CN212251952U - Unmanned gas pipe network inspection vehicle - Google Patents
Unmanned gas pipe network inspection vehicle Download PDFInfo
- Publication number
- CN212251952U CN212251952U CN202020433810.7U CN202020433810U CN212251952U CN 212251952 U CN212251952 U CN 212251952U CN 202020433810 U CN202020433810 U CN 202020433810U CN 212251952 U CN212251952 U CN 212251952U
- Authority
- CN
- China
- Prior art keywords
- gas
- unmanned
- pipe network
- unmanned vehicle
- gas pipe
- 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.)
- Active
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 50
- 238000001514 detection method Methods 0.000 claims abstract description 88
- 239000007789 gas Substances 0.000 claims description 94
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 92
- 239000003345 natural gas Substances 0.000 claims description 39
- 230000007246 mechanism Effects 0.000 claims description 23
- 238000012360 testing method Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 description 14
- 230000001276 controlling effect Effects 0.000 description 12
- 230000005540 biological transmission Effects 0.000 description 10
- 230000008569 process Effects 0.000 description 10
- 238000012423 maintenance Methods 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 5
- 230000007613 environmental effect Effects 0.000 description 5
- 230000035945 sensitivity Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
- 230000002159 abnormal effect Effects 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 3
- 230000002354 daily effect Effects 0.000 description 3
- 230000003203 everyday effect Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000002485 combustion reaction Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 238000001228 spectrum Methods 0.000 description 2
- 238000000041 tunable diode laser absorption spectroscopy Methods 0.000 description 2
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000002309 gasification Methods 0.000 description 1
- 229910001416 lithium ion Inorganic materials 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000036632 reaction speed Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 230000003595 spectral effect Effects 0.000 description 1
- 238000010183 spectrum analysis Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Images
Landscapes
- Traffic Control Systems (AREA)
Abstract
The utility model relates to a gas detection area specifically discloses an unmanned vehicle that patrols and examines of gas pipe network. This unmanned vehicle of patrolling and examining of gas pipe network includes: an unmanned vehicle chassis; the holder is arranged on the chassis of the unmanned vehicle; the gas detection device is arranged on the holder; the control device is used for controlling the unmanned vehicle chassis and the holder to operate and collecting detection information of the gas detection device; wherein, the cloud platform can drive gas detection device takes place to rotate at level and/or vertical direction. The unmanned inspection vehicle can solve the problem that the gas pipe network cannot be manually detected in the case of major epidemic or major social security incident, and achieves the purpose of unmanned automatic inspection of the gas pipe network.
Description
Technical Field
The utility model relates to a gas detects technical field, in particular to unmanned inspection car of gas pipe network.
Background
With the continuous acceleration of the urbanization process of China and the gradual upgrade of the environmental protection requirement, the demand of clean natural gas energy is increasing, and the urban natural gas gasification project is accelerated. The pipeline is used as a main conveying way of natural gas, the length and the number of the pipeline are sharply increased, the coverage area is continuously enlarged, and an urban gas pipe network is gradually formed.
Natural gas pipeline leakage events are increasing due to self-aging, soil corrosion, formation stress, municipal construction and the like. Once the natural gas pipeline leaks, if the natural gas pipeline is not detected and found in time, the safe and stable supply of urban basic energy is seriously influenced, and the natural gas pipeline can cause combustion and explosion, seriously threaten the personal safety of common people and cause huge property loss. Therefore, governments, society and enterprises pay more and more attention to the safe operation of the urban gas pipe network. The leakage of the gas pipeline can be timely and accurately detected, and the maintenance and the first-aid repair can be quickly and effectively organized, so that the hidden danger is eliminated, and the occurrence of major accidents is avoided.
The daily inspection of urban gas pipe network mainly relies on the artifical mode of examining of pushing away, is walked along the pipeline position by the detection personnel carrying combustible gas detector, uses handheld detector to detect with certain interval distance, or uses the continuous detection of small handcart detector. The traditional detection mode is low in labor efficiency, generally, each person can only detect 3-5 kilometers of pipelines every day, all pipe networks cannot be effectively covered, and even the requirement of periodic detection at least once every year cannot be met. The detector that traditional detection mode used is combustible gas detector, and sensor response time is long, receives other gaseous interferences of non-natural gas easily, needs regularly to mark moreover, and the routine maintenance expense is high.
A few gas enterprises are provided with manned inspection vehicles, and the gas pipeline is rapidly inspected by carrying a detector on a motor vehicle. However, the inspection vehicle has various equipment technologies, the early detector technology is backward, the inspection speed is low, the application conditions are harsh, and the newly developed natural gas laser telemetering inspection vehicle has high inspection speed and high cost and can fully exert the effectiveness by requiring a large pipe network scale of a gas company. In some narrow environments, such as a community, the inspection vehicle is inconvenient to drive due to large volume and cannot carry out detection operation quickly and effectively.
When major epidemic situations or major social security incidents occur, roads are blocked, traffic is blocked, personnel are isolated, the daily inspection work of the urban gas pipe network is affected, the pipeline inspection can not be normally carried out, and the safe operation of the gas pipe network can be seriously affected.
SUMMERY OF THE UTILITY MODEL
The utility model discloses an unmanned vehicle of patrolling and examining of gas pipe network for solve the problem that can't carry out artifical detection gas pipe network when great epidemic situation or great social security incident.
In order to achieve the above purpose, the utility model provides the following technical scheme:
the utility model provides an unmanned vehicle that patrols and examines of gas pipe network, includes:
an unmanned vehicle chassis;
the holder is arranged on the chassis of the unmanned vehicle;
the gas detection device is arranged on the holder; and
the control device is used for controlling the unmanned vehicle chassis and the holder to operate and collecting detection information of the gas detection device;
wherein, the cloud platform can drive gas detection device takes place to rotate at level and/or vertical direction.
The utility model adopts the beneficial effect that above-mentioned technical scheme produced as follows:
the utility model discloses a set up the cloud platform on unmanned vehicle chassis to set up gas detection device in the cloud platform, utilize the operation of controlling means control unmanned vehicle chassis and cloud platform simultaneously, and utilize this controlling means to gather gas detection device's detection information, thereby can realize patrolling and examining the unmanned of gas pipe network.
Further, the unmanned vehicle chassis includes:
the travelling mechanism is arranged at the bottom of the frame;
the driving mechanism is connected to the control device.
Further, the running mechanism comprises a wheel type running mechanism or a crawler type running mechanism.
Further, unmanned vehicles chassis includes the sensor that is used for testing and barrier distance, the sensor connect in controlling means.
Further, the sensor includes at least one of a laser sensor, an ultrasonic detection sensor, a radar sensor, a visible light sensor, or an infrared sensor.
Further, the gas detection device comprises a natural gas laser telemeter.
Further, the natural gas laser telemeter comprises a detection laser emitting unit, a detection laser receiving unit and a visible light aiming unit.
Further, the gas detection device also comprises a camera, and the shooting visual field of the camera covers the detection range of the natural gas laser telemeter.
Further, the natural gas laser telemeter and the camera are arranged side by side or arranged in a row from top to bottom.
Further, the holder comprises a horizontal rotating part, a vertical rotating part and a second driving mechanism for driving the horizontal rotating part and the vertical rotating part to rotate; the second driving mechanism is connected to the control device.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned inspection vehicle according to an embodiment of the present invention;
fig. 2 is a schematic front view of the structure shown in fig. 1.
Description of reference numerals:
1. an unmanned vehicle chassis; 2. a holder; 3. a gas detection device; 4. a camera; 5. natural gas laser telemeter.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The utility model relates to an embodiment's unmanned car of patrolling and examining of gas pipe network, as shown in fig. 1 and fig. 2, include:
an unmanned vehicle chassis 1;
the holder 2 is arranged on the unmanned vehicle chassis 1;
the gas detection device 3 is arranged on the holder 2; and
the control device is used for controlling the unmanned vehicle chassis 1 and the holder 2 to operate and collecting the detection information of the gas detection device 3;
wherein, cloud platform 2 can drive gas detection device 3 takes place to rotate at level and/or vertical direction.
The utility model discloses unmanned vehicle of patrolling and examining of gas pipe network of embodiment can be used for leakage detection, the inspection tour of gas facilities such as city gas pipe network and regulator cubicle/case, riser of registering one's residence, valve well.
This unmanned vehicle patrols and examines car adopts unmanned vehicle chassis 1 that has automatic traveling as walking chassis, and this unmanned vehicle chassis 1 can independently walk or rely on remote control to realize automatic walking, is equipped with cloud platform 2 on this unmanned vehicle chassis 1, and this cloud platform 2 can clockwise or anticlockwise rotation 0 ~ 360 at the horizontal plane, can have a down dip 0 ~ 90 at vertical face, 0 ~ 90 of facing upward. And a gas detection device 3 for detecting natural gas is arranged on the holder 2. In the advancing process of the unmanned vehicle chassis 1, the gas detection device 3 performs detection work, so that the leakage detection of underground and peripheral gas pipelines and gas facilities in residential communities, industrial parks and urban road streets is realized, and the gas facilities such as buried gas pipelines and pressure regulating cabinets/boxes, household vertical pipes, valve wells and the like can be patrolled to check whether the phenomena of pressure occupation, damage and the like exist.
The control device can operate independently, manage the detection data collected from the gas detection device 3, and transmit the collected detection data to a scheduling operation center of a gas company through a data transmission system or notify maintenance personnel. The data transmission system is, for example, a 4G or 5G data transmission device.
This unmanned inspection vehicle is automatic to be gone, automated inspection, and is efficient, is more than ten times that artifical patrols and examines, and generally every can detect 40 ~ 80 kilometer pipelines every day, patrols and examines the in-process moreover and need not the manual control, saves a large amount of human costs. The unmanned patrol vehicle not only can independently operate and manage the detection data and regularly lead out the detection report, but also can timely report the detection data and the detection result to the dispatching operation center of a gas company through the data transmission system or inform maintenance personnel to ensure that hidden dangers such as gas leakage and the like in the operation process of a pipe network and a gas facility are timely discovered, thereby obtaining timely maintenance and repair and ensuring safe operation.
In this embodiment, the unmanned vehicle chassis 1 includes: the travelling mechanism is arranged at the bottom of the frame; the first driving mechanism is connected to the control device. The control device controls the first driving mechanism to operate, so that the frame is driven to travel by controlling the traveling mechanism. The bottom of the frame can be provided with a power supply, such as a lithium ion battery and the like, which provides power for the first driving mechanism.
Wherein the running gear includes but is not limited to a wheel running gear or a crawler running gear.
In addition, unmanned vehicle chassis 1 includes the sensor that is used for testing and barrier distance, the sensor connect in controlling means. Wherein the sensor includes, but is not limited to, at least one of a laser sensor, an ultrasonic detection sensor, a radar sensor, a visible light sensor, or an infrared sensor. When the sensor detects an obstacle, the control device may control the first drive mechanism to adjust the running route of the unmanned inspection vehicle, or issue an alarm.
In this embodiment, the pan/tilt head 2 includes a horizontal rotation portion, a vertical rotation portion, and a second driving mechanism for driving the horizontal rotation portion and the vertical rotation portion to rotate, and the second driving mechanism is connected to the control device. The control device drives the second driving mechanism to drive the horizontal rotating part and the vertical rotating part to rotate according to requirements, and then adjusts the detection position of the gas detection device 3. The power for the second drive mechanism may be supplied by a power source on the frame.
The first driving mechanism and the second driving mechanism can be motors or internal combustion engines.
The operation monitoring function of the unmanned patrol vehicle is realized by installing the components on the frame of the unmanned vehicle and controlling and coordinating the operation of the components through the control device. The method comprises the steps of surveying and mapping environmental conditions around a route to be driven in advance by using sensors such as a laser radar and the like, wherein the environmental conditions comprise obstacles and the like to obtain a physical map, then using a satellite positioning system (Chinese Beidou, American GPS, Russian GLONASS or a combination thereof) to obtain route coordinates, setting and automatically controlling an unmanned inspection vehicle to automatically drive according to a set route by a control device according to a program after data is input into the control device, identifying the unmanned inspection vehicle through the sensors when meeting unexpected obstacles, automatically bypassing according to the set program, or reporting an alarm signal, and carrying out remote control processing manually. The program of the control device is designed manually in advance, or the control device receives a control signal sent by an operation management platform of a gas company from a remote place in real time through a data transmission system. The control device can also transmit the running state of the unmanned patrol vehicle and signals fed back by the sensors to an operation management platform of a gas company through a data transmission system.
This embodiment's cloud platform 2 on unmanned round inspection car is electric drive cloud platform 2, installs on unmanned vehicle chassis 1, and cloud platform 2 can clockwise or anticlockwise rotation 0 ~ 360 degrees in the horizontal plane, can have a down dip 0 ~ 90 degree, pitch up 0 ~ 90 degree in vertical face. The cloud platform 2 can be provided with the power by unmanned vehicle chassis 1, can the manual work set for the position on the route of going, send corresponding control signal by controlling means, after cloud platform 2 received controlling means's control signal, make the regulation action according to the procedure that sets up in advance, for example the horizontal direction from the just ahead clockwise or anticlockwise rotation how many angles, the vertical direction from the just ahead upwards pitch on or how many angles that incline down etc. to drive the 3 system rotations of gas detection device who installs on cloud platform 2, detect the gas pipeline and the facility of different positions.
In this embodiment, the gas detection device 3 includes a natural gas laser telemeter 5. The natural gas Laser telemeter 5 can detect natural gas leakage remotely in a non-contact manner by using a Tunable Diode Laser Absorption Spectroscopy (TDLAS) technique. The natural gas laser telemeter 5 comprises a detection laser emitting unit, a detection laser receiving unit and a visible light aiming unit. When the laser emitted by the detection laser emitting unit touches methane molecules in natural gas, characteristic spectrum absorption is generated and is scattered by the environmental background. After the scattered light of the laser is reflected back to the detection laser receiving unit, the detection laser receiving unit obtains a spectrum absorption image, just like a fingerprint, and a detection result is obtained after the analysis and the processing of the signal processing device, so that the methane component can be determined qualitatively and quantitatively. The natural gas laser telemeter 5 has the advantages of high reaction speed, high sensitivity, strong anti-interference performance (only reacting to methane), no need of periodic calibration and low daily maintenance cost.
In addition, the gas detection device 3 further comprises a camera 4, and the shooting visual field of the camera 4 covers the detection range of the natural gas laser telemeter 5. The camera 4 can be used for shooting the environmental state of the leakage area, and reference is provided for the maintenance and deployment of background personnel. The natural gas laser telemeter 5 and the camera 4 can be arranged side by side or in a vertical row.
Because the detection laser belongs to invisible light, the detection position of the laser is not easy to find in the operation process, the visible light aiming unit is arranged to emit the visible laser, the direction and the detection target of the detection laser are identified, and the visual observation of detection personnel is facilitated. In order to facilitate manual observation, the camera 4 can be further installed to photograph and make a video recording of the target and the surrounding environment detected by the natural gas laser telemeter 5. The camera 4 and the natural gas laser telemeter 5 are horizontally arranged side by side or arranged in a vertical row and are arranged on the cloud deck 2 together, so that the view field range of the camera 4 can cover the detection range of the detection laser.
Various data such as detection data output by the natural gas laser telemeter 5 of the gas detection device 3 and video data output by the camera 4 can be received by the control device and transmitted to an operation management platform of a gas company through a data transmission system. The control device can also receive instruction data sent by an operation management platform of a gas company through the data transmission system, and the data is received by the control device and then analyzed to control the operation of the gas detection device 3, such as controlling the on/off of the natural gas laser telemeter 5, capturing photos by the camera 4, and the like.
The following illustrates the working steps of the unmanned inspection vehicle of the present invention as follows.
(1) Before the unmanned inspection vehicle of the urban gas pipe network performs inspection operation, the unmanned inspection vehicle is manually controlled to run according to a planned inspection route, a carried laser radar is used for mapping the surrounding environment, a route map is established, and key points needing to change the running state are arranged on the route map, such as speed reduction and turning at a certain place, obstacle marking and the like.
(2) Before the unmanned inspection vehicle starts inspection, a route map which is mapped in advance is imported, the control device automatically controls the unmanned inspection vehicle to automatically run according to a set route, unexpected obstacles can be identified through the vehicle-mounted sensor and automatically detour according to a set program, or an alarm signal is reported, and remote control processing is carried out manually.
(3) During the running process of the unmanned patrol vehicle, the cradle head 2 carried on the chassis 1 of the unmanned vehicle moves in the horizontal plane and the vertical plane according to the preset setting of the control device, so that the gas detection device 3 arranged on the cradle head 2 points to a target object to be detected, and the gas detection device 3 automatically patrols and examines.
The natural gas laser telemeter 5 can detect whether the pipeline and the accessory equipment leak or not and the content of natural gas leaking into the air in a non-contact mode in a long distance, and automatically records detection data. Because of the adoption of the spectral analysis technology, each substance has a specific absorption spectral line just like a fingerprint, the detector has strong anti-interference performance and high sensitivity. The sensitivity of the natural gas laser telemeter 5 reaches 5ppm · m (methane concentration, methane is the most main component of natural gas) and is not interfered by other gases. Once the natural gas laser telemeter 5 finds that the concentration of the natural gas is abnormal, the camera 4 is triggered to capture a scene photo, and an unmanned patrol vehicle records the coordinate position, so that an alarm signal can be sent to an enterprise pipe network operation management platform in time.
(4) The unmanned patrol vehicle automatically runs at the speed of 5-15 km/h, and can quickly and accurately detect the leakage conditions of gas pipelines and gas facilities around communities, industrial parks and urban road streets. The camera 4 can be used for photographing and shooting to automatically record the peripheral environment of the buried gas pipeline and the operation conditions of gas facilities such as a pressure regulating cabinet/box, a household riser, a valve well and the like, inspection tour is carried out, and whether abnormal conditions exist or not is preliminarily judged through a computer vision recognition technology. The gas pipeline and other gas facilities can be checked whether the phenomena of pressure occupation, damage and the like exist by video recording without a patrol operator going to the site.
When major epidemic situations or major social security incidents occur, the road is blocked, traffic is blocked, personnel are isolated, pipeline inspection can not be normally carried out manually, the problems can be effectively solved through an unmanned inspection vehicle, and the safe operation of a gas pipe network is guaranteed.
To sum up, the utility model provides an unmanned inspection vehicle of gas pipe network can be used to gas facilities such as city gas pipe network and regulator cubicle/case, the riser of registering one's residence, valve well and leak hunting, inspection tour. The unmanned inspection vehicle adopts an automatic traveling trolley with autonomous traveling and remote control functions as a chassis, and manual driving is not needed; the high-sensitivity gas detection device is arranged on the gas detection device, so that automatic inspection can be realized, and inspection can be completed by an inspector without going to the site; the data transmission system can automatically process, store and remotely transmit the detection result, and can give an alarm in time when finding special conditions.
During the automatic running process of the unmanned patrol vehicle, the gas detection device performs leakage detection with high sensitivity and high anti-interference performance, the sensitivity of the detector reaches 5 ppm-m (the concentration of methane is the most main component of natural gas), and the gas detection device only reacts on methane and is not interfered by other gases. The machine replaces the manual work, the timeliness and the reliability of the detection result are guaranteed, and the influence of manual experience is avoided. Through high-efficient automatic patrolling and examining, whether discovery district, industry garden, the peripheral natural gas line in urban area road street and gas facility have the gas leakage hidden danger in time, avoid causing big accident. The system can also take pictures and record videos of buried gas pipelines, pressure regulating cabinets/boxes, household vertical pipes, valve wells and other gas facilities, and preliminarily judge whether abnormal conditions such as pressure occupation and damage exist or not through a computer vision identification technology, so that maintenance operators can make decisions for use.
The unmanned inspection vehicle automatically runs and detects, the efficiency is high, the inspection speed can reach 15km/h, each unmanned inspection vehicle can detect 40-80 kilometers of pipelines every day, and the inspection speed is more than ten times that of the conventional manual inspection mode. In addition, manual operation is not needed in the inspection process, so that a large amount of labor cost is saved; the inspection personnel do not need to arrive at the scene, and the problems that when major epidemic situations or major social safety incidents occur, road traffic is blocked, personnel are isolated, and the pipeline inspection cannot be normally carried out manually can be effectively solved.
The unmanned patrol vehicle can independently operate, process and store detection data, regularly derive detection reports, and timely remotely transmit the results of leakage detection and patrol inspection through a data transmission system to a scheduling operation center of a gas company or inform maintenance personnel. The use of the device can ensure that hidden dangers such as air leakage and the like in the running process of pipe networks and gas facilities are discovered in time, so that the device is maintained in time, and the safe running of the urban gas pipe networks is ensured.
It will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments of the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. The utility model provides an unmanned vehicle that patrols and examines of gas pipe network which characterized in that includes:
an unmanned vehicle chassis;
the holder is arranged on the chassis of the unmanned vehicle;
the gas detection device is arranged on the holder; and
the control device is used for controlling the unmanned vehicle chassis and the holder to operate and collecting detection information of the gas detection device;
wherein, the cloud platform can drive gas detection device takes place to rotate at level and/or vertical direction.
2. The unmanned vehicle of claim 1, wherein the unmanned vehicle chassis comprises:
the travelling mechanism is arranged at the bottom of the frame;
the first driving mechanism is connected to the control device.
3. The unmanned vehicle of claim 2, wherein the running gear comprises a wheel running gear or a crawler running gear.
4. The unmanned gas pipe network inspection vehicle of claim 2, wherein the unmanned vehicle chassis comprises a sensor for testing the distance to an obstacle, the sensor being connected to the control device.
5. The unmanned gas pipe network inspection vehicle of claim 4, wherein the sensor comprises at least one of a laser sensor, an ultrasonic detection sensor, a radar sensor, a visible light sensor, or an infrared sensor.
6. The unmanned gas pipe network inspection vehicle according to any one of claims 1 to 5, wherein the gas detection device comprises a natural gas laser telemeter.
7. The unmanned vehicle of patrolling of gas pipe network of claim 6, characterized in that, the natural gas laser telemeter includes detection laser emission unit, detection laser receiving unit and visible light aiming unit.
8. The unmanned vehicle of patrolling of gas pipe network of claim 6, characterized in that, gas detection device still includes the camera, the shooting field of vision of camera covers the detection range of natural gas laser telemeter.
9. The unmanned vehicle of patrolling of gas pipe network of claim 8, wherein the natural gas laser telemeter and the camera are arranged side by side or in a row from top to bottom.
10. The unmanned aerial vehicle for gas pipe network according to any one of claims 1 to 5, wherein the cradle head comprises a horizontal rotating part, a vertical rotating part and a second driving mechanism for driving the horizontal rotating part and the vertical rotating part to rotate; the second driving mechanism is connected to the control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020433810.7U CN212251952U (en) | 2020-03-30 | 2020-03-30 | Unmanned gas pipe network inspection vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020433810.7U CN212251952U (en) | 2020-03-30 | 2020-03-30 | Unmanned gas pipe network inspection vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212251952U true CN212251952U (en) | 2020-12-29 |
Family
ID=73985754
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020433810.7U Active CN212251952U (en) | 2020-03-30 | 2020-03-30 | Unmanned gas pipe network inspection vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212251952U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113311821A (en) * | 2021-04-02 | 2021-08-27 | 西南科技大学 | Drawing and positioning system and method for multi-pendulous pipeline flaw detection mobile robot |
| CN114526450A (en) * | 2022-02-24 | 2022-05-24 | 成都秦川物联网科技股份有限公司 | Natural gas station alarm three-dimensional simulation system based on Internet of things |
| CN115419835A (en) * | 2022-08-24 | 2022-12-02 | 华润燃气投资（中国）有限公司 | Natural gas station leakage detection equipment and detection implementation method |
| CN117538290A (en) * | 2023-11-08 | 2024-02-09 | 埃尔法(山东)仪器有限公司 | Vehicle-mounted and cradle head laser gas detection device, system and method |
-
2020
- 2020-03-30 CN CN202020433810.7U patent/CN212251952U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113311821A (en) * | 2021-04-02 | 2021-08-27 | 西南科技大学 | Drawing and positioning system and method for multi-pendulous pipeline flaw detection mobile robot |
| CN113311821B (en) * | 2021-04-02 | 2022-10-11 | 西南科技大学 | Drawing and positioning system and method for multi-pendulous pipeline flaw detection mobile robot |
| CN114526450A (en) * | 2022-02-24 | 2022-05-24 | 成都秦川物联网科技股份有限公司 | Natural gas station alarm three-dimensional simulation system based on Internet of things |
| CN115419835A (en) * | 2022-08-24 | 2022-12-02 | 华润燃气投资（中国）有限公司 | Natural gas station leakage detection equipment and detection implementation method |
| CN117538290A (en) * | 2023-11-08 | 2024-02-09 | 埃尔法(山东)仪器有限公司 | Vehicle-mounted and cradle head laser gas detection device, system and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN212251952U (en) | Unmanned gas pipe network inspection vehicle | |
| CN109780452B (en) | Gas leakage unmanned aerial vehicle inspection concentration inversion method based on laser remote measurement technology | |
| CN106864739A (en) | A kind of six rotor flying robots for underground pipe gallery detection | |
| CN208044404U (en) | A kind of natural gas crusing robot | |
| CN202393703U (en) | Device for gas leakage monitoring by means of three-dimensional cradle head scanning and laser telemetering | |
| CN108922188A (en) | The four-dimensional outdoor scene traffic of radar tracking positioning perceives early warning monitoring management system | |
| CN108154683A (en) | Intelligent traffic administration system method and system | |
| CN110082782A (en) | A kind of harmful influence garden cruising inspection system and its implementation | |
| CN107380163A (en) | Automobile intelligent alarm forecasting system and its method based on magnetic navigation | |
| CN104849415A (en) | Air pollution monitoring system based on Beidou positioning | |
| CN110673628A (en) | Inspection method for oil-gas pipeline of composite wing unmanned aerial vehicle | |
| CN113021295A (en) | Intelligent explosion-proof inspection robot for offshore oil and gas fields | |
| CN110929182A (en) | Intelligent sand production monitoring device and monitoring method thereof | |
| CN110705917A (en) | Robot supervision system applied to construction site | |
| CN112581645A (en) | Cable tunnel collaborative inspection method and system | |
| CN110647170A (en) | Navigation mark inspection device and method based on unmanned aerial vehicle | |
| CN113129471A (en) | Automatic inspection device for remotely monitoring medium leakage and inspection method thereof | |
| CN112665578A (en) | Inspection positioning method and system based on tunnel inspection robot | |
| CN210835732U (en) | Beacon inspection device based on unmanned aerial vehicle | |
| CN207516342U (en) | Horizontal motor-vehicle tail-gas remote sense monitoring system | |
| CN204666608U (en) | Based on the Air Pollution Monitoring System of Big Dipper location | |
| CN115953912A (en) | Vehicle road sensing equipment and method based on edge calculation | |
| CN210256112U (en) | Intelligent inspection robot with snake-shaped detection head | |
| CN215174212U (en) | Unmanned aerial vehicle inspection system for natural gas pipeline leakage | |
| CN113485324A (en) | Inspection robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230418 Address after: 300392 North 2-204 Industrial Incubator-5-1039, No. 18, Haitai West Road, Huayuan Industrial Zone, Binhai New Area, Tianjin Patentee after: Tianjin Xinzhi Perception Technology Co.,Ltd. Address before: Room 1257, 668 SHANGDA Road, Baoshan District, Shanghai 200444 Patentee before: SHANGHAI ENN NEW ENERGY TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right |