1. Hazardous chemical substance transportation tracking system, characterized in that, the system includes: a node network, a data record distributor and a tracker; the nodal network includes a plurality of nodes; the nodes are a plurality of coordinate points randomly selected in the transportation area, and the coordinate points are connected with other adjacent coordinate points; when a carrier carrying dangerous chemicals runs in a transportation area and passes through a certain node, the data recording distributor records the node and sends coordinate data of the node to the tracker; meanwhile, the data record distributor also records the amount of dangerous chemicals on the carrier when the data record distributor passes through the node, and sends the recorded amount of dangerous chemicals to the tracker; when the tracker receives a tracking request for hazardous chemicals, firstly, judging whether hazardous chemicals are distributed or not according to the recorded coordinate data of the nodes and the amount of the hazardous chemicals passing through the nodes; the hazardous chemical distribution is defined as: the carrier distributes the hazardous chemical substances in the transportation process, so that the amount of the hazardous chemical substances carried by the carrier is reduced; if the dangerous chemicals are judged to be distributed, tracking the dangerous chemicals by using a preset tracking algorithm to obtain a distribution route of the dangerous chemicals, and recording coordinates of nodes of the route in the distribution route to finish the tracking of the dangerous chemicals.

2. The system of claim 1, wherein the method of the tracker determining whether hazardous chemical dispensing has occurred comprises: the tracker compares and judges the amount of the hazardous chemical substances corresponding to each node, and if the amount of the hazardous chemical substances of each node is equal, the tracker judges that no hazardous chemical substance is distributed; if the amount of the hazardous chemical substances of each node is not completely equal, judging that the hazardous chemical substances are distributed; and under the condition that the dangerous chemicals are distributed, positioning a node for distributing the dangerous chemicals.

3. The system of claim 2, wherein the method of the tracker locating a node for hazardous chemical distribution comprises: grouping the nodes with the same amount of hazardous chemicals to obtain a plurality of node groups, wherein the amount of hazardous chemicals of the nodes in each group after grouping is equal; counting the sum of the node coordinate values in each node group; the sum of the node coordinate values is defined as: after absolute values of coordinate values of each coordinate axis in the node coordinate values are taken, adding the absolute values to obtain a sum of the node coordinate values; screening out the node with the minimum sum of the node coordinate values, wherein the screened node is the node subjected to hazardous chemical distribution; and tracking the hazardous chemicals by using a preset tracking algorithm based on the screened nodes.

4. The system of claim 3, wherein the tracker performs hazardous chemical substance tracking using a predetermined tracking algorithm based on the screened nodes, and comprises: taking the screened nodes as initial nodes, constructing a tracking graph with adjacent nodes, and taking each node in the tracking graph as a tracking point; initializing a tracking graph and establishing a coordinate system; determining a next tracking point direction at the current tracking point based on the current tracking map; finding the next tracking point according to the determined tracking point direction; at the next tracking point, the direction of the next tracking point is continuously determined until the last tracking point is found.

5. The system of claim 4, wherein the method of initializing the tracking map and establishing the coordinate system comprises: defining an unknown path map of the underground parking lot as a tracking map G ═ V, E, wherein V represents a vertex set; e represents an edge set; defining any vertex in the vertex set V as V_qQ represents the number of vertices; defining any one edge in the edge set E as E_kK represents the number of edges; defining a tracking point set based on the tracking graph G, wherein a coordinate set formed by all tracking points in the tracking point set is W; all the tracking points in the tracking point set can form a tracking graph G; defining a set formed by the degrees of each tracking point in the tracking point set as N; defining the degree of any one tracking point in the set N as N; defining untracked relations for each trace point in a set of trace pointsThe set formed by the number of the connecting edges is M; defining the number of untracked associated edges of any tracking point in the set M as M; defining an adjacency matrix of the tracing graph G as A; establishing a three-dimensional coordinate system O-XYZ by taking the entrance position of the underground parking lot as an original point O, taking the original point O as a center, taking the entrance direction of the underground parking lot as the positive direction of an X axis, taking the direction of leftward rotation of 90 degrees in the direction of the X axis as the positive direction of a Y axis and taking the direction which is upward and vertical to a plane XOY as the positive direction of a Z axis; the initialized tracing graph G, the tracing point set W, the set N formed by the degrees of all tracing points, the set M formed by the number of associated edges and the adjacency matrix A are all empty sets.

6. The system of claim 5, wherein the method of determining the direction of the next tracking point at the current tracking point based on the current tracking map comprises: based on the current tracking point, the probability of the direction of the next tracking point is calculated using the following formula:

and taking the maximum value of the probability of the direction of the next tracking point obtained by calculation as the direction of the next tracking point.

7. A hazardous chemical substance transportation tracking method based on the system of any one of claims 1 to 6, wherein the method performs the following steps: step 1: when a carrier carrying dangerous chemicals runs in a transportation area and passes through a certain node, the data recording distributor records the node and sends coordinate data of the node to the tracker; meanwhile, the data record distributor also records the amount of dangerous chemicals on the carrier when the data record distributor passes through the node, and sends the recorded amount of dangerous chemicals to the tracker; step 2: when receiving a tracking request for hazardous chemicals, a tracker firstly judges whether hazardous chemicals are distributed or not according to the recorded coordinate data of the nodes and the amount of the hazardous chemicals passing through the nodes; the hazardous chemical distribution is defined as: the carrier distributes the hazardous chemical substances in the transportation process, so that the amount of the hazardous chemical substances carried by the carrier is reduced; and step 3: if the dangerous chemicals are judged to be distributed, tracking the dangerous chemicals by using a preset tracking algorithm to obtain a distribution route of the dangerous chemicals, and recording coordinates of nodes of the route in the distribution route to finish the tracking of the dangerous chemicals.

8. The method of claim 7, wherein the method of the tracker determining whether hazardous chemical dispensing has occurred comprises: the tracker compares and judges the amount of the hazardous chemical substances corresponding to each node, and if the amount of the hazardous chemical substances of each node is equal, the tracker judges that no hazardous chemical substance is distributed; if the amount of the hazardous chemical substances of each node is not completely equal, judging that the hazardous chemical substances are distributed; and under the condition that the dangerous chemicals are distributed, positioning a node for distributing the dangerous chemicals.

9. The method of claim 8, wherein the method of the tracker locating a node at which hazardous chemical distribution is performed comprises: grouping the nodes with the same amount of hazardous chemicals to obtain a plurality of node groups, wherein the amount of hazardous chemicals of the nodes in each group after grouping is equal; counting the sum of the node coordinate values in each node group; the sum of the node coordinate values is defined as: after absolute values of coordinate values of each coordinate axis in the node coordinate values are taken, adding the absolute values to obtain a sum of the node coordinate values; screening out the node with the minimum sum of the node coordinate values, wherein the screened node is the node subjected to hazardous chemical distribution; and tracking the hazardous chemicals by using a preset tracking algorithm based on the screened nodes.

10. The method of claim 9, wherein the tracker performs hazardous chemical substance tracking using a predetermined tracking algorithm based on the screened nodes, and comprises: taking the screened nodes as initial nodes, constructing a tracking graph with adjacent nodes, and taking each node in the tracking graph as a tracking point; initializing a tracking graph and establishing a coordinate system; determining a next tracking point direction at the current tracking point based on the current tracking map; finding the next tracking point according to the determined tracking point direction; at the next tracking point, the direction of the next tracking point is continuously determined until the last tracking point is found.

Background

The transportation of dangerous goods is always connected with the production, operation, storage and use of dangerous goods such as finished oil, natural gas and the like, such as bridges and ties. In recent years, with the increase of the transportation volume of chemical dangerous goods year by year, the increase of road chemical dangerous goods transportation operation households, transportation vehicles and employees year by year, the small operation scale of dangerous chemical enterprises, the old transportation vehicles and facility equipment, the disordered management, the insufficient safety investment, the poor production operation conditions, the large potential safety hazard of the road transportation of the chemical dangerous goods, the frequent occurrence of transportation accidents and the serious threat to the public safety of the society.

Aiming at the transportation of dangerous chemicals with long distance and large tonnage, the department of transportation ever published the regulations on the transportation of dangerous goods on roads in 2005, and the regulations require that the dangerous goods with severe toxicity, explosion, flammability and radioactivity are transported, a tank vehicle or a van vehicle and a special container are provided, a vehicle is provided with a driving recorder or a positioning system, and some local administrative departments also establish own regulations and regulations aiming at the transportation condition of dangerous chemicals in various regions. However, the monitoring platform established by the GPS technology or the driving recorder can only monitor the position information of the hazardous chemical substance transportation vehicle and manage personnel, but lacks management of the hazardous chemical substance information. Therefore, a whole-course monitoring system for the transportation of the hazardous chemical substances is needed to be established. Meanwhile, as the hazardous chemical substances may be transported for many times, the transportation process causes difficulty in tracking the hazardous chemical substances. Therefore, while monitoring dangerous chemicals, the system also needs to be capable of tracing the dangerous chemicals, so that social public safety is guaranteed to the maximum extent.

Patent No. CN201410054886.8A discloses a hazardous chemical substance transportation scheduling method based on multi-objective modeling optimization, which includes establishing path length, establishing time, vehicle fixed cost and risk model respectively; performing per unit and weighting processing on the four sub-models to obtain an evaluation function for optimal scheduling of the transportation of the hazardous chemical substances; and (3) adopting a natural number coding, recursively generating an initial population, an optimal storage strategy, an improved matching intersection and an improved genetic algorithm solving model of continuous triple intersection, and finally obtaining the optimal transportation path of the hazardous chemical substances, which is short in transportation path, high in distribution efficiency, few in distribution vehicles and small in risk. The invention considers four targets at the same time, a decision maker can set different weights according to self needs, the search direction of the genetic algorithm is determined by the weights, and the optimal path is obtained through the final convergence of the continuous iteration fitness value.

The invention emphasizes how to plan the transportation path of the hazardous chemical substances so as to ensure that the transportation path of the hazardous chemical substances is shortest and the distribution efficiency is highest, thereby reducing the accident rate of the transportation of the hazardous chemical substances. However, for tracing and tracing the hazardous chemical substances and supervising the hazardous chemical substances, no solution for removing the substance is provided.

Disclosure of Invention

In view of the above, the main objective of the present invention is to provide a system and a method for tracking transportation of hazardous chemical substances, which track transportation of hazardous chemical substances by monitoring nodes through which carriers pass in a transportation area of the hazardous chemical substances, and further track distribution situations that may occur during transportation of the hazardous chemical substances, and track the distribution trend of the hazardous chemical substances by using a preset tracking algorithm, so as to realize tracking of the hazardous chemical substances in a full process, and have the advantages of high accuracy and high practicability.

In order to achieve the purpose, the technical scheme of the invention is realized as follows:

a hazardous chemicals transportation tracking system, the system comprising: a node network, a data record distributor and a tracker; the nodal network includes a plurality of nodes; the nodes are a plurality of coordinate points randomly selected in the transportation area, and the coordinate points are connected with other adjacent coordinate points; when a carrier carrying dangerous chemicals runs in a transportation area and passes through a certain node, the data recording distributor records the node and sends coordinate data of the node to the tracker; meanwhile, the data record distributor also records the amount of dangerous chemicals on the carrier when the data record distributor passes through the node, and sends the recorded amount of dangerous chemicals to the tracker; when the tracker receives a tracking request for hazardous chemicals, firstly, judging whether hazardous chemicals are distributed or not according to the recorded coordinate data of the nodes and the amount of the hazardous chemicals passing through the nodes; the hazardous chemical distribution is defined as: the carrier distributes the hazardous chemical substances in the transportation process, so that the amount of the hazardous chemical substances carried by the carrier is reduced; if the dangerous chemicals are judged to be distributed, tracking the dangerous chemicals by using a preset tracking algorithm to obtain a distribution route of the dangerous chemicals, and recording coordinates of nodes of the route in the distribution route to finish the tracking of the dangerous chemicals.

Further, the method for the tracker to judge whether hazardous chemical dispensing is performed comprises the following steps: the tracker compares and judges the amount of the hazardous chemical substances corresponding to each node, and if the amount of the hazardous chemical substances of each node is equal, the tracker judges that no hazardous chemical substance is distributed; if the amount of the hazardous chemical substances of each node is not completely equal, judging that the hazardous chemical substances are distributed; and under the condition that the dangerous chemicals are distributed, positioning a node for distributing the dangerous chemicals.

Further, the method for the tracker to locate the node for hazardous chemical distribution comprises the following steps: grouping the nodes with the same amount of hazardous chemicals to obtain a plurality of node groups, wherein the amount of hazardous chemicals of the nodes in each group after grouping is equal; counting the sum of the node coordinate values in each node group; the sum of the node coordinate values is defined as: after absolute values of coordinate values of each coordinate axis in the node coordinate values are taken, adding the absolute values to obtain a sum of the node coordinate values; screening out the node with the minimum sum of the node coordinate values, wherein the screened node is the node subjected to hazardous chemical distribution; and tracking the hazardous chemicals by using a preset tracking algorithm based on the screened nodes.

Further, the method for tracking the hazardous chemical substance by the tracker based on the screened nodes and using a preset tracking algorithm comprises the following steps: taking the screened nodes as initial nodes, constructing a tracking graph with adjacent nodes, and taking each node in the tracking graph as a tracking point; initializing a tracking graph and establishing a coordinate system; determining a next tracking point direction at the current tracking point based on the current tracking map; finding the next tracking point according to the determined tracking point direction; at the next tracking point, the direction of the next tracking point is continuously determined until the last tracking point is found.

Further, the method for initializing the tracking map and establishing the coordinate system includes: defining an unknown path map of the underground parking lot as a tracking map G ═ V, E, wherein V represents a vertex set; e represents an edge set; defining any vertex in the vertex set V as V_qQ represents the number of vertices; defining any one edge in the edge set E as E_kK represents the number of edges; defining a tracking point set based on the tracking graph G, wherein a coordinate set formed by all tracking points in the tracking point set is W; all the tracking points in the tracking point set can form a tracking graph G; defining a set formed by the degrees of each tracking point in the tracking point set as N; defining the degree of any one tracking point in the set N as N; defining a set formed by the quantity of the untracked associated edges of each tracking point in the tracking point set as M; defining the number of untracked associated edges of any tracking point in the set M as M; defining an adjacency matrix of the tracing graph G as A; establishing a three-dimensional coordinate system O-XYZ by taking the entrance position of the underground parking lot as an original point O, taking the original point O as a center, taking the entrance direction of the underground parking lot as the positive direction of an X axis, taking the direction of leftward rotation of 90 degrees in the direction of the X axis as the positive direction of a Y axis and taking the direction which is upward and vertical to a plane XOY as the positive direction of a Z axis; the initialized tracing graph G, the tracing point set W, the set N formed by the degrees of all tracing points, the set M formed by the number of associated edges and the adjacency matrix A are all empty sets.

Further, the method for determining the direction of the next tracking point at the current tracking point based on the current tracking map comprises: based on the current tracking point, the probability of the direction of the next tracking point is calculated using the following formula:and taking the maximum value of the probability of the direction of the next tracking point obtained by calculation as the direction of the next tracking point.

A hazardous chemical transportation tracking method, the method performing the steps of: step 1: when a carrier carrying dangerous chemicals runs in a transportation area and passes through a certain node, the data recording distributor records the node and sends coordinate data of the node to the tracker; meanwhile, the data record distributor also records the amount of dangerous chemicals on the carrier when the data record distributor passes through the node, and sends the recorded amount of dangerous chemicals to the tracker; step 2: when receiving a tracking request for hazardous chemicals, a tracker firstly judges whether hazardous chemicals are distributed or not according to the recorded coordinate data of the nodes and the amount of the hazardous chemicals passing through the nodes; the hazardous chemical distribution is defined as: the carrier distributes the hazardous chemical substances in the transportation process, so that the amount of the hazardous chemical substances carried by the carrier is reduced; and step 3: if the dangerous chemicals are judged to be distributed, tracking the dangerous chemicals by using a preset tracking algorithm to obtain a distribution route of the dangerous chemicals, and recording coordinates of nodes of the route in the distribution route to finish the tracking of the dangerous chemicals.

Further, the method for the tracker to judge whether hazardous chemical dispensing is performed comprises the following steps: the tracker compares and judges the amount of the hazardous chemical substances corresponding to each node, and if the amount of the hazardous chemical substances of each node is equal, the tracker judges that no hazardous chemical substance is distributed; if the amount of the hazardous chemical substances of each node is not completely equal, judging that the hazardous chemical substances are distributed; and under the condition that the dangerous chemicals are distributed, positioning a node for distributing the dangerous chemicals.

Further, the method for the tracker to locate the node for hazardous chemical distribution comprises the following steps: grouping the nodes with the same amount of hazardous chemicals to obtain a plurality of node groups, wherein the amount of hazardous chemicals of the nodes in each group after grouping is equal; counting the sum of the node coordinate values in each node group; the sum of the node coordinate values is defined as: after absolute values of coordinate values of each coordinate axis in the node coordinate values are taken, adding the absolute values to obtain a sum of the node coordinate values; screening out the node with the minimum sum of the node coordinate values, wherein the screened node is the node subjected to hazardous chemical distribution; and tracking the hazardous chemicals by using a preset tracking algorithm based on the screened nodes.

Further, the method for tracking the hazardous chemical substance by the tracker based on the screened nodes and using a preset tracking algorithm comprises the following steps: taking the screened nodes as initial nodes, constructing a tracking graph with adjacent nodes, and taking each node in the tracking graph as a tracking point; initializing a tracking graph and establishing a coordinate system; determining a next tracking point direction at the current tracking point based on the current tracking map; finding the next tracking point according to the determined tracking point direction; at the next tracking point, the direction of the next tracking point is continuously determined until the last tracking point is found.

According to the dangerous chemical transport tracking system and the tracking method, the nodes through which the carriers pass in the dangerous chemical transport area are monitored, so that the dangerous chemical transport is tracked, meanwhile, the system further tracks the distribution condition which possibly occurs in the dangerous chemical transport process, tracks the trend of the distributed dangerous chemicals by using a preset tracking algorithm, realizes the tracking of the dangerous chemicals in the whole process, and has the advantages of high accuracy and high practicability. The method is mainly realized by the following steps: 1. monitoring the whole process of the transportation process of the hazardous chemical: the vehicle monitoring system has the advantages that the vehicle monitoring system can monitor the whole process of the vehicle in the transportation process of the hazardous chemical substances to ensure that the paths of the hazardous chemical substances passing through the vehicle in the transportation process can be traced, compared with the prior art that the vehicle is tracked through data, the vehicle monitoring system is higher in real-time performance and can reflect the change of the hazardous chemical substances in the transportation process, so that the accuracy of the tracking result is ensured; 2. tracking the distribution process of hazardous chemicals: the method not only monitors the transportation of the hazardous chemical substances, but also monitors the distribution of the hazardous chemical substances in the transportation process, and can track the distribution path of the hazardous chemical substances through the process so as to ensure that the flow direction of the subsequent hazardous chemical substances can be completely mastered, thereby improving the scientificity of tracking the hazardous chemical substances; meanwhile, before distribution tracking, whether distribution is performed or not is judged, so that the problem that the operation efficiency of the system is reduced due to dangerous chemical distribution tracking under the condition that distribution is not performed is avoided.

Drawings

Fig. 1 is a schematic flow chart of a method for tracking transportation of hazardous chemical substances according to an embodiment of the present invention;

fig. 2 is a schematic node distribution diagram of a transportation area of the hazardous chemical transportation tracking system and the hazardous chemical transportation tracking method according to the embodiment of the invention;

fig. 3 is a schematic diagram illustrating the principle of hazardous chemical substance tracking performed by the hazardous chemical substance transportation tracking system and the hazardous chemical substance transportation tracking method according to the embodiment of the invention;

fig. 4 is a schematic diagram illustrating the principle of hazardous chemical substance tracking performed by the hazardous chemical substance transportation tracking system and the hazardous chemical substance transportation tracking method according to the embodiment of the invention.

Detailed Description

The method of the present invention will be described in further detail below with reference to the accompanying drawings and embodiments of the invention.

Example 1

As shown in fig. 1 and 2, a hazardous chemical transportation tracking system includes: a node network, a data record distributor and a tracker; the nodal network includes a plurality of nodes; the nodes are a plurality of coordinate points randomly selected in the transportation area, and the coordinate points are connected with other adjacent coordinate points; when a carrier carrying dangerous chemicals runs in a transportation area and passes through a certain node, the data recording distributor records the node and sends coordinate data of the node to the tracker; meanwhile, the data record distributor also records the amount of dangerous chemicals on the carrier when the data record distributor passes through the node, and sends the recorded amount of dangerous chemicals to the tracker; when the tracker receives a tracking request for hazardous chemicals, firstly, judging whether hazardous chemicals are distributed or not according to the recorded coordinate data of the nodes and the amount of the hazardous chemicals passing through the nodes; the hazardous chemical distribution is defined as: the carrier distributes the hazardous chemical substances in the transportation process, so that the amount of the hazardous chemical substances carried by the carrier is reduced; if the dangerous chemicals are judged to be distributed, tracking the dangerous chemicals by using a preset tracking algorithm to obtain a distribution route of the dangerous chemicals, and recording coordinates of nodes of the route in the distribution route to finish the tracking of the dangerous chemicals.

By adopting the technical scheme, the nodes through which the carriers pass in the hazardous chemical substance transportation area are monitored, so that the transportation of the hazardous chemical substances is tracked, meanwhile, the distribution condition which possibly occurs in the transportation process of the hazardous chemical substances is further tracked, the trend of the hazardous chemical substances after being distributed is tracked by using a preset tracking algorithm, the tracking of the hazardous chemical substances in the whole process is realized, and the method has the advantages of high accuracy and high practicability. The method is mainly realized by the following steps: 1. monitoring the whole process of the transportation process of the hazardous chemical: the vehicle monitoring system has the advantages that the vehicle monitoring system can monitor the whole process of the vehicle in the transportation process of the hazardous chemical substances to ensure that the paths of the hazardous chemical substances passing through the vehicle in the transportation process can be traced, compared with the prior art that the vehicle is tracked through data, the vehicle monitoring system is higher in real-time performance and can reflect the change of the hazardous chemical substances in the transportation process, so that the accuracy of the tracking result is ensured; 2. tracking the distribution process of hazardous chemicals: the method not only monitors the transportation of the hazardous chemical substances, but also monitors the distribution of the hazardous chemical substances in the transportation process, and can track the distribution path of the hazardous chemical substances through the process so as to ensure that the flow direction of the subsequent hazardous chemical substances can be completely mastered, thereby improving the scientificity of tracking the hazardous chemical substances; meanwhile, before distribution tracking, whether distribution is performed or not is judged, so that the problem that the operation efficiency of the system is reduced due to dangerous chemical distribution tracking under the condition that distribution is not performed is avoided.

Example 2

As shown in fig. 3 and 4, on the basis of the above embodiment, the method for the tracker to determine whether hazardous chemical dispensing is performed includes: the tracker compares and judges the amount of the hazardous chemical substances corresponding to each node, and if the amount of the hazardous chemical substances of each node is equal, the tracker judges that no hazardous chemical substance is distributed; if the amount of the hazardous chemical substances of each node is not completely equal, judging that the hazardous chemical substances are distributed; and under the condition that the dangerous chemicals are distributed, positioning a node for distributing the dangerous chemicals.

Specifically, the hazardous chemicals referred to in the third regulation of hazardous chemicals safety management is highly toxic chemicals and other chemicals having properties of toxicity, corrosion, explosion, combustion-supporting, and the like and having harm to human bodies, facilities, and the environment. At present, the research on the transportation safety of dangerous chemicals is developed around two points: firstly, establishing a database of dangerous chemical accidents, analyzing data to find out reasons, and taking preventive measures in advance to avoid the accidents from happening again; and secondly, forming a detection network by utilizing a sensor technology, judging the probability of danger occurrence by detecting parameters in the transportation process, and taking measures in advance to avoid accidents. The two defects are that the first point mainly carries out post analysis and can not avoid accidents in time; and the second point is too dependent on the model, so that when the model has deviation, a large number of false reports and false reports occur, and the actual application effect is influenced.

Specifically, as shown in fig. 3 and 4, a represents an initial node, i.e., a node that performs hazardous chemical distribution. The symbols of other letters and numbers in the figure represent the next tracking point.

Example 3

On the basis of the previous embodiment, the method for the tracker to locate the node for hazardous chemical distribution comprises the following steps: grouping the nodes with the same amount of hazardous chemicals to obtain a plurality of node groups, wherein the amount of hazardous chemicals of the nodes in each group after grouping is equal; counting the sum of the node coordinate values in each node group; the sum of the node coordinate values is defined as: after absolute values of coordinate values of each coordinate axis in the node coordinate values are taken, adding the absolute values to obtain a sum of the node coordinate values; screening out the node with the minimum sum of the node coordinate values, wherein the screened node is the node subjected to hazardous chemical distribution; and tracking the hazardous chemicals by using a preset tracking algorithm based on the screened nodes.

Specifically, in the face of huge market demands, the technology for real-time monitoring of dangerous chemical transport is continuously developed and advanced, and some enterprises in developed countries and China utilize the GPS technology to provide real-time monitoring, remote information service, monitoring of transport vehicles and goods in-transit conditions for dangerous chemical transport vehicles, and realize real-time alarm monitoring and danger early warning of emergencies. However, in response to the great market demand, the real-time monitoring technology and the emergency accident handling mechanism for the transportation of hazardous chemicals are far from mature. The defects of the products and services in the market at present mainly relate to the following aspects that the functions are single, most vehicle monitoring systems only collect and display basic information of the vehicle running state, and do not further analyze and process the collected data; the waste of resources and the inefficiency of accident rescue are caused by the lack of an effective information sharing and accident emergency linkage mechanism; the real-time performance of the system is poor, and partial products have the phenomenon of data transmission delay and even loss; the storage and transmission data volume is large, which causes the communication and the related cost to rise, the checking and analyzing means of the historical information mainly takes manpower as the main means, and the efficiency is low.

Example 4

On the basis of the previous embodiment, the method for tracking the hazardous chemical substance by using the tracker based on the screened nodes and a preset tracking algorithm comprises the following steps: taking the screened nodes as initial nodes, constructing a tracking graph with adjacent nodes, and taking each node in the tracking graph as a tracking point; initializing a tracking graph and establishing a coordinate system; determining a next tracking point direction at the current tracking point based on the current tracking map; finding the next tracking point according to the determined tracking point direction; at the next tracking point, the direction of the next tracking point is continuously determined until the last tracking point is found.

In particular, the method comprises the following steps of,

example 5

On the basis of the previous embodiment, the method for initializing the tracking map and establishing the coordinate system includes: defining an unknown path map of the underground parking lot as a tracking map G ═ V, E, wherein V represents a vertex set; e represents an edge set; defining any vertex in the vertex set V as V_qQ represents the number of vertices; defining any one edge in the edge set E as E_kK represents the number of edges; defining a tracking point set based on the tracking graph G, wherein a coordinate set formed by all tracking points in the tracking point set is W; all the tracking points in the tracking point set can form a tracking graph G; defining a set formed by the degrees of each tracking point in the tracking point set as N; defining the degree of any one tracking point in the set N as N; defining a set formed by the quantity of the untracked associated edges of each tracking point in the tracking point set as M; defining the number of untracked associated edges of any tracking point in the set M as M; defining an adjacency matrix of the tracing graph G as A; establishing a three-dimensional coordinate system O-XYZ by taking the entrance position of the underground parking lot as an original point O, taking the original point O as a center, taking the entrance direction of the underground parking lot as the positive direction of an X axis, taking the direction of leftward rotation of 90 degrees in the direction of the X axis as the positive direction of a Y axis and taking the direction which is upward and vertical to a plane XOY as the positive direction of a Z axis; the initialized tracing graph G, the tracing point set W, the set N formed by the degrees of all tracing points, the set M formed by the number of associated edges and the adjacency matrix A are all empty sets.

Example 6

On the basis of the above embodiment, the method for determining the direction of the next tracking point at the current tracking point based on the current tracking map includes: based on whenThe previous tracking point, using the following formula, calculates the probability of the direction of the next tracking point:and taking the maximum value of the probability of the direction of the next tracking point obtained by calculation as the direction of the next tracking point.

In particular, the method comprises the following steps of,

example 7

A hazardous chemical transportation tracking method, the method performing the steps of: step 1: when a carrier carrying dangerous chemicals runs in a transportation area and passes through a certain node, the data recording distributor records the node and sends coordinate data of the node to the tracker; meanwhile, the data record distributor also records the amount of dangerous chemicals on the carrier when the data record distributor passes through the node, and sends the recorded amount of dangerous chemicals to the tracker; step 2: when receiving a tracking request for hazardous chemicals, a tracker firstly judges whether hazardous chemicals are distributed or not according to the recorded coordinate data of the nodes and the amount of the hazardous chemicals passing through the nodes; the hazardous chemical distribution is defined as: the carrier distributes the hazardous chemical substances in the transportation process, so that the amount of the hazardous chemical substances carried by the carrier is reduced; and step 3: if the dangerous chemicals are judged to be distributed, tracking the dangerous chemicals by using a preset tracking algorithm to obtain a distribution route of the dangerous chemicals, and recording coordinates of nodes of the route in the distribution route to finish the tracking of the dangerous chemicals.

Example 8

On the basis of the previous embodiment, the method for the tracker to judge whether hazardous chemical distribution is performed comprises the following steps: the tracker compares and judges the amount of the hazardous chemical substances corresponding to each node, and if the amount of the hazardous chemical substances of each node is equal, the tracker judges that no hazardous chemical substance is distributed; if the amount of the hazardous chemical substances of each node is not completely equal, judging that the hazardous chemical substances are distributed; and under the condition that the dangerous chemicals are distributed, positioning a node for distributing the dangerous chemicals.

Example 9

On the basis of the previous embodiment, the method for the tracker to locate the node for hazardous chemical distribution comprises the following steps: grouping the nodes with the same amount of hazardous chemicals to obtain a plurality of node groups, wherein the amount of hazardous chemicals of the nodes in each group after grouping is equal; counting the sum of the node coordinate values in each node group; the sum of the node coordinate values is defined as: after absolute values of coordinate values of each coordinate axis in the node coordinate values are taken, adding the absolute values to obtain a sum of the node coordinate values; screening out the node with the minimum sum of the node coordinate values, wherein the screened node is the node subjected to hazardous chemical distribution; and tracking the hazardous chemicals by using a preset tracking algorithm based on the screened nodes.

Particularly, with social progress and continuous and rapid development of national economy, the road transportation industry of dangerous goods is increased day by day, and the safety management of the transportation of the dangerous goods in China faces a new challenge. The increasing threat of dangerous goods transportation to towns, crowds and rivers is increasing, and the problem of dangerous chemical transportation safety is more and more emphasized. Dangerous chemicals (dangerous chemicals for short) are various in types, after an accident occurs, the dangerous chemicals are diffused quickly, the affected area is large, and rescue modes are different; generally, after an accident occurs, real-time information and a diffusion path of the accident scene cannot be monitored and tracked, the emergency rescue command of the accident completely depends on the experience of rescuers, powerful technical support is lacked, and a secondary accident is easily caused when an incorrect mode is adopted; the dangerous chemical transport accident is mainly found by alarming by on-site troublers and witnesses or collecting information by patrol personnel. The transmission mode of accident information collected by an outfield is low in efficiency, and the rescue opportunity is often delayed. Therefore, the monitoring of the vehicle-mounted transportation of hazardous chemicals can not reach an ideal state all the time, and a large number of secondary accidents are caused because the monitoring is not timely and the rescue is not correct every year. Therefore, the construction of the hazardous chemical substance vehicle-mounted transportation monitoring and accident emergency rescue system by fully utilizing the advanced communication technology, the computer technology, the automatic control technology and the like is an effective means for improving the safe driving of the hazardous chemical substance transportation vehicle and timely accident rescue, and is very important and urgent work. The method is characterized in that irreversible labels are pasted on hazardous chemicals, sensor nodes are deployed on hazardous chemical transport vehicles, state sensors are mounted on carrying vehicles, prediction models are combined, information perception of the hazardous chemical and ambient environment temperature, pressure, wind power, vehicle running states and the like is achieved, the information is processed by vehicle-mounted terminals and transmitted to a monitoring center in real time, accidents can be predicted and alarms, wireless sensor networks are automatically deployed to provide real-time conditions of accident sites, and technical support is provided for real-time emergency rescue and decision command scheduling after accidents occur by means of hazardous chemical accident emergency response databases.

Example 10

On the basis of the previous embodiment, the method for tracking the hazardous chemical substance by using the tracker based on the screened nodes and a preset tracking algorithm comprises the following steps: taking the screened nodes as initial nodes, constructing a tracking graph with adjacent nodes, and taking each node in the tracking graph as a tracking point; initializing a tracking graph and establishing a coordinate system; determining a next tracking point direction at the current tracking point based on the current tracking map; finding the next tracking point according to the determined tracking point direction; at the next tracking point, the direction of the next tracking point is continuously determined until the last tracking point is found.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process and related description of the system described above may refer to the corresponding process in the foregoing method embodiments, and will not be described herein again.

It should be noted that, the system provided in the foregoing embodiment is only illustrated by dividing the functional units, and in practical applications, the functions may be distributed by different functional units according to needs, that is, the units or steps in the embodiments of the present invention are further decomposed or combined, for example, the units in the foregoing embodiment may be combined into one unit, or may be further decomposed into multiple sub-units, so as to complete all or the functions of the units described above. The names of the units and steps involved in the embodiments of the present invention are only for distinguishing the units or steps, and are not to be construed as unduly limiting the present invention.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes and related descriptions of the storage device and the processing device described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

Those of skill in the art would appreciate that the various illustrative elements, method steps, described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that programs corresponding to the elements, method steps may be located in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. To clearly illustrate this interchangeability of electronic hardware and software, various illustrative components and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as electronic hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

The terms "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.

The terms "comprises," "comprising," or any other similar term are intended to cover a non-exclusive inclusion, such that a process, method, article, or unit/apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or unit/apparatus.

So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent modifications or substitutions of the related art marks may be made by those skilled in the art without departing from the principle of the present invention, and the technical solutions after such modifications or substitutions will fall within the protective scope of the present invention.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention.