fourier transform infrared detector is controlled to compare the absorption spectrum with the built-in database to determine the chemical composition and concentration.

[0089] In step 15, the chemical analysis report returned by the Fourier transform infrared detector is received.

[0090] In some embodiments of this disclosure, the chemical analysis report may include the chemical composition and concentration.

[0091] Figure 2 This is a schematic diagram of some other embodiments of the chemical detection method of this disclosure. Preferably, this embodiment can be performed by the chemical detection device, fire truck, or chemical detection system of this disclosure. In addition to including... Figure 1 In addition to the method in the embodiments, it may also include Figure 2 At least one of steps 21 to 27 in the embodiment.

[0092] In step 21, if it is determined that the all-terrain mobile device will not be used for chemical reconnaissance, the Fourier transform infrared detector is activated to scan the target area.

[0093] The embodiments disclosed above do not utilize all-terrain mobile devices, but instead employ a combination of detection fire trucks, drones, and Fourier transform infrared detectors for chemical detection.

[0094] In step 22, the on-site video and environmental data returned by the all-terrain mobile device are received.

[0095] In step 23, infrared spectral data returned by the Fourier transform infrared detector is received.

[0096] In step 24, a chemical distribution heat map is generated based on the UAV reconnaissance data, the on-site video and environmental data, and the infrared spectral data.

[0097] In step 25, based on the chemical analysis report, it is determined whether the chemical is a hazardous chemical.

[0098] In step 26, if the chemical is a hazardous chemical, the chemical distribution heat map is matched with a predetermined knowledge base to determine a disposal recommendation report, wherein the disposal recommendation report includes at least one of the following: warning range, protection level, and disposal method.

[0099] In step 27, the proposed treatment report is output.

[0100] Figure 3 This is a schematic diagram of some further embodiments of the chemical detection method disclosed herein. Figure 4 The diagram illustrates other embodiments of the chemical detection method disclosed herein. Preferably, this embodiment can be performed by the chemical detection device, fire truck, or system disclosed herein. Figure 3 and Figure 4 As shown, the chemical detection method disclosed herein may include at least one of steps 31 to 35.

[0101] In step 31, (sensing) high-altitude wide-area scanning and preliminary positioning are performed.

[0102] In some embodiments of this disclosure, such as Figure 3 As shown, step 31 may include: macroscopic scanning, positioning, and detection by the UAV.

[0103] In some embodiments of this disclosure, step 31 may include: Figure 1 Steps 11 to 12 of the embodiment.

[0104] In some embodiments of this disclosure, step 31 may include: the drone taking off and conducting reconnaissance along a preset or manually defined path; using thermal imaging and gas sensors to quickly locate temperature anomaly areas and gas clouds; using AI algorithms to preliminarily identify the type of hazard source; and transmitting back a macroscopic situation map and the coordinates of suspected targets.

[0105] In step 32, (decision) task allocation and path planning are performed.

[0106] In some embodiments of this disclosure, such as Figure 3 As shown, step 32 may include: full-process scheduling data of the vehicle-mounted central hub (chemical detection device).

[0107] In some embodiments of this disclosure, step 32 may include: Figure 1 Step 13 of the embodiment and Figure 2 Step 21 of the embodiment.

[0108] In some embodiments of this disclosure, step 32 may include: the fire truck integrated control unit receiving UAV data and automatically generating a detection task; based on the location of the suspected target and the surrounding terrain, intelligently deciding whether to dispatch an all-terrain mobile device to approach or directly remotely control Fourier transform infrared for long-distance verification.

[0109] In step 33, (operation) precise ground penetration and identification.

[0110] In some embodiments of this disclosure, such as Figure 3 As shown, step 33 may include: an all-terrain mobile device (e.g., a quadruped robot dog) traversing complex terrain to approach the suspected target point.

[0111] In some embodiments of this disclosure, step 33 may include: Figure 1 Step 14 of the embodiment.

[0112] In some embodiments of this disclosure, step 33 may include: the all-terrain mobile device receiving the task and autonomously navigating to the target point; during the journey, using multispectral imaging for secondary screening to discover more detailed clues; and after reaching the optimal detection position, remotely activating the Fourier transform infrared detector via its onboard micro-terminal to scan the suspicious area.

[0113] In step 34, (verification) data fusion and integrated decision-making are performed.

[0114] In some embodiments of this disclosure, such as Figure 3 As shown, step 34 may include: the Fourier transform infrared remote control detector accurately identifies and confirms the composition of the substance; the vehicle-mounted central control unit (chemical detection device) performs data fusion and decision-making.

[0115] In some embodiments of this disclosure, step 34 may include: Figure 1 Step 15 of the embodiment, and Figure 2 At least one of steps 21 to 27 in the embodiment.

[0116] In some embodiments of this disclosure, step 34 may include: the Fourier transform infrared detector transmitting back the accurate analysis results of the substance composition and concentration in real time; the fire truck data processing server performing spatiotemporal alignment and fusion of the macroscopic data from the UAV, the on-site video and environmental data from the all-terrain mobile device, and the Fourier transform infrared spectral data; using the fusion algorithm to generate a visualized chemical distribution heat map, and automatically matching it with the knowledge base to output a disposal suggestion report (such as warning range, protection level, and disposal method).

[0117] The embodiments disclosed above realize a complete intelligent closed loop of "perception-decision-action-verification".

[0118] In step 35, (optimization) dynamic adjustment and verification are performed.

[0119] In some embodiments of this disclosure, step 35 may include: the commander may interrupt or adjust the detection strategy at any time according to the real-time situation; if new suspicious points are found, the commander may immediately direct a drone or all-terrain mobile device to verify them; if necessary, the Fourier transform infrared detector mounted on the fire truck may be operated to conduct a second verification of key areas to ensure that nothing goes wrong.

[0120] (1) The above embodiments of this disclosure propose a systematic solution of "functionally heterogeneous platforms". The above embodiments of this disclosure select three functionally heterogeneous platforms (i.e., completely different functions and complementary advantages): First, UAVs: their advantages are "speed" and "wide coverage", responsible for large-scale rapid scanning and positioning. Second, all-terrain mobile devices (e.g., quadrupedal robot dogs): their advantages are "agility" and "closeness", responsible for close reconnaissance and operation in complex terrain. Third, Fourier transform infrared detectors: their advantages are "accuracy" and "precision", responsible for the final accurate identification of materials. The above embodiments of this disclosure intentionally select advantageous platforms from various fields and combine them into a fully functional "team". The core of the above embodiments of this disclosure is to acknowledge complexity and deal with it with a systematic solution.

[0121] (2) The above embodiments of this disclosure design a progressive detection logic of "air → ground → spectrum". The above embodiments of this disclosure design an interlocking, top-down detection pipeline: First, aerial scanning (discovery): The UAV is dispatched first to discover and initially locate the problem area using a macroscopic view. Second, ground penetration (confirmation): The all-terrain mobile device is guided to a specific location based on the information from the UAV, and uses its flexibility to confirm and approach the target. Third, spectral analysis (identification): Finally, the most sophisticated "weapon" - the Fourier transform infrared spectrometer - is deployed, and with the assistance of the all-terrain mobile device, the target is finally identified and quantitatively analyzed.

[0122] (3) The above embodiments of this disclosure completely realize the "human-machine separation" operation mode. The above embodiments of this disclosure completely remove "personnel" from the dangerous front line and place them in the "detection fire truck" or command center at the rear. In the entire detection chain: the UAV is remotely controlled / autonomous flight. The all-terrain mobile device is remotely controlled / autonomous navigation. The Fourier transform infrared spectrometer is remotely controlled to rotate 360°. The key to the above embodiments of this disclosure is that the role of the "fire truck" has undergone a fundamental change. It is no longer a tool to rush to the fire scene, but a safe and mobile "forward command post" and "energy supply station". The above embodiments of this disclosure directly address the core pain point of emergency rescue - personnel safety, and realize truly unmanned and intelligent operation.

[0123] (4) The above embodiments of this disclosure construct a closed loop of "data flow to command and decision-making". The above embodiments of this disclosure set up a "data fusion center" (i.e., the integrated control unit on the fire truck). All data (aerial images, gas concentration, precise positioning, ground video, environmental parameters, and material spectra) flow here for fusion, correlation, and analysis, ultimately generating a clear "comprehensive situation map". The above embodiments of this disclosure transform data into decision-making power. The above embodiments of this disclosure not only display data, but also, through fusion analysis, directly tell the commander "where is the most dangerous", "what is the danger", and "how to deal with it". This greatly reduces the decision-making threshold and time, and improves the scientific nature of the rescue.

[0124] In summary, the embodiments described above provide novel solutions for dealing with complex disaster scenarios.

[0125] The above embodiments of this disclosure provide a collaborative detection method that realizes a closed-loop intelligent workflow, specifically realizing a complete intelligent closed loop of "perception-decision-action-verification-optimization".

[0126] In order to overcome the problems of poor adaptability to complex terrain, single detection dimension, and high personnel safety risks caused by the reliance on a single platform in related hazardous chemical detection technologies, the above-described embodiments of this disclosure achieve rapid, accurate, and all-round detection of hazardous chemicals in complex scenarios through multi-platform collaboration between air and ground and non-contact spectral analysis technology, while ensuring personnel safety.

[0127] Figure 5 These are schematic diagrams of some embodiments of the chemical detection device disclosed herein. For example... Figure 5 As shown, the chemical detection device disclosed herein may include an unmanned aerial vehicle (UAV) control module 51, an all-terrain mobile device control module 52, and a report receiving module 53.

[0128] The UAV control module 51 is configured to control the UAV to take off and conduct chemical reconnaissance along a predetermined path; and to receive UAV reconnaissance data returned by the UAV, wherein the UAV reconnaissance data includes the target area where the chemical is located.

[0129] In some embodiments of this disclosure, the drone reconnaissance data may include at least one of the following: the location of a temperature anomaly zone, the location of a gas cloud, and the type of chemical.

[0130] In some embodiments of this disclosure, the drone control module 51 may be configured to perform at least one of the following operations: control the drone to take off and conduct chemical reconnaissance along a predetermined path; instruct the drone to use a visible light camera, an infrared thermal imager, and a gas sensor to locate the temperature anomaly area and the gas cloud; and instruct the drone to identify the type of chemical using an artificial intelligence algorithm.

[0131] In some embodiments of this disclosure, the UAV reconnaissance data may further include at least one of the location of the target area and surrounding terrain data.

[0132] In some embodiments of this disclosure, the drone reconnaissance data may include chemical types.

[0133] The all-terrain mobile device control module 52 is configured to determine whether to activate the all-terrain mobile device for chemical reconnaissance based on the UAV reconnaissance data; if it is determined that the all-terrain mobile device is activated for chemical reconnaissance, the module controls the all-terrain mobile device to conduct chemical reconnaissance, and after the all-terrain mobile device reaches the target location of the chemical, it remotely activates the Fourier transform infrared detector installed on the fire truck to scan the chemical at the target location.

[0134] In some embodiments of this disclosure, when the all-terrain mobile device control module 52 determines whether to activate the all-terrain mobile device for chemical reconnaissance based on the UAV reconnaissance data, it can be configured to determine whether to activate the all-terrain mobile device for chemical reconnaissance based on the location of the target area and the surrounding terrain data.

[0135] In other embodiments of this disclosure, when the all-terrain mobile device control module 52 determines whether to enable the all-terrain mobile device for chemical reconnaissance based on the UAV reconnaissance data, it can be configured to determine whether to enable the all-terrain mobile device for chemical reconnaissance based on the type of chemical.

[0136] In some embodiments of this disclosure, the all-terrain mobile device control module 52, when determining whether to enable the all-terrain mobile device for chemical reconnaissance based on the type of chemical, may be configured to perform at least one of the following operations: if the chemical type is at least one of solid and liquid, determine to enable the all-terrain mobile device for chemical reconnaissance; if the chemical type is gas, determine not to enable the all-terrain mobile device for chemical reconnaissance.

[0137] In some embodiments of this disclosure, when controlling the all-terrain mobile device to perform chemical reconnaissance, the all-terrain mobile device control module 52 can be configured to perform at least one of the following operations: instructing the all-terrain mobile device to autonomously navigate to the target point; instructing the all-terrain mobile device to perform chemical reconnaissance using multispectral imaging during the movement of the all-terrain mobile device; instructing the all-terrain mobile device to collect on-site environmental data using environmental sensors; instructing the all-terrain mobile device to collect gaseous chemicals; and instructing the all-terrain mobile device to use a robotic arm to collect solid or liquid chemicals.

[0138] In some embodiments of this disclosure, the chemical analysis report includes the chemical composition and concentration.

[0139] In some embodiments of this disclosure, when the all-terrain mobile device control module 52 remotely activates a Fourier transform infrared (FTIR) detector installed on the detection fire truck to scan the chemical at the target location after controlling the all-terrain mobile device to reach the target location of the chemical, it can be configured to, after controlling the all-terrain mobile device to reach the target location of the chemical, return to the Fourier transform infrared detector; remotely activate the Fourier transform infrared detector to irradiate the chemical and analyze its absorption spectrum; and control the Fourier transform infrared detector to compare the absorption spectrum with a built-in database to determine the chemical's composition and concentration.

[0140] The report receiving module 53 is configured to receive chemical analysis reports returned by the Fourier transform infrared detector.

[0141] In some embodiments of this disclosure, the UAV control module 51, the all-terrain mobile device control module 52, and the report receiving module 53 can be implemented as a comprehensive control unit.

[0142] In some embodiments of this disclosure, the integrated control unit may be an industrial-grade computer or a high-performance PLC control unit.

[0143] In some embodiments of this disclosure, the integrated control unit may be configured to run a dedicated multi-device collaborative scheduling algorithm, responsible for sending instructions to UAVs and all-terrain mobile devices, and receiving and parsing the data transmitted back by them.

[0144] In some embodiments of this disclosure, the integrated control unit is a core control module installed on the detection fire truck, used to receive and process data transmitted back from each device and send control commands to each device.

[0145] In some embodiments of this disclosure, such as Figure 5 As shown, the chemical detection device may further include at least one of a data processing module 54 and a human-computer interaction module 55.

[0146] The data processing module 54 is configured to process, fuse, and analyze incoming multi-source data in real time, wherein the multi-source data includes at least one of image data, gas concentration data, spectral data, temperature data, location, and collected samples.

[0147] The embodiments disclosed above can realize multi-source data fusion, wherein multi-source data fusion refers to integrating and analyzing image, spectrum, environmental and other data collected by various devices such as UAVs, all-terrain mobile devices, and infrared detectors, thereby improving the accuracy and breadth of detection.

[0148] In some embodiments of this disclosure, the data processing module 54 may be implemented as a data processing server.

[0149] The human-computer interaction module 55 is configured to display at least one of the following in real time: drone position, robot position and environmental status information, and other status information.

[0150] In some embodiments of this disclosure, the chemical detection device may also be configured to receive on-site video and environmental data returned by an all-terrain mobile device; receive infrared spectral data returned by a Fourier transform infrared detector; and generate a chemical distribution heat map based on the UAV reconnaissance data, the on-site video and environmental data, and the infrared spectral data.

[0151] In some embodiments of this disclosure, the chemical detection device may also be configured to determine whether the chemical is a hazardous chemical based on the chemical analysis report; if the chemical is a hazardous chemical, match the chemical distribution heat map with a predetermined knowledge base to determine a disposal recommendation report, wherein the disposal recommendation report includes at least one of a warning range, a protection level, and a disposal method; and output the disposal recommendation report.

[0152] In some embodiments of this disclosure, the chemical detection device may also be configured to activate a Fourier transform infrared detector to scan the target area if it is determined that the all-terrain mobile device is not to be used for chemical reconnaissance.

[0153] In some embodiments of this disclosure, the chemical detection apparatus of this disclosure can be configured to perform the chemical detection method as described in any of the above embodiments.

[0154] Figure 6 This is a schematic diagram of the structure of some other embodiments of the chemical detection device disclosed herein. For example... Figure 6 As shown, the chemical detection device disclosed herein includes a memory 61 and a processor 62.

[0155] The memory 61 is used to store instructions, and the processor 62 is coupled to the memory 61. The processor 62 is configured to execute the chemical detection method involved in the above embodiments based on the instructions stored in the memory.

[0156] like Figure 6As shown, the chemical detection device also includes a communication interface 63 for exchanging information with other devices. Additionally, the device includes a bus 64, through which the processor 62, communication interface 63, and memory 61 communicate with each other.

[0157] Memory 61 may include high-speed RAM, and may also include non-volatile memory, such as at least one disk drive. Memory 61 may also be a memory array. Memory 61 may also be divided into blocks, and the blocks may be combined into virtual volumes according to certain rules.

[0158] Furthermore, processor 62 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present disclosure.

[0159] Figure 7 This is a schematic diagram of some embodiments of the fire truck for detection according to this disclosure. For example... Figure 7 As shown, the fire truck disclosed herein may include a chemical detection device 71 and an emergency support module 72.

[0160] In some embodiments of this disclosure, the chemical detection device 71 may be a chemical detection device as described in any of the above embodiments.

[0161] In some embodiments of this disclosure, the emergency support module 72 may include at least one of the following devices: an emergency power supply; a dedicated storage and charging compartment for unmanned aerial vehicles (UAVs); a dedicated storage and charging compartment for all-terrain mobile devices; and a satellite communication device.

[0162] In some embodiments of this disclosure, the emergency power supply can be implemented as a high-capacity emergency power supply, such as a lithium-ion battery pack or a lead-acid battery pack.

[0163] In some embodiments of this disclosure, a satellite communication device is used to ensure communication with a rear command center when the public network is interrupted.

[0164] Figure 8 These are schematic diagrams illustrating some embodiments of the chemical detection system disclosed herein. For example... Figure 8 As shown, the chemical detection system disclosed herein may include a detection fire truck 81, a drone 82, an all-terrain mobile device 83, and a Fourier transform infrared detector 84. The organic integration of the four functional modules of this disclosure: This system is not simply a collection of equipment, but rather, through top-level design, integrates four platforms with distinct functions into an organic whole, such as... Figure 8 As shown. This publicly available system consists of four core modules, each of which undertakes an indispensable and unique mission.

[0165] In some embodiments of this disclosure, such as Figure 8 As shown, the detection fire truck 81 can serve as the command and support center.

[0166] In some embodiments of this disclosure, the detection fire truck 81 is positioned as the "brain" and "base" of the system. The detection fire truck 81 transcends the traditional carrying function of fire trucks, upgrading to a mobile command center and data processing center.

[0167] In some embodiments of this disclosure, the detection fire truck 81 may be a detection fire truck as described in any of the above embodiments.

[0168] In some embodiments of this disclosure, the detection fire truck 81 includes a mobile platform for command center, data processing, equipment storage, power supply, human-computer interaction, and data display, and is the central hub of the entire detection system.

[0169] In some embodiments of this disclosure, such as Figure 8 As shown, UAV 82 can be a high-altitude reconnaissance unit.

[0170] In some embodiments of this disclosure, the function of the UAV 82 is defined as the system's "eye in the sky," responsible for quickly acquiring macroscopic situational awareness.

[0171] In some embodiments of this disclosure, the drone 82 may include at least one of a sensor device, an image recognition device, and a positioning device.

[0172] The sensor device (sensor kit) integrates a high-definition visible light camera for acquiring panoramic images, an infrared thermal imager for detecting leaks or fires through temperature anomalies, and a gas concentration sensor for sensing chemicals such as volatile organic compounds and mapping their concentration profiles.

[0173] The image recognition device is configured to perform AI image recognition, equipped with a lightweight AI model, and analyzes video streams in real time during flight to automatically identify typical hazard characteristics, including tank leaks and pipeline ruptures. This greatly improves the efficiency of initial target detection.

[0174] The positioning device is configured for precise positioning and data transmission; it is equipped with a GPS / BeiDou dual-mode positioning system, which binds all reconnaissance data with precise coordinates and transmits it back to the reconnaissance fire truck 81 in real time.

[0175] In some embodiments of this disclosure, such as Figure 8 As shown, the all-terrain mobile device 83 can be implemented as a quadruped robot dog, a bipedal robot, or a humanoid robot, etc.

[0176] In some embodiments of this disclosure, such as Figure 8 As shown, the all-terrain mobile device 83 can be implemented as a ground infiltration unit.

[0177] In some embodiments of this disclosure, the all-terrain mobile device 83 is positioned as the "vanguard" of the system, solving the problem of detection being unable to get close.

[0178] In some embodiments of this disclosure, the all-terrain mobile device 83 is a robot with an all-terrain adaptive structure, capable of traversing complex terrains such as ruins and ravines, and is used for close-range detection and sampling of target areas.

[0179] In some embodiments of this disclosure, the all-terrain mobile device 83 may include at least one of an all-terrain mobile platform, a multispectral imaging device, an environmental sensor, a robotic arm, and a control terminal.

[0180] In some embodiments of this disclosure, an all-terrain mobile platform with a quadruped or bipedal bionic structure is used, rather than a traditional wheeled or tracked platform. This enables the all-terrain mobile platform to have dynamic balance and active obstacle-crossing capabilities, allowing it to move stably on unstructured terrain such as ruins, stairs, and ditches, and reach core areas inaccessible to other equipment.

[0181] In some embodiments of this disclosure, a multispectral imaging device is configured to reflect the characteristic spectra of chemicals in different wavelength bands, wherein the multispectral imaging device can identify spectra in the ultraviolet, visible, and near-infrared bands.

[0182] In some embodiments of this disclosure, the multispectral imaging device includes ultraviolet, visible, and near-infrared bands, and can detect chemical residues that are difficult to detect with the naked eye, because chemical residues exhibit characteristic spectral reflectance at different bands.

[0183] In some embodiments of this disclosure, the multispectral imaging device includes ultraviolet, visible, and infrared imaging units, and is an imaging device capable of identifying residual traces of hazardous chemicals with characteristic spectra, and is installed on an all-terrain mobile device.

[0184] In some embodiments of this disclosure, the environmental sensor, which integrates sensors for temperature, humidity, air pressure, etc., is configured to comprehensively perceive the on-site microenvironment.

[0185] In some embodiments of this disclosure, the robotic arm is configured to handle chemicals of the solid and liquid types.

[0186] In some embodiments of this disclosure, the all-terrain mobile device 83 directly collects chemicals of the gaseous type.

[0187] In some embodiments of this disclosure, the control terminal can be implemented as a miniature control terminal.

[0188] In some embodiments of this disclosure, a micro-control terminal, serving as a communication relay and control interface, is configured to remotely activate a Fourier transform infrared detector 84 to perform operations after the all-terrain mobile device 83 reaches the optimal detection position (i.e., approaches the target), thus achieving a seamless connection between "reconnaissance" and "precise analysis".

[0189] In some embodiments of this disclosure, a Fourier transform infrared detector 84 is installed on a fire truck 81.

[0190] In some embodiments of this disclosure, such as Figure 8 As shown, the Fourier transform infrared detector 84 can be implemented as a Fourier transform infrared remote control detector.

[0191] In some embodiments of this disclosure, such as Figure 8 As shown, the Fourier transform infrared detector 84 can be implemented as a precise analysis unit.

[0192] In some embodiments of this disclosure, the Fourier transform infrared detector 84 is a device that utilizes Fourier transform infrared spectroscopy technology and can perform remote and dynamic non-contact analysis of hazardous chemical components and concentrations via wireless or wired remote control.

[0193] In some embodiments of this disclosure, the Fourier transform infrared detector 84 is positioned as the system's "eagle eye," responsible for the final qualitative and quantitative analysis of substances.

[0194] In some embodiments of this disclosure, the Fourier transform infrared detector 84 can be configured to determine the chemical composition and concentration by irradiating the target and analyzing the absorption spectrum of the target, and comparing the absorption spectrum with a built-in database.

[0195] In some embodiments of this disclosure, the core technical principle of the Fourier transform infrared detector 84 is based on Fourier transform infrared spectroscopy. Substance molecules exhibit characteristic absorption of mid-infrared light, forming a unique "fingerprint spectrum." The Fourier transform infrared detector 84 can accurately identify the type and concentration of chemical molecules non-contactly by irradiating the target and analyzing the absorption spectrum, comparing it with a built-in database.

[0196] The embodiments disclosed above enable non-contact detection. Non-contact detection refers to a detection method where operators can collect, transfer, detect, and analyze hazardous chemicals remotely by controlling equipment without entering the hazardous area, ensuring personnel safety.

[0197] In some embodiments of this disclosure, the Fourier transform infrared detector 84 has a remote control function: the operator can remotely detect gases in a safe area several kilometers away, analyze and detect gases in dangerous areas, and determine dangerous areas and release areas.

[0198] In some embodiments of this disclosure, the probe of the Fourier transform infrared detector 84 can be replaced according to the form of the chemical, which includes at least one of gaseous, liquid and solid states.

[0199] This disclosure discloses a Fourier transform infrared detector with a replaceable probe design: adaptable to the detection needs of chemicals in different forms, such as gaseous, liquid, and even solid residues, thereby expanding the application scenarios.

[0200] As can be seen from the above description of the chemical detection method, apparatus and system of this disclosure, the technical effects of the above embodiments of this disclosure are as follows: (1) Full coverage capability of the above embodiments of this disclosure: The above embodiments of this disclosure achieve full space and all terrain detection coverage from open areas to complex structures by combining "airborne UAVs + ground all-terrain mobile devices", eliminating detection blind spots.

[0201] (2) The detection accuracy of the above embodiments of this disclosure is greatly improved: The above embodiments of this disclosure separate and combine "rapid positioning" and "accurate identification". The UAV solves the problem of "where" and Fourier transform infrared technology solves the problem of "what and how much", forming a complete technology chain of "positioning-identification-quantification", with an accuracy far higher than that of a single platform.

[0202] (3) The inherent security of the above embodiments of this disclosure is improved: the key detection operations of the above embodiments of this disclosure are all completed by remote control, realizing "human-machine separation", which fundamentally avoids rescuers from being exposed to high-risk environments, and represents the development direction of emergency rescue.

[0203] (4) Intelligent and efficient decision-making: The above embodiments of this disclosure use data fusion technology to transform fragmented information into an intuitive “one-map” situation, thereby greatly reducing the information processing time of commanders and improving the scientific nature of decision-making and rescue efficiency.

[0204] In summary, the embodiments disclosed above, through a systematic integrated innovation, organically integrate multiple cutting-edge technologies into a collaborative framework, effectively solving the inherent defects in the prior art and providing a comprehensive chemical detection solution that far surpasses the current level of technology.

[0205] The embodiments disclosed above construct a highly integrated, functionally complementary, and intelligently collaborative air-to-ground integrated detection system.

[0206] The above embodiments of this disclosure realize multimodal chemical detection: that is, the above embodiments of this disclosure use a variety of equipment such as fire trucks, drones, all-terrain mobile devices, infrared detectors, and a variety of detection methods including optics, infrared, and spectroscopy to complete the detection, identification and analysis of hazardous chemicals.

[0207] The embodiments disclosed herein present a multimodal collaborative system for chemical detection, comprising a reconnaissance fire truck (command center, equipped with an integrated control unit, data processing and support module), a drone (high-altitude reconnaissance, high-definition camera, infrared thermal imager, gas detector), an all-terrain mobile device (complex terrain close-range reconnaissance, equipped with multispectral imaging, environmental sensors, robotic arm and data acquisition device), and a Fourier remote sensing detector (remote-controlled spectral analysis, outputting component concentration data). The reconnaissance fire truck serves as the command and resource center, equipped with an integrated control unit and emergency support module; the drone performs high-altitude wide-area reconnaissance and gas diffusion trend modeling; the all-terrain mobile device, with its terrain adaptability, performs close-range reconnaissance in complex terrains; and the Fourier infrared remote-controlled detector achieves long-distance precise spectral analysis through wireless control. Therefore, the embodiments disclosed herein overcome the limitations of traditional single-platform reconnaissance, significantly improving both reconnaissance efficiency and safety in complex scenarios.

[0208] The above-described embodiments of this disclosure represent a systematic solution that integrates high-altitude reconnaissance, all-terrain mobility, long-range precise identification, and intelligent data fusion, and will become a key piece of equipment for enhancing emergency rescue capabilities in chemical accidents.

[0209] According to another aspect of this disclosure, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, it implements the chemical detection method as described in any of the above embodiments.

[0210] According to another aspect of this disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions that, when executed by a processor, implement the chemical detection method as described in any of the above embodiments.

[0211] In some embodiments of this disclosure, the computer-readable storage medium may be a non-transitory computer-readable storage medium.

[0212] The above-described embodiments of this disclosure have the following technical effects: (1) The above embodiments of this disclosure possess all-terrain, blind-spot-free detection capabilities. The all-terrain mobile device of the above embodiments of this disclosure can enter complex terrain, so the all-terrain mobile device can reach the core danger zone of the "last hundred meters" that fire trucks and drones cannot effectively detect. Because drones can provide a macroscopic view and preliminary positioning, the movement of the all-terrain mobile device is no longer blind, but is efficiently guided to the suspected location. The above embodiments of this disclosure achieve full-domain, all-terrain detection coverage from macro to micro, from open ground to the interior of complex structures, thereby completely eliminating the blind spots of vision and proximity blind spots existing in related technical detection methods.

[0213] (2) The embodiments of this disclosure possess accurate identification and high reliability. The embodiments of this disclosure utilize FTIR (Fourier Transform infrared spectroscopy) technology, so the system can not only detect "gas leaks," but also accurately answer the crucial question of "what kind of chemical is leaking and what is its concentration." Because it achieves close-range operation, FTIR analysis is less affected by environmental interference (such as smoke and water vapor), and the accuracy and reliability of the detection results are far higher than those from remote telemetry several kilometers away. The embodiments of this disclosure solve the pain point of "inaccurate identification" in related technologies, providing laboratory-level on-site analytical accuracy and irrefutable reliable data support for emergency rescue decision-making.

[0214] (3) The embodiments of this disclosure are inherently safe. In the embodiments of this disclosure, personnel do not need to enter dangerous areas, thus fundamentally avoiding the possibility of direct exposure to life-threatening dangers such as poisoning, explosion, burns, and collapse. Because the most dangerous close-range reconnaissance tasks are undertaken by all-terrain mobile devices, even if an accident occurs (such as a secondary explosion), only equipment damage will occur, without any risk of personnel injury or death. The embodiments of this disclosure free rescue personnel from the highest-risk positions, realizing "replacing manpower with machines," thereby greatly improving the inherent safety level of emergency rescue operations.

[0215] (4) The decision-making processes described in the above embodiments of this disclosure are efficient and scientific. The above embodiments of this disclosure incorporate data fusion, integrating fragmented and isolated information into a comprehensive "situation map" rich in information, clearly showing elements such as hazard sources, diffusion ranges, and safe passages. Therefore, through the above embodiments of this disclosure, commanders can quickly grasp the overall dynamics, reduce intelligence analysis time, and make rapid and scientific decisions. The above embodiments of this disclosure transform rescue from an "art" relying on personal experience into a data-driven "science," significantly improving command efficiency and the effectiveness of rescue operations.

[0216] The embodiments disclosed above have broad application prospects.

[0217] (1) The above embodiments of this disclosure can be applied to fire and rescue departments: handling of hazardous chemical accidents.

[0218] 1) Application scenarios: chemical industrial park fires, hazardous chemical leaks caused by traffic accidents, hazardous chemical explosions in warehouses, etc.

[0219] 2) Value Prospects: The embodiments disclosed above conform to the golden rescue decision-making: in the early stage of an accident, quickly determine "what chemical is burning / leaking", which provides the most critical scientific basis for delineating the warning zone, evacuation range and selecting fire extinguishing agent, and avoids secondary explosions or poisoning of rescue personnel due to misjudgment.

[0220] The above-described embodiments of this disclosure can ensure the safety of firefighters: achieving "unmanned reconnaissance," replacing firefighters in entering the most dangerous core areas for manual reconnaissance, and greatly reducing the risk of injury or death.

[0221] The above-described embodiments of this disclosure improve handling efficiency: they can accurately locate the leak source and guide leak sealing operations; they can dynamically monitor the gas diffusion range and provide real-time data support for the command center's tactical adjustments.

[0222] (2) The above embodiments of this disclosure can be applied to environmental protection and emergency management departments: sudden environmental pollution incidents.

[0223] 1) Application scenarios: water pollution, illegal dumping of hazardous waste, abnormal emission of toxic gases, etc.

[0224] 2) Value Prospects: The above-described embodiments of this disclosure enable rapid source tracing: when unidentified chemical pollution occurs, the system can quickly track pollution clouds and locate illegal emission sources or leak points.

[0225] The embodiments disclosed above can be used to assess environmental impact: the generated visual distribution heat map clearly shows the pollution range, concentration and migration trend, providing data support for environmental remediation and public health risk assessment.

[0226] (3) The above embodiments of this disclosure can be applied to the fields of public safety and counter-terrorism.

[0227] 1) Application scenarios: suspected chemical terrorist attacks, packages of unknown dangerous substances, and deliberate sabotage of chemical plants.

[0228] 2) Value Prospect: The above embodiments of this disclosure can remotely and quickly identify: under the premise of ensuring a safe distance, it can accurately identify suspicious chemicals and determine whether they are explosives, highly toxic substances or radioactive materials.

[0229] The above-described embodiments of this disclosure can be used for on-site evidence collection and handling: the all-terrain mobile device can carry a sample collection device to fix and collect physical evidence in dangerous environments, providing support for case investigation.

[0230] (4) The above embodiments of this disclosure can be applied to derivative and cross-border application scenarios.

[0231] 1) The above embodiments of this disclosure can be applied to industrial safety and smart park management.

[0232] 2) The above embodiments of this disclosure can be applied to security for large-scale events and protection of important facilities.

[0233] In summary, the application prospects of the technologies described in the above embodiments of this disclosure, with "machine replacement of human labor" as the core and "data-driven decision-making" as the soul, fundamentally improve the "safety, accuracy, and efficiency" of responding to chemical hazards. The above embodiments of this disclosure precisely address multiple pain points in the current fields of emergency rescue, public safety, and environmental monitoring. Not only is the market demand clear and urgent, but it also has the potential to expand into multiple high-value fields, and is expected to become a new growth point for the high-end equipment and intelligent service industry.

[0234] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, apparatus, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0235] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0236] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0237] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0238] The chemical detection device, UAV control module, all-terrain mobile device control module, report receiving module, data processing module, and human-machine interaction module described above can be implemented as a general-purpose processor, programmable logic controller (PLC), digital signal processor (DSP), application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, or any suitable combination thereof for performing the functions described in this application.

[0239] This concludes the detailed description of the present disclosure. To avoid obscuring the concept of the disclosure, some details known in the art have not been described. Those skilled in the art will fully understand how to implement the technical solutions disclosed herein based on the above description.

[0240] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware, or by a program instructing the relevant hardware to implement them. The program can be stored in a non-transitory computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0241] The description in this disclosure is provided for illustrative and descriptive purposes only and is not intended to be exhaustive or to limit the disclosure to its forms. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to better illustrate the principles and practical application of this disclosure and to enable those skilled in the art to understand this disclosure and to design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A chemical detection method, executed by a chemical detection device, comprising: Control the drone to take off and conduct chemical reconnaissance along a predetermined path; Receive drone reconnaissance data returned by the drone, wherein the drone reconnaissance data includes the type of chemical and the target area where the chemical is located; Based on the UAV reconnaissance data, it is determined whether to activate an all-terrain mobile device for chemical reconnaissance, wherein the all-terrain mobile device has the ability to traverse complex terrain, and the complex terrain includes at least one of ruins, stairs, ravines, swamps and rubble; When it is determined that the all-terrain mobile device should be used for chemical reconnaissance, the all-terrain mobile device is controlled to perform chemical reconnaissance. After reaching the target location of the chemical, the all-terrain mobile device is remotely activated to activate the Fourier transform infrared detector installed on the detection fire truck, and scans the chemical at the target location. The activation of the Fourier transform infrared detector installed on the detection fire truck and the scanning of the chemical at the target location includes: returning to the target location of the Fourier transform infrared detector, activating the Fourier transform infrared detector to align with the target location, irradiating the chemical and analyzing the absorption spectrum of the chemical, and controlling the Fourier transform infrared detector to compare the absorption spectrum with the built-in database. Receive a chemical analysis report returned by a Fourier transform infrared detector, wherein the chemical analysis report includes the chemical composition and concentration; The step of determining whether to activate an all-terrain mobile device for chemical reconnaissance based on the UAV reconnaissance data includes: Based on the type of chemical, determine whether to activate an all-terrain mobile device for chemical reconnaissance; The step of determining whether to activate an all-terrain mobile device for chemical reconnaissance based on the type of chemical includes at least one of the following steps: If the chemical type is at least one of solid and liquid, it is determined that an all-terrain mobile device should be used for chemical reconnaissance. If the chemical type is a gas, it is determined that all-terrain mobile devices will not be used for chemical reconnaissance.

2. The chemical detection method according to claim 1 further includes: Receives live video and environmental data returned by all-terrain mobile devices; Receive infrared spectral data returned by the Fourier transform infrared detector; A chemical distribution heatmap is generated based on the UAV reconnaissance data, the on-site video and environmental data, and the infrared spectral data.

3. The chemical detection method according to claim 2 further includes: Based on the chemical analysis report, determine whether the chemical is a hazardous chemical; If the chemical is a hazardous chemical, the chemical distribution heat map is matched with a predetermined knowledge base to determine a disposal recommendation report, wherein the disposal recommendation report includes at least one of the following: warning range, protection level, and disposal method; Output the proposed treatment report.

4. The chemical detection method according to any one of claims 1 to 3, further comprising: If it is determined that the all-terrain mobile device should not be used for chemical reconnaissance, the Fourier transform infrared detector is activated to scan the target area.

5. The chemical detection method according to any one of claims 1 to 3, wherein, The drone reconnaissance data also includes at least one of the following: the location of temperature anomaly zones, the location of gas clouds, and the type of chemicals. The control of the drone to take off and conduct chemical reconnaissance along a predetermined path includes at least one of the following steps: Control the drone to take off and conduct chemical reconnaissance along a predetermined path; The drone is instructed to use a visible light camera, an infrared thermal imager, and a gas sensor to locate the temperature anomaly area and the gas cloud. The drone is instructed to identify the type of chemical using artificial intelligence algorithms.

6. The chemical detection method according to any one of claims 1 to 3, wherein, The UAV reconnaissance data includes the location of the target area and surrounding terrain data; The step of determining whether to activate an all-terrain mobile device for chemical reconnaissance based on the UAV reconnaissance data includes: Based on the location of the target area and surrounding terrain data, determine whether to activate an all-terrain mobile device for chemical reconnaissance.

7. The chemical detection method according to any one of claims 1 to 3, wherein, Controlling the all-terrain mobile device for chemical reconnaissance includes at least one of the following steps: The all-terrain mobile device is instructed to autonomously navigate to the target point; During the movement of the all-terrain mobile device, it is instructed to use multispectral imaging for chemical reconnaissance. The all-terrain mobile device is instructed to use environmental sensors to collect on-site environmental data; The all-terrain mobile device is instructed to collect chemicals in gaseous form; The all-terrain mobile device is instructed to use a robotic arm to collect chemicals in solid or liquid form.

8. A chemical detection device, comprising: The drone control module is configured to control the drone to take off and conduct chemical reconnaissance along a predetermined path; Receive drone reconnaissance data returned by the drone, wherein the drone reconnaissance data includes the type of chemical and the target area where the chemical is located; The all-terrain mobile device control module is configured to determine, based on the UAV reconnaissance data, whether to activate the all-terrain mobile device for chemical reconnaissance, wherein the all-terrain mobile device has the ability to traverse complex terrain, including at least one of ruins, stairs, ditches, swamps, and rubble; if it is determined that the all-terrain mobile device should be activated for chemical reconnaissance, the module controls the all-terrain mobile device to conduct chemical reconnaissance, and after reaching the target location of the chemical, remotely activates the Fourier transform infrared detector installed on the detection fire truck to scan the chemical at the target location; The report receiving module is configured to receive a chemical analysis report returned by a Fourier transform infrared detector, wherein the chemical analysis report includes the chemical composition and concentration; Among them, the all-terrain mobile device control module is configured to determine whether to activate the all-terrain mobile device for chemical reconnaissance based on the type of chemical when determining whether to activate the all-terrain mobile device for chemical reconnaissance based on the UAV reconnaissance data. The all-terrain mobile device control module is configured to perform at least one of the following operations when determining whether to activate the all-terrain mobile device for chemical reconnaissance based on the type of chemical: if the chemical type is at least one of solid and liquid, determine to activate the all-terrain mobile device for chemical reconnaissance; if the chemical type is gas, determine not to activate the all-terrain mobile device for chemical reconnaissance. The all-terrain mobile device control module, after controlling the all-terrain mobile device to reach the target location of the chemical, remotely activates the Fourier transform infrared (FTIR) detector installed on the detection fire truck to scan the chemical at the target location. It is further configured to, after controlling the all-terrain mobile device to reach the target location of the chemical, return to the Fourier transform infrared detector; remotely activate the Fourier transform infrared detector to irradiate the chemical at the target location and analyze its absorption spectrum; and control the Fourier transform infrared detector to compare the absorption spectrum with a built-in database to determine the chemical's composition and concentration.

9. The chemical detection device according to claim 8, further comprising at least one of the following modules: The data processing module is configured to perform real-time processing, fusion, and analysis of multi-source data. The multi-source data includes at least one of image data, gas concentration data, spectral data, temperature data, location, and collected samples; The human-computer interaction module is configured to display at least one of the following in real time: the location of the drone, the location of the robot, and environmental status information.

10. A chemical detection device, comprising: Memory, used to store instructions; A processor is configured to execute the instructions, causing the chemical detection device to implement the chemical detection method as described in any one of claims 1-7.

11. A detection fire truck, comprising a chemical detection device as claimed in any one of claims 8 to 10.

12. The detection fire truck according to claim 11, further comprising at least one of the following devices: Emergency power supply; Dedicated storage and charging case for drones; A dedicated storage and charging compartment for all-terrain mobile devices; Satellite communication equipment.

13. A chemical detection system, comprising a detection fire truck as described in claim 11 or 12.

14. The chemical detection system according to claim 13 further includes a drone, wherein, The drone includes at least one of the following devices: The sensor device integrates a high-definition visible light camera for acquiring panoramic images, an infrared thermal imager for detecting leaks or fires through temperature anomalies, and a gas concentration sensor for sensing chemicals and mapping concentration profiles. The image recognition device is configured to analyze video streams in real time during flight to identify hazard features, including tank leaks and pipeline ruptures. The positioning device is configured to bind all reconnaissance data with precise coordinates and transmit it back to the fire truck in real time.

15. The chemical detection system according to claim 14, further comprising: A Fourier transform infrared detector is configured to illuminate the target and analyze the absorption spectrum of the target; The absorption spectrum is compared with the built-in database to determine the chemical's composition and concentration. The probe of the Fourier transform infrared detector can be replaced according to the chemical's form, which includes at least one of gaseous, liquid, and solid states.

16. The chemical detection system according to any one of claims 13 to 15, further comprising an all-terrain mobile device, wherein, The all-terrain mobility device includes at least one of the following: All-terrain mobile platforms employing quadruped or bipedal biomimetic structures; A multispectral imaging device is configured to detect the characteristic spectral reflectance of chemicals in different wavelength bands, wherein the multispectral imaging device can identify the spectra in the ultraviolet, visible, and near-infrared bands; Environmental sensors are configured to comprehensively perceive the on-site environment; A robotic arm is configured to handle chemicals of both solid and liquid types; The control terminal is configured to remotely activate the Fourier transform infrared detector after the all-terrain mobile device reaches the optimal detection position.

17. A computer-readable storage medium, wherein, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the chemical detection method as described in any one of claims 1-7.

18. A computer program product comprising a computer program, wherein, When the computer program is executed by a processor, it implements the chemical detection method as described in any one of claims 1-7.

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