CN-121973237-A - Autonomous emergency disposal robot and system for dangerous chemical leakage

CN121973237ACN 121973237 ACN121973237 ACN 121973237ACN-121973237-A

Abstract

The invention relates to the technical field of dangerous chemical management, and provides an autonomous emergency disposal robot and system for dangerous chemical leakage. The system acquires place data in real time through a distributed multi-mode perception subsystem and generates an early warning sequence, a digital twin and emergency decision center is combined with a physical and chemical knowledge map, a three-dimensional BIM model and a hydrodynamic diffusion deduction engine, a harmful gas diffusion equipotential surface prediction model is dynamically generated and a system-level intervention strategy is formulated, a building facility joint control subsystem adjusts ventilation parameters according to the harmful gas diffusion equipotential surface prediction model, an aerodynamic negative pressure barrier is constructed, an autonomous emergency treatment robot serves as an execution end, and a modularized release load is utilized to implement targeted intervention. The invention effectively solves the core problems of lack of dynamic prediction capability, high manual disposal risk and delayed response in the prior art by linkage of system-level dynamic deduction and building environment, realizes unmanned accurate containment of dangerous chemical leakage, and remarkably improves the safety and engineering reliability of the disposal process.

Inventors

ZHU RUIQING
PAN QI
WANG YUQING

Assignees

杭州清堃科技服务有限公司

Dates

Publication Date: 20260505
Application Date: 20260331

Claims (10)

1. An autonomous emergency disposal system for hazardous chemical leakage, comprising: The distributed multi-mode sensing subsystem is deployed in a dangerous chemical application place and is used for collecting space environment data, a gas concentration gradient matrix and multispectral images in the place in real time and generating a spectrum-space combined early warning sequence containing the initial physical coordinates of a leakage source and the characteristics of the leakage object when abnormality is detected; the system comprises a distributed multi-mode sensing subsystem, a digital twin and emergency decision center, a system-level emergency intervention strategy and a control system, wherein the distributed multi-mode sensing subsystem is in communication connection with the digital twin and emergency decision center, and is internally provided with a dangerous chemical physicochemical knowledge map, a three-dimensional BIM model of a place and a hydrodynamic diffusion deduction engine; The building facility joint control subsystem is in communication connection with the emergency decision center and is used for receiving and executing an environmental control instruction in the system-level emergency intervention strategy, and an aerodynamic negative pressure barrier for preventing harmful gas from diffusing is constructed at the periphery of a leakage source by dynamically adjusting the opening and closing of an exhaust fan and the opening of an air valve of each smoke-proof partition in a place; The autonomous emergency treatment robot is in communication connection with the emergency decision center, is provided with an explosion-proof running chassis, a local obstacle avoidance module and a modularized release load preloaded with a specific intervention medium, receives a macroscopic safety navigation waypoint and tail end release instruction issued by the emergency decision center, runs to a target intervention position, and performs physical coverage or chemical neutralization on a leakage source through the modularized release load.
2. The hazardous chemical leakage autonomous emergency treatment system according to claim 1, characterized in that said step of generating a system-level emergency intervention strategy by an emergency decision center comprises in particular: analyzing the identified chemical properties, and extracting toxicity critical values, explosion limits and incompatibility rules from the physicochemical knowledge graph; Dividing a dynamic deadly area, a dynamic severe dangerous area and a safe transition area in a three-dimensional BIM model according to the harmful gas diffusion equipotential surface prediction model and the extracted attribute parameters; Based on the divided areas, a macroscopic safety navigation waypoint sequence which avoids the dynamic deadly area and is in the upwind direction of the leakage source is calculated for the autonomous emergency treatment robot, and meanwhile, the type of intervention medium matched with the chemical attribute and the estimated release equivalent are specified.
3. The system for autonomous emergency treatment of dangerous chemical leakage according to claim 2, wherein a standby base station of the robot is arranged in the place, a plurality of autonomous emergency treatment robots respectively carrying different intervention mediums are arranged in the standby base station, and the emergency decision center wakes up and dispatches the autonomous emergency treatment robots carrying corresponding mediums to execute tasks directly according to the appointed intervention medium types when generating the system-level emergency intervention strategy without dynamic proportioning and synthesis of the mediums during execution of the robots.
4. The autonomous emergency treatment system for hazardous chemical leakage according to claim 2, wherein the building facility joint control subsystem automatically locks personnel access control coinciding with the dynamic deadly zone and the dynamic severe dangerous zone according to the instructions of the emergency decision center while constructing an aerodynamic negative pressure barrier, and unlocks escape path indicator light strips leading to a safe transition zone, so that a personnel evacuation path is strictly isolated from a reverse cut-in path of a robot in physical space.
5. The autonomous emergency treatment system for hazardous chemical leakage according to claim 1 is characterized in that the system forms a closed-loop negative feedback regulation framework, the emergency decision center continuously receives real-time concentration attenuation data returned by the distributed multi-mode sensing subsystem during the process of executing a release task by the autonomous emergency treatment robot, and if the actual concentration attenuation rate is lower than the theoretical prediction rate of the hydrodynamic diffusion deduction engine, the emergency decision center automatically issues a boost command for increasing the negative pressure equivalent of a specific exhaust partition to the building facility joint control subsystem and issues a correction command for increasing the medium release flow to the autonomous emergency treatment robot.
6. The autonomous emergency treatment system for hazardous chemical leakage according to claim 1, wherein the distributed multi-modal sensing subsystem, when identifying the phase of the leak, determines the leak as high pressure gas jet, liquid pool spread or solid dust fly by fusing the local abnormal temperature gradients acquired by the infrared thermal imaging camera and programs the phase tag into the combined pre-warning sequence.
7. An autonomous emergency disposal robot for hazardous chemical leakage, comprising: the airborne slave control unit is configured to be communicated with an external emergency decision center in real time and is used for analyzing macroscopic safety navigation waypoints and tail end release instructions issued by the emergency decision center; the modularized release load comprises a servo flow control valve and a single medium Chu Rongcang which are electrically connected with the airborne driven control unit, and the servo flow control valve is opened to carry out targeted spraying according to the flow parameter in the tail end release instruction; The microscopic servo and obstacle avoidance module comprises an explosion-proof binocular camera and a short-distance laser radar, and is used for avoiding unstructured obstacles such as temporary throws and the like in the running process along the macroscopic safety navigation waypoints, and identifying the microscopic geometric center of the leakage point after reaching the target intervention position, and guiding the modularized release load to aim at the leakage source.
8. The autonomous emergency disposal robot for dangerous chemical leakage according to claim 7, wherein the onboard slave control unit is internally provided with a dynamic windward angle hard constraint algorithm based on local meteorological feedback, and in the process of executing the terminal release instruction, the onboard slave control unit collects local micro-environment wind flow vectors through a breeze anemometer carried on the robot body, forces the orientation of the explosion-proof running chassis and the adjustment of the jet axis upwind direction of the modularized release load, and avoids the robot body from entering a medium backflow area caused by the robot body or being covered by harmful gas.
9. The autonomous emergency handling robot for dangerous chemical leakage according to claim 7, wherein the nozzle end of the modularized release load is integrated with an electrically controlled variable diameter guide cover, the onboard slave control unit adjusts the electrically controlled variable diameter guide cover according to a phase state label contained in the terminal release instruction, wherein the onboard slave control unit adjusts the electrically controlled variable diameter guide cover to a wide-angle low-pressure umbrella-shaped flow pattern to implement large-area coverage when the phase state label is a liquid pool spreading, and adjusts to a focused high-pressure direct flow pattern to break down a peripheral aerosol direct leakage source core when the phase state label is a high-pressure gas spraying.
10. The autonomous emergency treatment robot for hazardous chemical leakage according to claim 7, wherein the robot is configured with a downgrade disconnect self-protection module, and when the wireless communication link between the robot and the emergency decision center is interrupted by field explosion-proof shielding or extreme interference and exceeds a safe heartbeat period, the on-board slave control unit takes over the bottom driving authority, terminates all aggressive spraying behaviors, invokes a locally stored latest effective track, and controls the explosion-proof running chassis to be retracted to a communication recovery area or to exit a leakage area along the original track.

Description

Autonomous emergency disposal robot and system for dangerous chemical leakage Technical Field The invention relates to the technical field of dangerous chemical management, in particular to an autonomous emergency disposal robot and system for dangerous chemical leakage. Background Dangerous chemicals are chemicals which have dangerous characteristics such as poison, corrosion, explosion, combustion and the like and possibly cause harm to human bodies, facilities and environment. The articles have higher safety risks in the links of use, storage and the like, and once safety accidents such as leakage and the like occur due to illegal operation or improper supervision, serious casualties and huge economic losses are extremely easy to cause. In the application sites of dangerous chemicals such as laboratories and chemical parks, traditional emergency treatment means for sudden leakage mainly rely on fixed passive exhaust or spray facilities and artificial wearing protective equipment go through dangers for treatment. There are significant limitations to this conventional mode of treatment. The fixed defending facilities cannot accurately sense the specific physical and chemical properties of the leakage matters, cannot dynamically predict the diffusion trend of the harmful gas in combination with the real-time environment wind field, and further cannot realize accurate active isolation in the physical space and the aerodynamic layer, and easily cause the harmful gas to spread to the personnel evacuation area. In a complex chemical dangerous field, manual blocking, neutralization and cleaning are carried out by means of deep sites of rescue workers, so that response speed is delayed, and the rescue workers face extremely high poisoning, corrosion or secondary explosion risks. The conventional inspection equipment only has a basic video monitoring function, and lacks the collaborative operation capability of system-level three-dimensional diffusion deduction, building environment joint control and terminal autonomous targeting treatment. In summary, the present invention provides an autonomous emergency disposal robot and system for hazardous chemical leakage to solve the above-mentioned problems. Disclosure of Invention The invention provides an autonomous emergency disposal robot and system for dangerous chemical leakage, which solve the problems that the prior art lacks the capability of dynamic prediction and active isolation of dangerous fields for dangerous chemical leakage and the disposal of manual go through dangers has extremely high casualties and delayed response by the collaborative operation of digital twin dynamic deduction, building environment joint control and end robots at a system level. The specific technical scheme of the invention is as follows: an autonomous emergency disposal system for hazardous chemical leakage, comprising: The distributed multi-mode sensing subsystem is deployed in a dangerous chemical application place and is used for collecting space environment data, a gas concentration gradient matrix and multispectral images in the place in real time and generating a spectrum-space combined early warning sequence containing the initial physical coordinates of a leakage source and the characteristics of the leakage object when abnormality is detected; the system comprises a distributed multi-mode sensing subsystem, a digital twin and emergency decision center, a system-level emergency intervention strategy and a control system, wherein the distributed multi-mode sensing subsystem is in communication connection with the digital twin and emergency decision center, and is internally provided with a dangerous chemical physicochemical knowledge map, a three-dimensional BIM model of a place and a hydrodynamic diffusion deduction engine; The building facility joint control subsystem is in communication connection with the emergency decision center and is used for receiving and executing an environmental control instruction in the system-level emergency intervention strategy, and an aerodynamic negative pressure barrier for preventing harmful gas from diffusing is constructed at the periphery of a leakage source by dynamically adjusting the opening and closing of an exhaust fan and the opening of an air valve of each smoke-proof partition in a place; The autonomous emergency treatment robot is in communication connection with the emergency decision center, is provided with an explosion-proof running chassis, a local obstacle avoidance module and a modularized release load preloaded with a specific intervention medium, receives a macroscopic safety navigation waypoint and tail end release instruction issued by the emergency decision center, runs to a target intervention position, and performs physical coverage or chemical neutralization on a leakage source through the modularized release load. As an improvement of the present invention, the step of generating the system-level emergency in