CN110967153A - Automatic inspection system and method for gas lock well - Google Patents
Automatic inspection system and method for gas lock well Download PDFInfo
- Publication number
- CN110967153A CN110967153A CN201911225970.0A CN201911225970A CN110967153A CN 110967153 A CN110967153 A CN 110967153A CN 201911225970 A CN201911225970 A CN 201911225970A CN 110967153 A CN110967153 A CN 110967153A
- Authority
- CN
- China
- Prior art keywords
- module
- manipulator
- underground
- unit
- well
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/38—Investigating fluid-tightness of structures by using light
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Emergency Alarm Devices (AREA)
Abstract
The invention discloses an automatic inspection system and method for a gas lock well, which solve the problems that the existing system and device can not realize automatic inspection, the inspection efficiency is low and the result deviation is large. The system, comprising; the manipulator is placed in the automatic lifting module; the underground detection module is placed at one end of the manipulator, and the counterweight module is placed at the other end of the manipulator; the counterweight module is used for monitoring the real-time moment of the manipulator, automatically calculating and moving the manipulator to a position for keeping the balance of the manipulator; the underground detection module is used for imaging an underground scene, monitoring gas concentration, marking leakage points and switching valves; the underground detection module starts or stops working; the underground detection module is also used for receiving patrol information returned by the underground detection module in real time; and the terminal module is used for receiving and storing the patrol information transmitted by the aboveground control unit. The method is used for the system. The invention replaces manual patrol to realize automatic patrol.
Description
Technical Field
The invention relates to the technical field of urban underground gas monitoring, in particular to an automatic inspection system and method for a gas lock well.
Background
Under the condition that a gas pipeline is applied in a large area, accidents such as explosion caused by gas pipeline leakage occur, public safety is seriously damaged, the safety of a gas pipe network is particularly important, and gas lock well inspection is one of main works of a gas company. At present, the main inspection mode of a gas company is manual well descending and data manual recording. Daily inspection of the gas lock well has 3 problems, firstly, limited space operation accidents occur frequently, and government increasingly stricter management on the limited space operation is achieved; the inspection frequency of the gate well is high, and the labor intensity of workers is high; the operation flow in the limited space is complex, the efficiency is low, and a large amount of equipment needs to be carried.
Disclosure of Invention
The invention provides an automatic inspection system and method for a gas lock well, which solve the problems that the existing system and device can not realize automatic inspection, the inspection efficiency is low and the result deviation is large.
In order to solve the above problems, the present invention is specifically realized as follows:
in a first aspect, an automatic inspection system for a gas lock well comprises: the system comprises an automatic lifting module, a manipulator, a counterweight module, an underground detection module, an aboveground control module and a terminal module; the manipulator is placed in the automatic lifting module; the underground detection module is placed at one end of the manipulator, and the counterweight module is placed at the other end of the manipulator; the counterweight module is used for monitoring the real-time torque of the manipulator, automatically calculating and moving the manipulator to a position for keeping the balance of the manipulator; the underground detection module is used for imaging an underground scene, monitoring gas concentration, marking leakage points and switching valves; the aboveground control module is used for controlling the automatic lifting module to lift, the manipulator stretches and retracts and rotates, and the underground detection module starts or stops working; the underground detection module is also used for receiving patrol information returned by the underground detection module in real time; and the terminal module is used for receiving and storing the patrol information transmitted by the aboveground control unit.
Furthermore, the terminal module comprises a mobile phone end module and/or a computer end module.
Further, the downhole detection module comprises: the system comprises a stereo imaging unit, a gas detection unit and a rapid processing unit; the three-dimensional imaging unit comprises a miniature anti-riot camera and a lighting device, is used for realizing holographic imaging of an underground scene, and is also used for transmitting imaging information back to the aboveground control unit; the gas detection unit is used for monitoring the concentrations of methane and hydrogen sulfide by adopting a laser detection technology, searching a point with the highest methane concentration by means of the movement of the manipulator so as to determine a leakage position, and returning gas detection information to the aboveground control unit; the rapid processing unit comprises a marking unit used for marking the leakage position through coating and a valve closing unit used for realizing the opening and closing of a valve; and the system is also used for transmitting processing information back to the aboveground control unit.
Further, the automatic lifting module comprises: the device comprises a rotary workbench, an electric lifter, a positioning pulley, a rotary bearing, a telescopic bracket, a steel wire rope, a bottom plate, a buffering supporting leg and a bottom-touching detection radar; the rotary worktable is positioned on the well, the diameter of the upper layer structure is adjustable, the lower layer structure is fixedly connected with the telescopic bracket, and the lower layer structure of the upper layer structure is connected through the rotating bearing; the telescopic bracket is vertically arranged on the gas lock well and comprises a telescopic adjusting leg so that the height of the bracket can be adjusted; the electric lifter is a bidirectional self-locking electric lifter, is fixed in the rotary worktable through the steel wire rope and forms an integral structure with the steel wire rope and the rotary worktable; one end of the steel wire rope is connected with the rotary workbench through the positioning pulley, and the other end of the steel wire rope is connected with the bottom plate; and the lower part of the bottom plate is provided with a buffer supporting leg and a bottom-touching detection radar.
Preferably, the uphole control module comprises a communication unit; the communication unit is used for realizing uplink and downlink communication with the terminal module and the underground detection module.
Preferably, the automatic lifting module is suitable for a lock well with the caliber of 0-3 meters and the depth of 0-4 meters, and the weight is not more than 20 kilograms.
Preferably, the number of the miniature anti-riot cameras in the stereo imaging unit is 2.
Preferably, the communication unit and the terminal module adopt a 4G communication mode and/or an 802.11n protocol communication mode, and the underground detection module adopts a USB3.0 wired transmission mode.
In a second aspect, a method for automatically patrolling a gas lock well is used for the system for automatically patrolling a gas lock well, and comprises the following steps: controlling the automatic lifting module to descend to a certain position in the well; adjusting the manipulator, imaging the position through the underground detection module, and monitoring the gas concentration: when the methane concentration is found to be higher than the threshold value, determining and marking a leakage position, and closing a valve; and receiving underground patrol information through the aboveground control unit, and checking patrol results through the terminal module.
The beneficial effects of the invention include: the automatic inspection system and the method for the gas lock well can replace manual work to finish daily lock well inspection, and operators can finish daily lock well inspection and simple leakage treatment on the well, so that the safety problem of personnel going into the well is effectively solved. The system enables the inspection work to be changed from single on-site inspection into real-time control of the on-site situation by the command center; the system can mark suspected leakage points by using a quick processing unit on a manipulator in the underground, so that operators can quickly determine the positions of the leakage points to repair after closing a valve; the system has the function of remotely controlling the opening and closing of the valve, the valve is closed before personnel go into the well for emergency repair, the treatment is more timely, and the operation is safer; the system has the functions of real-time uploading of patrol data and background recording, is convenient for a gas company to examine the working effect of the patrol personnel, and can effectively reduce the workload of the patrol personnel; the system can save manpower and improve the working efficiency, at least 3 people, 2 people in the well and 1 person in the well are needed for the existing manual inspection, and the system can be operated by 1-2 people.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is an embodiment of an automatic inspection system for a gas lock well;
FIG. 2(a) is an uphole and downhole panoramic view of an embodiment of an automatic lifting module;
FIG. 2(b) is a top plan view of an uphole portion of an embodiment of an automatic lifting module;
FIG. 2(c) is a bottom view of the rotary table of an embodiment of the automatic lifting module;
FIG. 2(d) is a cross-sectional view of a rotary table of an embodiment of an automatic lifting module;
FIG. 3 is a flow chart of an embodiment of an automatic inspection method for a gas lock well;
FIG. 4 is an embodiment of steps of an automatic inspection method for a gas lock well.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The scale of the existing gas pipe network at home and abroad is very large, and the number of gas lock wells is large. In recent years, with the construction of urbanization pipe networks and the comprehensive spreading of rural coal-to-gas, the gas pipe network keeps the high-speed increase of about 10 percent per year. However, in the case of large-area application of a gas pipeline, accidents such as explosion caused by leakage of the gas pipeline occur, so that public safety is seriously harmed, and the safety of a gas pipeline network is particularly important. Gas lock well tours are one of the major jobs of gas companies. At present, the main inspection mode of a gas company is manual well descending and data manual recording. Daily inspection of the gas lock well has 3 problems, firstly, limited space operation accidents occur frequently, and government increasingly stricter management on the limited space operation is achieved; the inspection frequency of the gate well is high, and the labor intensity of workers is high; the operation flow in the limited space is complex, the efficiency is low, and a large amount of equipment needs to be carried. Therefore, a set of gas lock well patrol automatic system is urgently needed to replace manual underground patrol and solve the main problems faced by patrol work.
The innovation points of the invention are as follows: the invention creatively provides an automatic inspection system for a gas lock well, which replaces the traditional manual inspection mode and realizes the automatic inspection of the gas lock well through the cooperation of various sensors.
The technical solutions provided by the embodiments of the present invention are described in detail below with reference to the accompanying drawings.
Fig. 1 is an embodiment of an automatic inspection system for a gas lock well, which is an automatic inspection and recording system based on internet of things and real-time sensing technology and replacing manual logging, and as an embodiment of the present invention, the automatic inspection system for a gas lock well comprises: the automatic lifting device comprises an automatic lifting module 1, a manipulator 2, a counterweight module 3, an underground detection module 4, an aboveground control module 5 and a terminal module 6.
The manipulator is placed in the automatic lifting module, one end of the manipulator is provided with the underground detection module, and the other end of the manipulator is provided with the counterweight module; the counterweight module is used for monitoring the real-time torque of the manipulator, automatically calculating and moving the manipulator to a position for keeping the balance of the manipulator; the underground detection module is used for imaging an underground scene, monitoring gas concentration, marking leakage points and switching valves; the aboveground control module is used for controlling the automatic lifting module to lift, the manipulator stretches and retracts and rotates, and the underground detection module starts or stops working; the underground detection module is also used for receiving patrol information returned by the underground detection module in real time; and the terminal module is used for receiving and storing the patrol information transmitted by the aboveground control unit.
In the embodiment of the invention, the terminal module comprises a mobile phone end module and/or a computer end module, the mobile phone end module is provided with mobile phone end APP software, the computer end module is provided with PC end software, the mobile phone end module has the advantages of miniaturization and convenience in carrying and operation, and the computer end module has the advantages of strong data processing capacity and strong storage capacity. It should be noted that the terminal module may also include other devices besides a mobile phone and a PC, and is not limited herein.
In an embodiment of the invention, the downhole detection module comprises: the device comprises a stereo imaging unit, a gas detection unit and a rapid processing unit, wherein the aboveground control module comprises a communication unit.
Further, gas lock well patrol automation system comprises aboveground part and subtotal in pit part: the aboveground part comprises a PC end software platform, a mobile phone end APP software, an aboveground control module, a communication unit and a power supply device. The underground part comprises an automatic lifting module, a manipulator, a counterweight module, a three-dimensional imaging unit, a gas detection unit and a rapid processing unit. The system can automatically execute inspection operation or be manually operated, inspection personnel on the well can check inspection states and inquire inspection results through a mobile phone APP, and personnel in a command center can master the real-time working states of all inspection devices in the system through a PC end platform. The front-end device is designed to be integrally explosion-proof, so that the use safety of the patrol site is ensured.
The PC end software is deployed on a background server, and a command center worker can check the working states and working records of all the front-end patrol devices in the jurisdiction range through the software. The software can receive the inspection information uploaded by the aboveground control unit, can store the information, realizes the traceability of inspection work records of the gate well, and can master abnormal conditions at the first time, thereby rapidly allocating personnel and other resources and providing detailed and accurate information for rapid disposal.
The mobile phone end APP software is used by field patrolmen, and patrolling progress and patrolling results are mastered through the APP. The APP software is communicated with the aboveground control unit, the current state and the historical state can be checked, and the patrol information is displayed in the form of graphs, pictures and videos. The functions of user interaction control, real-time display of multi-dimensional pictures in the well, video image analysis, monitoring result display and the like are realized.
The underground control unit is a center of the front-end patrol device, can control one-key lifting of the device, 360-degree rotation, stretching of the mechanical arm, starting and stopping of the gas detection unit and the three-dimensional imaging unit and remote control operation of the quick processing unit, controls real-time return of underground patrol information, forwards the underground patrol information to the mobile phone APP and the background server, and achieves comprehensive control functions of sensing data processing, patrol record storage and statistics and the like.
In an embodiment of the invention, the manipulator and the counterweight device are used for realizing the transverse movement of the underground detection device. The tail end of the manipulator is provided with a three-dimensional imaging unit, a gas detection unit, a rapid processing unit and a connecting wire, and the connecting wire supplies power to each unit, sends a control signal and returns detection information; the counterweight device is arranged on the other side of the manipulator, can monitor the real-time moment of the manipulator, and can automatically calculate and move to a position capable of keeping balance.
In the embodiment of the invention, the stereo imaging unit comprises a miniature anti-riot camera and a lighting device, is used for realizing holographic imaging of an underground scene, and is also used for transmitting imaging information back to the aboveground control unit; the gas detection unit is used for monitoring the concentrations of methane and hydrogen sulfide by adopting a laser detection technology, searching a point with the highest methane concentration by means of the movement of the manipulator so as to determine a leakage position, and returning gas detection information to the aboveground control unit; the rapid processing unit comprises a marking unit used for marking the leakage position through coating and a valve closing unit used for realizing the opening and closing of a valve; and the system is also used for transmitting processing information back to the aboveground control unit.
Specifically, the three-dimensional imaging unit comprises two miniature explosion-proof cameras and an illuminating device, and performs multi-freedom-degree, multi-spectrum and multi-imaging module self-adaptive collaborative imaging so as to realize multi-dimensional high-quality imaging under complex background conditions in the well and meet the requirements of multi-scene real-time video interaction and image processing analysis. After the double-machine-position three-dimensional imaging information is transmitted back, the depth of field distance of the image can be calculated at the background, dead angles are eliminated, underground holographic imaging is realized, and the information is filed in a server.
The gas detection unit is based on a laser detection technology, the gas concentration is inversely calculated by utilizing the characteristic that laser of different frequency bands penetrates through different gases to generate corresponding energy attenuation, the concentrations of methane and hydrogen sulfide can be monitored, and the comprehensive perception of multi-source heterogeneous gas data in a limited space is realized. If the gas concentration is detected to be excessive, the point with the highest methane concentration can be searched by means of the movement of the mechanical arm so as to determine the leakage position.
The rapid processing unit comprises two parts, namely a marking device which can accurately mark a leakage position with paint, and a valve closing device which can rotate a valve to open and close the valve.
In an embodiment of the invention, the uphole control module comprises a communication unit; the communication unit is used for realizing uplink and downlink communication with the terminal module and the underground detection module, preferably, the communication unit and the terminal module adopt a 4G communication mode and/or an 802.11n protocol communication mode, and the communication unit and the underground detection module adopt a USB3.0 wired transmission mode.
Specifically, the communication module comprises uplink communication and downlink communication of the aboveground control unit, and the uplink communication with the background server, namely the PC end module, adopts a 4G communication mode; the uplink communication with the mobile phone APP adopts an 802.11n protocol; the communication with the underground detection device adopts a USB3.0 wired data transmission mode, and the requirements of control instructions, return data and real-time display of in-well pictures on the bandwidth and stability of a data transmission link are met on the premise of low cost.
According to the automatic inspection system for the gas lock well, provided by the embodiment of the invention, an operator can finish daily lock well inspection and simple leakage treatment on the well, and the safety problem of personnel going into the well is effectively solved. In addition, a command center can control the field situation in real time, mark suspected leakage points and close valves in time, so that operators can quickly determine the positions of the leakage points to repair the leakage points when going into the well; the patrol data can be uploaded in real time and recorded in a background, so that the workload of patrol personnel can be effectively reduced, and the working efficiency is improved.
Fig. 2(a) is an aboveground and underground panoramic view of an embodiment of an automatic lifting module, fig. 2(b) is a top view of an aboveground part of the embodiment of the automatic lifting module, fig. 2(c) is a bottom view of a rotating table of the embodiment of the automatic lifting module, fig. 2(d) is a cross-sectional view of the rotating table of the embodiment of the automatic lifting module, and fig. 2(a) -2 (b) illustrate various components of the automatic lifting module and their connection relationships in detail:
the automatic lifting module comprises: the device comprises a rotary workbench 11, an electric elevator 12, a positioning pulley 13, a rotary bearing 14, a telescopic bracket 15, a steel wire rope 16, a bottom plate 17, a buffer supporting leg 18 and a bottom-touching detection radar 19.
The rotary worktable is positioned on the well, the diameter of the upper layer structure is adjustable, the lower layer structure is fixedly connected with the telescopic bracket, and the lower layer structure of the upper layer structure is connected through the rotating bearing; the telescopic bracket is vertically arranged on the gas lock well and comprises a telescopic adjusting leg so that the height of the bracket can be adjusted; the electric lifter is a bidirectional self-locking electric lifter, is fixed in the rotary worktable through the steel wire rope and forms an integral structure with the steel wire rope and the rotary worktable; one end of the steel wire rope is connected with the rotary workbench through the positioning pulley, and the other end of the steel wire rope is connected with the bottom plate; and the lower part of the bottom plate is provided with a buffer supporting leg and a bottom-touching detection radar.
The electric elevator, the three steel wire ropes and the rotary workbench are of an integrated structure, the electric elevator is required to have a bidirectional self-locking function and is suspended at any height, and the electric elevator controls the three steel wire ropes to lift synchronously.
The automatic lifting module is suitable for gate shafts with different sizes, is suitable for gate shafts with the caliber of 0-3 meters and the depth of 0-4 meters, can be manually adjusted in width, and has the functions of electric lifting, hovering at any height and automatic stopping before descending and touching the bottom. The module main part adopts aluminium system material, can guarantee intensity, and the cost is lower simultaneously, and weight can be controlled within 20 kilograms, has higher practicality.
In the embodiment of the invention, the telescopic bracket can adjust the height of the bracket through the telescopic adjusting leg at the bottom, for example, the height in the embodiment of the invention is 700 mm.
In the embodiment of the present invention, the automatic lifting module can adapt to gas lock wells with different widths by adjusting the width of the bracket, for example, the diameter of the automatic lifting device in the embodiment of the present invention can be manually adjusted within a range of 700 to 3000mm, and it should be noted that the adjustment range is not specifically limited.
The embodiment of the invention provides an automatic lifting module which is high in strength, low in cost, light in weight and strong in practicability.
Fig. 3 is a flow embodiment of an automatic inspection method for a gas lock well, which can be used in the automatic inspection system for a gas lock well in embodiment 1, and the automatic inspection method for a gas lock well specifically includes the following steps:
and 101, controlling the automatic lifting module to descend to a certain position in the well.
In step 101, a patrol officer or a command center officer can hear the control module on the well to control the automatic lifting module to lift.
In step 102, when the methane concentration is not found to be higher than the threshold value, the automatic lifting module is controlled to descend or ascend to other positions, and monitoring is continued.
The threshold may be preset, and the value of the threshold is not particularly limited.
And 103, receiving underground patrol information through the aboveground control unit, and checking patrol results through the terminal module.
In step 103, the patrolman can check the patrolling result through the mobile phone end module, obtain the underground state in real time, and call the underground historical data; and personnel in the command center can check the patrol result through the PC end module, acquire the underground state in real time and call underground historical data.
The embodiment of the invention provides an automatic inspection method for a gas lock well, which can obtain the underground state without leading inspection personnel to go into the well, ensure the personal safety of workers and simultaneously reduce the uncertainty factor of manual inspection.
Fig. 4 is an embodiment of implementation steps of an automatic inspection method for a gas lock well, which discusses in detail the use steps of the automatic inspection system for a gas lock well, and a command center worker can detect the working states of the 1 st to nth front-end inspection devices on an inspection site through a PC-side software platform. Specifically, the method comprises the following steps:
step 201, the automatic lifting module is put on the well.
In step 201, the inspection personnel place the automatic lifting support on the well.
Step 202, the auto-lift module is lowered 30cm above the bottom of the well.
In step 202, the inspector clicks the start button and the stand is automatically lowered to a position 30cm above the bottom of the well.
The position 30cm above the bottom of the well is a predetermined position, and may be other positions, and is not particularly limited herein.
And step 203, controlling the angle and the telescopic length of the manipulator.
In step 203, when the patrolman clicks the automatic patrol, the system enters an automatic patrol mode; the patrolman clicks manual patrolling, and the lifting height, the manipulator angle and the telescopic length of the support are manually controlled by using the aboveground control module, so that the gas detection unit and the three-dimensional imaging unit reach different positions.
At step 204, leak points are marked and returned.
In step 204, if the downhole detection module detects that the methane concentration exceeds the threshold, the information is transmitted back, and the control unit controls the manipulator to move to a position where the downhole detection module finds the point with the highest methane concentration and marks the point as a leakage point.
Step 205, checking the patrol result.
In step 204, the patrolman connects to the mobile phone APP to check the patrolling result, and when leakage is detected, the underground detection module marks the suspected leakage position by using the rapid processing unit, and closes the valve.
And step 206, controlling the automatic lifting module and the manipulator to return to the initial state.
It is to be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or 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 apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above description is only an example of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (9)
1. An automatic inspection system for a gas lock well, comprising: the system comprises an automatic lifting module, a manipulator, a counterweight module, an underground detection module, an aboveground control module and a terminal module;
the manipulator is placed in the automatic lifting module;
the underground detection module is placed at one end of the manipulator, and the counterweight module is placed at the other end of the manipulator;
the counterweight module is used for monitoring the real-time torque of the manipulator, automatically calculating and moving the manipulator to a position for keeping the balance of the manipulator;
the underground detection module is used for imaging an underground scene, monitoring gas concentration, marking leakage points and switching valves;
the above-well control module is used for controlling the above-well control module,
the automatic lifting module is used for controlling the automatic lifting module to lift, the manipulator stretches and rotates, and the underground detection module starts or stops working;
the underground detection module is also used for receiving patrol information returned by the underground detection module in real time;
and the terminal module is used for receiving and storing the patrol information transmitted by the aboveground control unit.
2. The gas lock well automatic patrol system according to claim 1, wherein the terminal module comprises a mobile phone end module and/or a computer end module.
3. The gas lock well automated inspection system of claim 1, wherein the downhole detection module comprises: the system comprises a stereo imaging unit, a gas detection unit and a rapid processing unit;
the three-dimensional imaging unit comprises a miniature anti-riot camera and a lighting device, is used for realizing holographic imaging of an underground scene, and is also used for transmitting imaging information back to the aboveground control unit;
the gas detection unit is used for monitoring the concentrations of methane and hydrogen sulfide by adopting a laser detection technology, searching a point with the highest methane concentration by means of the movement of the manipulator so as to determine a leakage position, and returning gas detection information to the aboveground control unit;
the fast processing unit is used for processing the data,
the device comprises a marking unit and a valve closing unit, wherein the marking unit is used for marking the leakage position through coating, and the valve closing unit is used for realizing the opening and closing of a valve;
and the system is also used for transmitting processing information back to the aboveground control unit.
4. The gas lock well automatic patrol system of claim 1, wherein the automatic lifting module comprises: the device comprises a rotary workbench, an electric lifter, a positioning pulley, a rotary bearing, a telescopic bracket, a steel wire rope, a bottom plate, a buffering supporting leg and a bottom-touching detection radar;
the rotary worktable is positioned on the well, the diameter of the upper layer structure is adjustable, the lower layer structure is fixedly connected with the telescopic bracket, and the lower layer structure of the upper layer structure is connected through the rotating bearing;
the telescopic bracket is vertically arranged on the gas lock well and comprises a telescopic adjusting leg so that the height of the bracket can be adjusted;
the electric lifter is a bidirectional self-locking electric lifter, is fixed in the rotary worktable through the steel wire rope and forms an integral structure with the steel wire rope and the rotary worktable;
one end of the steel wire rope is connected with the rotary workbench through the positioning pulley, and the other end of the steel wire rope is connected with the bottom plate;
and the lower part of the bottom plate is provided with a buffer supporting leg and a bottom-touching detection radar.
5. The gas lock well automated inspection system of claim 1, wherein the uphole control module comprises a communication unit;
the communication unit is used for realizing uplink and downlink communication with the terminal module and the underground detection module.
6. The gas lock well automatic inspection system according to claim 1 or 4, wherein the automatic lifting module is suitable for lock wells with the caliber of 0-3 meters and the depth of 0-4 meters, and the weight is not more than 20 kg.
7. The gas lock well automatic patrol system according to claim 3, wherein the number of the miniature anti-riot cameras in the stereoscopic imaging unit is 2.
8. The gas lock well automatic patrol system according to claim 5, wherein the communication unit and the terminal module adopt a 4G communication mode and/or an 802.11n protocol communication mode, and the underground detection module adopts a USB3.0 wired transmission mode.
9. An automatic inspection method for a gas lock well, which is used for the automatic inspection system for the gas lock well according to any one of claims 1 to 8, and is characterized by comprising the following steps:
controlling the automatic lifting module to descend to a certain position in the well;
adjusting the manipulator, imaging the position through the underground detection module, and monitoring the gas concentration: when the methane concentration is found to be higher than the threshold value, determining and marking a leakage position, and closing a valve;
and receiving underground patrol information through the aboveground control unit, and checking patrol results through the terminal module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911225970.0A CN110967153A (en) | 2019-12-04 | 2019-12-04 | Automatic inspection system and method for gas lock well |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911225970.0A CN110967153A (en) | 2019-12-04 | 2019-12-04 | Automatic inspection system and method for gas lock well |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110967153A true CN110967153A (en) | 2020-04-07 |
Family
ID=70032880
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911225970.0A Pending CN110967153A (en) | 2019-12-04 | 2019-12-04 | Automatic inspection system and method for gas lock well |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110967153A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112257974A (en) * | 2020-09-09 | 2021-01-22 | 北京无线电计量测试研究所 | Gas lock well risk prediction model data set, model training method and application |
| CN112577681A (en) * | 2020-12-29 | 2021-03-30 | 中国建筑第八工程局有限公司 | Vertical air duct leakage detection device and detection method thereof |
| CN113790402A (en) * | 2021-07-29 | 2021-12-14 | 北京市燃气集团有限责任公司 | Exploration type laser remote measurement system and method for methane leakage of natural gas facility in gate well |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203856508U (en) * | 2014-05-29 | 2014-10-01 | 陕煤集团神木红柳林矿业有限公司 | Hand-operated automatic lifting probe hanger |
| CN106555612A (en) * | 2015-09-28 | 2017-04-05 | 无锡国煤重工机械有限公司 | Multisensor coal-mine gas monitoring system comprising |
| CN106870003A (en) * | 2015-12-13 | 2017-06-20 | 范洪国 | A kind of mine intelligent inspection robot control system based on Internet of Things |
| CN108301871A (en) * | 2018-01-29 | 2018-07-20 | 安徽理工大学 | A kind of mine entrance detection tower and its implementation |
| CN110108521A (en) * | 2019-06-12 | 2019-08-09 | 李茜 | A kind of gas sample case for atmospheric monitoring |
| CN110501124A (en) * | 2019-08-23 | 2019-11-26 | 北京航星网讯技术股份有限公司 | The laser gas of program-controlled lifting and horizontal sweep detects cradle head device |
-
2019
- 2019-12-04 CN CN201911225970.0A patent/CN110967153A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203856508U (en) * | 2014-05-29 | 2014-10-01 | 陕煤集团神木红柳林矿业有限公司 | Hand-operated automatic lifting probe hanger |
| CN106555612A (en) * | 2015-09-28 | 2017-04-05 | 无锡国煤重工机械有限公司 | Multisensor coal-mine gas monitoring system comprising |
| CN106870003A (en) * | 2015-12-13 | 2017-06-20 | 范洪国 | A kind of mine intelligent inspection robot control system based on Internet of Things |
| CN108301871A (en) * | 2018-01-29 | 2018-07-20 | 安徽理工大学 | A kind of mine entrance detection tower and its implementation |
| CN110108521A (en) * | 2019-06-12 | 2019-08-09 | 李茜 | A kind of gas sample case for atmospheric monitoring |
| CN110501124A (en) * | 2019-08-23 | 2019-11-26 | 北京航星网讯技术股份有限公司 | The laser gas of program-controlled lifting and horizontal sweep detects cradle head device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112257974A (en) * | 2020-09-09 | 2021-01-22 | 北京无线电计量测试研究所 | Gas lock well risk prediction model data set, model training method and application |
| CN112577681A (en) * | 2020-12-29 | 2021-03-30 | 中国建筑第八工程局有限公司 | Vertical air duct leakage detection device and detection method thereof |
| CN113790402A (en) * | 2021-07-29 | 2021-12-14 | 北京市燃气集团有限责任公司 | Exploration type laser remote measurement system and method for methane leakage of natural gas facility in gate well |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110967153A (en) | Automatic inspection system and method for gas lock well | |
| KR20200047532A (en) | Systems and methods for managing and monitoring lifting systems and building facilities | |
| CN205537740U (en) | City raise dust, noise on -line monitoring system | |
| CN109146331A (en) | A kind of contaminated site repair intelligence control platform based on technology of Internet of things | |
| CN103523676A (en) | Real-time monitoring and pre-warning system for security risks of gantry crane operation of metro shield tunnel and working method of system | |
| CN213690892U (en) | Utility tunnel intelligent monitoring and operation and maintenance system | |
| CN104181419A (en) | Intelligent monitoring system for durability test of electric tool and durability test device | |
| CN207475699U (en) | Portable transformation patrolling device | |
| CN107765621B (en) | Automatic inspection method and automatic inspection system for substation equipment | |
| CN104326360B (en) | High pedestal jib crane holographic measuring method | |
| CN115327036A (en) | Air quality monitoring equipment and method | |
| Li et al. | A gas well inspection automation system based on IoT perception technology | |
| CN112221035A (en) | Small-bore deep well rescue robot | |
| CN109341758B (en) | Municipal bridge maintenance management system | |
| CN110963428A (en) | Intelligent monitoring system for tower crane jacking operation | |
| CN217561440U (en) | Real-time monitoring device for limited space | |
| CN112255959B (en) | Intelligent building safety management system based on big data | |
| CN219266115U (en) | On-site inspection device and system for concrete dam | |
| CN108956622B (en) | Method and device for acquiring vertical shaft wall image | |
| EP0968612A1 (en) | Apparatus and methods for remote inspection of structure facades | |
| CN112202246B (en) | Distribution network automatic overhaul system | |
| CN205139024U (en) | Cut a type linear vestige laser detection system | |
| CN210343331U (en) | Drilling site electronic post instrument | |
| CN205177099U (en) | Device based on vibroscope and imaging device real -time supervision forecast mud -rock flow | |
| CN211827057U (en) | Supporting platform of environment monitoring display equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |