Method, device, equipment, medium and product for monitoring hypoxia of flood drainage robot

Abstract

The embodiment of the invention provides a flood drainage robot oxygen deficit monitoring method, device and equipment, a medium and a product, and is applied to the technical field of flood drainage robots. The method comprises the steps of collecting environmental parameters of a target environment where the flood drainage robot is located in real time; wherein the environment parameters comprise the humidity variable quantity of the target environment and the real-time oxygen concentration, when the environment humidity is increased, the humidity variable quantity is a positive number, and when the environment humidity is reduced, the humidity variable quantity is a negative number; generating a current oxygen concentration judgment threshold value based on the humidity variation in the environmental parameters; comparing the oxygen concentration judgment threshold value with the real-time oxygen concentration, and sending out early warning information when the real-time oxygen concentration is lower than the oxygen concentration judgment threshold value. The method achieves the technical effect of improving the oxygen deficit monitoring precision.

Description

Technical Field

[0001] This application relates to the field of drainage robot technology, and in particular to a method, device, equipment, medium and product for monitoring oxygen deficiency in drainage robots. Background Technology

[0002] When drainage robots are performing drainage operations in enclosed spaces, the pumping engine produces toxic gases. At the same time, poor ventilation can cause the oxygen concentration in the work area to drop rapidly. If the workers do not notice this in time, there may be a risk of oxygen deficiency.

[0003] In existing technologies, when drainage robots are performing drainage operations, they detect the oxygen concentration in the environment and compare it with a pre-set safety threshold to determine whether the oxygen concentration in the work area is safe and to issue targeted hazard warnings.

[0004] Because existing technologies for monitoring oxygen deficiency in drainage robots ignore the impact of environmental factors on oxygen detection accuracy during operation, there is a technical problem of low oxygen deficiency monitoring accuracy in existing technologies. Summary of the Invention

[0005] This application provides a method, apparatus, equipment, medium, and product for monitoring oxygen deficiency in drainage robots, in order to improve the technical accuracy of oxygen deficiency monitoring.

[0006] In a first aspect, embodiments of this application provide a method for monitoring oxygen deficiency in a flood drainage robot, including:

[0007] The system collects environmental parameters of the target environment where the drainage robot is located in real time. These environmental parameters include the change in humidity and the real-time oxygen concentration. When the ambient humidity increases, the change in humidity is positive, and when the ambient humidity decreases, the change in humidity is negative.

[0008] Based on the change in humidity in the environmental parameters, the current oxygen concentration judgment threshold is generated.

[0009] Based on a comparison between the oxygen concentration judgment threshold and the real-time oxygen concentration, an early warning message is issued when the real-time oxygen concentration is lower than the oxygen concentration judgment threshold.

[0010] In one possible implementation, a current oxygen concentration threshold is generated based on the change in humidity among environmental parameters, including:

[0011] The current oxygen concentration threshold is calculated based on the humidity change, preset judgment threshold, and preset compensation coefficient in the environmental parameters.

[0012] In one possible implementation, environmental parameters of the target environment where the drainage robot is located are collected in real time, including:

[0013] Oxygen concentration signals in the target environment are collected in real time at a preset frequency.

[0014] The oxygen concentration signal is filtered and converted to obtain the real-time oxygen concentration.

[0015] Real-time humidity parameters in the target environment are collected based on a preset frequency.

[0016] The humidity change is calculated based on the real-time humidity parameter value and the historical humidity parameter value collected last time.

[0017] Environmental parameters are obtained based on humidity changes and real-time oxygen concentration.

[0018] In one possible implementation, filtering and signal conversion processing are performed on the oxygen concentration signal to obtain the real-time oxygen concentration, including:

[0019] The oxygen concentration signal that is greater than or equal to the first preset frequency and less than or equal to the second preset frequency is determined as the target signal; wherein the second preset frequency is greater than the first preset frequency;

[0020] The real-time oxygen concentration is obtained by performing analog-to-digital conversion based on the target signal.

[0021] In one possible implementation, the method further includes:

[0022] Real-time detection of the insulation status of the drainage robot in the target environment and acquisition of real-time leakage current intensity;

[0023] When the real-time leakage current intensity exceeds the preset threshold, the power supply to the drainage robot is cut off and an early warning message is issued.

[0024] In one possible implementation, issuing a warning message includes:

[0025] When the warning information includes leakage current warning and oxygen concentration warning, the warning level is determined based on the leakage current intensity and oxygen concentration.

[0026] Based on the warning level, a corresponding warning strategy is determined, and warning information is issued based on the warning strategy.

[0027] Secondly, embodiments of this application provide a device for monitoring oxygen deficiency in a flood drainage robot, comprising:

[0028] The acquisition module collects environmental parameters of the target environment where the drainage robot is located in real time. These environmental parameters include the change in humidity and the real-time oxygen concentration. When the ambient humidity increases, the change in humidity is positive, and when the ambient humidity decreases, the change in humidity is negative.

[0029] The first processing module is used to generate the current oxygen concentration judgment threshold based on the humidity change in environmental parameters.

[0030] The second processing module is used to compare the oxygen concentration judgment threshold with the real-time oxygen concentration, and issue a warning message when the real-time oxygen concentration is lower than the oxygen concentration judgment threshold.

[0031] In one possible implementation, the first processing module is further configured to:

[0032] The current oxygen concentration threshold is calculated based on the humidity change, preset judgment threshold, and preset compensation coefficient in the environmental parameters.

[0033] In one possible implementation, the acquisition module is further configured to:

[0034] Oxygen concentration signals in the target environment are collected in real time at a preset frequency.

[0035] The oxygen concentration signal is filtered and converted to obtain the real-time oxygen concentration.

[0036] Real-time humidity parameters in the target environment are collected based on a preset frequency.

[0037] The humidity change is calculated based on the real-time humidity parameter value and the historical humidity parameter value collected last time.

[0038] Environmental parameters are obtained based on humidity changes and real-time oxygen concentration.

[0039] In one possible implementation, the acquisition module is further configured to:

[0040] The oxygen concentration signal that is greater than or equal to the first preset frequency and less than or equal to the second preset frequency is determined as the target signal; wherein the second preset frequency is greater than the first preset frequency;

[0041] The real-time oxygen concentration is obtained by performing analog-to-digital conversion based on the target signal.

[0042] In one possible implementation, the second processing module is further configured to:

[0043] Real-time detection of the insulation status of the drainage robot in the target environment and acquisition of real-time leakage current intensity;

[0044] When the real-time leakage current intensity exceeds the preset threshold, the power supply to the drainage robot is cut off and an early warning message is issued.

[0045] In one possible implementation, the second processing module is further configured to:

[0046] When the warning information includes leakage current warning and oxygen concentration warning, the warning level is determined based on the leakage current intensity and oxygen concentration.

[0047] Based on the warning level, a corresponding warning strategy is determined, and warning information is issued based on the warning strategy.

[0048] Thirdly, embodiments of this application provide an electronic device, including: a memory and a processor;

[0049] The memory stores instructions that the computer executes;

[0050] The processor executes computer execution instructions stored in memory, causing the processor to perform the first aspect above and various possible implementations of the first aspect.

[0051] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and various possible implementations thereof.

[0052] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the first aspect and various possible implementations thereof.

[0053] This application provides a method, apparatus, equipment, medium, and product for monitoring oxygen deficiency in drainage robots. The method involves real-time acquisition of environmental parameters of the target environment where the drainage robot is located; and the generation of a current oxygen concentration threshold based on humidity changes in the environmental parameters. The obtained oxygen concentration threshold is compared with the real-time oxygen concentration in the environmental parameters; when the real-time oxygen concentration is detected to be lower than the oxygen concentration threshold, an early warning is issued. This application utilizes humidity changes to generate the real-time oxygen concentration threshold. The generated oxygen concentration threshold is determined in conjunction with real-time humidity information, taking into account the impact of humidity increases and decreases on sensor detection accuracy, thereby reducing the impact of sensor detection accuracy on the oxygen deficiency monitoring results and achieving the technical effect of improving oxygen deficiency monitoring accuracy. Attached Figure Description

[0054] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0055] Figure 1 A flowchart illustrating the oxygen deficiency monitoring method for the drainage robot provided in this application;

[0056] Figure 2 This is a schematic diagram of the structure of the drainage robot hypoxia monitoring system provided in this application;

[0057] Figure 3 A schematic diagram of the oxygen deficiency monitoring device for the drainage robot provided in this application;

[0058] Figure 4 A schematic diagram of the structure of the electronic device provided in this application.

[0059] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0060] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0061] First, let me explain the terms used in this application:

[0062] LED display (Light Emitting Diode Display): refers to a display device composed of multiple light-emitting diode arrays. By controlling the on / off state and brightness of individual LEDs, text, numbers, or simple graphics can be displayed.

[0063] Wireless Fidelity (Wi-Fi) protocol: refers to a wireless local area network communication protocol used for short-range wireless data transmission.

[0064] The Global System for Mobile (GSM) protocol refers to the digital standard protocol for second-generation cellular mobile communications, used for voice calls and low-speed data transmission.

[0065] Analog-to-digital (A / D) conversion circuits refer to electronic circuits that convert continuously changing analog electrical signals into discrete digital signals.

[0066] Random Access Memory (RAM): refers to a volatile storage device that can read and write data at any time.

[0067] Global System for Mobile Communications / General Packet Radio Service (GSM / GPRS) network: The GSM network is the basic 2G communication network; the GPRS network is an upgraded network based on GSM packet switching technology, supporting high-speed data transmission.

[0068] Pulse Width Modulation (PWM) control circuit: refers to an electronic circuit that controls the output by adjusting the duty cycle of the pulse signal.

[0069] General Purpose Input / Output (GPIO) pins: These are general-purpose pins on a microprocessor that can be configured to be either input or output modes.

[0070] Asynchronous Receiver / Transmitter (UART) interface: refers to a serial communication interface that enables asynchronous data transmission between devices through a preset baud rate.

[0071] Transmit / Receive (Tx / Rx) serial communication lines: These refer to the core transmission lines used with the UART serial interface for sending and receiving data.

[0072] A DC-DC converter is a power electronic device that converts an input DC voltage into a stable DC voltage required by a load.

[0073] Buck-Boost topology: refers to a power supply circuit topology that combines voltage reduction and voltage boosting functions.

[0074] In existing technologies, in drainage operation scenarios, drainage robots use deployed sensors to detect the oxygen concentration in the environment; the obtained oxygen concentration is compared with a pre-set safety threshold to determine whether the oxygen concentration in the work space is safe, and targeted hazard warnings are issued.

[0075] However, existing oxygen concentration detection methods rely on preset thresholds set based on human experience. In complex working environments, excessive humidity increases the diffusion resistance of the sensor's breathable membrane. Simultaneously, the oxidation-reduction reaction is incomplete due to the influence of humidity on electrolyte concentration, leading to a lower-than-expected oxygen concentration. Conversely, when humidity is too low, the resistance of the breathable membrane decreases, and the conduction of dry electrolyte ions is hindered, causing a large accumulation of oxygen at the sensor's detection end. When there are fluctuations in water vapor, clustering reactions are triggered, resulting in a detected oxygen concentration far exceeding the actual concentration. Therefore, when comparing thresholds, the results obtained are inconsistent with the actual situation, leading to the technical problem of low accuracy in oxygen deficiency monitoring in existing technologies.

[0076] To address the aforementioned technical problems, this application proposes the following technical concept: while collecting real-time oxygen concentration, the humidity change of the target environment is also collected; an oxygen concentration judgment threshold that conforms to the current change is generated based on the humidity change; the real-time oxygen concentration is judged using the generated oxygen concentration judgment threshold, thereby taking into account the influence of humidity on the sensor and achieving the technical effect of improving the accuracy of hypoxia monitoring.

[0077] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0078] Figure 1 This is a flowchart illustrating the oxygen deficiency monitoring method for the drainage robot provided in this application, as shown below. Figure 1 As shown, the method includes:

[0079] S101. Real-time collection of environmental parameters of the target environment where the drainage robot is located.

[0080] In this step, environmental parameters include the change in humidity in the target environment and the real-time oxygen concentration. The change in humidity is positive when the ambient humidity increases and negative when the ambient humidity decreases. These environmental parameters refer to the physical quantities directly related to oxygen deficiency monitoring and threshold adjustment within the drainage robot's operating area. The change in humidity refers to the difference between the currently collected humidity value and the previously collected humidity value, reflecting the dynamic trend of ambient humidity changes and serving as a key basis for adjusting the oxygen concentration threshold. The real-time oxygen concentration refers to the volume percentage of oxygen in the target environment captured by the sensor at the current moment, providing a direct basis for determining whether oxygen deficiency exists.

[0081] For example, in the scenario of drainage in an underground parking garage, the environmental parameters might be "humidity change ΔH is 3%RH, and real-time oxygen concentration is 18.2%"; in the scenario of drainage in a river, the parameters might be "humidity change ΔH is 5%RH, and real-time oxygen concentration is 19.0%".

[0082] Alternatively, one possible way to obtain the environmental parameters of the target environment is as follows:

[0083] S1011. Collect oxygen concentration signals in the target environment in real time at a preset frequency.

[0084] In this step, the oxygen concentration is acquired by an electrochemical oxygen sensor. The oxygen concentration signal refers to the analog electrical signal generated by the electrochemical oxygen sensor based on redox reactions, converting the oxygen content in the target environment into an unprocessed, raw signal. The preset frequency refers to the acquisition interval of the oxygen concentration signal, which is consistent with the acquisition frequency of the humidity parameter.

[0085] For example, a method for real-time acquisition of oxygen concentration signals can be:

[0086] The electrochemical oxygen sensor is activated, exposing its probe to the target environment. The electrodes inside the sensor undergo a redox reaction with oxygen, generating an analog electrical signal proportional to the oxygen concentration.

[0087] S1012. Filter and convert the oxygen concentration signal to obtain the real-time oxygen concentration.

[0088] In this step, filtering refers to the process of removing environmental interference signals from the original oxygen concentration signal and retaining the effective signal reflecting the true oxygen concentration. Environmental interference signals can be electromagnetic interference or sensor noise. Signal conversion refers to analog-to-digital conversion, that is, converting the filtered analog electrical signal into a digital signal that the controller can recognize and calculate.

[0089] In this step, filtering and signal conversion can be completed by the filter circuit and the analog-to-digital converter circuit working together. First, the oxygen concentration signal is denoised and purified by the filter circuit. The extracted analog signal is then transmitted to the analog-to-digital converter circuit to be converted into a digital signal. The real-time oxygen concentration is calculated according to the preset conversion method between signal and concentration.

[0090] Alternatively, one possible implementation of filtering and signal conversion processing is as follows:

[0091] a1. The oxygen concentration signal that is greater than or equal to the first preset frequency and less than or equal to the second preset frequency is determined as the target signal.

[0092] In this step, the second preset frequency is greater than the first preset frequency. The first and second preset frequencies refer to the cutoff frequency thresholds used for filtering, which define the frequency range of the effective signal. The target signal refers to the effective electrical signal that, after frequency filtering, can accurately reflect the oxygen concentration in the target environment.

[0093] For example, the first preset frequency is set to 0.5 kHz, and the second preset frequency is set to 20 kHz. Signals with frequencies between 0.5 Hz and 20 kHz are retained, while low-frequency noise below 0.5 Hz and high-frequency interference above 20 kHz are filtered out.

[0094] a2. Perform analog-to-digital conversion based on the target signal to obtain the real-time oxygen concentration.

[0095] In this step, analog-to-digital conversion refers to the core of connecting analog signals and digital systems, where the user converts continuously changing analog electrical signals into discrete digital signals.

[0096] For example, the target signal is an analog voltage of 1.8V. After being converted by a 12-bit analog-to-digital converter, the output digital value is 1474. This digital value can be converted into an oxygen concentration of 18.5% using a calibration formula.

[0097] S1013. Collect real-time humidity parameter values ​​in the target environment based on a preset frequency.

[0098] In this step, the real-time humidity parameter value refers to the air humidity of the target environment obtained by the humidity sensor at the current moment, used to calculate the humidity change. The preset frequency refers to the sampling interval of the humidity parameter, which needs to be consistent with the sampling frequency of the oxygen concentration.

[0099] For example, the preset frequency is set to 1 second / time, and the humidity sensor collects the real-time humidity parameter value once per second to ensure the timeliness of humidity change calculation. At the same time, the humidity parameter value needs to be stored.

[0100] S1014. Based on the real-time humidity parameter value and the historical humidity parameter value collected previously, the humidity change is calculated.

[0101] In this step, the historical humidity parameter value refers to the humidity data collected and stored by the humidity sensor in the previous acquisition cycle. The humidity change refers to the difference between the real-time humidity parameter value and the historical humidity parameter value, which is used to reflect the humidity change trend and magnitude in the target environment.

[0102] For example, when the real-time humidity parameter value is lower than the historical humidity parameter value collected last time, the humidity change is positive, and the corresponding oxygen concentration detected will be lower than the actual value. Therefore, the threshold used for monitoring and judging hypoxia needs to be adjusted. When the humidity change is negative, the detected oxygen concentration has a sudden change and is higher than the actual value. Therefore, the threshold needs to be adjusted to avoid judging the current environment as safe in a low-concentration environment, which could lead to work accidents.

[0103] S1015. Environmental parameters are obtained based on humidity changes and real-time oxygen concentration.

[0104] In this step, the environmental parameters refer to the dataset formed by packaging the two core indicators, humidity change and real-time oxygen concentration. This dataset serves as the complete input data for subsequent threshold generation and early warning judgment.

[0105] For example, if the calculated humidity change is ΔH = +4%RH and the real-time oxygen concentration is 19.1%, then the integrated environmental parameters are {ΔH = +4%RH and real-time oxygen concentration = 19.1%}.

[0106] S102. Based on the humidity change in environmental parameters, generate the current oxygen concentration judgment threshold.

[0107] Alternatively, one possible implementation for generating the oxygen concentration determination threshold is as follows:

[0108] The current oxygen concentration threshold is calculated based on the humidity change, preset judgment threshold, and preset compensation coefficient in the environmental parameters.

[0109] In this step, the oxygen concentration judgment threshold refers to a dynamically adjusted standard for judging hypoxia, rather than a fixed value. It changes with the amount of humidity variation and is used to determine whether the real-time oxygen concentration is within a safe range.

[0110] Optionally, the oxygen concentration judgment threshold is calculated as follows: threshold = 19.5% - k·ΔH, where k refers to the preset compensation coefficient, 19.5% refers to the preset judgment threshold, and ΔH refers to the humidity change.

[0111] For example, if the initial preset judgment threshold is 19.5%, the real-time humidity parameter value is higher than the historical humidity parameter value, the humidity change ΔH is +3%RH, and the compensation coefficient is 0.02, then the current judgment threshold is 19.5% - 0.02 × (+3%), which equals 19.44%.

[0112] The preset judgment threshold refers to the baseline value for threshold adjustment. It is set to 19.5%, which is the low oxygen warning baseline value commonly used in the field of industrial safety. It is the judgment threshold when the humidity change is 0.

[0113] For example, when the ambient humidity remains unchanged, that is, when ΔH is 0, the current oxygen concentration determination threshold is 19.5% - k × 0, which equals 19.5%, i.e., the preset determination threshold.

[0114] The preset compensation coefficient refers to the adjustment parameter for balancing the effect of humidity changes on oxygen concentration. Its value ranges from 0.01 to 0.05 and is used to quantify the correction magnitude of humidity changes on the threshold.

[0115] For example, when the absolute value of the humidity change is large, a larger value can be selected, such as 0.05; when the absolute value of the humidity change is small, it means that the impact of the humidity change is small, so a smaller value can be selected, such as 0.01.

[0116] S103. Based on the comparison between the oxygen concentration judgment threshold and the real-time oxygen concentration, a warning message is issued when the real-time oxygen concentration is lower than the oxygen concentration judgment threshold.

[0117] In this step, the warning information refers to the warning signals issued when a dangerous state is detected, including oxygen deficiency warning and leakage warning, which can be expressed in the form of buzzer alarm, LED display, mobile push, and remote control alarm.

[0118] Optionally, leakage current detection can also be performed on the drainage robot to avoid dangerous operational situations caused by leakage current. One possible implementation method for leakage current detection is as follows:

[0119] b1. Real-time detection of the insulation status of the drainage robot in the target environment and acquisition of real-time leakage current intensity.

[0120] In this step, insulation status refers to the insulation performance between the electrical system of the drainage robot and its shell and ground. Good insulation status means a low risk of leakage, while poor insulation status makes it easy for electric shock accidents to occur.

[0121] For example, the insulation resistance between the battery pack and the robot shell of the flood drainage robot is 5MΩ, which is considered to be in good insulation condition; if the insulation resistance drops to 500kΩ, the insulation fails and there is a risk of leakage.

[0122] Real-time leakage current intensity refers to the magnitude of abnormal leakage current in the electrical system of a flood drainage robot, measured in mA, and is a core indicator for judging the degree of leakage hazard.

[0123] For example, if the detected real-time leakage current intensity is 12mA, which exceeds the preset threshold of 10mA, the protection mechanism must be triggered immediately.

[0124] Alternatively, one possible way to obtain the real-time leakage current intensity is to use a leakage detection module integrated with an insulating bidirectional charging and discharging circuit to monitor the insulation resistance between the battery pack of the drainage robot and the robot shell and the ground in real time; and to calculate the real-time leakage current intensity based on the insulation resistance value using Ohm's law.

[0125] b2. When the real-time leakage current intensity exceeds the preset threshold, cut off the power supply to the drainage robot and issue an early warning message.

[0126] In this step, the working power supply refers to the main power supply that powers the core operating components of the drainage robot, including motors, pumping systems, and actuators.

[0127] For example, when the leakage current exceeds the standard, the power supply to the robot's pumping motor and walking motor is cut off to stop the operation. However, the power supply to the system or module used for leakage detection is independent of the drainage robot, and the power supply is maintained to continuously monitor the status.

[0128] The preset threshold refers to the current standard for judging whether leakage is dangerous. It can be set to 10mA, that is, when the leakage current is greater than 10mA, it is judged as a dangerous state.

[0129] For example, the preset threshold is 10mA. When a leakage current of 11mA is detected, the power supply is immediately cut off and an early warning is issued.

[0130] Correspondingly, one possible way to issue early warning information is as follows:

[0131] b3. When the warning information includes leakage current warning and oxygen concentration warning, the warning level shall be determined based on the leakage current intensity and oxygen concentration.

[0132] In this step, the warning level refers to the warning gradient based on the degree of danger, which is used to distinguish the urgency of different dangerous scenarios. It is usually divided into three levels: high, medium and low. The higher the degree of danger, the higher the warning level.

[0133] For example, when the leakage current is 20mA, the drainage robot is in a state of severe leakage; at the same time, the oxygen concentration is 17%, and the working environment of the drainage robot is severely oxygen-deficient; therefore, the current state is determined to be a high-level warning.

[0134] Leakage current warning and oxygen concentration warning refer to two core warning types. Leakage current warning is for the risk of electric shock, while oxygen concentration warning is for the risk of oxygen deficiency. They can be triggered individually or simultaneously.

[0135] For example, when draining water from an underground parking garage, if both excessive leakage current and low oxygen concentration are detected, the system will simultaneously trigger both leakage current warning and oxygen concentration warning.

[0136] Optionally, when the warning information only includes leakage current warnings or only includes oxygen concentration warnings, the group should implement separate graded warnings for leakage current warnings or oxygen concentration warnings. Leakage current warnings are graded based on the intensity of the leakage current; oxygen concentration warnings are graded based on the oxygen concentration.

[0137] b4. Determine the corresponding early warning strategy based on the early warning level, and issue early warning information based on the early warning strategy.

[0138] In this step, the early warning strategy refers to the specific early warning execution plan corresponding to different early warning levels. It clarifies the working mode of the alarm unit 204 under each level, such as the buzzer frequency, whether to activate voice prompts, and whether to push to mobile devices.

[0139] For example, an advanced warning strategy could be: a buzzer sounds with a 3Hz pulse; a voice synthesis chip announces the danger of electrical leakage or oxygen deficiency; an LED screen displays a fault, and a notification is sent to a mobile device simultaneously. An intermediate warning strategy could be: a buzzer sounds continuously; an LED screen displays a fault.

[0140] In this step, the mobile terminal can push warning information using two channels: the primary channel is Wi-Fi, and the backup channel is GSM. Alternatively, GSM can be used as the primary channel, and Wi-Fi as the backup. First, the primary channel is used to push the warning information; if the primary channel fails, the backup channel is used. The warning information pushed to the mobile terminal includes the current location information of the drainage robot; additionally, a vibration alert can be triggered on the drainage robot's remote control. The drainage robot's location information can be obtained through its internal positioning module.

[0141] It should be noted that staff can view real-time monitoring data via remote control or mobile device and decide whether to activate the drainage robot based on the actual situation.

[0142] The oxygen deficiency monitoring method for drainage robots provided in this application involves real-time acquisition of environmental parameters of the target environment where the drainage robot is located; and the generation of a current oxygen concentration threshold based on changes in humidity among the environmental parameters. The obtained oxygen concentration threshold is compared with the real-time oxygen concentration in the environmental parameters; when the real-time oxygen concentration is detected to be lower than the oxygen concentration threshold, an early warning message is issued. This application utilizes humidity changes to generate the real-time oxygen concentration threshold. The generated oxygen concentration threshold is determined based on real-time humidity information, taking into account the impact of environmental humidity on sensor detection accuracy, thereby reducing the impact of sensor detection accuracy on the oxygen deficiency monitoring results and achieving the technical effect of improving oxygen deficiency monitoring accuracy.

[0143] Based on the above embodiments, this application proposes a drainage robot hypoxia monitoring system, which is used to achieve the above... Figure 1 Any possible implementation method in the illustrated embodiments. Figure 2 This is a schematic diagram of the structure of the drainage robot hypoxia monitoring system provided in this application, as shown below. Figure 2 As shown, the system includes: a sensor unit 201, a controller unit 202, a wireless communication unit 203, an alarm unit 204, and a power supply unit 205.

[0144] The output of sensor unit 201 is connected to the input of controller unit 202. Sensor unit 201 is fixed to the middle of the drainage robot frame with M3 screws, and the distance between it and the exhaust port of the drainage robot's pumping engine is greater than 50cm. It is used to transmit analog signals characterizing real-time oxygen concentration.

[0145] The output of the controller unit 202 is connected to the input of the wireless communication unit 203 and the alarm unit 204, and is used to send control commands and data.

[0146] The wireless communication unit 203 is used to receive control commands and data issued by the controller unit 202, and to push early warning information by executing the control commands.

[0147] Alarm unit 204 is used to execute control commands issued by controller unit 202 to realize early warning processing.

[0148] The power supply unit 205 is connected to the sensor unit 201, the controller unit 202, the wireless communication unit 203, and the alarm unit 204 to provide power to each unit.

[0149] Alternatively, in one possible implementation, the sensor unit 201 includes an electrochemical oxygen sensor, a waterproof and dustproof housing, and a filter circuit.

[0150] Among them, the electrochemical oxygen sensor detects oxygen concentration signals in real time based on redox reactions.

[0151] The electrochemical oxygen sensor is encased in a waterproof and dustproof shell made of breathable material, enabling it to detect oxygen concentration while also providing waterproof and dustproof functionality.

[0152] The filter circuit is connected to the output of the electrochemical oxygen sensor to eliminate environmental interference information in the oxygen concentration signal and obtain the target signal.

[0153] For example, the electrochemical oxygen sensor has a measurement range of 0-25%vol and a resolution of 0.1%vol. The waterproof and dustproof housing can be made of polyimide material with a wall thickness of 0.5mm, providing good breathability and corrosion resistance. The filtering circuit is a combination of a low-pass filter and a high-pass filter, with a cutoff frequency satisfying the formula: f low ≤0.5Hz and f high ≥20kHz. Where, f low This is the cutoff frequency of the low-pass filter, i.e. Figure 1 The first preset frequency, f, in the illustrated embodiment high This is the cutoff frequency of the high-pass filter, i.e. Figure 1 The second preset frequency in the illustrated embodiment.

[0154] It should be noted that the sensor unit 201 can be fixed to the middle of the robot frame with M3 screws, strictly avoiding the engine exhaust port, thereby preventing high-temperature exhaust gas from interfering with the detection accuracy.

[0155] Alternatively, in one possible implementation, the controller unit 202 includes a microprocessor, a storage unit, and an A / D conversion circuit.

[0156] The A / D conversion circuit is used to convert the target signal detected and filtered by the sensor unit 201 into a digital signal.

[0157] The microprocessor acquires the digital signal converted by the A / D conversion circuit once per second and converts it according to the conversion rules between the digital signal and oxygen concentration to obtain the current real-time oxygen concentration. Alternatively, it acquires the humidity-related digital signal transmitted by the humidity sensor once per second and converts it into a real-time humidity parameter value. It then executes the following: updates the oxygen concentration judgment threshold based on the historical humidity parameter values ​​in the storage unit and the current real-time humidity parameter value; generates an early warning command when the oxygen concentration is lower than the oxygen concentration judgment threshold; and stores the current real-time humidity parameter value in the storage unit. Simultaneously, the microprocessor can also send the real-time oxygen concentration to a remote control terminal via the wireless communication unit 203, allowing the remote control terminal to judge the oxygen concentration and issue early warning commands.

[0158] For example, the storage unit can be a 32GB RAM storage unit; the A / D conversion circuit can be a 16-bit A / D conversion circuit. The microprocessor's main frequency is set to 72MHz, and it has floating-point arithmetic and multi-channel serial communication functions. The storage unit is used to store detection data and control programs. The A / D conversion circuit adopts an analog switched capacitor device architecture, and the conversion rate can be 1kHz. The microprocessor is configured to perform dynamic threshold adjustment, and the adjustment logic is: threshold = preset threshold - preset compensation coefficient × humidity change, as described above. Figure 1The example step S102 is shown.

[0159] Optionally, in one possible implementation, the wireless communication unit 203 includes a primary GSM module and a primary Wi-Fi module, and is configured with corresponding backup GSM modules and backup Wi-Fi modules for pushing warning information.

[0160] For example, the GSM module needs to support GSM / GPRS networks, with a data transmission rate set to 85.6 Kbps. The Wi-Fi module's data transmission rate is set to 150 Mbps. The microprocessor communicates with both the GSM and Wi-Fi modules via serial communication. When the primary module's signal strength is less than −90 dBm, it automatically switches to the backup module.

[0161] Optionally, in one possible implementation, the alarm unit 204 includes a buzzer, an intelligent voice prompt unit, and an LED display screen. The alarm unit 204 is used to respond to the warning command generated by the microprocessor, simultaneously triggering the audible and visual alarm, mobile push notification, and remote control alarm, and supports independent triggering of the electric shock alarm.

[0162] For example, the buzzer can use a 3W speaker with a loudness of 85dB, specifically connected directly to the microprocessor's GPIO pin via a pulse width modulation (PWM) control circuit. The buzzer uses a pulse frequency of 3Hz±0.5Hz for the electric shock alarm, distinct from the continuous sounding mode of the oxygen deficiency alarm. The intelligent voice prompt unit incorporates a voice synthesis chip; it is connected to the microprocessor via a Tx / Rx serial communication line of a Universal Asynchronous Receiver / Transmitter (UART) interface. The LED display uses a 4-bit 7-segment digital tube array, displaying characters with a height of 2.2cm; it is connected to the microprocessor's expansion port via an internal integrated circuit I²C bus.

[0163] Alternatively, in one possible implementation, the power supply unit 205 includes an insulated bidirectional charge-discharge circuit, a leakage current detection module, a solar panel, a lithium-ion battery pack, and a DC-DC converter.

[0164] The solar panel is connected to the input of the DC-DC converter via a waterproof cable, and the output voltage of the solar panel is 12~24V. A lithium-ion battery pack with a capacity greater than or equal to 7.4Ah is connected in parallel to the output of the solar panel and connected to the DC-DC converter via a bidirectional charge / discharge circuit. The DC-DC converter uses a Buck-Boost topology, specifically: the input of the converter receives power from the solar panel and the battery pack; the output is connected to the LED displays of sensor unit 201, controller unit 202, and alarm unit 204 via a dual 5V / 12V voltage regulator circuit.

[0165] It should be noted that the lithium-ion battery pack is connected to the DC-DC converter through an insulated bidirectional charge-discharge circuit, and this circuit integrates a leakage current detection function, which automatically cuts off the power supply when the leakage current is greater than 10mA.

[0166] Figure 3 This is a schematic diagram of the structure of the oxygen deficiency monitoring device for the drainage robot provided in this application, as shown below. Figure 3 As shown, the oxygen deficiency monitoring device for the drainage robot provided in this embodiment includes:

[0167] The acquisition module 301 collects environmental parameters of the target environment where the drainage robot is located in real time. The environmental parameters include the change in humidity of the target environment and the real-time oxygen concentration. When the ambient humidity increases, the change in humidity is positive, and when the ambient humidity decreases, the change in humidity is negative.

[0168] The first processing module 302 is used to generate the current oxygen concentration judgment threshold based on the humidity change in environmental parameters.

[0169] The second processing module 303 is used to compare the oxygen concentration judgment threshold with the real-time oxygen concentration, and issue a warning message when the real-time oxygen concentration is lower than the oxygen concentration judgment threshold.

[0170] Optionally, in one possible implementation, the first processing module 302 is further configured to:

[0171] The current oxygen concentration threshold is calculated based on the humidity change, preset judgment threshold, and preset compensation coefficient in the environmental parameters.

[0172] Alternatively, in one possible implementation, the acquisition module 301 is further configured to:

[0173] Oxygen concentration signals in the target environment are collected in real time at a preset frequency.

[0174] The oxygen concentration signal is filtered and converted to obtain the real-time oxygen concentration.

[0175] Real-time humidity parameters in the target environment are collected based on a preset frequency.

[0176] The humidity change is calculated based on the real-time humidity parameter value and the historical humidity parameter value collected previously.

[0177] Environmental parameters are obtained based on humidity changes and real-time oxygen concentration.

[0178] Alternatively, in one possible implementation, the acquisition module 301 is further configured to:

[0179] The oxygen concentration signal that is greater than or equal to the first preset frequency and less than or equal to the second preset frequency is determined as the target signal; wherein the second preset frequency is greater than the first preset frequency.

[0180] The real-time oxygen concentration is obtained by performing analog-to-digital conversion based on the target signal.

[0181] Optionally, in one possible implementation, the second processing module 303 is further configured to:

[0182] The system can detect the insulation status of the drainage robot in the target environment in real time and obtain the real-time leakage current intensity.

[0183] When the real-time leakage current intensity exceeds the preset threshold, the power supply to the drainage robot is cut off and an early warning message is issued.

[0184] Optionally, in one possible implementation, the second processing module 303 is further configured to:

[0185] When the warning information includes leakage current warning and oxygen concentration warning, the warning level is determined based on the leakage current intensity and oxygen concentration.

[0186] Based on the warning level, a corresponding warning strategy is determined, and warning information is issued based on the warning strategy.

[0187] The apparatus provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0188] Figure 4 A schematic diagram of the structure of the electronic device provided in this application. Figure 4 As shown, the electronic device provided in this embodiment includes at least one processor 401 and a memory 402. Optionally, the device further includes a communication component 403. The processor 401, memory 402, and communication component 403 are connected via a bus 404.

[0189] In the specific implementation process, at least one processor 401 executes computer execution instructions stored in memory 402, causing at least one processor 401 to execute the above-mentioned method or method for monitoring oxygen deficiency in drainage robots.

[0190] The specific implementation process of processor 401 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0191] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0192] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0193] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0194] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0195] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0196] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0197] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0198] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0199] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0200] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0201] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0202] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0203] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A method for monitoring oxygen deficiency in a flood drainage robot, characterized in that, include: The system collects environmental parameters of the target environment where the drainage robot is located in real time. The environmental parameters include the change in humidity of the target environment and the real-time oxygen concentration. When the ambient humidity increases, the change in humidity is positive, and when the ambient humidity decreases, the change in humidity is negative. Based on the humidity change in the environmental parameters, a current oxygen concentration threshold is generated. Based on a comparison between the oxygen concentration determination threshold and the real-time oxygen concentration, an early warning message is issued when the real-time oxygen concentration is lower than the oxygen concentration determination threshold.

2. The method according to claim 1, characterized in that, The step of generating the current oxygen concentration threshold based on the humidity change in the environmental parameters includes: The current oxygen concentration threshold is calculated based on the humidity change, preset judgment threshold, and preset compensation coefficient in the environmental parameters.

3. The method according to claim 1, characterized in that, The real-time collection of environmental parameters of the target environment where the drainage robot is located includes: Oxygen concentration signals in the target environment are collected in real time at a preset frequency. The oxygen concentration signal is filtered and converted to obtain the real-time oxygen concentration. Real-time humidity parameter values ​​in the target environment are collected based on the preset frequency; Based on the real-time humidity parameter value and the previously collected historical humidity parameter value, the humidity change is calculated. The environmental parameters are obtained based on the humidity change and the real-time oxygen concentration.

4. The method according to claim 3, characterized in that, The step of filtering and signal conversion processing the oxygen concentration signal to obtain the real-time oxygen concentration includes: The oxygen concentration signal that is greater than or equal to the first preset frequency and less than or equal to the second preset frequency is determined as the target signal; wherein the second preset frequency is greater than the first preset frequency; The real-time oxygen concentration is obtained by performing analog-to-digital conversion based on the target signal.

5. The method according to claim 1, characterized in that, The method further includes: The insulation status of the drainage robot in the target environment is detected in real time, and the real-time leakage current intensity is obtained. When the real-time leakage current intensity exceeds a preset threshold, the power supply of the drainage robot is cut off and an early warning message is issued.

6. The method according to any one of claims 1-5, characterized in that, The issuance of the warning information includes: When the warning information includes leakage current warning and oxygen concentration warning, the warning level is determined based on the leakage current intensity and oxygen concentration. Based on the warning level, a corresponding warning strategy is determined, and a warning message is issued based on the warning strategy.

7. A device for monitoring oxygen deficiency in a flood drainage robot, characterized in that, include: The acquisition module collects environmental parameters of the target environment where the drainage robot is located in real time. The environmental parameters include the humidity change of the target environment and the real-time oxygen concentration. When the ambient humidity increases, the humidity change is positive, and when the ambient humidity decreases, the humidity change is negative. The first processing module is used to generate the current oxygen concentration determination threshold based on the humidity change in the environmental parameters. The second processing module is used to compare the oxygen concentration determination threshold with the real-time oxygen concentration, and issue a warning message when the real-time oxygen concentration is lower than the oxygen concentration determination threshold.

8. An electronic device, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-6.

10. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method described in any one of claims 1-6.

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