Dangerous chemical leakage autonomous emergency disposal robot and system

Abstract

The invention relates to the technical field of dangerous chemical management, and provides an autonomous emergency disposal robot and system for dangerous chemical leakage. The system collects place data in real time and generates an early warning sequence through a distributed multi-mode sensing subsystem; dynamically generating a harmful gas diffusion equipotential surface prediction model and formulating a system-level intervention strategy by combining the digital twinning and emergency decision center with a physicochemical knowledge graph, a three-dimensional BIM model and a fluid mechanics diffusion deduction engine; the building facility joint control subsystem adjusts ventilation parameters according to the parameters to construct an aerodynamic negative pressure barrier; the autonomous emergency disposal robot serves as an execution tail end, and targeted intervention is implemented by means of modular release load. According to the invention, through linkage of system-level dynamic deduction and the building environment, the core problems of lack of dynamic prediction capability, high manual disposal risk and response lag in the prior art are effectively solved, unmanned accurate suppression of dangerous chemical leakage is realized, and the safety and engineering reliability of the disposal process are significantly improved.

Description

Technical Field

[0001] This invention relates to the field of hazardous chemical management technology, specifically to an autonomous emergency response robot and system for hazardous chemical leaks. Background Technology

[0002] Hazardous chemicals are those that possess dangerous properties such as toxicity, corrosiveness, explosiveness, and flammability, and may pose a threat to human health, facilities, and the environment. These substances pose high safety risks during use and storage; any accidents, such as leaks, caused by improper handling or inadequate supervision, can easily result in significant casualties and substantial economic losses.

[0003] In hazardous chemical application sites such as laboratories and chemical industrial parks, traditional emergency response to sudden leaks mainly relies on fixed passive ventilation or sprinkler systems and manual handling with protective equipment. This conventional approach has significant limitations. Fixed defense facilities cannot accurately detect the specific physicochemical properties of the leaked material, nor can they dynamically predict the diffusion trend of harmful gases in conjunction with real-time environmental wind fields. Consequently, it is difficult to implement precise active isolation at the physical and aerodynamic levels, easily leading to the spread of harmful gases to evacuation areas. In complex chemical hazardous areas, relying on rescue personnel to manually seal and neutralize leaks is not only slow in response but also exposes rescuers to extremely high risks of poisoning, corrosion, or secondary explosions. Existing conventional inspection equipment only has basic video monitoring capabilities and lacks the collaborative operational capabilities for system-level three-dimensional diffusion simulation, building environment monitoring, and autonomous targeted end-point treatment.

[0004] In summary, this invention provides an autonomous emergency response robot and system for hazardous chemical spills to solve the aforementioned problems. Summary of the Invention

[0005] This invention provides an autonomous emergency response robot and system for hazardous chemical leaks. Through system-level digital twin dynamic simulation, building environment joint control, and collaborative operation of the end-user robot, it solves the problems of existing technologies that lack dynamic prediction and active isolation capabilities for hazardous chemical leak sites, and that manual handling of dangerous situations carries a high risk of casualties and delayed response.

[0006] The specific technical solution of this invention is as follows:

[0007] An autonomous emergency response system for hazardous chemical spills includes:

[0008] The distributed multimodal sensing subsystem is deployed in hazardous chemical application sites to collect spatial environmental data, gas concentration gradient matrices and multispectral images in real time, and generate a spectral-spatial joint early warning sequence containing the initial physical coordinates of the leak source and the characteristics of the leaked material when an anomaly is detected.

[0009] The digital twin and emergency decision-making center communicates with the distributed multimodal perception subsystem and has a built-in knowledge graph of the physical and chemical properties of hazardous chemicals, a three-dimensional BIM model of the site, and a fluid dynamics diffusion simulation engine. The emergency decision-making center receives the joint early warning sequence, identifies the types of chemicals, and dynamically generates a predictive model of the equipotential surface of hazardous gas diffusion in the three-dimensional BIM model in combination with the real-time ventilation status, and generates a system-level emergency intervention strategy accordingly.

[0010] The building facility joint control subsystem is connected to the emergency decision-making center and is used to receive and execute environmental control commands in the system-level emergency intervention strategy. By dynamically adjusting the start and stop of exhaust fans and the opening of air valves in each smoke control zone in the site, an aerodynamic negative pressure barrier is constructed around the leak source to prevent the spread of harmful gases.

[0011] An autonomous emergency response robot is communicatively connected to the emergency decision-making center and is equipped with an explosion-proof driving chassis, a local obstacle avoidance module, and a modular release payload pre-loaded with a specific intervention medium. The autonomous emergency response robot receives macroscopic safety navigation waypoints and terminal release commands issued by the emergency decision-making center, travels to the target intervention position, and uses the modular release payload to physically cover or chemically neutralize the leakage source.

[0012] As an improvement to the present invention, the steps of the emergency decision-making center generating system-level emergency intervention strategies specifically include:

[0013] The properties of the identified chemicals are analyzed, and their critical toxicity values, explosion limits, and incompatibilities are extracted from the physicochemical knowledge graph.

[0014] Based on the equipotential surface prediction model for the diffusion of harmful gases and the extracted attribute parameters, dynamic lethal zone, dynamic severe danger zone and safe transition zone are divided in the three-dimensional BIM model.

[0015] Based on the defined regions, a macroscopic safe navigation waypoint sequence is calculated for the autonomous emergency response robot to avoid dynamic lethal zones and be located upwind of the leak source. At the same time, the type of intervention medium matching the chemical properties and the estimated release equivalent are specified.

[0016] As an improvement of the present invention, a robot standby base station is set up in the location, and multiple autonomous emergency response robots equipped with different intervention media are configured in the standby base station; when the emergency decision center generates a system-level emergency intervention strategy, it directly wakes up and schedules the autonomous emergency response robots equipped with the corresponding media to perform tasks according to the specified intervention media type, without requiring the robots to perform dynamic mixing and synthesis of media during the execution process.

[0017] As an improvement of the present invention, the building facility control subsystem, while constructing an aerodynamic negative pressure barrier, automatically locks the personnel access control that overlaps with the dynamic fatal zone and the dynamic severe danger zone according to the instructions of the emergency decision center, and unlocks the escape path indicator light strip leading to the safe transition zone, thus forming a strict physical isolation between the personnel evacuation path and the robot's reverse entry path.

[0018] As an improvement of the present invention, the system constitutes a closed-loop negative feedback regulation architecture; during the release task performed by the autonomous emergency response robot, the emergency decision center continuously receives real-time concentration decay data transmitted back by the distributed multimodal sensing subsystem; if the actual concentration decay rate is lower than the theoretical prediction rate of the fluid dynamics diffusion inference engine, the emergency decision center automatically issues a pressurization command to the building facility joint control subsystem to increase the negative pressure equivalent of a specific exhaust zone, and issues a correction command to the autonomous emergency response robot to increase the medium release flow rate.

[0019] As an improvement of the present invention, when identifying the phase state of the leaked material, the distributed multimodal sensing subsystem determines the leak mode as high-pressure gas injection, liquid pool spread or solid dust flying by fusing local abnormal temperature gradients obtained by infrared thermal imaging cameras, and incorporates the phase state tag into the joint early warning sequence.

[0020] An autonomous emergency response robot for hazardous chemical spills includes:

[0021] The airborne passive control unit is configured to maintain real-time communication with an external emergency decision-making center to parse the macro-safety navigation waypoints and terminal release commands issued by the emergency decision-making center.

[0022] Modular release load includes a servo flow control valve electrically connected to the airborne slave control unit and a single medium storage tank. The servo flow control valve is opened to perform targeted spraying according to the flow parameters in the end release command.

[0023] The micro-servo and obstacle avoidance module, including an explosion-proof binocular camera and a short-range lidar, is used to avoid unstructured obstacles such as temporary spills while traveling along macro-safe navigation waypoints, and after reaching the target intervention position, it identifies the micro-geometric center of the leak point and guides the modular release load to align with the leak source.

[0024] As an improvement of the present invention, the airborne slave control unit has a built-in dynamic windward angle hard constraint algorithm based on local meteorological feedback; during the execution of the end release command, the airborne slave control unit collects the local micro-environmental wind vector through the micro-anemometer on the robot body, and forces the orientation of the explosion-proof driving chassis and the injection axis of the modular release load to be adjusted against the wind direction, so as to prevent the robot body from entering the medium backflow area caused by itself or being enveloped by harmful gases.

[0025] As an improvement of the present invention, the nozzle end of the modular release load is integrated with an electrically controlled variable diameter guide shroud; the airborne driven control unit adjusts the electrically controlled variable diameter guide shroud according to the phase label included in the end release command: when the phase label is liquid pool spread, it is adjusted to a wide-angle low-pressure umbrella-shaped flow pattern to implement large-area coverage; when the phase label is high-pressure gas injection, it is adjusted to a focused high-pressure direct jet flow pattern to penetrate the peripheral aerosol and reach the core of the leakage source.

[0026] As an improvement of the present invention, the robot is equipped with a degradation and disconnection self-protection module; when the wireless communication link between the robot and the emergency decision-making center is interrupted due to on-site explosion-proof shielding or extreme interference and exceeds the safe heartbeat cycle, the on-board passive control unit takes over the underlying driving authority, terminates all offensive spraying behaviors, retrieves the most recent effective trajectory stored locally, and controls the explosion-proof driving chassis to retreat along the original trajectory to the communication recovery area or exit the leakage area.

[0027] In this invention, the distributed multimodal sensing subsystem, in its specific implementation, can consist of an array-deployed explosion-proof photoionization detector (PID), an electrochemical gas sensor network, and a pan-tilt-zoom infrared / hyperspectral composite camera. Each sensing node rapidly aggregates the underlying physical data with timestamps and spatial codes to the edge gateway via an explosion-proof 5G or industrial wireless mesh network, thereby ensuring the real-time performance and high accuracy of spatial environment data and gas concentration gradients.

[0028] In this invention, the digital twin and emergency decision-making center rely on a locally deployed high-computing-power explosion-proof edge server cluster. Its built-in physicochemical knowledge graph is a relational database covering thousands of Safety Data Sheets (SDS) for common hazardous chemicals. During calculations, the fluid dynamics diffusion simulation engine considers not only macroscopic wind speed and direction but also physical boundaries in the BIM model (such as wall structures and shelving obstructions) and the local temperature field obtained from infrared thermal imaging to solve the computational fluid dynamics model, thereby achieving high-fidelity prediction of diffusion equipotential surfaces.

[0029] In this invention, the hardware of the building facility control subsystem relies on a programmable logic controller (PLC) control network. After receiving instructions from the decision center, the PLC directly controls the frequency converter (VFD) of the exhaust fan unit to steplessly adjust the exhaust volume and controls the opening of the electric fire damper, thereby accurately forming a local negative pressure trap around the leakage source. The linkage between the access control and the escape indicator light strip is achieved by directly connecting to the existing fire safety control board of the site through a low-voltage interface.

[0030] In this invention, the explosion-proof chassis of the autonomous emergency response robot is externally coated with corrosion-resistant stainless steel or special alloy anti-static spraying material. The chassis walking mechanism can be equipped with omnidirectional microphone wheels or anti-slip flame-retardant tracks depending on the road conditions of the application site. All internal electrical circuits adopt intrinsically safe or explosion-proof sealed designs. The short-range lidar and explosion-proof binocular camera in the micro-servo and obstacle avoidance module, after joint physical calibration, can not only identify unstructured obstacles but also extract the depth three-dimensional information of leaking valves and pipe cracks under smoke or water vapor interference to achieve precise aiming of the robotic arm.

[0031] In this invention, the modular release load adopts a standardized quick-release interface design. Its single-medium storage chamber can be driven by physical back pressure using pre-filled high-pressure inert gas (such as nitrogen), ensuring high-pressure injection can be achieved in environments with stringent explosion-proof requirements without relying on high-power electric booster pumps that are prone to sparking. The electrically controlled variable-diameter guide vane contains mechanical guide vanes driven by an explosion-proof precision stepper motor. By physically changing the flow channel cross-sectional area and jet angle, it achieves continuous switching of the physical flow pattern from large-area atomization coverage to high-pressure direct-current water column penetration, comprehensively improving the practical strike efficiency under different leakage phases.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] 1. This invention, through an emergency decision-making center combined with 3D BIM and fluid dynamics simulation, can predict the diffusion equipotential surface of toxic and harmful gases in real time, and coordinate with building facilities to construct local aerodynamic negative pressure barriers and personnel isolation zones. This system-level joint control strategy of proactive defense and physical isolation effectively prevents dangerous gases from spreading to densely populated areas, fundamentally eliminating the safety hazards caused by blind evacuation and manual emergency repairs.

[0034] 2. This invention, by configuring a standby base station for the robot to perform modular scheduling of specific media, removes the burden of complex proportioning calculations on the robot in extreme environments, greatly improving the engineering reliability of the system. At the same time, the robot has dynamic windward angle constraints based on local airflow, variable flow targeted spraying for leakage phases, and disconnection degradation self-protection functions, ensuring that the execution unit can achieve unmanned and precise containment with high fault tolerance and high survival rate in complex, explosive, and highly interfering chemical disaster sites. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the overall process of the present invention.

[0036] Figure 2This is a schematic diagram of the autonomous emergency response robot of the present invention. As the end effector of the system, this autonomous emergency response robot adopts a fully enclosed explosion-proof design. Its bottom is equipped with a tracked explosion-proof chassis for performing mobile tasks in complex environments containing chemical obstacles. An integrated sensing mast is mounted on top of the robot body. An explosion-proof binocular camera and short-range LiDAR at its top constitute a micro-servo and obstacle avoidance module, responsible for identifying the micro-geometric center of the leak point and guiding the load alignment. A micro-anemometer extending laterally from the mast is used to collect local environmental wind vectors in real time, supporting the onboard driven control unit in executing a dynamic windward angle hard constraint algorithm. A multi-degree-of-freedom robotic arm is connected to the front of the robot body. Its end effector carries a modular release load via a standardized quick-release interface. The load body includes a single-medium storage chamber and a connected servo flow control valve for targeted spraying based on the flow parameters in the end-effector release command. The front end of the load is equipped with an electronically controlled variable diameter flow guide. This device can dynamically switch from a wide-angle low-pressure umbrella-shaped flow pattern that adapts to the spread of liquid pools to a focused high-pressure direct jet flow pattern that adapts to high-pressure gas jets by adjusting the physical posture of the internal mechanical structure according to the phase label in the command. This allows for precise targeted intervention of various hazardous chemical leak sources in an unmanned environment. Detailed Implementation

[0037] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0038] like Figure 1-2 As shown, the present invention provides an autonomous emergency response system for hazardous chemical spills, comprising:

[0039] The distributed multimodal sensing subsystem is deployed in hazardous chemical application sites to collect spatial environmental data, gas concentration gradient matrices and multispectral images in real time, and generate a spectral-spatial joint early warning sequence containing the initial physical coordinates of the leak source and the characteristics of the leaked material when an anomaly is detected.

[0040] The digital twin and emergency decision-making center communicates with the distributed multimodal perception subsystem and has a built-in knowledge graph of the physical and chemical properties of hazardous chemicals, a 3D BIM model of the site, and a fluid dynamics diffusion simulation engine. The emergency decision-making center receives joint early warning sequences, identifies chemical types, and dynamically generates a predictive model of the equipotential surface of hazardous gas diffusion in the 3D BIM model in combination with real-time ventilation status, and generates a system-level emergency intervention strategy based on this model.

[0041] The building facilities control subsystem is connected to the emergency decision-making center and is used to receive and execute environmental control instructions in the system-level emergency intervention strategy. By dynamically adjusting the start and stop of exhaust fans and the opening of air valves in each smoke control zone in the site, it constructs an aerodynamic negative pressure barrier around the leak source to prevent the spread of harmful gases.

[0042] The autonomous emergency response robot communicates with the emergency decision-making center and is equipped with an explosion-proof driving chassis, a partial obstacle avoidance module, and a modular release payload pre-loaded with a specific intervention medium. The autonomous emergency response robot receives macro-safety navigation waypoints and terminal release commands issued by the emergency decision-making center, travels to the target intervention position, and uses the modular release payload to physically cover or chemically neutralize the leak source.

[0043] The specific steps involved in generating system-level emergency intervention strategies by the emergency decision-making center include:

[0044] The properties of the identified chemicals are analyzed, and their critical toxicity values, explosion limits, and incompatibilities are extracted from the physicochemical knowledge graph.

[0045] Based on the equipotential surface prediction model for the diffusion of harmful gases and the extracted attribute parameters, dynamic lethal zone, dynamic severe hazard zone and safe transition zone are divided in the 3D BIM model.

[0046] Based on the defined regions, a macroscopic safe navigation waypoint sequence is calculated for the autonomous emergency response robot to avoid dynamic lethal zones and be located upwind of the leak source. At the same time, the type of intervention medium matching the chemical properties and the estimated release equivalent are specified.

[0047] The facility is equipped with robot standby base stations, each containing multiple autonomous emergency response robots carrying different intervention media. When generating system-level emergency intervention strategies, the emergency decision-making center directly wakes up and dispatches the autonomous emergency response robots carrying the corresponding media to perform tasks based on the specified intervention media type, without requiring the robots to dynamically mix and synthesize the media during execution.

[0048] While constructing an aerodynamic negative pressure barrier, the building facility control subsystem automatically locks personnel access control doors that overlap with dynamic fatal zones and dynamic severe danger zones according to the instructions of the emergency decision-making center, and unlocks the escape path indicator lights leading to the safe transition zone, forming a strict physical isolation between personnel evacuation paths and robot reverse entry paths.

[0049] The system forms a closed-loop negative feedback regulation architecture. During the release mission of the autonomous emergency response robot, the emergency decision center continuously receives real-time concentration decay data transmitted back by the distributed multimodal sensing subsystem. If the actual concentration decay rate is lower than the theoretical prediction rate of the fluid dynamics diffusion simulation engine, the emergency decision center automatically issues a pressurization command to the building facility joint control subsystem to increase the negative pressure equivalent of a specific exhaust zone, and issues a correction command to the autonomous emergency response robot to increase the medium release flow rate.

[0050] When identifying the phase state of the leaked material, the distributed multimodal sensing subsystem determines the leak mode as high-pressure gas injection, liquid pool spread, or solid dust flight by fusing local abnormal temperature gradients obtained from infrared thermal imaging cameras, and incorporates the phase state tag into the joint early warning sequence.

[0051] This invention also provides an autonomous emergency response robot for hazardous chemical spills, comprising:

[0052] The airborne passive control unit is configured to maintain real-time communication with an external emergency decision-making center to parse the macro-safety navigation waypoints and terminal release commands issued by the emergency decision-making center.

[0053] Modular release payload, including a servo flow control valve electrically connected to the airborne slave control unit and a single medium storage tank, opens the servo flow control valve for targeted spraying according to the flow parameters in the end release command;

[0054] The micro-servo and obstacle avoidance module, including an explosion-proof binocular camera and a short-range lidar, is used to avoid unstructured obstacles such as temporary spills while traveling along macro-safe navigation waypoints, and after reaching the target intervention position, it identifies the micro-geometric center of the leak point and guides the modular release load to align with the leak source.

[0055] The airborne slave control unit has a built-in dynamic windward angle hard constraint algorithm based on local meteorological feedback. During the execution of the end-release command, the airborne slave control unit collects the local micro-environmental wind vector through the micro-anemometer on the robot body, and forces the orientation of the explosion-proof driving chassis and the injection axis of the modular release load to be adjusted against the wind direction, so as to prevent the robot body from entering the medium backflow area caused by itself or being enveloped by harmful gases.

[0056] The nozzle end of the modular release load is integrated with an electronically controlled variable diameter guide shroud; the airborne driven control unit adjusts the electronically controlled variable diameter guide shroud according to the phase label contained in the end release command: when the phase label is liquid pool spread, it is adjusted to a wide-angle low-pressure umbrella-shaped flow pattern to implement large-area coverage; when the phase label is high-pressure gas injection, it is adjusted to a focused high-pressure direct jet flow pattern to penetrate the peripheral aerosol and reach the core of the leak source.

[0057] The robot is equipped with a degradation and disconnection self-protection module; when the wireless communication link between the robot and the emergency decision-making center is interrupted due to on-site explosion-proof shielding or extreme interference and exceeds the safe heartbeat cycle, the on-board passive control unit takes over the underlying driving authority, terminates all aggressive spraying behavior, retrieves the most recent effective trajectory stored locally, and controls the explosion-proof driving chassis to retreat along the original trajectory to the communication recovery area or exit the leakage area.

[0058] Example 1: In a real-world operation scenario at a fine chemical laboratory, a minor rupture occurred in the valve of a storage tank containing toluene solvent. A distributed multimodal sensing subsystem deployed on-site quickly intervened. Its array-deployed photoionization detectors captured a rapid increase in the concentration of volatile organic compounds (VOCs) in the air from a baseline of 0.03 ppm to 137.6 ppm within 4.2 seconds. Simultaneously, a pan-tilt-zoom infrared composite camera detected an abnormally low temperature gradient at the valve caused by the endothermic evaporation of liquid toluene, with the center temperature plummeting from room temperature (24.1 degrees Celsius) to 19.9 degrees Celsius.

[0059] The multimodal sensing subsystem fuses the aforementioned multi-source heterogeneous data to generate a joint spectral spatial early warning sequence that includes spatial three-dimensional physical coordinates and characteristics of the liquid pool's spreading phase. Upon receiving this sequence, the digital twin and emergency decision-making center immediately retrieves the critical toxicity value and lower explosion limit of toluene from its built-in physicochemical knowledge graph and accesses the current real-time ventilation status of the laboratory.

[0060] Relying on a fluid dynamics diffusion simulation engine, the decision-making center, in conjunction with an indoor micro-wind speed of 0.8 m / s, calculated the spatiotemporal diffusion equipotential surface of harmful gases in a 3D BIM model. Based on this, the laboratory interior and connecting corridors were divided into a dynamic lethal zone, a dynamic severely hazardous zone, and a safe transition zone. Subsequently, the decision-making center issued environmental control commands to the building facilities control subsystem. The building facilities control subsystem automatically increased the inverter operating frequency of the exhaust fan at the top of the severely hazardous zone from the silent state of 15.0 Hz to 46.5 Hz, precisely constructing an aerodynamic negative pressure barrier around the leak source to prevent harmful gases from spreading into the corridor; at the same time, it physically locked the access control system to the lethal zone and illuminated the escape lights pointing to the safe transition zone, achieving dual physical and fluid isolation of the hazardous area.

[0061] Example 2: Following the early warning and isolation status of Example 1, the digital twin and emergency decision-making center, based on the physicochemical properties of toluene, plans a macroscopic safety navigation waypoint sequence for the robot that avoids the dynamic lethal zone and is located upwind of the leak source, and specifies the use of alcohol-resistant foam as the intervention medium. Upon receiving the dispatch signal, the robot standby base station within the site directly wakes up the autonomous emergency response robot pre-loaded with this medium.

[0062] As the robot moves towards the target intervention location, its onboard slave control unit reads real-time data from the micro-anemometer onboard the robot. At this point, the measured local micro-environmental wind speed is 1.1 meters per second, and the wind direction azimuth is 114 degrees. The onboard slave control unit executes a dynamic windward angle hard constraint algorithm, forcing the explosion-proof chassis to adjust its yaw angle to 294 degrees, ensuring the robot remains within the side-upwind fan-shaped safety zone of the leak source. When the robot reaches a distance of 3.85 meters from the leak source, the explosion-proof binocular camera in the micro-servo and obstacle avoidance module extracts the geometric center coordinates of the liquid pool on the ground, guiding the injection axis of the modular release load for spatial alignment.

[0063] Because the received phase tag indicated liquid pool spread, the onboard driven control unit deflected the mechanical blades inside the electronically controlled variable-diameter guide shroud, adjusting the jet flow pattern to a wide-angle, low-pressure umbrella-shaped flow pattern. Subsequently, the servo flow control valve was activated, utilizing the 12.5 MPa high-pressure inert nitrogen pre-filled inside the single-medium storage tank as back pressure, to uniformly spray and cover the liquid pool surface with alcohol-resistant foam at a flow rate of 12.4 liters per minute. At the 45-second mark of spraying, the simulated robot experienced a wireless communication link interruption with the decision-making center due to strong electromagnetic shielding at the site. When the communication interruption lasted 5.5 seconds and exceeded the set safety heartbeat cycle, the degradation disconnection self-protection module immediately took over the underlying drive authority, automatically closed the servo flow control valve to stop spraying, and controlled the explosion-proof chassis to reverse along the original safe trajectory to the communication recovery zone 2.5 meters away, ensuring the safety of the core equipment.

[0064] Example 3: In a sudden emergency situation in an ammonia refrigeration workshop, the distributed multimodal sensing subsystem detected that the ammonia concentration was rapidly diffusing into outer space in a jet-like manner, with the initial peak concentration instantly reaching 412.8 ppm, and generated an early warning sequence with a high-pressure gas jet phase tag. The digital twin and emergency decision-making center determined through fluid dynamics simulation that the diffusion rate was extremely fast, and then activated the autonomous emergency response robot equipped with an acid neutralizing agent in the standby base station.

[0065] The robot, protected by an extreme negative pressure barrier constructed by the building facility's integrated control subsystem, entered the heavily hazardous area. Since the phase label indicated high-pressure gas injection, after the robot arrived at the intervention position, the onboard driven control unit adjusted the electronically controlled variable diameter guide shroud to a focused high-pressure direct jet pattern, precisely injecting the acid neutralizing agent into the core injection port of the damaged flange at an initial flow rate of 15.2 liters per minute.

[0066] During this release mission, the system formed a closed-loop negative feedback control architecture. The distributed multimodal sensing subsystem transmitted real-time ammonia concentration decay data of the surrounding area back to the emergency decision-making center at a high frequency of 10 times per second. The simulation engine compared the data in real time and found that due to the complex building eddies on site, the actual concentration after 1 minute of treatment only dropped to 356.4 ppm, significantly lower than the theoretically predicted decay rate of 210.5 ppm. The decision-making center immediately made dynamic corrections. On the one hand, it automatically issued a pressurization command to the building facility control subsystem, increasing the frequency of the inverters of the exhaust fans in the surrounding smoke control zones to 62.5 Hz to effectively extract the remaining gas. On the other hand, it issued a correction command to the autonomous emergency response robot, instructing its onboard driven control unit to further expand the opening of the servo flow control valve, causing the release flow rate of the acid neutralizer to jump to 28.7 liters per minute. Through closed-loop dynamic coordination and feedback adjustment of the system, the concentration of toxic gas on site dropped sharply in the following 120 seconds, eventually falling back below the safe baseline of 21.3 ppm. The system then lifted the alarm and generated an electronic log of the entire emergency response process.

[0067] The embodiments of the present invention are given for the purposes of illustration and description. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A self-reliant emergency response system for hazardous chemical leaks, characterized in that, include: The distributed multimodal sensing subsystem is deployed in hazardous chemical application sites to collect spatial environmental data, gas concentration gradient matrices and multispectral images in real time, and generate a spectral-spatial joint early warning sequence containing the initial physical coordinates of the leak source and the characteristics of the leaked material when an anomaly is detected. The digital twin and emergency decision-making center communicates with the distributed multimodal perception subsystem and has a built-in knowledge graph of the physical and chemical properties of hazardous chemicals, a three-dimensional BIM model of the site, and a fluid dynamics diffusion simulation engine. The emergency decision-making center receives the joint early warning sequence, identifies the types of chemicals, and dynamically generates a predictive model of the equipotential surface of hazardous gas diffusion in the three-dimensional BIM model in combination with the real-time ventilation status, and generates a system-level emergency intervention strategy accordingly. The building facility joint control subsystem is connected to the emergency decision-making center and is used to receive and execute environmental control commands in the system-level emergency intervention strategy. By dynamically adjusting the start and stop of exhaust fans and the opening of air valves in each smoke control zone in the site, an aerodynamic negative pressure barrier is constructed around the leak source to prevent the spread of harmful gases. An autonomous emergency response robot is communicatively connected to the emergency decision-making center and is equipped with an explosion-proof driving chassis, a local obstacle avoidance module, and a modular release payload pre-loaded with a specific intervention medium. The autonomous emergency response robot receives macroscopic safety navigation waypoints and terminal release commands issued by the emergency decision-making center, travels to the target intervention position, and uses the modular release payload to physically cover or chemically neutralize the leakage source.

2. The autonomous emergency response system for hazardous chemical leaks according to claim 1, characterized in that, The steps involved in generating a system-level emergency intervention strategy by the emergency decision-making center specifically include: The properties of the identified chemicals are analyzed, and their critical toxicity values, explosion limits, and incompatibilities are extracted from the physicochemical knowledge graph. Based on the equipotential surface prediction model for the diffusion of harmful gases and the extracted attribute parameters, dynamic lethal zone, dynamic severe danger zone and safe transition zone are divided in the three-dimensional BIM model. Based on the defined regions, a macroscopic safe navigation waypoint sequence is calculated for the autonomous emergency response robot to avoid dynamic lethal zones and be located upwind of the leak source. At the same time, the type of intervention medium matching the chemical properties and the estimated release equivalent are specified.

3. The autonomous emergency response system for hazardous chemical leaks according to claim 2, characterized in that, The location is equipped with a robot standby base station, which contains multiple autonomous emergency response robots, each equipped with different intervention media. When generating a system-level emergency intervention strategy, the emergency decision-making center directly wakes up and schedules the autonomous emergency response robots equipped with the corresponding media to perform the task based on the specified intervention media type, without requiring the robots to dynamically mix and synthesize the media during the execution process.

4. The autonomous emergency response system for hazardous chemical leaks according to claim 2, characterized in that, While constructing an aerodynamic negative pressure barrier, the building facility control subsystem automatically locks personnel access control doors that overlap with dynamic fatal zones and dynamic severe danger zones according to the instructions of the emergency decision-making center, and unlocks the escape path indicator lights leading to the safe transition zone, thus forming a strict physical isolation between personnel evacuation paths and robot reverse entry paths.

5. The autonomous emergency response system for hazardous chemical leaks according to claim 1, characterized in that, The system constitutes a closed-loop negative feedback regulation architecture. During the release task performed by the autonomous emergency response robot, the emergency decision center continuously receives real-time concentration decay data transmitted back by the distributed multimodal sensing subsystem. If the actual concentration decay rate is lower than the theoretical prediction rate of the fluid dynamics diffusion simulation engine, the emergency decision center automatically issues a pressurization command to the building facility joint control subsystem to increase the negative pressure equivalent of a specific exhaust zone, and issues a correction command to the autonomous emergency response robot to increase the medium release flow rate.

6. The autonomous emergency response system for hazardous chemical leaks according to claim 1, characterized in that, When identifying the phase state of the leaked material, the distributed multimodal sensing subsystem determines the leak mode as high-pressure gas injection, liquid pool spread, or solid dust flight by fusing local abnormal temperature gradients obtained from an infrared thermal imaging camera, and incorporates the phase state tag into the joint early warning sequence.

7. An autonomous emergency response robot for hazardous chemical leaks, characterized in that, include: The airborne passive control unit is configured to maintain real-time communication with an external emergency decision-making center to parse the macro-safety navigation waypoints and terminal release commands issued by the emergency decision-making center. Modular release load includes a servo flow control valve electrically connected to the airborne slave control unit and a single medium storage tank. The servo flow control valve is opened to perform targeted spraying according to the flow parameters in the end release command. The micro-servo and obstacle avoidance module, including an explosion-proof binocular camera and a short-range lidar, is used to avoid unstructured obstacles such as temporary spills while traveling along macro-safe navigation waypoints, and after reaching the target intervention position, it identifies the micro-geometric center of the leak point and guides the modular release load to align with the leak source.

8. The autonomous emergency response robot for hazardous chemical leaks according to claim 7, characterized in that, The airborne slave control unit has a built-in dynamic windward angle hard constraint algorithm based on local meteorological feedback. During the execution of the end-release command, the airborne slave control unit collects the local micro-environmental wind vector through the micro-anemometer on the robot body, and forces the orientation of the explosion-proof chassis and the injection axis of the modular release load to be adjusted against the wind direction, so as to prevent the robot body from entering the medium backflow area caused by itself or being enveloped by harmful gases.

9. The autonomous emergency response robot for hazardous chemical leaks according to claim 7, characterized in that, The nozzle end of the modular release load is integrated with an electronically controlled variable diameter guide shroud; the airborne driven control unit adjusts the electronically controlled variable diameter guide shroud according to the phase label included in the end release command: when the phase label is liquid pool spread, it is adjusted to a wide-angle low-pressure umbrella-shaped flow pattern to implement large-area coverage; when the phase label is high-pressure gas injection, it is adjusted to a focused high-pressure direct jet flow pattern to penetrate the peripheral aerosol and reach the core of the leakage source.

10. The autonomous emergency response robot for hazardous chemical leaks according to claim 7, characterized in that, The robot is equipped with a degradation and disconnection self-protection module; when the wireless communication link between the robot and the emergency decision-making center is interrupted due to on-site explosion-proof shielding or extreme interference and exceeds the safe heartbeat cycle, the on-board passive control unit takes over the underlying driving authority, terminates all offensive spraying behaviors, retrieves the most recent effective trajectory stored locally, and controls the explosion-proof driving chassis to retreat along the original trajectory to the communication recovery area or exit the leakage area.

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