Method and apparatus for monitoring and quantifying the quality of air pollution.

Abstract

To provide an improved method and apparatus for quality monitoring and quantification of space contamination. [Solution] The present invention relates to a method for quality monitoring and quantification of contamination in a space, and an apparatus for quality monitoring and quantification of contamination in a space, the method comprising the steps of measuring actual values ​​of multiple quality parameters in the space using a sensor system, wherein the actual value of at least one quality parameter is measured at multiple measurement locations, the sensor system including multiple sensors; comparing the actual quality parameter values ​​measured at each measurement location with desired values ​​stored in a data processing system for each measurement location; and moving at least one mobile sensor to a measurement location away from a previous measurement location of the at least one mobile sensor using a control system, wherein in the event of a malfunction, the at least one mobile sensor is moved deviating from the stored movement plan using the control system, and the data processing system determines the spatial extent, type and / or concentration of a specific contamination in the space.

Description

[Technical field]

[0001] The invention relates to a method for the quality monitoring and quantification of contamination in a space and to a device for the quality monitoring and quantification of contamination in a space. [Background technology]

[0002] Fluids in spaces, for example the air in air spaces above cities or industrial facilities, can have different qualities depending on many factors. Violations of air quality can be, for example, localized emissions of many different substances or carried by the wind. Such violations can be perceptible to humans via odor or visually noticeable. However, humans usually only become aware of such events when the air quality has already been strongly violated. Humans are unable to notice some violations themselves, while others are very clearly noticeable but are not dangerous. Moreover, such violations are very narrowly localized, so that they can only be observed in a few places.

[0003] Therefore, in order to protect residents in several areas, there is a need for continuous and comprehensive monitoring of spatial quality.

[0004] Systems for quality control are known per se.

[0005] For example, Patent Document 1 describes a system for air pollution monitoring and a method for air pollution monitoring, in which a number of monitoring devices are placed at different heights and stages, and infrared reflecting designs of the monitoring devices are installed at different heights, to collect infrared spectrum data of the chemical components of the air mass that are dispersed in the air space at various heights. The polluting factors contained in the air mass and the pollution level of each factor are detected using infrared spectrum for qualitative and quantitative analysis of the polluting factors, which allows continuous monitoring in a specific area.

[0006] To monitor the quality with a high level of sensitivity and accuracy, a large number of sensors are usually used. However, some of these are very expensive and therefore are not installed to cover the entire space, or at least not densely enough. It can be difficult to attach different sensors at different positions, or even to identify the appropriate positions. Furthermore, even with careful positioning, it can be a drawback that the sensors do not recognize some places and materials in the space, or that the sensors are not distributed sufficiently. To determine the quality particularly accurately, sensors that can only measure locally are required. Thus, the known methods and devices for monitoring the quality of a space still have potential improvements.

[0007] US 2007 / 0133963 A1 describes a system and method for visualization of a scene monitored for contamination of a substance. The scene is scanned with a substance detector to detect substances, such as harmful chemicals or biological substances. The location of the substances is determined. Graphic element data is created that represents the substances recognized in the scene. The presented representation of the scene is complemented based on the location of the detected substances by the graphic element data, in order to display the detected substances in a scene display and to indicate to a user the location and type of the detected substances in relation to the environment.

[0008] US Patent No. 5,999,333 describes a method and system for obtaining information about pollution in ambient air. A plurality of detection systems measure the pollution of ambient air in real time. The plurality of detection systems each analyze the hazardous substances of the pollutants. The plurality of detection systems transmit information about the hazardous substances to a satellite monitoring system. The satellite monitoring system receives the transmitted information. The satellite monitoring system packages the information transmitted from each detection system and analyzes the packaged information. The satellite monitoring system transmits the analyzed information to a console installed in a computer device of a command station. The console receives the information transmitted from the satellite monitoring systems and communicates with a user interaction based on the information transmitted to the satellite monitoring system. [Prior art documents] [Patent documents]

[0009] [Patent Document 1] US Patent Application Publication No. 2019 / 0113445 [Patent Document 2] U.S. Patent No. 7,383,129 [Patent Document 3] US Patent Application Publication No. 2009 / 018780 Summary of the Invention [Problem to be solved by the invention]

[0010] It is an object of the present invention to provide an improved method and an improved device for the quality monitoring and quantification of contamination in a space. [Means for solving the problem]

[0011] According to the invention, this object is achieved by a method according to claim 1 and a system according to claim 14. Advantageous developments are specified in the dependent claims. They can be combined in any way, unless the contrary is clear from the context.

[0012] The invention proposes a method for the quality monitoring and quantification of contamination of a space, the space being a volume that can be determined by spatial coordinates and that comprises or is substantially filled with a fluid.

[0013] The method comprises the following method steps: a) Measuring a plurality of actual quality parameter values ​​in a space with a sensor system, the space being a volume that can be determined by spatial coordinates, the volume comprising or substantially filled with a fluid, the actual value of at least one quality parameter being measured at a plurality of measurement locations, the sensor system comprising a plurality of sensors, These multiple The sensor is 、 It is a movable sensor, or 、 At least one Fixed Sensor and , at least one A movable sensor., each sensor measures at least one actual quality parameter value at a measurement location position determined by spatial coordinates. b) Transmission of actual values ​​of the quality parameters measured at a number of measuring locations to a data processing system. c) Comparison of the actual quality parameter values ​​measured at each measuring location with the target values ​​stored in the data processing system of each measuring location. d) moving the at least one movable sensor with the control system to a measurement location spaced apart from a previous measurement location of the at least one movable sensor. At least one mobile sensor is moved to different measurement locations according to a movement plan stored in the data processing system or according to a newly calculated movement plan. Go to and at least one actual value deviates from the defined target value for the respective measuring location. The malfunction If this occurs, at least one mobile sensor equipped with a control system is moved deviating from the stored movement plan, traveling around the space around the position of the measurement location where the deviation in the actual value was detected, measuring additional actual values ​​of the quality parameter at the additional measurement locations and transmitting them to the data processing system, which determines the spatial spread of the respective contamination in the space, the type and / or concentration of the contamination.

[0014] In the context of the present invention, a space should be understood as a volume that can be determined by spatial coordinates. A space can be partially or completely enclosed, for example, by a floor, a wall, and / or a ceiling, but can also have no boundaries. By space, it should be understood here that the space comprises at least one fluid or that the space is substantially filled with a fluid.

[0015] According to one embodiment, the space may comprise at least one fluid. According to a further embodiment, the space may be at least substantially filled with one fluid.

[0016] Substantially in the context of the present invention, fluid means occupying the largest volume fraction of the space or having more than 50% by volume of the space fluid.

[0017] In the context of the present invention, a fluid is a gas, a liquid or a mixture comprising a gas and a liquid. Significantly, the fluid may comprise water, water vapor and / or air. According to the present invention, the fluid may for example essentially comprise water or air. It may be advantageously provided that the space comprises an air space and / or that the space comprises a water body, advantageously an air space, and that the quality parameter is an air quality parameter and / or a water quality parameter, advantageously an air quality parameter. In particular, it may be provided that the fluid in the space is in mass exchange with a fluid outside the space.

[0018] In the context of the present invention, a number is to be understood as at least 1. In the context of the present invention, a plurality is to be understood as at least 2.

[0019] In the context of the present invention, a quality parameter should be understood as a parameter that allows to draw conclusions directly or indirectly about the quality of a medium arranged in a space. It can be particularly preferably envisaged that the quality parameter is an air quality parameter and that the space is an air space. Alternatively or additionally, it can be envisaged that the quality parameter is a water quality parameter and that the space is a body of water. It can be preferably envisaged that the quality parameter is selected from the group consisting of substances and / or groups of substances, absorption and / or transmission of electromagnetic radiation through a fluid, and / or a fluid and / or intensity of electromagnetic radiation. For example, the quality parameter can be understood to be the concentration of a particular gas, liquid or solid in air. Measuring a quality parameter also means that the concentration is not measured directly, but that another measurable parameter, e.g. absorption, resistivity, capacitance, etc., is converted to a concentration as raw data. Unconverted raw data should also be understood as a quality parameter. In the context of the present invention, a quality parameter can also be understood as a parameter that only indirectly affects the quality of the space. For example, the concentrations of substances within a concentration range can also be quality parameters that do not directly affect the quality of the space. It is therefore understood to include the detection of, for example, explosives and explosives, chemical, biological or radioactive substances (warfare materials) for the preparation / implementation of terrorist attacks, but also drugs or substances used in small amounts for psychotropic drugs. Contamination is understood in the context of the present invention, i.e. not only as contamination in the sense of concentrations dangerous for health, but as an identifiable deviation from the normal state.

[0020] In the context of the present invention, an actual value is to be understood as an actually measured value or a measured value converted from raw data. In the context of the present invention, a target value is to be understood as an acceptable value given to an actual value, whereby the target value can be limited to an upper and / or lower limit value. Applicable limit values ​​can be, for example, ERPG [Emergency Response Planning Guidelines], MAK [Maximale Arbeitsplatzkonzentration, workplace maximum concentration], IDLH [Immediately Dangerous to Life and Health, imminent danger to life or health], TEEL [Temporary Emergeny Exposure Limits, temporary emergency exposure limits], AGW [Arbeitsplatzgrenzwert, workplace limit value], AEGL [Acute exposure guideline levels, acute exposure guideline concentration], BAT [Biologischer Arbeitsplatztoleranz, biological workplace resistance], explosion limit value, radiation limit value, lethal dose or lethal concentration.

[0021] In the context of the present invention, a measurement location is to be understood as a location where a fluid is measured. The measurement location may therefore have a corresponding measurement volume.

[0022] A quality parameter actual value is to be understood in the context of the present invention as the actual value of the quality parameter at the measurement location where the quality parameter was measured.

[0023] A plurality of actual quality parameter values ​​should therefore be understood in the context of the present invention as at least two actual quality parameter values. At least two actual quality parameter values ​​are sufficiently distinguishable in the context of the present invention by the measured quality parameters themselves and / or by the measurement locations. A plurality of actual quality parameter values ​​can be achieved, for example, by measuring a quality parameter at two different measurement locations. Alternatively or additionally, a plurality of actual quality parameter values ​​can be achieved by measuring different quality parameters at one measurement location. By measuring the actual value of at least one quality parameter at multiple measurement locations, a plurality of actual quality parameter values ​​has already been measured in the context of the present invention.

[0024] A mobile sensor in the context of the present invention is to be understood as a sensor whose spatial position can be changed. It can be envisaged that a mobile sensor is not constantly moving but can also at least temporarily retain its position. A fixed sensor in the context of the present invention is to be understood as a sensor whose spatial position cannot normally be changed. For example, this is to be understood as a sensor provided on an object that is fixed to a location, such as for example a wall, a mast, a tower, a chimney or a street light. The fixation can be releasable, for example to allow maintenance or replacement of the fixed sensor.

[0025] Thus, in the method for quality monitoring and quantification of spatial contamination in step a), multiple actual quality parameter values ​​are measured in a space with a sensor system, the space being a volume that can be determined by spatial coordinates and that comprises a fluid or is substantially filled with a fluid. The actual values ​​of at least one quality parameter are measured at multiple measurement locations, i.e. at one measurement location respectively one actual value for the at least one quality parameter is measured, and overall the actual values ​​are measured at respectively different measurement locations, and different quality parameters can also be measured at each measurement location. The sensor system comprises multiple sensors, These multiple The sensor is 、 It is a movable sensor, or 、 At least one Fixed Sensor and , at least one and a movable sensor.Each sensor measures at least one actual quality parameter value at a measurement location position determined using spatial coordinates. In the context of the present invention, a plurality of sensors should be understood to mean at least two sensors.

[0026] The plurality of sensors may for example include ≧2 to ≦50, advantageously ≧3 to ≦40, more preferably ≧4 to ≦35, even more preferably ≧5 to ≦30, otherwise preferably ≧6 to ≦25, even more preferably ≧7 to ≦20 moveable sensors. However, the plurality of sensors may also include for example ≧5 to ≦45, advantageously ≧8 to ≦42, even more preferably ≧9 to ≦38, even more preferably ≧10 to ≦36, otherwise preferably ≧12 to ≦32, even more preferably ≧15 to ≦18 moveable sensors.

[0027] The plurality of sensors may comprise, for example, ≧1 to ≦50, advantageously ≧2 to ≦40, more preferably ≧4 to ≦35, even more preferably ≧5 to ≦30, otherwise preferably ≧6 to ≦25, even more preferably ≧7 to ≦20 fixed sensors. However, the plurality of sensors may also comprise, for example, ≧3 to ≦45, advantageously ≧8 to ≦42, more preferably ≧9 to ≦38, even more preferably ≧10 to ≦36, otherwise preferably ≧12 to ≦32, even more preferably ≧15 to ≦18 fixed sensors.

[0028] Multiple sensors can be used, for example: - may include a number of movable sensors of ≧2 to ≦50, advantageously ≧3 to ≦40, even more preferably ≧4 to ≦35, even more preferably ≧5 to ≦30, otherwise preferably ≧6 to ≦25, even more preferably ≧7 to ≦20 or ≧5 to ≦45, advantageously ≧8 to ≦42, more preferably ≧9 to ≦38, even more preferably ≧10 to ≦36, otherwise preferably ≧12 to ≦32, even more preferably ≧15 to ≦18, - may include ≧1 to ≦20, advantageously ≧2 to ≦18, more preferably ≧4 to ≦16, even more preferably ≧5 to ≦14, otherwise preferably ≧6 to ≦12, even more preferably ≧7 to ≦10 fixed sensors.

[0029] In further embodiments the ratio of fixed to mobile sensors can be between 1:3 and 1:100, advantageously between 1:4 and 1:60, even more preferably between 1:5 and 1:50, even more preferably between 1:10 and 1:30, particularly preferably between 1:15 and 1:20, even more preferably between 0:200 and 0:20000. A group of e.g. 100 mobile sensors can be transmitted over a large area of ​​30 x 100 km, preferably 2 x 4 km, for monitoring.

[0030] In method step b), the actual quality parameter values ​​measured at the measurement locations are transmitted to the data processing system. Transmission is understood to mean systematic transmission and reception. It is clear that the actual quality parameter values ​​are transmitted by the sensor system so that they can be received, assigned and interpreted by the data processing system. The data processing system consists of a number of data processing systems, advantageously autonomously coupled to mobile and fixed sensor carrier systems, such as vehicles, aircraft, ships, or communicating with each other by systematic transmission and reception in a data network, forming in total one data processing system. The data processing system can in particular assign the actual quality parameter values ​​to the position of the measurement location determined by spatial coordinates. It may be provided that the sensor transmits the position of the measurement location directly to the data processing system. Alternatively, it may be provided that the sensor transmits its identity to the data processing system and that the control system transmits the associated position to the data processing system. In the case of fixed sensors, it may be provided that the sensor transmits only its identity and that the position of the measurement location is stored in the data processing system.

[0031] In method step c), the actual quality parameter values ​​measured at the respective measuring locations are compared with the setpoint values ​​stored in the data processing system of the respective measuring locations, thereby detecting whether the actual quality parameter values ​​deviate from the setpoint values.

[0032] Then, in method step d), at least one movable sensor with a control system is moved to a measurement position spaced apart from a previous measurement position of the at least one movable sensor, so that after each method step d), the at least one sensor can measure at least one actual quality parameter value at another measurement location.

[0033] It is provided that the at least one mobile sensor controls the various measurement locations according to a movement plan stored in the data processing system, i.e. the movement plan determines the movement of the at least one mobile sensor in each method step d). A movement plan adapted to the space to be monitored and the number of mobile and fixed sensors can be stored.

[0034] In case of a fault, in which at least one actual value deviates from the setpoint defined for the respective measuring location, at least one mobile sensor with a control system is moved in a manner different from the stored movement plan and measures additional actual quality parameter values ​​at additional measuring locations around the position of the measuring location where the deviation of the actual value was detected or preferably in the space around the concentration cloud according to the expansion prediction of the data processing system and transmits them to the data processing system, which determines the spatial expansion of the spatial contamination, the type of contamination and / or the respective concentration and predicts the expansion again preferably according to meteorological data. A malfunction is thus when a deviation of the actual value of the quality parameter from the setpoint is detected in method step c). In this way the contamination can be quantified accurately.

[0035] A malfunction is when at least one actual value deviates from a target value defined for the respective measuring location. The malfunctions can be classified according to the danger. For example, the malfunctions can be dangerous or non-hazardous malfunctions. Depending on the danger level of the malfunction, it can be provided that only information about the deviations is provided by the data processing system and no movements deviating from the movement plan occur from the mobile sensor. For example, it can be provided that dust from the Sahara in Central Europe, the application of fertilizers (manure, liquid fertilizer) or the smell of grass cutting / hay do not cause a malfunction operation.

[0036] By means of the above method, monitoring of the space over the entire space can be advantageously achieved with a relatively small number of sensors, which advantageously allows the system itself to more accurately check for exceedance of quality parameters, particularly without relying on a large number of sensors.

[0037] It may be preferably envisaged that the plurality of sensors comprises some fixed sensors and some mobile sensors, at least one sensor being a fixed sensor and at least one sensor being a mobile sensor, whereby an interaction of the mobile and fixed sensors can be advantageously achieved, so that the method is particularly flexible and at the same time cost-effective.

[0038] It is preferable that the plurality of sensors includes at least 3 sensors.It is preferable that the plurality of sensors includes several sensors that meet the requirements of space pollution quality monitoring and quantification.For example, it is preferable that the plurality of sensors includes at least 4, 5, 6, 7, 8, 9 or 10 sensors.For example, when the space to be monitored is particularly large or the quality is particularly strictly monitored, it is preferable that the plurality of sensors includes at least 20, 30, 40, 50 or 100 sensors.

[0039] It may be contemplated that preferably at least 2 sensors are moveable sensors. It may be particularly preferred that at least 3, 4, 5, 6, 7, 8, 9 or 10 sensors are moveable sensors. In one embodiment it may be contemplated that at least 20, 30, 40, 50 or 100 sensors are moveable sensors.

[0040] It may be provided that preferably at least one sensor is a fixed sensor. Particularly preferably, it may be provided that at least 2, 3, 4, 5, 6, 7, 8, 9 or 10 sensors are fixed sensors. In an embodiment, it may be provided that at least 20, 30, 40, 50 or 100 sensors are mobile sensors.

[0041] In one embodiment, the number of movable sensors may be less than the number of fixed sensors. This can advantageously be achieved in a particularly simple and constant manner that the space to be monitored is roughly covered. It can also be achieved that existing methods can be modified according to the invention with little effort. In alternative embodiments, the number of movable sensors may be greater than or equal to the number of fixed sensors. This can advantageously be achieved in a particularly flexible manner that is possible with a particularly small number of sensors. This can be achieved in a particularly inexpensive and rapid manner, since, for example, only a small number of fixed sensors or no fixed sensors need to be installed.

[0042] In an embodiment, it may be provided that the measurement location, where the mobile sensor measures the actual value of the quality parameter, has a measurement volume that extends along the moving path of the mobile sensor. This means that the mobile sensor performs the measurement while moving. For example, the mobile sensor can detect a measurement value at a certain time while moving. Thereby it may be advantageously achieved that the mobile sensor does not have to stop during the measurement. This allows faster measurements. Advantageously this also results in an average value over a larger measurement range, so that fewer measurements may be needed to cover the space well.

[0043] It may be envisaged that preferably at least one quality parameter is the concentration of a substance, in particular a pollutant and / or harmful substance, in a fluid, in particular air. The substance may be a gas, liquid or solid dissolved and / or dispersed in the fluid, in particular air. The quality parameter may therefore also relate to an aerosol or smoke. The quality parameter may relate to the concentration of individual substances or individual particles or to the concentration of a substance class. The quality parameter may also represent a quality parameter of a fluid, in particular air, independent of a specific substance. For example, the light absorption of air may be a quality parameter without being particularly directed to the concentration of a substance. The quality parameter may also be a measurement value of a sensor, respectively.

[0044] It may be contemplated that the sensor is a spectroscopic sensor. This means that the sensor measures the absorption, emission, scattering or diffraction of electromagnetic radiation, e.g. radioactive radiation, X-rays, ultraviolet radiation, visible light, infrared radiation, and / or microwave radiation. For example, the sensor may be a Raman, infrared, or UV / Vis spectrometer. Such a sensor advantageously does not need to be in direct contact with the fluid or air or with the substance or particle to be measured.

[0045] It may further be envisaged that the sensor is a chemical sensor. This means that the sensor is at least partially in contact with the substance to be measured and is influenced by the chemical and / or physical properties of the substance. For example, the resistance and / or capacitance of a measurement layer of such a sensor may be influenced by the substance to be measured. Such a sensor may advantageously be particularly selective for a particular substance. Particularly advantageously, the sensor may be a metal oxide semiconductor gas sensor, a solid ion conductor and / or a photoionization detector. Alternatively or additionally, it may be envisaged that the sensor comprises a flame ionization detector, a nitrogen phosphorus detector, a thermal conductivity detector and / or an atomic emission detector.

[0046] It may be provided that the sensor additionally comprises a separation device. The separation device may serve to separate the measured fluid, in particular the measured air, into components before measuring the actual quality parameter value. For example, the air may be separated via chromatography, in particular gas chromatography. The air may alternatively or additionally be separated using an ion mobility spectrometer or alternatively or additionally using a mass spectrometer, in particular a magnetic field or quadrupole mass spectrometer. It may thereby be achieved that some substances are more easily distinguished from each other by the sensor. It may be contemplated that the sensor is configured to perform individual analyses, i.e. to determine the quality parameter in terms of individual substances, and / or that the sensor is configured to determine the quality parameter in terms of a total parameter, e.g. TOC, total organic content material, etc.

[0047] In the case where the quality parameters concern organic liquids and organic gases that may evaporate, it may be particularly preferably envisaged that the sensor is a gas chromatograph, coupled with at least one selected from the group of mass spectrometers (MS and / or MS / MS), flame ionization detector, nitrogen phosphorus detector, thermal conductivity detector, electron capture detector and atomic emission detector. In the case where the quality parameters concern liquids, it may be particularly preferably envisaged that the sensor is an HPLC [High Performance Liquid Chromatography]-MS / MS equipped with a DAD [Diode Array Detector] and / or a UV-Vis detector. In the case of organic substances, inorganic compounds and / or liquids, it may be envisaged that the sensor is an NMR spectrometer, an infrared spectrometer and / or a Raman spectrometer. In the case of organic and inorganic solutions and gases, it is preferably envisaged that the sensor is a UV-Vis spectrometer. When the quality parameters relate to aromatics, olefins, bromides and iodides, sulfides and mercaptans, organic amines, ketones, ethers, esters and acrylates, aldehydes, alcohols, alkanes, hydrogen sulfide, ammonia and / or phosphanes, it is particularly preferably contemplated that the sensor comprises a photoionization detector. When the quality parameters relate to organic and inorganic gases, explosives, drugs and / or chemical warfare agents, it is preferably contemplated that the sensor is an ion mobility spectrometer. In the case of inorganic and organic gases, it is preferably contemplated that the sensor comprises an electrochemical cell, a test tube, a thermal sensor, a conductivity sensor, an electrochemical diffusion sensor and / or a metal oxide sensor. To measure alpha, beta, gamma and neutron radiation, it is preferably contemplated that the sensor comprises a radiation measuring device. Furthermore, for wind speed measurement and position determination, it is preferably contemplated that the sensor comprises an ultrasonic and / or an infrasound measuring device. For aerosol, dust, ozone, nitrogen oxides, methane, sulfur dioxide, wind speed measurement and / or object detection / environment detection, it may be contemplated that the sensor comprises a LIDAR [Light Detection and Ranging]. For object recognition and / or environment detection, it may be preferably contemplated that the sensor comprises a RADAR [Radar]. If the quality parameter relates to dust, biomolecules and / or pollen, it is preferably contemplated that the sensor comprises a particle counter tube.In the case of harmful substances and halogenated compounds, such as chlorinated hydrocarbons, it may be particularly preferably envisaged that the sensor comprises a thermal catalytic surface ionization sensor (TKOI). The sensor for the oxygen content may preferably be an Ex sensor. The sensor for the humidity may preferably be a humidity sensor and / or a capacitance sensor. The sensor for the wind speed may preferably be a wind sensor and / or anemometer. The sensor for particles in a liquid or gas may comprise a turbidimeter and / or an optical sensor. To determine the refractive index of the liquid or gas, the sensor may comprise a refractometer. Furthermore, the sensor for determining the temperature may comprise a thermometer. To determine the air pressure, the sensor may comprise a pressure sensor. To determine the pH value, the sensor may further preferably comprise a pH meter. To determine the salinity, the sensor may preferably comprise a conductivity meter. If the quality parameter relates to biological aerosol particles and / or spores, the sensor may preferably comprise a fluorescence measuring device. If the quality parameter relates to organic gases, the sensor may preferably comprise a VOC [volatile organic compound] sensor. If the quality parameter relates to inorganic gases, such as Li, Na, K, Ca, etc., the sensor may preferably comprise a flame photometer. Where the quality parameter relates to carbon dioxide and / or other IR active gases, the sensor may preferably comprise a solid state gas sensor (NDIR [Non-Dispersive Infrared]).

[0048] Alternatively, it may be provided that the sensor is an optical image sensor, which additionally allows an image of the space to be captured. The image sensor may also continuously record images of the space and in particular of the measuring location.

[0049] It may be contemplated that one sensor measures different quality parameters at one measurement location. This means that the sensor can be configured to measure different quality parameters. It may therefore be contemplated that the sensor preferably comprises different measurement systems, each measurement system being configured to measure at least one quality parameter. For example, the sensor may be a spectroscopic sensor and / or a chemical sensor. This means that the sensor comprises a measurement system configured to perform spectroscopic measurements and a measurement system configured to perform chemical measurements.

[0050] According to a preferred embodiment, the sensor system can be provided with additional mobile sensors that do not follow a movement plan and are not controlled by the control system. For example, the sensor system can include sensors carried by people, such as personal dosimeters or sensors for workplace monitoring, such as gas warning devices, or sensors mounted on vehicles that are not controlled by the control system. These sensors can be equipped with positioning devices and, in addition to the measured values, can also indicate the associated measurement position.

[0051] According to a preferred embodiment, it may be provided that the measurement of the actual value of the quality parameter includes a sampling. A sampling may be understood as a sample collection, in particular as collecting and bringing in a sample. It may be provided that the sampling is carried out using a passive collector, which allows a lower detection limit of the system due to a relatively long exposure time. It may be provided that the passive collector is stationary and is collected, measured and evaluated by a mobile sensor. The stationary system is then equipped with a mobile sensor with a new or "reset" passive collector. According to a preferred embodiment of the invention, it may be provided that the mobile sensor takes a sample and transfers it to another sensor for analysis. For example, it may be provided that a flying mobile sensor takes a sample and transfers it to a sensor moving on the ground or to a fixed sensor. The sensor moving on the floor or the fixed sensor can then analyze the sample and transmit the actual value of the quality parameter to a data processing system. Complex measurement methods may thereby also be preferably used. In particular the mobile sensor may thereby be kept small. Furthermore, a reduction in the number of sensors, particularly expensive, may also be achieved, since several mobile sensors can send fluid samples to a single sensor.

[0052] It may be preferably contemplated that sample collection is carried out using a collection system selected from the group consisting of solid phase microextraction fibers, "gas mice", activated charcoal tubes, Tenax® tubes, reservoir containers for gases and / or liquids.

[0053] Sampling can be preferably introduced when an unknown substance is detected or when there is an increase in the actual value of a certain quality parameter that cannot be assigned to any substance without additional measurements. Alternatively or additionally, permanent sampling can be envisaged, which is periodically collected / measured, using passive collectors. It can advantageously be envisaged that the samples are measured by a mobile sensor unit. Alternatively or additionally, it can be envisaged that the samples are transported together with the mobile sensor to the place of analysis, for example outside the danger zone. An airborne transport route using the mobile sensor can significantly reduce the time taken to receive the results. In a particularly preferred embodiment, it can be envisaged that the transport is carried out by a central and / or special sensor. It is particularly preferred that the passive collectors are installed instead of the sensors in places where the occurrence is unlikely.

[0054] According to a preferred embodiment, it may be provided that the sampling also includes the collection of a preliminary sample. It may be particularly preferably provided that a mobile sensor takes the samples and transfers them to a storage system, which may possibly provide evidence of the quality of the space, in particular the quality of the air space.

[0055] A movement plan may be designed for a series of measurement locations for each mobile sensor. The measurement locations may be advantageously selected so that they cover the space as uniformly as possible. The measurement locations may be selected close to each other in a particular area of ​​the space, such as a hazard. The movement plan may also be a time plan, so that the mobile sensors are moved to the various measurement locations at particular time intervals. The movement plan may also be designed to provide a schedule depending on a particular time of day. For example, a particular area of ​​the space may be provided with measurement locations at a smaller interval at a particular time of day than at other times of the day. Furthermore, the movement plan may take into account the number of mobile sensors and / or the number of fixed sensors. The movement plan may set the same measurement locations for each mobile sensor, and the mobile sensors are moved to the desired measurement locations with a time difference. Alternatively, the movement plan may set different measurement locations for different mobile sensors. For example, the movement plan may provide a separate movement plan for each mobile sensor.

[0056] The movement plan can thus be particularly well adapted to the given conditions of the space and the sensor system, and therefore an efficient monitoring of the space can be achieved particularly simply, and the monitoring can furthermore be particularly easily adapted to changes in the sensor system, the space and / or the surroundings of the space.

[0057] In the event of a malfunction, at least one mobile sensor with a control system deviates from the stored movement plan. In the event of a malfunction, it may be particularly provided that the mobile sensor that is least distant from the actual value deviating from the target value defined for the respective measurement location moves around the position of the measurement location with the detected actual value deviation. In a preferred embodiment, it may be provided that some or all of the mobile sensors move around the position of the measurement location with the detected actual value deviation. Depending on the type of quality parameter and the magnitude of the deviation, a malfunction can be assigned an urgency. Depending on the urgency, the number of mobile sensors to be used can be selected, such that in the event of a malfunction with the highest urgency, all mobile sensors are used, and in the event of a malfunction with the lowest urgency, at least one mobile sensor is used. Furthermore, the sensor system may also include additional mobile sensors that did not follow the movement plan, for example sensors available on call. In the event of a malfunction, these additional mobile sensors may also be used. Additionally, in the event of a malfunction, it may be provided that the measurement frequency of the fixed sensors is increased. For example, it may be provided that a fixed sensor that performs measurements at a certain time interval performs measurements at shorter time intervals in the event of a malfunction. It may also be envisaged that the fixed sensor is in standby mode and only performs measurements in the event of a malfunction.

[0058] In this way, it can be advantageously achieved that the contamination of the space can be accurately determined in the event of a malfunction. Because existing mobile sensors are used, it is possible on the one hand to react very quickly to the contamination of the space, which saves resources, since additional emergency systems for determining the contamination can be omitted.

[0059] The movement around the position of the measurement location where the deviation is detected can be performed in one step according to a localization plan. The mobile sensor used can be moved systematically around the measurement location with the detected deviation. In another step, the movement around the position of the measurement location can be adjusted correspondingly to the measured actual quality parameter value. For example, the sensor can be moved along an increasing actual quality parameter value or along a constant or decreasing actual quality parameter value.

[0060] This makes it possible to determine the exact extent of the contamination, and furthermore to identify the progress of the contamination over time and possibly the source of the contamination.

[0061] According to a preferred embodiment of the method, it may be provided that in step a) additionally fluid parameters, in particular air parameters, in particular wind direction, wind strength, air temperature, humidity and / or air pressure are measured and transmitted to the data processing system in step b). It may be preferably provided that the movement plan is adapted to the further fluid parameters, in particular air parameters. For example, it may be provided that the measurement position of the movement plan is shifted depending on the measured wind direction and wind strength.

[0062] This makes it possible to achieve a particularly efficient selection of the measurement locations.

[0063] A particularly efficient air monitoring can thus be achieved.

[0064] According to a preferred embodiment, it may be envisaged that the actual value of the at least one quality parameter is the concentration of a substance in the fluid, in particular in the air, in particular the concentration of a hazardous substance and / or a pollutant.

[0065] For example, the actual quality parameter values ​​may be intended to be the concentrations in the air of ammonia, methane-free volatile organic compounds (NMVOC), carbon monoxide, sulfur dioxide, dust (taking particular account of the proportions of PM10 and PM2.5), nitrogen oxides, persistent organic pollutants (POPs) and heavy metals. The actual quality parameter values ​​may also be the concentrations of substances that occur more frequently in the vicinity of the measurement. For example, the actual quality parameter values ​​in the vicinity of a corresponding industrial facility may be the concentrations of substances used in the industrial facility, in particular exhaust gases, emissions and / or harmful substances that may be emitted by the industrial facility.

[0066] According to a preferred embodiment, it may be provided that the data processing system is provided with further environmental data, in particular information regarding possible emission sources.

[0067] This allows the movement plan to be adapted accordingly. Furthermore, in the event of a malfunction, the environmental data can be used to search for more targeted causes of deviations from the target values.

[0068] According to a preferred embodiment, it may be provided that the further environmental data is provided to the data processing system automatically, semi-automatically and / or manually. The further environmental data provided automatically may be continuously available to the data processing system, for example from an external source. It may be provided that, for example, information regarding the weather or surrounding traffic conditions is continuously made available to the data processing system. The further environmental data provided semi-automatically may be information that is automatically or manually deactivated and available to the data processing system only in certain cases. For example, malfunctions may be automatically or manually transmitted to the data processing system. The further environmental data provided manually may be further environmental data that is preferably not pre-classified. For example, observations of the occupant may be provided to the data processing system. For example, odors or smoke may be recognized by the occupant and communicated to the data processing system via the center's telephone. To this end, it is provided that the data processing system has an input interface, via which information regarding the further environmental data may also be manually transmitted to the data processing system.

[0069] The environmental data provided may in particular also be real-time dynamic environmental data. For example data on road, ship or air traffic may be provided. Dynamic environmental data is in particular understood as information on possible emission sources that can change. For example they are understood as information on natural or technological events that affect the quality. For example information on nearby road congestion, road marking works, construction sites, volcanic eruptions and / or sandstorms may be dynamic environmental data. Alternatively or additionally, data on production plans, for example from a corresponding industrial facility, may be provided. This may include information on substances that may be emitted. Thus, the travel plans can be modified depending on the environmental data. For example the mobile sensors, the quality parameters to be monitored and the measurement locations may be selected depending on the type and location of the emissions to be expected.

[0070] According to a preferred embodiment, it may be envisaged that the movement plan comprises fixed objects with spatial coordinates, to which a minimum and / or maximum distance is stored for the approach of the mobile sensor. This means that the movement plan may be provided with movement corridors, or areas within which the mobile sensor should not or must not be moved under any circumstances.

[0071] In this way, it can be achieved in particular that the movement of the mobile sensor can be simplified by the control system. In particular, fixed objects can be taken into account, so that collisions with these objects can be prevented without great effort. Furthermore, it can be prevented that a poorly protected mobile sensor is moved, for example, into a place where an explosion is likely to occur. This increases the safety of the method.

[0072] According to a preferred embodiment, measurement locations are defined in a movement plan, which may contemplate controlling the at least one mobile sensor in a predefined order or statistically and / or randomly selecting measurement locations in the space to be monitored by the at least one mobile sensor.

[0073] By a predefined sequence it can be achieved that a minimum of monitoring can be easily guaranteed. By randomly selected measurement locations it can be achieved that a statistical error can be minimized. Especially when using multiple mobile sensors, it can be envisaged that some mobile sensors control the defined measurement locations in a predefined sequence, while other mobile sensors can randomly select the measurement locations in the space to be monitored.

[0074] When using multiple mobile sensors, a movement plan may be envisaged to provide the greatest possible spatial distribution of the mobile sensors, which is understood to mean that the sensors are distributed particularly evenly throughout the space to be monitored.

[0075] According to a preferred embodiment, it may be provided that the movement plan is dynamically adapted. In this way, it may be achieved that the movement plan allows optimal monitoring of quality parameters at any location. The dynamic adaptation of the movement plan may in a preferred embodiment be an adaptation to environmental data. The movement plan may be provided to provide a higher measurement frequency or a higher measurement density in some locations of the space. For example, the movement plan may be provided to provide a higher measurement frequency in locations where the probability of malfunction is higher. Preferably, the movement plan also provides for a higher frequency of measurements in locations where a potential malfunction may pose a greater risk. Furthermore, it may be provided that adapting the movement plan to environmental data includes adapting to wind direction and / or weather. The adaptation may also be an adaptation to the time of day, the day of the week, the month, and / or the season.

[0076] According to a preferred embodiment, it may be provided that the adaptation of the movement plan is based on the historical measurement data and environmental data of the method. In order to obtain a particularly efficient monitoring of the space, artificial intelligence may be used, which is preferably arranged to adapt the movement plan from the historical measurement data and environmental data. For example, in the case of malfunctions or when the frequency of malfunctions is particularly high, particularly high-risk areas may be identified and the movement plan may be automatically modified in order to maintain a particularly close monitoring of these areas in time and space. This may be achieved in that the method adapts better and better to the conditions of the space over the period of use and is also able to respond to changes. For example, the movement plan may be automatically adapted to new hazards, such as new or outdated production facilities.

[0077] According to a preferred embodiment, it may be provided for detecting the location of the highest concentration of a substance exceeding a target value in the fluid, in particular in the air, in case of malfunction of the at least one mobile sensor.

[0078] This makes it possible, in particular, to determine whether a release is sustained and, moreover, to track the location of the greatest danger and the direction in which this location may move, so that corresponding safety measures can be implemented in a particularly time-sensitive manner.

[0079] According to a preferred embodiment, it is intended that the actual quality parameter values ​​transmitted to the data processing system by the fixed sensor / s and / or the movable sensor / s are processed by the data processing system for the creation of a false color map taking into account the target values.

[0080] This will enable the information gained through aerial surveillance to be fully understood, reported and further processed.

[0081] According to a preferred embodiment, the data processing system may be intended to estimate the actual quality parameter value with respect to time and / or location based on the at least one actual quality parameter value and on the further air data.

[0082] It is thereby achieved that the source of the release can be easily located. Furthermore, it is achieved that protective measures can be particularly pre-determined and initiated quickly. It is particularly preferably provided for the system itself to initiate protective measures.

[0083] According to a preferred embodiment, it may be provided that a marker substance is applied in the event of a malfunction. A marker substance is understood as a substantially harmless substance that can be measured qualitatively and preferably also quantitatively by a sensor. The marker substance may be measured in the event of a malfunction, as the actual quality parameter value. This may be achieved so that sensors that are not equipped to measure an exceeded actual quality parameter value can also trace the spread via the marker substance. The marker substance may be, for example, perceptible to humans, in particular visible.

[0084] According to a preferred embodiment, it may be provided that the data processing system issues an automatic alarm when the target value is exceeded, depending on the degree and type of exceedance of the actual value by the target value, and that the data processing system releases the alarm again when the actual value / values ​​of the quality parameter correspond to the target value / values ​​stored in the data processing system for the space inspected by the fixed sensor / s and / or the mobile sensor / s, respectively.

[0085] For example, the data processing system may be arranged to forward the alert to an alarm app, which may further inform auxiliary services such as the fire brigade or disaster management, or the competent private security services.

[0086] This may result in assistance being provided more quickly in some cases.

[0087] According to a preferred embodiment, the data processing system comprises Actual value but Target value If this is exceeded, it may be envisaged to propose and / or carry out preventive measures, in particular switching off possible emission sources and / or isolating dangerous areas, according to a corresponding action plan stored in a data processing system.

[0088] This is particularly contemplated for sources that are hazardous and easy to control. For example, it can be stored in a data processing system that a particular manufacturing facility may emit a particular pollutant if it malfunctions. A stored action plan can be stored that the manufacturing facility will be shut down if a target value for a particular pollutant is exceeded.

[0089] Further measures may be the closing of ventilation openings, the turning on of exhaust systems, the deactivation of warning systems, the activation, in particular the closing, of pressure relief devices, relief valves, emergency valves and emergency flaps, which in particular allow the prevention of dangerous releases as quickly as possible.

[0090] According to a preferred embodiment, it may be provided that the mobile sensor transmits this data according to the respective measurement location and based on the actual value of the measured quality parameter to a data processing system in order to create a target value profile for different measurement locations in the space.

[0091] It is understood here that the target values ​​may also be below normal limit values. In this way deviations can therefore be identified more quickly without unduly increasing the number of false alarms. In particular, by creating a target value profile, it is achieved that even very small deviations from the target value profile can already be measured. Such deviations can then, for example, be investigated individually. Even small deviations may already indicate the approach of fatigue or release of the material. It can therefore be provided that preventive measures are initiated in the event of deviations from the target value profile.

[0092] Furthermore, according to the invention, a system for quality monitoring and quantification of spatial contamination is proposed, the space being a volume determined by spatial coordinates and comprising or substantially filled with a fluid.

[0093] The system includes a sensor system, a data processing system, and a control system, the sensor system including a plurality of sensors; These multiple The sensor is 、It is a movable sensor, or 、 At least one Fixed Sensor and , at least one A movable sensor. The sensor system is configured to measure a plurality of actual quality parameter values ​​in a space, the space being a volume determinable by spatial coordinates and having or substantially filled with a fluid, the actual values ​​of at least one quality parameter are measured at a plurality of measurement locations, each sensor measuring at least one actual quality parameter value at a measurement location position determined by the spatial coordinates, the sensor system is configured to transmit the actual quality parameter values ​​measured at the plurality of measurement locations to a data processing system, the data processing system is configured to compare the actual quality parameter values ​​measured at the plurality of measurement locations with target values ​​provided for each measurement location, and the control system controls the at least one movable sensor to transmit the actual quality parameter values ​​measured at the plurality of measurement locations to a data processing system, the data processing system is configured to compare the actual quality parameter values ​​measured at the plurality of measurement locations with target values ​​provided for each measurement location, The at least one mobile sensor is configured to move to a measurement location spaced apart from a previous measurement location of at least one mobile sensor, the at least one mobile sensor being controlled to the different measurement locations according to a movement plan stored in the data processing system, and in case of a malfunction in which at least one actual value deviates from a target value defined for the respective measurement location, the at least one mobile sensor with the control system moves in space around the position of the measurement location having the detected deviation of the actual value, deviating from the stored movement plan, measures additional quality parameter actual values ​​at the additional measurement locations and transmits them to the data processing system, the data processing system determining the spatial extent of the respective spatial contamination, the type and / or concentration of the contamination.

[0094] The system described above allows a space to be efficiently monitored in a particularly advantageous manner and allows a particularly precise and rapid quantification of the contamination of the space, and thus serves to carry out the method described above.

[0095] According to a preferred embodiment, the data processing system may be envisaged to have computers or data processing devices capable of communicating with each other, the computers or data processing devices being envisaged to be arranged on at least one mobile sensor. The data processing system may be comprised of a number of data processing systems coupled to mobile and fixed sensor carrier systems, for example vehicles, aircraft, ships, advantageously autonomous, or communicating with each other by systematic transmission and reception within a data network, forming a more efficient data processing system as a whole.

[0096] According to a preferred embodiment, it can be envisaged that the movably arranged sensor is a ground vehicle, a rail vehicle, a cable car, a ship and / or an aircraft, the system in particular having at least two movably arranged sensors, one movably arranged sensor being a ground vehicle, a rail vehicle, a cable car or a ship and another movably arranged sensor being an aircraft, in particular a drone. The sensor being a particular vehicle means that the corresponding sensor is arranged on the corresponding vehicle. In the context of the present invention, a mobile sensor is therefore also a vehicle with a fixedly arranged sensor.

[0097] The system can be particularly easily used with ground vehicles. Ground vehicles are known per se and are particularly safe, since they usually simply stop in the event of a malfunction. However, for air monitoring covering a space, it is desirable for the measurement locations to also be clearly located on the ground. It can therefore be envisaged that the ground vehicle has a superstructure, for example a telescopic arm, designed to reach measurement locations at different heights.

[0098] Mobile sensors also include vehicles. These vehicles are preferably equipped with navigation systems that provide driving instructions to the driver in case of an event to perform new measurements at a safe distance or to leave the danger area. Also advantageous are autonomous vehicles that can be introduced into danger areas and detect measurements in order to create improved propagation predictions and provide more detailed information about danger zones in the situation picture in case of an event.

[0099] Measurement locations at different altitudes can be reached particularly easily by aircraft. For example aircraft, multicopters and / or airships with sensors suspended on ropes at selectively different altitudes are particularly preferred. Such aircraft can advantageously be easily controlled and can in particular remain in the air. It can thereby be advantageously achieved that measurements can be performed at almost any measurement location and measurement height.

[0100] The vessel allows particularly easy access to measurement locations in water bodies and at various depths in the ocean and can supply energy for long periods of time. Particularly preferred are vessels with sensors mounted, for example on ropes, at different depths. Such vessels can advantageously be easily controlled and can in particular remain underwater. It can thereby be advantageously achieved that, for example, oxygen content, CO2 concentration, etc. can be measured at almost any measurement location and measurement depth.

[0101] According to a preferred embodiment, it may be contemplated that ground vehicles, rail vehicles, cable cars, ships and / or aircraft may be operated autonomously, in particular at autonomy level 4 or 5. For example, the vehicles may be UAVs [unmanned aerial vehicles], UGVs [unmanned ground freeride vehicles], UWVs, UUVs [unmanned underwater vehicles], AUVs [autonomous underwater vehicles], USVs [unmanned surface vehicles].

[0102] This allows ground vehicles, rail vehicles, cable cars, ships and / or aircraft to be particularly compact. Furthermore, the vehicles can advantageously be centrally controlled. Automatic control is also contemplated. It is thus possible to contemplate that the sensors automatically follow a movement plan.

[0103] According to a preferred embodiment, it may be contemplated that the aircraft may be transported by ground vehicles, rail cars, cable cars and / or ships. Ground vehicles or ships may be mobile sensors as well. The aircraft may then be launched from a ground vehicle or ship, thereby allowing exploration and measurement of areas that are difficult or impossible to reach from a vehicle or areas that are blocked off. This may simplify the complexity of controlling the mobile sensors.

[0104] It may be contemplated that the mobile sensor has a navigation sensor. In particular, it may be contemplated that the mobile sensor is equipped with at least one of a GPS, a radar system, a LIDAR, a laser, and an optical sensor. This allows the sensor to provide the data required for navigation itself. It may be contemplated to provide navigation data to the sensor. The sensor can use the provided navigation data and the navigation sensor for navigation.

[0105] It may be provided that the mobile sensor is explosion-proof, so that it can also be used in areas where there is a risk of explosion.

[0106] The invention further proposes the use of the method for the quality monitoring and quantification of spatial contamination, the space being a volume determined by spatial coordinates and comprising or substantially filled with a fluid. It can be envisaged to use this method for monitoring: -Chemical and industrial sites and facilities / companies / units (e.g. refineries, warehouses, sewage treatment plants, pipelines (above ground, buried in the ground, over water) -Transportation infrastructure (e.g. roads, ports, airports, stations, rail systems, etc.) -Urban areas, public institutions (government offices, kindergartens, schools, universities, research centers, hospitals, etc.) - Critical infrastructure and supply facilities (e.g. pipelines, canals, waterways) -Military facilities, radiation protection areas Cultural properties, nature reserves, protected landscapes, world heritage sites, animal protection areas, e.g. sensor systems may be attached to animals, natural emission sources, e.g. underground coal fires, oil spills, volcanoes, etc. - Human and animal habitats, coastal areas, events (sports, culture, etc.) -Fattening farms, livestock farms, pastures, -Water bodies (oil spills, microplastics) -New Year's Eve activities, fire plays, fire performances, volcanic activity, forest fires, desert storms, erosion storms, snowstorms, pollen counts (allergy sufferers), dust pollution, e.g. aerosols from pesticides.

Claims

1. 1. A method for quality monitoring and quantification of contamination of a space, the space having a volume determinable by spatial coordinates and containing a fluid; a) measuring a plurality of actual quality parameter values ​​in said space using a sensor system, said plurality of actual quality parameter values ​​being at least one quality parameter measured at a plurality of measurement locations, said sensor system comprising a plurality of sensors, said sensors being movable sensors or said sensors comprising at least one fixed sensor and at least one movable sensor, each of said sensors measuring at least one actual quality parameter value at a position of said measurement location determined using said spatial coordinates; b) transmitting said actual values ​​of said quality parameters measured at said measuring locations to a data processing system; c) comparing the actual quality parameter value measured at each of said plurality of measurement locations with a target value stored in said data processing system for said each measurement location; d) moving, by a control system, at least one of the movable sensors to a measurement location spaced from a previous measurement location; said at least one mobile sensor moves to different measurement locations according to a movement plan stored in said data processing system; In the event of a malfunction in which at least one of the plurality of actual quality parameter values ​​deviates from the target value defined for the respective measurement location, the control system causes the at least one mobile sensor to move deviating from the stored movement plan to travel around the space around the position of the measurement location at which the at least one actual quality parameter value has an actual deviation from the target value, measure additional actual quality parameter values ​​at additional measurement locations, and transmit the additional actual quality parameter values ​​to the data processing system, which determines the spatial extent of contamination in the space, the type and / or concentration of contamination.

2. 2. The method of claim 1, wherein in step a) additional parameters are measured and in step b) transmitted to the data processing system; or 2. The method according to claim 1, wherein in step a) additional parameters selected from wind direction, wind strength, temperature, humidity and / or air pressure are measured and transmitted to the data processing system in step b).

3. 3. The method according to claim 1 or 2, wherein the actual value of at least one quality parameter is the concentration of a substance in a fluid.

3. The method according to claim 1 or 2, wherein at least one of the actual quality parameter values ​​is a concentration of a substance in the air; or 3. The method according to claim 1 or 2, wherein said actual quality parameter value is the concentration of a hazardous substance and / or a pollutant.

4. A method according to any one of claims 1 to 3, wherein the data processing system is further provided with environmental data; or The method according to any one of claims 1 to 3, wherein said data processing system is provided with information regarding possible emission sources.

5. The method according to any one of claims 1 to 4, wherein measuring the actual quality parameter value comprises taking a sample.

6. A method according to any one of claims 1 to 5, in which the movement plan comprises spatial coordinates relative to a fixed object and in which a minimum and / or maximum distance of access of the mobile sensor relative to the fixed object is stored, the minimum and / or maximum distance meaning that an area is provided within which the mobile sensor should not or must not be moved under any circumstances.

7. a) the measurement locations are defined in a movement plan, the movement plan controlling the at least one mobile sensor in a predetermined sequence or statistically; and / or The method according to any one of claims 1 to 6, wherein b) in the movement planning, the measurement locations in the space to be monitored for the at least one mobile sensor and / or the plurality of mobile sensors are selected randomly.

8. 8. The method according to claim 1, wherein the at least one movable sensor determines the location of the highest concentration of a substance exceeding the target value in the space in the event of a malfunction such that the actual value of at least one quality parameter deviates from the target value.

9. 9. The method according to claim 1, wherein actual quality parameter values ​​transmitted by said plurality of sensors to said data processing system are processed by said data processing system taking into account target values ​​for the creation of a pseudo-color map.

10. 10. The method according to claim 1, wherein the data processing system estimates an actual value of the quality parameter at each of the measurement locations at a certain time and / or in the space based on at least one actual value of the quality parameter at each of the measurement locations and the additional parameter related to the air.

11. 11. The method according to claim 1, wherein the data processing system issues an automatic warning when the actual quality parameter value exceeds the target value depending on the degree and type of the exceedance from the target value, and when the actual quality parameter value falls below the target value, the data processing system cancels the warning.

12. The method according to any one of claims 1 to 11, wherein the data processing system proposes and / or executes risk prevention measures in accordance with a countermeasure plan stored in the data processing system in case of an actual value exceeding a target value, or 12. The method according to any one of claims 1 to 11, wherein the data processing system is adapted to propose and / or carry out the closure of possible emission sources and / or the isolation of dangerous areas in accordance with a countermeasure plan stored in the data processing system in case of an actual value exceeding a target value.

13. 13. The method according to any one of claims 1 to 12, wherein said at least one mobile sensor transmits data based on the actual quality parameter values ​​associated with and measured at each said measurement location to said data processing system for creating target value profiles for different measurement locations in said space.

14. A system for quality monitoring and quantification of spatial contamination, the space having a volume that can be determined by spatial coordinates and filled with a fluid, the system comprising a sensor system, a data processing system and a control system; the sensor system has a plurality of sensors, the plurality of sensors being movable sensors or the plurality of sensors including at least one fixed sensor and at least one movable sensor, the sensor system is configured to measure a plurality of actual quality parameter values ​​in a space, the plurality of actual quality parameter values ​​including at least one quality parameter being measured at a plurality of measurement locations, each of the sensors measuring at least one actual quality parameter value at a measurement location position determined by spatial coordinates, the sensor system is configured to transmit the actual quality parameter values ​​measured at the plurality of measurement locations to the data processing system, the data processing system is configured to compare the actual quality parameter values ​​measured at the plurality of measurement locations with target values ​​provided at the plurality of measurement locations; the control system is configured to move at least one mobile sensor to measurement locations spaced apart from a previous measurement location of the at least one mobile sensor, the at least one mobile sensor controlling the various measurement locations according to a movement plan stored in the data processing system; A system for monitoring and quantifying the quality of spatial contamination, characterized in that in the event of a malfunction in which the actual value of at least one quality parameter deviates from the target value defined for each measurement location, the control system causes at least one movable sensor to move deviating from the stored movement plan, travel around the space around the position of the measurement location having an actual value deviation from the target value, measure additional actual quality parameter values ​​at additional measurement locations, and transmit the additional actual quality parameter values ​​to the data processing system, and the data processing system determines the spatial extent of the contamination in the space, the type and / or concentration of the contamination.

15. 15. The system of claim 14, wherein the mobile sensor is a ground vehicle, a rail car, a cable car, a ship and / or an aircraft having a fixedly mounted sensor.

16. 16. The system of claim 15, wherein the movable sensor is capable of operating autonomously, and wherein the movable sensor is capable of operating at autonomy level 4 or 5.