CN212986790U - Unmanned intelligent laser inspection device for gas leakage - Google Patents
Unmanned intelligent laser inspection device for gas leakage Download PDFInfo
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- CN212986790U CN212986790U CN202021287264.7U CN202021287264U CN212986790U CN 212986790 U CN212986790 U CN 212986790U CN 202021287264 U CN202021287264 U CN 202021287264U CN 212986790 U CN212986790 U CN 212986790U
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- 238000007689 inspection Methods 0.000 title claims abstract description 15
- 238000001514 detection method Methods 0.000 claims abstract description 25
- 238000000862 absorption spectrum Methods 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- 238000012544 monitoring process Methods 0.000 claims abstract description 6
- 238000012545 processing Methods 0.000 claims description 17
- 238000003860 storage Methods 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 claims description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 2
- 229910052744 lithium Inorganic materials 0.000 claims description 2
- 230000004927 fusion Effects 0.000 abstract description 2
- 239000007789 gas Substances 0.000 description 20
- 239000002737 fuel gas Substances 0.000 description 4
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 4
- 238000000034 method Methods 0.000 description 4
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- 230000003993 interaction Effects 0.000 description 2
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- OTMSDBZUPAUEDD-UHFFFAOYSA-N Ethane Chemical compound CC OTMSDBZUPAUEDD-UHFFFAOYSA-N 0.000 description 1
- UFHFLCQGNIYNRP-UHFFFAOYSA-N Hydrogen Chemical compound [H][H] UFHFLCQGNIYNRP-UHFFFAOYSA-N 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 239000001257 hydrogen Substances 0.000 description 1
- 229910052739 hydrogen Inorganic materials 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000001285 laser absorption spectroscopy Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 239000003209 petroleum derivative Substances 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
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Abstract
本实用新型涉及一种燃气泄漏无人智能激光巡检装置。本实用新型包括巡航小车、六轴机械臂、激光吸收光谱智能传感单元和数据远传模块。本实用新型中的巡航小车与六轴机械臂通过数据融合和空间数据解耦获得智能传感单元的精确定位及其姿态重构。激光吸收光谱智能传感单元获得激光吸收光谱信号，用于判断燃气泄漏与否，并通过数据远传模块将监测点的空间信息和泄漏量传至云端控制中心。本实用新型通过使用六轴机械臂搭载激光吸收光谱智能传感单元来检测燃气管道是否存在泄露，能够检测漏检系统难以涉足的巡检盲点。同时通过云端控制中心对六轴机械臂与六轴机械臂搭载的激光吸收光谱智能传感单元进行控制，收集检测数据，实现高自动化智能检测。
The utility model relates to an unmanned intelligent laser inspection device for gas leakage. The utility model comprises a cruise trolley, a six-axis mechanical arm, a laser absorption spectrum intelligent sensing unit and a data remote transmission module. The cruise trolley and the six-axis mechanical arm in the utility model obtain the precise positioning of the intelligent sensing unit and the attitude reconstruction through data fusion and spatial data decoupling. The laser absorption spectrum intelligent sensing unit obtains the laser absorption spectrum signal, which is used to judge whether the gas leaks or not, and transmits the spatial information and leakage amount of the monitoring point to the cloud control center through the data remote transmission module. The utility model uses a six-axis mechanical arm to carry a laser absorption spectrum intelligent sensing unit to detect whether there is leakage in the gas pipeline, and can detect the inspection blind spot that the leakage detection system is difficult to get involved in. At the same time, through the cloud control center, the six-axis robotic arm and the laser absorption spectrum intelligent sensing unit mounted on the six-axis robotic arm are controlled to collect detection data and realize highly automated intelligent detection.
Description
Technical Field
The utility model relates to a combustible gas detects technical field, specifically indicates a gas leaks unmanned intelligent laser inspection device.
Background
The fuel gas is high-quality fuel and chemical raw materials, and is used as fuel in more ways in the production and living processes, the fuel gas is completely combusted, the unit heat productivity is large, and the environmental impact of the combusted products is small. Under the condition of wide-range popularization of gas, gas pipeline leakage accidents frequently occur due to factors such as aging of pipelines, geological structure change and the like. Moreover, according to reliable statistics, the leakage amount of the fuel gas in the pipeline transportation process can account for 10% of the total transportation amount. The leakage of the gas pipeline not only threatens the life and property safety of people, but also causes environmental pollution, so that the development of the leakage of the gas pipeline and the research and development of intelligent equipment thereof are very necessary.
At present, the following detection methods are mainly used for detecting and positioning the leakage of the gas pipeline: odorization, infrared laser leak detection, pressure and flow methods. A plurality of detection links of the detection methods need a large amount of manpower, the detection efficiency is low, and the influence of the change of the environment on the detection result is large. Therefore, the gas leakage detection methods mainly relying on manual work combined with detection instruments have the following problems in practical operation:
1. the gas pipeline is complicated, so that inspection blind spots which are difficult to involve by a missing inspection system easily exist and are difficult to detect;
2. the sensitivity of the existing gas leakage detection cannot completely meet the requirement of large-scale rapid leakage detection on site;
3. most of the existing missed detection systems need workers to participate in field auxiliary operation, and the intelligent degree needs to be improved.
Disclosure of Invention
The utility model provides a to prior art problem, provide an unmanned intelligent laser inspection device is leaked in gas, including dolly, six arms, laser absorption spectrum intelligent sensing unit and the data teletransmission module of cruising.
The fixed end of the six-axis mechanical arm is arranged on the cruising trolley, the moving end of the cruising trolley is provided with a laser absorption spectrum intelligent sensing unit, the laser absorption spectrum intelligent sensing unit obtains a laser absorption spectrum signal for judging whether gas is leaked or not, and spatial information and leakage amount of a monitoring point are transmitted to a cloud control center through a data remote transmission module.
The six-axis mechanical arm is provided with a processing module, a storage module connected with the processing module, a positioning module and the data remote transmission module.
The storage module stores the operation instruction sent by the cloud control center, and the operation instruction is read by the processing module and then stored.
The positioning module is used for positioning the six-axis mechanical arm and sending the positioning data to the processing module, so that the specific position of the laser absorption spectrum intelligent sensing unit is determined.
The processing module is connected with the cloud control center through the data remote transmission module and used for the cloud control center to transmit control information to the six mechanical arms and send detection data to the cloud control center.
The cruise trolley carries a gyroscope, an acceleration sensor and a speed sensor and is used for acquiring positioning information.
Furthermore, a rechargeable lithium battery or other batteries, a solar panel and an automatic tracking charging mode are also mounted for endurance.
The utility model has the advantages that:
the utility model is a full-space all-weather unmanned inspection system with high safety;
the utility model can realize high precision positioning and real-time gas leak detection in complex field space, and reduce monitoring blind spots to the utmost extent;
the utility model discloses it is high to detect the precision, and the response is fast, and the system integration level is high.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the inspection trolley of the present invention;
fig. 3 is a schematic structural view of the six-axis robot arm of the present invention.
Detailed Description
The invention will be further explained with reference to the drawings. The invention is to be considered as illustrative and not restrictive. Further, the drawings are only for the purpose of explaining the utility model, not all of the utility model.
As shown in fig. 1. The utility model discloses a dolly 6, six arms 4, the laser absorption spectrum intelligent sensing unit 3 cruises. The cruise trolley and the six-axis mechanical arm obtain the accurate positioning and posture reconstruction of the intelligent sensing unit through data fusion and spatial data decoupling; the laser absorption spectrum signal obtained by the intelligent sensing unit judges whether leakage exists or not, and transmits the spatial information and the leakage amount of the monitoring point to the cloud control center 1 through the data remote transmission module 44; the cruise trolley carries out dynamic rapid inspection and static leakage point accurate positioning as required, and the cloud control center carries out real-time adjustment according to leakage data; the cloud control center is combined with the positioning information of the cruise trolley and the six-axis mechanical arm to control the detection state and data storage of the laser absorption spectrum intelligent sensing unit 3 in real time. Wherein the fuel gas can be combustible gas such as methane, ethane, natural gas, petroleum gas, hydrogen and the like; the cruise trolley, the six mechanical arms, the intelligent sensing unit and the cloud control center can be in real-time data communication through the data interaction module; the laser wavelength of the laser absorption spectrum intelligent sensing unit is adjusted according to the gas spectral characteristics.
As shown in fig. 2, the cruise trolley 6 carries sensing layers such as a gyroscope 61, an acceleration sensor 62, a speed sensor 63 and the like to acquire positioning information, can perform track presetting through a cloud control center or a field according to the pipeline arrangement of a station, and can perform path optimization through data of the cloud control center; the positioning information between the six-axis mechanical arm and the cruise trolley is preprocessed in real time at a high speed through the micro lower computer 5.
As shown in fig. 3, the six-axis robot 4 includes a processing module 41, and a storage module 42, a positioning module 43, and a data remote transmission module 44 connected to the processing module. The storage module can store an operation instruction sent by the cloud control center 1, and the operation instruction is read by the processing module and then stored, for example, the space information and the leakage amount of the monitoring point detected by the laser absorption spectrum intelligent sensing unit; the positioning module can be used for positioning the six-axis mechanical arm and sending the positioning data to the processing module; the laser absorption spectrum intelligent sensing unit transmits the detection data to the processing module; the processing module is connected with the cloud control center and used for the cloud control center to transmit control information to the six-axis mechanical arm processing module.
The cloud control center is in real-time interaction with the data remote transmission module of the six-axis mechanical arm through a wireless technology, and is used for sending an operation instruction to the cruise trolley and the six-axis mechanical arm to control the cruise trolley to patrol and examine tracks and the detection information of the six-axis mechanical arm. The cloud control center can perform early warning on the leakage amount and the leakage position of the suspicious leakage point in the modes of audible and visual alarms, automatic mail sending, short messages and the like.
The gas leakage detection device can realize the combination of quick inspection and accurate detection.
The positioning module carried by the six-axis mechanical arm can accurately analyze the concrete three-dimensional data of the detection position of the six-axis mechanical arm, and the accuracy of the detection position is improved to a great extent.
The six-axis mechanical arm running track is preset by workers according to the specific conditions of a gas pipeline on site, and the six-axis mechanical arm high adaptability can be used for carrying out omnibearing careful detection on small leakage points.
To sum up, the utility model provides a gas leakage inspection device by unmanned cruise ware in coordination with laser absorption spectroscopy technique on ground can realize that the total space of gas field station inner tube way is patrolled and examined fast under the condition that unmanned scene participated in, in time discovers the suspicious leak point that probably exists to pinpoint, data teletransmission and online early warning.
The foregoing is considered as illustrative only of the principles and explanation of the embodiments and drawings of the present invention. Those skilled in the art should appreciate that the scope of the present invention is not limited to the foregoing description.
Claims (2)
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021287264.7U CN212986790U (en) | 2020-07-05 | 2020-07-05 | Unmanned intelligent laser inspection device for gas leakage |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021287264.7U CN212986790U (en) | 2020-07-05 | 2020-07-05 | Unmanned intelligent laser inspection device for gas leakage |
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| CN212986790U true CN212986790U (en) | 2021-04-16 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114321741A (en) * | 2022-01-05 | 2022-04-12 | 上海三盛健康科技股份有限公司 | Gas pipeline leakage detection device |
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2020
- 2020-07-05 CN CN202021287264.7U patent/CN212986790U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114321741A (en) * | 2022-01-05 | 2022-04-12 | 上海三盛健康科技股份有限公司 | Gas pipeline leakage detection device |
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