Air-ground cooperative safety monitoring and emergency response integrated inspection system for chemical industry park

Abstract

The invention discloses an air-ground cooperative safety monitoring and emergency response integrated inspection system for a chemical industrial park, and belongs to the technical field of safety monitoring of chemical industrial parks. The air-ground cooperative safety monitoring and emergency response integrated inspection system comprises a fixed monitoring subsystem composed of different types of fixed sensors distributed at key positions; the mobile inspection subsystem comprises an unmanned aerial vehicle inspection unit, a track robot inspection unit and a ground robot inspection unit; the collaborative management platform is integrated with a multi-source data fusion module, an intelligent task distribution module, a collaborative path planning module, a leakage source precise positioning module and a self-adaptive emergency response module; and the communication and support subsystem comprises a 5G private network and an edge computing node. The problems that an existing monitoring system is multiple in blind area, poor in collaboration, inaccurate in leakage source positioning, lagged in emergency response and the like are solved, the inspection efficiency and the safety management level are improved, and the system can be widely applied to inspection and emergency disposal scenes of chemical industrial parks.

Description

Technical Field

[0001] This invention relates to the field of safety monitoring technology for chemical industrial parks, and in particular to an integrated inspection system for air-ground collaborative safety monitoring and emergency response in chemical industrial parks. Background Technology

[0002] Due to the complex environment of chemical industrial parks, which are filled with high-temperature, high-pressure equipment and toxic and hazardous substances, traditional manual inspection methods are not only inefficient but also pose a serious safety threat to inspection personnel. Current chemical industrial park inspections mainly suffer from the following technical limitations: (1) Fixed monitoring point system: Fixed cameras and gas sensors are generally installed in existing chemical industrial parks, but the coverage is limited and there are monitoring blind spots. When a gas leak occurs, fixed sensors can only detect local concentrations, making it difficult to accurately locate the leak source. Moreover, the system is difficult to adjust flexibly according to changes in the park after deployment.

[0003] (2) Single robot inspection: Some chemical industrial parks have introduced drones or ground robots for inspection, such as the existing drone swarm inspection path optimization method and the application of ground mobile inspection robots in chemical industrial parks. However, these systems often operate independently and lack a collaborative mechanism: drones have a wide field of vision but limited endurance, and their accuracy in detecting minor leaks on the ground at high altitudes is insufficient; ground robots can carry more precise instruments but have a slow movement speed and are greatly limited by terrain.

[0004] (3) Limited multi-robot collaboration: Existing research includes multi-robot collaborative gas leak source localization methods and integrated air-ground joint inspection and search and rescue robot projects. However, these solutions are mainly for specific tasks (such as gas leaks or search and rescue), lack deep integration of fixed and mobile monitoring resources, and have not formed a complete closed loop for routine inspection and emergency response. Summary of the Invention

[0005] The purpose of this invention is to provide an integrated air-ground collaborative safety monitoring and emergency response inspection system for chemical industrial parks. This system can integrate fixed and mobile monitoring resources to achieve comprehensive coverage without blind spots, and has intelligent collaborative and emergency response capabilities, thereby improving the inspection efficiency and safety of chemical industrial parks.

[0006] To achieve the above objectives, this invention provides an integrated air-ground collaborative safety monitoring and emergency response inspection system for chemical industrial parks, comprising: A fixed monitoring subsystem, which consists of different types of fixed sensors distributed at key locations in the chemical industrial park; The mobile inspection subsystem includes a drone inspection unit, a track robot inspection unit, and a ground robot inspection unit. The drones in the drone inspection unit are explosion-proof and equipped with high-definition camera modules, gas sensors, and infrared thermal imagers for inspection of high-altitude facilities and wide areas. The track robot inspection unit consists of a track robot that runs along a pre-set track in the utility tunnel and integrates a high-precision gas detector, dual-light cameras, and acoustic sensors for continuous and seamless inspection of the utility tunnel area. The ground robot inspection unit has all-terrain mobility and an explosion-proof design, and is equipped with a robotic arm, a multi-sensor integrated module, and an emergency response device for close-range inspection of ground facilities and initial emergency response. The collaborative management platform integrates a multi-source data fusion module, an intelligent task allocation module, a collaborative path planning module, a leak source precise location module, and an adaptive emergency response module. The communication and support subsystem, including 5G private networks and edge computing nodes, is used to provide computing power support for collaborative decision-making.

[0007] Preferably, the fixed sensors in the fixed monitoring subsystem include high-definition cameras, different types of gas sensors, temperature and humidity sensors, acoustic sensors, and fire detectors; a grid-based monitoring system is formed by dividing the process blocks using a method of establishing a mapping relationship between inspection points, task points, and grid coordinates, and a communication connection is established with the collaborative management platform; each sensor node is equipped with a GPS positioning module and a time synchronization module.

[0008] Preferably, the drone in the drone inspection unit has the ability to charge autonomously and fly stably without interference; the dual-light camera of the track robot inspection unit includes visible light and thermal imaging functions, and the inspection speed adjustment range of the track robot inspection unit is 0-1m / s.

[0009] Preferably, the ground robot inspection unit adopts a tracked or six-wheel drive all-terrain chassis and is equipped with an automatic return-to-base charging design. The emergency response device includes a dry powder fire extinguishing agent spraying device, and the robotic arm adopts a lifting and restraining track structure.

[0010] Preferably, the multi-source data fusion module integrates fixed sensor data and data collected by the mobile inspection subsystem to construct a three-dimensional dynamic safety situation map of the chemical industrial park; the intelligent task allocation module dynamically assigns tasks to the most suitable inspection unit based on inspection task requirements, equipment status, and real-time environmental data.

[0011] Preferably, the collaborative path planning module employs dynamic neighborhood search and multi-objective optimization algorithms to plan efficient and conflict-free inspection paths for the UAV inspection unit and the ground robot inspection unit.

[0012] Preferably, the leak source precise location module adopts a multi-robot collaborative gas leak source location method, which integrates gas concentration data from fixed sensors with mobile detection data from a mobile inspection subsystem. Based on an improved gas plume tracking algorithm, the leak source is located through multi-robot collaborative plume search and traversal.

[0013] Preferably, the specific steps for leak source localization based on the improved gas plume tracing algorithm are as follows: Initial detection: If a fixed sensor or any inspection robot detects a leaking gas, it sends an alarm to the collaborative management platform and reports the initial location information; Collaborative activation: The collaborative management platform schedules all available mobile inspection units around the accident area to initiate the gas leak source location procedure; Plume Search: Each robot executes an initial search strategy in anomaly regions based on an improved plume search algorithm, attempting to detect gas plumes; Stream tracking: After detecting a plume, the robot enters the plume tracking mode, moves against the wind and measures the concentration gradient in real time. When the concentration continues to rise, it moves against the wind in small steps. When the concentration drops, it performs lateral swing or spiral search to recapture the plume. Information sharing: Different robots share their own position coordinates and gas concentration data in real time during the search process, and work together to narrow down the search area; Location confirmation: When the area with the highest and most stable concentration is detected, it is determined to be the source of the leak. The precise coordinates are then reported to the collaborative management platform to complete the location confirmation.

[0014] Preferably, the adaptive emergency response module activates the corresponding response plan according to the event level: the drone of the drone inspection unit quickly flies to the airspace above the accident to provide a global perspective and visualization of gas diffusion; the ground robot inspection unit goes to the accident site to perform initial disposal; the track robot monitors the status of the surrounding pipe gallery; and the fixed monitoring subsystem continuously tracks the changes in the scope of the accident's impact.

[0015] Preferably, the system adopts a modular expansion architecture, which supports the rapid access and functional expansion of new inspection equipment through standardized interfaces and service-oriented component design.

[0016] Therefore, the present invention adopts the above-mentioned integrated air-ground collaborative safety monitoring and emergency response inspection system for chemical industrial parks, which solves the problems of multiple blind spots, poor coordination, inaccurate leakage source location and delayed emergency response of existing monitoring systems, significantly improves inspection efficiency and safety management level, and can be widely used in daily inspection and emergency response scenarios in chemical industrial parks.

[0017] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of an embodiment of the integrated air-ground collaborative safety monitoring and emergency response inspection system for chemical industrial parks of the present invention; Figure 2 This is a schematic diagram of the plume search and traversal process based on the improved gas plume tracking algorithm of this invention. Detailed Implementation

[0019] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0020] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0021] Example 1: like Figure 1 As shown, this invention provides an integrated inspection system for air-ground collaborative safety monitoring and emergency response in chemical industrial parks, which adopts a layered distributed architecture, namely a perception and execution layer, an application layer, and a network layer.

[0022] The perception and execution layer includes: The fixed monitoring subsystem consists of high-definition cameras, various types of gas sensors (combustible gases, toxic gases, etc.), temperature and humidity sensors, and acoustic sensors distributed in key locations such as the plant area, pipe corridors, and tank areas of the chemical industrial park, forming the basic monitoring layer. These fixed sensors are connected to the collaborative management platform via industrial Ethernet or wireless mesh networks, providing 24 / 7 uninterrupted monitoring. A method of establishing a mapping relationship between inspection points, task points, and grid coordinates is adopted. Fixed sensor nodes are divided according to process blocks to form a gridded monitoring system. Each sensor node is equipped with a GPS positioning module and a time synchronization module to ensure data spatiotemporal consistency. The fixed monitoring subsystem is mainly responsible for initial anomaly screening. When the detected data exceeds the threshold, an alarm is sent to the collaborative management platform, triggering a response from the mobile inspection subsystem.

[0023] The mobile inspection subsystem includes a drone inspection unit, a tracked robot inspection unit, and a ground robot inspection unit. The drone inspection unit comprises multi-rotor or fixed-wing drones that fly in the air, covering high-altitude areas. All drones are equipped with autonomous charging and anti-interference stable flight capabilities, feature explosion-proof design, and are equipped with high-definition camera modules, gas sensors, and infrared thermal imagers for inspecting high-altitude facilities and wide areas, particularly targeting areas difficult to access from the ground, such as high-altitude facilities and the tops of utility tunnels.

[0024] The track robot inspection unit includes track robots (such as the "Mulan series" robots used in public pipe corridors of chemical industrial parks) that run along tracks erected along pipe corridors in chemical industrial parks. The track robots integrate high-precision gas detectors (CL2 gas, NH3 gas and combustible mixed gas), dual-light cameras (visible light + thermal imaging) and acoustic sensors for continuous and seamless inspection of pipe corridor areas. The inspection speed of the track robots can be adjusted from 0 to 1 m / s.

[0025] The ground robot inspection unit features an all-terrain mobility system and an explosion-proof design. It is equipped with a robotic arm (for simple operation), a multi-sensor integrated module, and emergency response devices for close-range inspection of ground facilities and initial emergency response. Specifically, the ground robot uses a tracked or six-wheel drive all-terrain chassis, features an automatic return-to-base charging design, and the emergency response devices include a dry powder fire extinguishing agent spraying system. The robotic arm employs a lifting and restraining track structure.

[0026] The application layer is a collaborative management platform that integrates a multi-source data fusion module, an intelligent task allocation module, a collaborative path planning module, a leak source precise location module, and an adaptive emergency response module. The system comprises several key components: a multi-source data fusion module that integrates data from fixed sensors and mobile inspection subsystems to construct a three-dimensional dynamic safety situation map of the chemical industrial park; an intelligent task allocation module that dynamically assigns tasks to the most suitable inspection units based on inspection requirements, equipment status, and real-time environmental data; a collaborative path planning module that uses dynamic neighborhood search and multi-objective optimization algorithms to plan efficient and conflict-free inspection paths for UAV and ground robot inspection units; a leak source precision location module that employs a multi-robot collaborative gas leak source location method, integrating gas concentration data from fixed sensors and mobile detection data from the mobile inspection subsystem, and using an improved gas plume tracking algorithm to locate the leak source through multi-robot collaborative plume search and traversal; and an adaptive emergency response module that activates corresponding response plans based on the event level: the UAV inspection unit's UAVs quickly fly to the accident site to provide a global perspective and visualize gas diffusion, the ground robot inspection unit proceeds to the accident site to perform initial handling, the tracked robot monitors the status of surrounding pipe corridors, and the fixed monitoring subsystem continuously tracks changes in the accident's impact range.

[0027] The network layer is a communication and support subsystem, including 5G private networks and edge computing nodes, used to provide computing power support for collaborative decision-making.

[0028] Furthermore, in this embodiment, the integrated inspection system adopts a modular expansion architecture, which supports the rapid access and functional expansion of new inspection equipment through standardized interfaces and service-oriented component design.

[0029] The collaborative working mechanism of the integrated inspection system is reflected in three levels: data collaboration, task collaboration, and emergency response collaboration. (1) Data collaboration: Fixed sensor data and mobile inspection subsystem data are integrated in the collaborative management platform. The platform is based on multi-source data fusion algorithm to calibrate, associate and analyze various types of sensor data, obtain accurate equipment status and environmental information, and construct a unified three-dimensional dynamic safety situation map of the chemical industrial park.

[0030] (2) Task Collaboration: The collaborative management platform dynamically allocates inspection tasks based on task type, urgency, and equipment status. Routine inspections: According to the preset plan, drones cover the high-altitude area, tracked robots cover the pipe gallery area, ground robots cover the ground facilities, and fixed sensor networks provide continuous monitoring; Anomaly Response: After a fixed sensor detects an anomaly, the platform prioritizes dispatching the nearest drone to confirm the anomaly and quickly obtains global information about the anomaly area; Leakage incident: After confirming the leak, a multi-robot collaborative positioning mechanism is activated. The drone provides gas diffusion trend analysis, and the ground robot and the track robot work together to locate the leak source.

[0031] (3) Emergency Response Coordination: Once an accident is confirmed, the system automatically enters emergency mode: The drone quickly flew to the airspace above the accident site and used infrared thermal imagers and gas sensors to obtain a global perspective and visualized data on gas diffusion, which was then transmitted back to the collaborative management platform in real time. The ground robot proceeds to the accident site according to instructions and attempts initial response (such as spraying fire extinguishing agents and closing nearby valves as an auxiliary measure). Tracked robots enhance monitoring of surrounding utility tunnels to prevent accidents from escalating and causing secondary disasters; Fixed sensor networks continuously monitor changes in the impact area of ​​an accident, providing data support for emergency decision-making.

[0032] like Figure 2 As shown, when the integrated inspection system detects a gas leak, it initiates a multi-robot collaborative gas leak source location process. The specific steps are as follows: Initial detection: If a fixed sensor or any inspection robot detects a leaking gas, it sends an alarm to the collaborative management platform and reports the initial location information; Collaborative activation: The collaborative management platform dispatches all available mobile inspection units (drones, ground robots, and track robots) around the accident area to initiate the gas leak source location procedure; Stream Search: Each robot, based on an improved stream search algorithm, executes an initial search strategy (extended ring / bow-shaped scan) in anomaly regions to attempt to detect gas streams; Stream tracking: After detecting a plume, the robot enters the plume tracking mode, moves against the wind and measures the concentration gradient in real time. When the concentration continues to rise, it moves against the wind in small steps. When the concentration drops, it performs lateral swing or spiral search to recapture the plume. Information sharing: Multiple robots share their own position coordinates and gas concentration data in real time during the search process, and work together to narrow down the search area; Location confirmation: When the area with the highest and most stable concentration is detected, it is determined to be the source of the leak. The precise coordinates are then reported to the collaborative management platform to complete the location confirmation.

[0033] Therefore, the present invention adopts the above-mentioned integrated air-ground collaborative safety monitoring and emergency response inspection system for chemical industrial parks, which solves the problems of multiple blind spots, poor coordination, inaccurate leakage source location and delayed emergency response of existing monitoring systems, significantly improves inspection efficiency and safety management level, and can be widely used in daily inspection and emergency response scenarios in chemical industrial parks.

[0034] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. An integrated air-ground collaborative safety monitoring and emergency response inspection system for chemical industrial parks, characterized in that: include: A fixed monitoring subsystem, which consists of different types of fixed sensors distributed at key locations in the chemical industrial park; The mobile inspection subsystem includes a drone inspection unit, a track robot inspection unit, and a ground robot inspection unit. The drones in the drone inspection unit are explosion-proof and equipped with high-definition camera modules, gas sensors, and infrared thermal imagers for inspection of high-altitude facilities and wide areas. The track robot inspection unit consists of a track robot that runs along a pre-set track in the utility tunnel and integrates a high-precision gas detector, dual-light cameras, and acoustic sensors for continuous and seamless inspection of the utility tunnel area. The ground robot inspection unit has all-terrain mobility and an explosion-proof design, and is equipped with a robotic arm, a multi-sensor integrated module, and an emergency response device for close-range inspection of ground facilities and initial emergency response. The collaborative management platform integrates a multi-source data fusion module, an intelligent task allocation module, a collaborative path planning module, a leak source precise location module, and an adaptive emergency response module. The communication and support subsystem, including 5G private networks and edge computing nodes, is used to provide computing power support for collaborative decision-making.

2. The integrated air-ground collaborative safety monitoring and emergency response inspection system for chemical industrial parks according to claim 1, characterized in that: The fixed sensors in the fixed monitoring subsystem include high-definition cameras, different types of gas sensors, temperature and humidity sensors, acoustic sensors, and fire detectors. A grid-based monitoring system is formed by dividing the process area into grids using a method that establishes a mapping relationship between inspection points, task points, and grids. The system is also connected to the collaborative management platform. Each sensor node is equipped with a GPS positioning module and a time synchronization module.

3. The integrated air-ground collaborative safety monitoring and emergency response inspection system for chemical industrial parks according to claim 1, characterized in that: The drone inspection unit has the ability to charge autonomously and fly stably without interference; the dual-light camera of the track robot inspection unit includes visible light and thermal imaging functions, and the inspection speed of the track robot inspection unit is adjustable from 0 to 1 m / s.

4. The integrated air-ground collaborative safety monitoring and emergency response inspection system for chemical industrial parks according to claim 1, characterized in that: The ground robot inspection unit adopts a tracked or six-wheel drive all-terrain chassis and is equipped with an automatic return-to-base charging design. The emergency response device includes a dry powder fire extinguishing agent spraying device, and the robotic arm adopts a lifting and restraining track structure.

5. The integrated air-ground collaborative safety monitoring and emergency response inspection system for chemical industrial parks according to claim 1, characterized in that: The multi-source data fusion module integrates data from fixed sensors and data collected by the mobile inspection subsystem to construct a three-dimensional dynamic safety situation map of the chemical industrial park; the intelligent task allocation module dynamically assigns tasks to the most suitable inspection unit based on inspection task requirements, equipment status, and real-time environmental data.

6. The integrated air-ground collaborative safety monitoring and emergency response inspection system for chemical industrial parks according to claim 1, characterized in that: The collaborative path planning module employs dynamic neighborhood search and multi-objective optimization algorithms to plan efficient and conflict-free inspection paths for UAV inspection units and ground robot inspection units.

7. The integrated air-ground collaborative safety monitoring and emergency response inspection system for chemical industrial parks according to claim 1, characterized in that: The leak source precise location module adopts a multi-robot collaborative gas leak source location method, which integrates gas concentration data from fixed sensors with mobile detection data from a mobile inspection subsystem. Based on an improved gas plume tracking algorithm, the leak source is located through multi-robot collaborative plume search and traversal.

8. The integrated air-ground collaborative safety monitoring and emergency response inspection system for chemical industrial parks according to claim 7, characterized in that: The specific steps for leak source localization based on the improved gas plume tracing algorithm are as follows: Initial detection: When a fixed sensor or any inspection robot detects a leaking gas, it sends an alarm to the collaborative management platform and reports the initial location information; Collaborative activation: The collaborative management platform schedules all available mobile inspection units around the accident area to initiate the gas leak source location procedure; Plume Search: Each robot executes an initial search strategy in anomaly regions based on an improved plume search algorithm, attempting to detect gas plumes; Stream tracking: After detecting a plume, the robot enters the plume tracking mode, moves against the wind and measures the concentration gradient in real time. When the concentration continues to rise, it moves against the wind in small steps. When the concentration drops, it performs lateral swing or spiral search to recapture the plume. Information sharing: Different robots share their own position coordinates and gas concentration data in real time during the search process, and work together to narrow down the search area; Location confirmation: When the area with the highest and most stable concentration is detected, it is determined to be the source of the leak. The precise coordinates are then reported to the collaborative management platform to complete the location confirmation.

9. The integrated air-ground collaborative safety monitoring and emergency response inspection system for chemical industrial parks according to claim 1, characterized in that: The adaptive emergency response module activates the corresponding response plan according to the event level: the drone inspection unit's drones quickly fly to the airspace above the accident to provide a global perspective and visualization of gas diffusion; the ground robot inspection unit goes to the accident site to perform initial handling; the track robot monitors the status of the surrounding pipe gallery; and the fixed monitoring subsystem continuously tracks changes in the accident's impact range.

10. The integrated air-ground collaborative safety monitoring and emergency response inspection system for chemical industrial parks according to claim 1, characterized in that: The system adopts a modular expansion architecture and supports the rapid access and functional expansion of new inspection equipment through standardized interfaces and service-oriented component design.

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