A dangerous gas leakage detection inspection robot and inspection method

Abstract

The invention provides a dangerous gas leak detection inspection robot and inspection method. Through the equipped high-performance optical gas thermal imaging camera, various common dangerous gases can be visualized in the monitoring video, and its sensitivity High, can detect tiny gas leakage phenomenon, so as to accurately locate the location of gas leakage; the dangerous gas detection method of the present invention is based on the fixed trajectory inspection method, considering a variety of possible dynamic obstacle movement behaviors, and formulating A set of motion algorithms suitable for a wide range of situations. This algorithm has simple operation logic, low calculation load, and low requirements on the computing power and power consumption of the controller, which can effectively save hardware costs. In terms of inspection function, the robot moves smoothly, can effectively avoid dynamic obstacles typical of humans, and effectively solves the problem of normal operation in a human-machine coexistence environment.

Description

technical field [0001] The invention belongs to the technical field of inspection robots, and in particular relates to a dangerous gas leakage detection inspection robot and an inspection method. Background technique [0002] Hazardous gas leakage can cause a series of hazards to human safety and equipment reliability, especially in the natural gas industry, chemical plants, biogas digesters, etc. Dangerous gases mainly include toxic and harmful gases (such as sulfur dioxide, carbon monoxide, etc.) and flammable and explosive gases (such as methane, etc.). These gases are often colorless and odorless, and their leakage is difficult to be detected by the staff. Therefore, the detection of dangerous gases has become one of the important problems to be solved urgently in the field of safety emergency and industrial production. [0003] For hazardous gas leakage sites, timely and correct judgment largely depends on accurate accident site data, which requires emergency personnel...

AI Technical Summary

Problems solved by technology

[0004] Existing dangerous gas detection devices are often fixed in one position, and this device has the following defects: when the gas detection device detects a dangerous gas leak, often the gas has leaked a large amount of gas from the leak source, and the gas leaks to the position of the detection device And when it is sensed, the degree and concentration of gas leakage on site are already very high, which seriously threatens the safety of personnel on site

The existing research on robots with dangerous gas detection functions is still in its infancy, and there are mainly technical problems such as weak environmental adaptability of its control methods, low efficiency, single technologies such as environmental detection sensors, and incomplete functions.

[0006] The fixed-point detection of hazardous gas detection devices has the following defects: when the gas detection device detects a dangerous gas leak, often the gas has leaked a large amount of gas from the source of the leak, and when the gas leaks to the position of the detection device and is sensed, the on-site gas leak The degree and concentration are already very high, which seriously threatens the safety of personnel on site

Therefore, this device has problems such as poor timeliness and low detection accuracy when performing gas detection.

Although increasing the arrangement density of devices can solve the problem of poor timeliness to a certain extent, the number of equipment installed is huge, it is not easy to maintain, and the cost of equipment and installation costs increase exponentially

[0007] The existing research on mobile robots with dangerous gas detection function is less, and the popularity rate of traditional dangerous gas detection robots is not high. The staff can only detect the occurrence of dangerous gas leakage on site, but cannot lock the source of the leakage. Therefore, the performance of ordinary sensors greatly limits the detection performance of gas detection robots

2. The autonomous inspection method is not suitable for the general environment. Generally speaking, the autonomous inspection method of the inspection robot is closely related to the performance of the controller. Nowadays, the relevant research direction is mainly developed towards the direction of strong reliability and small amount of calculation.

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