Environmental monitoring method and monitoring vehicle

Abstract

This application relates to the field of environmental monitoring technology, and discloses an environmental monitoring method and a monitoring vehicle. The environmental monitoring method is implemented through a monitoring system, which includes a host computer and a monitoring vehicle. The environmental monitoring method includes: the host computer controlling the monitoring vehicle to cruise along a cruise route within a cruise area; the monitoring vehicle collecting surrounding environmental parameters; and the host computer acquiring environmental parameters and the location parameters of each monitoring vehicle in real time. The monitoring vehicle can cruise along a cruise route within the cruise area, enabling better coverage of different locations within the cruise area and reducing monitoring blind spots. The monitoring vehicle can approach or even reach the location of pollution sources, thereby eliminating the impact of the complex flow field environment of the material storage yard on monitoring, and monitoring changes in environmental parameters more promptly. The host computer performs comprehensive analysis of environmental and location parameters, thereby enabling timely and accurate identification of risk points in the material storage yard, helping to ensure that the outdoor production environment meets requirements.

Description

Technical Field

[0001] This application relates to the field of environmental monitoring technology, specifically to environmental monitoring methods and monitoring vehicles. Background Technology

[0002] Some production processes of photovoltaic modules (such as open-air storage of silicon / graphite boats and outdoor reliability testing of photovoltaic modules) are carried out outdoors. Outdoor environmental conditions can significantly affect the production quality of products, so it is necessary to monitor the outdoor production environment.

[0003] Some related technologies set up environmental monitoring stations in material storage yards. However, environmental monitoring stations can only cover a local area around the monitoring station. Outdoor material storage yards and other similar scenarios typically cover an area of ​​500-2000㎡, which can easily lead to blind spots in monitoring. Furthermore, the accumulation of materials in the material storage yard complicates the flow field, and the time it takes for pollutants to spread to the environmental monitoring station is uncertain, which can easily lead to monitoring delays. As a result, it is impossible to detect and deal with the risk points in the material storage yard in a timely manner. Summary of the Invention

[0004] This application provides an environmental monitoring method and a monitoring vehicle to address the problems of blind spots and monitoring delays that easily occur in environmental monitoring.

[0005] In a first aspect, this application provides an environmental monitoring method, which is implemented through a monitoring system including a host computer and a monitoring vehicle. The environmental monitoring method includes: the host computer controlling the monitoring vehicle to cruise along a cruise route within a cruise area; the monitoring vehicle collecting surrounding environmental parameters; and the host computer acquiring the environmental parameters and the position parameters of each monitoring vehicle in real time.

[0006] Beneficial effects: The monitoring vehicle can cruise along the patrol route within the patrol area, enabling better coverage of different locations within the patrol area and reducing blind spots. The monitoring vehicle can approach or even reach the location of the pollution source, thereby eliminating the impact of the complex flow field environment of the material stockpile on monitoring, and monitoring changes in environmental parameters more promptly. The host computer performs comprehensive analysis of environmental and location parameters, which can promptly and accurately identify risk points in the material stockpile, helping to ensure that the outdoor production environment meets the requirements.

[0007] In one optional implementation, the environmental monitoring method further includes: the monitoring vehicle sensing the surrounding scene in real time; when an obstacle is detected on the cruise route, the monitoring vehicle judging the obstacle; if the obstacle is in motion, the monitoring vehicle suspends cruise and waits for the obstacle to leave before continuing cruise; if the obstacle is stationary, the monitoring vehicle circles around the edge of the obstacle before continuing cruise.

[0008] Beneficial effects: In areas where there are stockpiles of materials, as well as construction machinery and workers transporting materials, the monitoring vehicle can sense the type of obstacle and take targeted obstacle avoidance measures accordingly, thereby ensuring that the monitoring vehicle can reliably complete the patrol process.

[0009] In one optional implementation, the monitoring vehicle collects surrounding environmental parameters, including: an environmental monitoring sensor collects the environmental parameters at a pre-configured first frequency; and an air pump drives a nozzle to blow on the environmental monitoring sensor at a pre-configured second frequency.

[0010] Beneficial effects: By equipping the vehicle with a purging function, the monitoring vehicle can promptly remove dust that settles on the surface of the environmental monitoring sensors during outdoor travel, ensuring the accuracy of environmental parameter monitoring and improving the reliability of the monitoring vehicle in harsh working environments.

[0011] In one optional implementation, the host computer controls the monitoring vehicle to cruise along a cruise route within the cruise area, including: the host computer dividing the cruise area according to pre-configured scene information and the number of monitoring vehicles, and assigning a corresponding monitoring vehicle to each cruise area; the host computer determining the cruise route according to the cruise area; and the host computer issuing cruise commands to the monitoring vehicles according to the cruise route, controlling multiple monitoring vehicles to cruise within their respective corresponding cruise areas.

[0012] Beneficial effects: Material storage yards often occupy a large area. By dividing the material storage yard into multiple patrol zones and using multiple monitoring vehicles to monitor the environment in parallel, patrol efficiency can be improved, and potential risk points can be detected more promptly.

[0013] In one optional implementation, the environmental parameters include pollutant concentration, and the environmental monitoring method further includes: when the pollutant concentration exceeds the standard, the monitoring system issues a first early warning signal; the host computer marks the monitoring vehicle with the pollutant concentration exceeding the standard and at least one other monitoring vehicle as an emergency monitoring vehicle; the host computer issues a first emergency command to the emergency monitoring vehicle, controlling the emergency monitoring vehicle to monitor along its respective emergency monitoring route; and the host computer determines the pollution source based on the location parameters and the environmental parameters.

[0014] Beneficial effects: By suspending patrols when pollutant levels are detected to exceed limits and selecting at least two emergency monitoring vehicles to trace the pollution source along different emergency monitoring routes, the location of the pollution source can be determined more efficiently by combining the location parameters and environmental parameters of multiple emergency monitoring vehicles, thereby enabling timely detection and handling of risk points in material storage yards.

[0015] In one optional implementation, the environmental parameters include precipitation, and the environmental monitoring method further includes: when precipitation exceeds the standard, the monitoring system issues a second warning signal to remind the user to suspend outdoor operations, the speed of the monitoring vehicle is reduced to a safe speed, the photovoltaic panels of the monitoring vehicle are adjusted to be horizontal, and photovoltaic power supply is suspended; when the precipitation ends, the monitoring system cancels the second warning signal, blows the sensors of the monitoring vehicle, adjusts the photovoltaic panels to face the direction of sunlight, and restores photovoltaic power supply.

[0016] Beneficial effects: When precipitation exceeds the standard, the monitoring vehicle slows down and stops photovoltaic power supply, which plays a safety protection role and avoids accidents such as overturning and short circuits. After the precipitation ends, the monitoring vehicle is blown to remove rainwater that may be attached to the sensor surface, thereby reducing the impact of rainfall on the monitoring accuracy.

[0017] Secondly, this application also provides a monitoring vehicle for implementing the environmental monitoring method of this application, comprising: a vehicle body, a positioning component, a monitoring component, a communication component, and a power supply component. The vehicle body includes a monitoring cabinet and a chassis. The monitoring cabinet is disposed on the chassis. The positioning component is disposed on the monitoring cabinet and includes a satellite locator and an obstacle avoidance sensor. The monitoring component is disposed on the monitoring cabinet and includes an environmental monitoring sensor. The communication component is disposed on the monitoring cabinet and includes a wireless communication unit. The power supply component is disposed on the monitoring cabinet and includes an energy storage battery. The power supply component is electrically connected to the vehicle body, the positioning component, and the monitoring component.

[0018] Beneficial effects: The monitoring vehicle is used to implement the environmental monitoring method of this application, and therefore has the beneficial effects brought about by the environmental monitoring method, which will not be elaborated here.

[0019] In one alternative implementation, the power supply assembly further includes a photovoltaic panel located on top of the monitoring cabinet.

[0020] Beneficial effects: The monitoring vehicle can use photovoltaic panels for power, thereby increasing the vehicle's endurance, reducing the recharge frequency, and improving the monitoring coverage.

[0021] In one alternative embodiment, the power supply assembly further includes a plurality of lifting rods, each of which is spaced apart on the top of the monitoring cabinet, and the photovoltaic panel is omnidirectionally connected to the lifting rods.

[0022] Beneficial effects: By adjusting the height of each lifting rod, the orientation and pitch angle of the photovoltaic panels can be changed, thereby making the photovoltaic panels face the sun during the journey, improving the power generation capacity of the photovoltaic panels, and increasing the endurance of the monitoring vehicle.

[0023] In one alternative embodiment, a purging assembly is also included, the purging assembly comprising an air pump and a nozzle connected to the air pump and directed toward the environmental monitoring sensor.

[0024] Beneficial effects: By purging the environmental monitoring sensor with the purging component, dust can be prevented from settling on the surface of the environmental monitoring sensor, and rainwater adhering to the surface of the environmental monitoring sensor after rain can be removed in time, ensuring that the environmental monitoring sensor can operate normally. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0026] Figure 1 This is a flowchart illustrating an environmental monitoring method according to an embodiment of this application;

[0027] Figure 2 This is a schematic diagram of the structure of a monitoring vehicle according to an embodiment of this application; Figure 3 for Figure 1 A front view structural schematic diagram of the monitoring vehicle in the embodiment.

[0028] Explanation of reference numerals in the attached figures: 101. Monitoring cabinet; 102. Chassis; 2. Monitoring components; 3. Communication components; 401. Energy storage battery; 402. Photovoltaic panel; 403. Lifting pole. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0030] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "a," "an," and "comprising" as used herein may also mean including the plural forms. The terms "comprising," "including," and "having" are inclusive and therefore indicate the presence of the stated features, elements, and / or components, but do not exclude the presence or addition of one or more other features, elements, components, and / or combinations thereof.

[0031] Although terms such as "first," "second," etc., may be used in this document to describe multiple elements, components, regions, layers, and / or sections, these elements, components, regions, layers, and / or sections should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or section from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Furthermore, in the description of this application, unless otherwise expressly specified and limited, the terms "set up" and "connected" should be interpreted broadly; for example, they may refer to a fixed connection, a detachable connection, or an integral connection; they may refer to a direct connection or an indirect connection via an intermediate medium. Those skilled in the art will understand the specific meaning of the above terms in this application based on the specific circumstances.

[0032] In the photovoltaic cell production process, environmental parameters in outdoor stages (such as open-air storage of silicon / graphite boats, outdoor reliability testing of modules, and monitoring of factory exhaust emissions) directly affect the quality of raw materials, the accuracy of product testing, and the safety of the surrounding environment. Related technologies monitor environmental parameters through environmental monitoring stations, but these methods suffer from drawbacks such as numerous monitoring blind spots and monitoring delays.

[0033] Specifically, taking a material storage yard for temporary silicon material as an example, the handling of silicon material easily generates dust. If not dealt with in a timely manner, the dust will gradually spread outward under the action of the wind, causing environmental pollution. Because the material pile affects the dust diffusion route, and the wind direction in the material storage yard is uncertain, the environmental monitoring station may detect dust with a time lag, or may even fail to detect the generated dust. This results in the inability to promptly identify and address the risk points in the material storage yard.

[0034] This application provides an environmental monitoring method to address the problems of monitoring lag and blind spots in related technologies.

[0035] The environmental monitoring method provided in this application can be implemented through a monitoring system, which includes a host computer and a monitoring vehicle. Figure 1The flowcharts of environmental monitoring methods in some embodiments of this application are shown. It should be noted that although the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown here.

[0036] Reference Figure 1 According to some embodiments of this application, the environmental monitoring method includes the following steps: Step S110: The host computer controls the monitoring vehicle to cruise along the cruise route within the cruise area.

[0037] The host computer is a computer system responsible for data processing and human-computer interaction. It is used to control the monitoring vehicle and acquire and process information from the vehicle. The monitoring vehicle must have at least cruise, monitoring, and communication functions, and be equipped with an independent power supply so that it can operate under the control of the host computer.

[0038] The patrol area refers to the outdoor area where environmental monitoring methods need to be implemented to monitor environmental parameters. The patrol route refers to the route taken by the monitoring vehicle within the patrol area. The monitoring vehicle travels along the patrol route and conducts on-site environmental monitoring along the way.

[0039] Step S120: The monitoring vehicle collects environmental parameters from the surrounding environment.

[0040] Understandably, environmental parameters can include various specific categories for different outdoor areas. For example, outdoor raw material storage yards need to provide a stable temporary storage environment, and raw material handling may generate dust pollution, so it is necessary to monitor environmental parameters such as temperature, humidity, and dust concentration; open-air pretreatment areas may produce harmful gases such as VOCs, so it is necessary to monitor environmental parameters such as harmful gas concentration; component testing sites need to provide a stable testing environment, so it is necessary to monitor environmental parameters such as temperature and humidity; and exhaust outlets in the factory area may emit pollutants such as dust and harmful gases in excess of standards, so it is necessary to monitor environmental parameters such as pollutant concentration in the environmental monitoring zone around the factory area.

[0041] The monitoring vehicle can be flexibly configured with environmental monitoring sensors to monitor environmental parameters according to the needs of the actual use scenario. Under the control of the host computer, it can collect environmental parameters at the locations it passes through and transmit the information data back to the host computer, thus meeting the requirements of environmental monitoring methods.

[0042] Step S130: The host computer acquires environmental parameters and the location parameters of each monitoring vehicle in real time.

[0043] The host computer monitors and analyzes the environmental conditions based on environmental and location parameters.

[0044] According to some embodiments of the present application, the environmental monitoring method provides that, on the one hand, the monitoring vehicle can cruise along the cruise route within the cruise area, so that the monitoring range can better cover different locations within the cruise area and reduce monitoring blind spots. On the other hand, the monitoring vehicle can approach or even reach the location of the pollution source, thereby eliminating the impact of the complex flow field environment of the material stockpile on monitoring, and monitoring changes in environmental parameters more timely. The host computer performs comprehensive analysis of environmental parameters and location parameters, thereby enabling timely and accurate detection of risk points in the material stockpile, which helps to ensure that the outdoor production environment meets the requirements.

[0045] An environmental monitoring method according to other embodiments of this application includes the following steps: Step S210: The host computer controls the monitoring vehicle to cruise along the cruise route within the cruise area.

[0046] Specifically, in some embodiments, step S210 may include: Step S211: The host computer divides the patrol area according to the pre-configured scene information and the number of monitoring vehicles, and assigns a corresponding monitoring vehicle to each patrol area.

[0047] Large outdoor scenes can cover an area of ​​over 2000 square meters. Using a single monitoring vehicle for patrol would take too long to complete a single patrol, resulting in monitoring lag. By dividing the scene into multiple patrol areas and using multiple monitoring vehicles to patrol in parallel, it is helpful to reduce the patrol cycle and improve the timeliness of monitoring.

[0048] Step S212: The host computer determines the cruise route based on the cruise area.

[0049] In certain specific scenarios, patrol areas can be divided according to differences in needs, so that the patrol parameters of the corresponding monitoring vehicles can be configured accordingly.

[0050] For example, in some embodiments, the environmental monitoring method is used in the component testing field and its surrounding exhaust outlets. The environmental monitoring method divides the application scenario into two patrol areas: the component testing field and an environmental monitoring zone covering each exhaust outlet. The monitoring vehicle patrolling in the component testing field focuses on monitoring environmental parameters such as light intensity and wind speed in order to assess the impact of environmental factors on product performance. The monitoring vehicle patrolling in the environmental monitoring zone covering each exhaust outlet focuses on monitoring the concentration of pollutants such as HF and VOCs in order to avoid pollutants interfering with the testing process. At this time, the patrol speed, patrol frequency and other parameters of the two monitoring vehicles can adopt different configuration ideas.

[0051] Step S213: The host computer sends a cruise command to the monitoring vehicle according to the cruise route, and controls multiple monitoring vehicles to cruise in their respective corresponding cruise areas.

[0052] Step S220: The monitoring vehicle perceives the surrounding scene in real time.

[0053] Step S230: When an obstacle is detected on the cruise route, the monitoring vehicle performs an obstacle avoidance maneuver.

[0054] It is understandable that there may be static or dynamic obstacles in the patrol area, such as material piles and engineering machinery that transports materials in a material yard. The shape of the material piles and the position of the engineering machinery may change, thus interfering with the preset patrol route. The monitoring vehicle perceives the surrounding scene through radar, vision, infrared and other means, and takes targeted obstacle avoidance actions to ensure that the monitoring vehicle can reliably complete the patrol process.

[0055] Specifically, in some embodiments, step S230 may further include: Step S231: When an obstacle is detected on the cruise route, the monitoring vehicle makes a judgment on the obstacle.

[0056] Step S232: If the obstacle is in motion, the monitoring vehicle pauses its cruise and resumes cruise only after the obstacle has passed.

[0057] Step S233: If the obstacle is stationary, the monitoring vehicle will continue cruising after circling around the edge of the obstacle.

[0058] The monitoring vehicle senses the type of obstacle and performs obstacle avoidance accordingly, thereby improving the success rate of obstacle avoidance maneuvers.

[0059] It should be noted that since multiple monitoring vehicles are monitoring at the same time, obstacles may be another monitoring vehicle at the boundary or overlapping area of ​​the patrol area. In this case, one of the monitoring vehicles can execute step S232 in the order set by the host computer, and the patrol can continue after the other monitoring vehicle passes through first.

[0060] Step S240: The monitoring vehicle collects environmental parameters from the surrounding environment.

[0061] Specifically, in some embodiments, step S240 may further include: Step S241: The environmental monitoring sensor collects environmental parameters at a pre-configured first frequency.

[0062] Step S242: The air pump drives the nozzle to purge the environmental monitoring sensor at a pre-configured second frequency.

[0063] In scenarios such as raw material storage yards, the pollutants monitored are dust. Dust can settle on the environmental monitoring sensors installed on the monitoring vehicle, affecting the accuracy of the data. Blowing the environmental monitoring sensors with nozzles helps to keep the surface of the sensors clean and prevent pollutants from interfering with them.

[0064] For details not described in step S240, please refer to Figure 1 Step S120 of the illustrated embodiment will not be described again here.

[0065] Step S250: The host computer acquires environmental parameters and the position parameters of each monitoring vehicle in real time.

[0066] Each monitoring vehicle uploads its corresponding location and environmental parameters. The host computer can perform data fusion on the acquired environmental and location parameters (for example, using a data fusion algorithm based on Kalman filtering) to combine the data from each monitoring vehicle and obtain a complete picture of the environmental conditions in the outdoor area for subsequent monitoring, analysis and control.

[0067] Optionally, in some embodiments, the environmental parameters include pollutant concentration, and the environmental detection method further includes: Step S260: When the pollutant concentration exceeds the standard, the monitoring system initiates the first emergency response.

[0068] It is understandable that pollutants originate from pollution sources and are therefore objects that can be controlled by human intervention. Theoretically, pollutants spread in a raindrop-like manner under the influence of wind, and the pollution range gradually expands outward from the pollution source. Early detection of pollution sources and intervention can effectively control the scope of the pollutants' impact.

[0069] By adding a first emergency response step to environmental monitoring methods, it is possible to move beyond the original patrol route and search for pollution sources in a targeted manner, thereby helping to improve the speed of pollution source detection.

[0070] Specifically, in some embodiments, step S260 may further include: Step S261: When the pollutant concentration exceeds the standard, the monitoring system issues the first warning signal.

[0071] The first warning signal can be issued by the host computer or monitoring vehicle so that staff or other external systems can carry out emergency response operations based on the first warning signal.

[0072] For example, in some embodiments, the first warning signal may include an audible and visual alarm signal from the monitoring vehicle, which can remind on-site personnel to take safety precautions or assist in locating the pollution source. In other embodiments, the first warning signal is transmitted to the exhaust gas treatment system, which can remind the exhaust gas treatment system to increase its exhaust gas treatment power and reduce the concentration of the escaping pollution source as much as possible.

[0073] Step S262: The host computer marks the monitoring vehicle whose pollutant concentration exceeds the standard, as well as at least one other monitoring vehicle, as an emergency monitoring vehicle.

[0074] Understandably, under the influence of wind, the dispersed pollutants almost instantly cover the area around the monitoring vehicle where the pollutant concentration exceeds the standard. Furthermore, the monitoring vehicle is located on the edge far from the pollution source. Therefore, the difference in pollutant concentration at different locations around it is small, making it difficult to infer the pollution source based on the pollutant concentration at different locations collected by a single monitoring vehicle.

[0075] For ease of description, the monitoring vehicle that detects pollutant concentrations exceeding the standard will be referred to as the main monitoring vehicle, and at least one other selected monitoring vehicle will be referred to as the co-monitoring vehicle. It can be understood that the co-monitoring vehicle is not initially in the polluted area. Therefore, the co-monitoring vehicle can enter the polluted area from a different direction than the main monitoring vehicle along the emergency monitoring route, so that the host computer can obtain the diffusion of pollutants in multiple directions and better analyze and determine the location of the pollution source.

[0076] Optionally, in some embodiments, the environmental parameters include wind force and wind direction, and step S262 can be specifically designed as follows: the host computer marks one or more monitoring vehicles located upwind and adjacent to the main monitoring vehicle as emergency monitoring vehicles according to the wind direction.

[0077] Step S263: The host computer sends the first emergency command to the emergency monitoring vehicle, controlling the emergency monitoring vehicle to conduct monitoring along its respective emergency monitoring route.

[0078] The host computer can use different strategies to design emergency monitoring routes.

[0079] Optionally, in some embodiments, the location of the suspected pollution source is known (e.g., the suspected pollution source is multiple exhaust outlets in the factory area). In this case, the host computer can first determine the number and location of potential pollution sources located upwind of the main monitoring vehicle, assign an emergency monitoring vehicle to each suspected pollution source, and design an emergency monitoring route from the current location of the emergency monitoring vehicle to the corresponding suspected pollution source.

[0080] Optionally, in some embodiments, the location of the suspected pollution source is unknown. In this case, the host computer initially obtains limited information. Therefore, the host computer can first set a center point based on the current location of each emergency monitoring vehicle and design an emergency monitoring route from the current location of the emergency monitoring vehicle to the center point, controlling the emergency monitoring vehicles to move towards each other. When the collaborative monitoring vehicle also enters the polluted area, the host computer obtains more information, and can then, based on the principle of multi-point positioning and by integrating data such as wind force and wind direction, infer the suspected pollution source and design a new emergency monitoring route from the current location of the emergency monitoring vehicle to the suspected pollution source, updating the routes of the emergency monitoring vehicles.

[0081] Step S265: The host computer determines the pollution source based on the location parameters and environmental parameters.

[0082] By suspending patrols when pollutant levels are detected to exceed limits and selecting at least two emergency monitoring vehicles to trace the pollution source along different emergency monitoring routes, the location parameters and environmental parameters of multiple emergency monitoring vehicles can be combined to more efficiently determine the location of the pollution source through multi-point positioning, thereby promptly identifying and addressing risk points in material storage yards.

[0083] Optionally, in some embodiments, the environmental parameters include precipitation, and the environmental monitoring method further includes: Step S270: When the precipitation exceeds the standard, the monitoring system initiates a second emergency response.

[0084] By adding a second emergency response step to the environmental monitoring method, we can cope with sudden precipitation events and improve our adaptability to emergencies.

[0085] Specifically, in some embodiments, step S270 may further include: Step S271: When the rainfall exceeds the standard, the monitoring system issues a second warning signal to remind the user to suspend outdoor operations, the speed of the monitoring vehicle is reduced to a safe speed, the photovoltaic panel 402 of the monitoring vehicle is adjusted to a horizontal position, and photovoltaic power supply is suspended.

[0086] Step S272: After the precipitation ends, the monitoring system cancels the second warning signal, blows the sensors of the monitoring vehicle, adjusts the photovoltaic panel 402 to face the direction of sunlight, and restores photovoltaic power supply.

[0087] When rainfall exceeds the standard, the monitoring vehicle slows down and stops photovoltaic power supply to play a safety protection role and avoid accidents such as overturning or short circuits. After the rainfall ends, the monitoring vehicle is blown to remove rainwater that may be attached to the sensor surface, thereby reducing the impact of rainfall on the monitoring accuracy.

[0088] Optionally, in some embodiments, the environmental detection method further includes: Step S280: When the power is insufficient, the monitoring system initiates a third emergency response.

[0089] Specifically, in some embodiments, step S280 may further include: Step S281: When the battery level drops to the pre-configured safe battery level, the monitoring system issues a third warning signal, and the host computer controls the monitoring vehicle to return to the pre-configured charging area along the return route for charging.

[0090] Step S282: During the return process, the speed of the monitoring vehicle increases, and the power supply of the monitoring vehicle stops supplying power to functional modules other than travel, positioning, and communication.

[0091] Step S283: After charging is complete, the monitoring vehicle returns to the position where cruise was interrupted and resumes cruise.

[0092] Optionally, in some embodiments, the environmental detection method further includes: Step S290: The monitoring vehicle calibrates the environmental monitoring sensors according to the pre-configured calibration cycle.

[0093] Specifically, in some embodiments, step S290 may further include: Step S291: Release standard gas to calibrate the hazardous gas sensor; Step S292: Release standard dust and calibrate the dust concentration sensor.

[0094] Step S293: After calibration is completed, the host computer saves the calibration record and sends a calibration success signal to the maintenance personnel.

[0095] According to an embodiment of this application, another aspect provides a monitoring vehicle for implementing the environmental monitoring method of this application.

[0096] For example, refer to Figure 2 and Figure 3 The monitoring vehicle may include a vehicle body, a positioning component, a monitoring component 2, a communication component 3, and a power supply component. The vehicle body includes a monitoring cabinet 101 and a chassis 102. The monitoring cabinet 101 is mounted on the chassis 102. The positioning component is mounted on the monitoring cabinet 101 and includes a satellite locator and an obstacle avoidance sensor. The monitoring component 2 is mounted on the monitoring cabinet 101 and includes an environmental monitoring sensor. The communication component 3 is mounted on the monitoring cabinet 101 and includes a wireless communication unit. The power supply component is mounted on the monitoring cabinet 101 and includes an energy storage battery 401. The power supply component is electrically connected to the vehicle body, the positioning component, and the monitoring component 2.

[0097] The monitoring vehicle is used to implement the environmental monitoring method of this application, and therefore has the beneficial effects brought about by the environmental monitoring method, which will not be elaborated here.

[0098] Optionally, in some embodiments, the power supply assembly further includes a photovoltaic panel 402 located on top of the monitoring cabinet 101. The monitoring vehicle can utilize the photovoltaic panel 402 for power supply, thereby increasing the vehicle's operating time, reducing the recharge frequency, and improving monitoring coverage.

[0099] Furthermore, in some embodiments, the power supply assembly also includes a plurality of lifting rods 403, each lifting rod 403 being spaced apart on the top of the monitoring cabinet 101, and the photovoltaic panel 402 being omnidirectionally connected to the lifting rods 403.

[0100] By adjusting the height of each lifting rod 403, the orientation and pitch angle of the photovoltaic panel 402 can be changed, thereby making the photovoltaic panel 402 face the sun during travel, improving the power generation capacity of the photovoltaic panel 402, and increasing the endurance of the monitoring vehicle.

[0101] Optionally, in some embodiments, the monitoring vehicle further includes a purging assembly, which includes an air pump and a nozzle. The nozzle is connected to the air pump and faces the environmental monitoring sensor. By purging the environmental monitoring sensor with the purging assembly, dust can be prevented from settling on the surface of the environmental monitoring sensor, and rainwater adhering to the surface of the environmental monitoring sensor after rain can be removed in a timely manner, ensuring that the environmental monitoring sensor can operate normally.

[0102] Optionally, in some embodiments, chassis 102 uses an off-road chassis. The off-road chassis is equipped with off-road tires and shock-absorbing springs, and each off-road tire is equipped with an individual drive, thereby enabling it to adapt to complex outdoor terrain conditions and reduce the impact of bumps on the sensors.

[0103] Optionally, in some embodiments, the monitoring vehicle also includes a controller, which is located in the monitoring cabinet 101 and electrically connected to the vehicle body, positioning component, monitoring component 2, communication component 3, and power supply component to realize the control of the monitoring vehicle and communication with the host computer.

[0104] For details on the specific implementation of the off-road chassis, please refer to relevant technologies, which will not be elaborated here.

[0105] The environmental monitoring method of this application is described below in conjunction with some specific scenarios. These specific scenarios will help to better understand the implementation details of the environmental monitoring method.

[0106] In the following scenarios, the environmental monitoring method employs a monitoring vehicle with the specific specifications described below. It should be noted that the specific specifications of the monitoring vehicle are for illustrative purposes only; in other embodiments, the specific specifications of the monitoring vehicle can be flexibly adjusted as needed.

[0107] The monitoring vehicle's chassis 102 is an off-road chassis, equipped with off-road tires (with steel wire layers and tread depth of 8mm) and shock-absorbing springs. Each off-road tire is independently driven by a corresponding DC servo motor (Delta ECMA-C20604RS, power 400W).

[0108] The positioning component includes a GPS positioning unit as its satellite locator and obstacle avoidance sensors including a LiDAR (Rotek RS-LIDAR-M1, detection range 0m-200m) and an ultrasonic obstacle avoidance sensor (detection range 0.1m-5m).

[0109] The environmental monitoring sensors in monitoring component 2 include a temperature and humidity sensor (Sensirion SHT35, accuracy ±0.5℃ / ±3%RH) and a dust concentration sensor (Panteng G7, detection range 0.1-1000μg / m³). 3 Accuracy ±2μg / m 3The system includes a hazardous gas sensor (Figaro TGS2600, detecting HF, HCl, and VOCs, with a resolution of 0.1 ppm), a wind speed and direction sensor (Beijing Fangda Tianyun FT-WQX2, with a wind speed accuracy of ±0.1 m / s and a wind direction accuracy of ±3°), and a precipitation sensor (Campbell Scientific TE525MM, with a detection accuracy of ±0.1 mm). All environmental monitoring sensors have an IP67 protection rating. Monitoring component 2 is equipped with standard gases and standard dust samples for sensor calibration.

[0110] The purging assembly uses an air pump and nozzle with a pressure of 0.5 MPa.

[0111] Communication component 3 uses a 4G / 5G-based wireless communication unit (Huawei ME909s-821, transmission rate 150Mbps).

[0112] The power supply components include two photovoltaic panels 402 (each with a power of 100W and an efficiency of 23%), and are equipped with a lifting pole 403 and a light sensor (AMS TSL2591, detection range of 0.1 lux to 100,000 lux) to capture the direction of the strongest light.

[0113] The power supply components also include an energy storage battery 401 (lithium iron phosphate, 12V / 100Ah) and are paired with a photovoltaic inverter (Victron Energy SmartSolar MPPT 75 / 15) to control the charging and discharging of the power supply components.

[0114] The power supply component also includes a power supply protection board, which is used to realize overcharge, over-discharge and short circuit protection, and to start the cooling fan equipped with the power supply component when the power supply component is at high temperature (>60℃) to ensure the stable operation of the energy storage battery 401 and the photovoltaic panel 402.

[0115] The controller includes a PLC controller (Siemens S7-1214C).

[0116] Scenario 1 involves monitoring an outdoor raw material storage yard (covering an area of ​​1500m²). 2 No abnormalities were detected.

[0117] Monitoring vehicle initialization: The monitoring vehicle is pre-positioned at the entrance of the raw material storage yard. The cruise route (along the edge of the storage yard → the middle passage → the key temporary storage area, with a total length of 1.2km) is set through the host computer. The cruise speed is set to 0.5m / s and the obstacle avoidance distance threshold is set to 0.8m. The GPS positioning unit calibrates the boundary coordinates of the raw material storage yard to ensure that the cruise range is not missed.

[0118] The horizontal angle of photovoltaic panel 402 is initialized to 0, and the pitch angle is initialized to 45°; the light sensor detects the current light intensity, the photovoltaic inverter sets the charging voltage to 13.8V and the charging current to 15A, and confirms that the energy storage battery 401 is fully charged.

[0119] For raw material storage areas (temporary storage of silicon materials and graphite boats), an alarm threshold of 50 μg / m³ for dust concentration (silicon powder / graphite powder) is set. 3 The high temperature alarm threshold is 40℃, the high humidity alarm threshold is 80% RH, and the wind speed warning threshold is 8m / s (level 4 wind, to avoid dust from raw materials).

[0120] Perform a patrol: The PLC controller receives instructions from the host computer, the DC servo motor drives the monitoring vehicle to travel along the cruise route, and the lidar senses the surrounding environment in real time, automatically detouring around the raw material pile (obstacle).

[0121] The light sensor captures the direction of light and adjusts the photovoltaic panel 402 to a suitable angle to supply power.

[0122] The environmental monitoring sensor collects data every second, and the nozzle starts blowing the sensor surface every 30 minutes to remove the attached silicon powder and ensure detection accuracy.

[0123] The wireless communication unit uploads real-time data to the host computer (cloud platform) and pushes it synchronously to the material management MES system to indicate the yard environment status.

[0124] After completing the patrol, the monitoring vehicle returned to the starting point along the GPS-positioned route.

[0125] Scene 2 is an outdoor raw material storage yard, and it rained midway through the process.

[0126] The precipitation sensor detected rainfall exceeding 5 mm / h, triggering the second emergency response. The monitoring vehicle activates the local audible and visual alarm to alert on-site personnel. The cloud platform pushes SMS reminders (such as heavy rain at the raw material storage yard, suggesting covering it with tarpaulin) to the raw material storage yard management personnel and pushes reminders to the raw material management MES system, prompting the suspension of open-air raw material transfer.

[0127] The monitoring vehicle reduced its cruising speed to 0.3 m / s, switched to power supply from the energy storage battery 401, and adjusted the pitch angle of the photovoltaic panel 402 to 0°.

[0128] When the precipitation sensor detects that the precipitation is less than 0.1 mm / h, it determines that the rainstorm has ended. The photovoltaic panel 402 resumes charging, the monitoring vehicle starts high-pressure airflow to purge and remove rainwater residue from the surface of the environmental monitoring sensor, and the temperature and humidity sensor is calibrated to the current ambient temperature and humidity.

[0129] The monitoring vehicle continued to complete the remaining patrol route.

[0130] Scenario 3 involves monitoring the test site of the monitoring components and the exhaust outlets around them, where pollutant concentrations were found to exceed the standards.

[0131] This scenario uses two monitoring vehicles (numbered A and B). Vehicle A patrols the component testing area, while vehicle B patrols the environmental monitoring zone covering all surrounding waste emission points.

[0132] During the cruise, the hazardous gas sensor in vehicle B detected an HF concentration of 1.2 ppm (exceeding the threshold of 1 ppm), triggering the first emergency response: Vehicle B (the main monitoring vehicle) activates the local audible and visual alarm, and at the same time, the monitoring system links with the external exhaust gas treatment system, increasing the fan power of the exhaust gas treatment system from 50% to 100%.

[0133] The monitoring system controls vehicle A (the collaborative monitoring vehicle) to suspend its patrol and move towards vehicle B, gradually narrowing the monitoring range. Ultimately, the source of HF pollution is determined to be an exhaust gas outlet on the west side of the component testing site. The cloud platform pushes the pollution source location information and treatment suggestions to the external environmental management system, reminding maintenance personnel to complete the sealing repair.

[0134] Although embodiments of this application have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of this application, and such modifications and variations all fall within the scope defined by this application.

Claims

1. An environmental monitoring method, characterized in that, The environmental monitoring method is implemented through a monitoring system, which includes a host computer and a monitoring vehicle. The environmental monitoring method includes: The host computer controls the monitoring vehicle to cruise along the cruise route within the cruise area; The monitoring vehicle collects surrounding environmental parameters; The host computer acquires the environmental parameters and the position parameters of each monitoring vehicle in real time.

2. The environmental monitoring method according to claim 1, characterized in that, The environmental monitoring method also includes: The monitoring vehicle perceives the surrounding scene in real time; When an obstacle is detected on the cruise route, the monitoring vehicle makes a judgment about the obstacle; If the obstacle is in motion, the monitoring vehicle will pause its patrol and wait for the obstacle to leave before resuming its patrol. If the obstacle is stationary, the monitoring vehicle will continue patrolling after circling around the edge of the obstacle.

3. The environmental monitoring method according to claim 1, characterized in that, The monitoring vehicle collects surrounding environmental parameters, including: The environmental monitoring sensor collects the environmental parameters at a pre-configured first frequency; The air pump drives the nozzle to purge the environmental monitoring sensor at a pre-configured second frequency.

4. The environmental monitoring method according to claim 3, characterized in that, The host computer controls the monitoring vehicle to cruise along the cruise route within the cruise area, including: The host computer divides the patrol area according to the pre-configured scene information and the number of monitoring vehicles, and assigns a corresponding monitoring vehicle to each patrol area; The host computer determines the cruise route based on the cruise area; The host computer sends a cruise command to the monitoring vehicle according to the cruise route, and controls multiple monitoring vehicles to cruise in their respective corresponding cruise areas.

5. The environmental monitoring method according to claim 4, characterized in that, The environmental parameters include pollutant concentrations, and the environmental monitoring method further includes: When the pollutant concentration exceeds the standard, the monitoring system issues a first warning signal; The host computer will mark the monitoring vehicle whose pollutant concentration exceeds the standard, as well as at least one other monitoring vehicle, as an emergency monitoring vehicle; The host computer sends a first emergency command to the emergency monitoring vehicle, controlling the emergency monitoring vehicle to conduct monitoring along its respective emergency monitoring route; The host computer determines the pollution source based on the location parameters and the environmental parameters.

6. The environmental monitoring method according to claim 3, characterized in that, The environmental parameters include precipitation, and the environmental monitoring method further includes: When the rainfall exceeds the standard, the monitoring system issues a second warning signal to remind the user to suspend outdoor operations. The speed of the monitoring vehicle is reduced to a safe speed, the photovoltaic panel (402) of the monitoring vehicle is adjusted to a horizontal position, and photovoltaic power supply is suspended. After the precipitation ends, the monitoring system cancels the second warning signal, blows the sensors of the monitoring vehicle, and adjusts the photovoltaic panel (402) to face the direction of sunlight to restore photovoltaic power supply.

7. A monitoring vehicle, characterized in that, For implementing the environmental monitoring method according to any one of claims 1 to 6, comprising: The vehicle body includes a monitoring cabinet (101) and a chassis (102), wherein the monitoring cabinet (101) is mounted on the chassis (102); A positioning component is provided in the monitoring cabinet (101) and includes a satellite locator and an obstacle avoidance sensor; The monitoring component (2) is disposed in the monitoring cabinet (101) and includes an environmental monitoring sensor; A communication component (3) is disposed in the monitoring cabinet (101) and includes a wireless communication unit; A power supply component is disposed in the monitoring cabinet (101) and includes an energy storage battery (401). The power supply component is electrically connected to the vehicle body, the positioning component and the monitoring component (2).

8. The monitoring vehicle according to claim 7, characterized in that, The power supply assembly also includes a photovoltaic panel (402) located on top of the monitoring cabinet (101).

9. The monitoring vehicle according to claim 8, characterized in that, The power supply assembly also includes multiple lifting rods (403), each of which is spaced apart on the top of the monitoring cabinet (101), and the photovoltaic panel (402) is omnidirectionally connected to the lifting rod (403).

10. The monitoring vehicle according to claim 7, characterized in that, It also includes a purging assembly comprising an air pump and a nozzle connected to the air pump and directed toward the environmental monitoring sensor.

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