阅读说明：本技术 一种应用巡检机器人的成品油泄漏识别系统及方法 (System and method for identifying product oil leakage by using inspection robot ) 是由 田中山 杨昌群 梁建平 林武斌 李苗 于 2021-07-16 设计创作，主要内容包括：本发明公开了一种应用巡检机器人的成品油泄漏识别系统,涉及成品油泄漏检测技术领域,解决现有巡检机器人检测精度差的技术问题,系统包括巡检机器人、图像采集设备、成品油检测试纸、无线客户端、全向天线、无线基站、上位机,图像采集设备、无线客户端、全向天线均设于巡检机器人,图像采集设备通过线缆连接无线客户端,无线客户端与无线基站或上位机无线通信连接,无线基站与上位机网络连接,全向天线通过同轴屏蔽电缆连接无线客户端的天线接口,成品油检测试纸将连接两条输油管路的管路法兰包裹。本发明还公开了一种应用巡检机器人的成品油泄漏识别方法。本发明在巡检过程中,通过视觉识别提高了输油管道泄漏检测的准确性和及时性。(The invention discloses a product oil leakage identification system applying an inspection robot, which relates to the technical field of product oil leakage detection and solves the technical problem of poor detection precision of the conventional inspection robot. The invention also discloses a method for identifying the leakage of the product oil by applying the inspection robot. In the inspection process, the accuracy and timeliness of the oil pipeline leakage detection are improved through visual identification.)

1. A product oil leakage identification system applying an inspection robot is characterized by comprising the inspection robot (1), an image acquisition device (2), product oil detection test paper (5), a wireless client (7), an omnidirectional antenna (8), a wireless base station (9) and an upper computer (10), the image acquisition equipment (2), the wireless client (7) and the omnidirectional antenna (8) are all arranged on the inspection robot (1), the image acquisition device (2) is connected with the wireless client (7) through a cable, the wireless client (7) is in wireless communication connection with the wireless base station (9) or the upper computer (10), the wireless base station (9) is connected with an upper computer (10) in a network manner, the omnidirectional antenna (8) is connected with an antenna interface of the wireless client (7) through a coaxial shielded cable, the finished oil detection test paper (5) wraps a pipeline flange (4) connected with the two oil conveying pipelines (3).

2. The system for identifying the leakage of the product oil by the inspection robot according to the claim 1, wherein the inspection robot (1) is an explosion-proof wheel type inspection robot or a flying robot.

3. The system for identifying oil leakage of an application inspection robot according to claim 1, wherein the image acquisition device (2) is a pan-tilt camera or a video camera.

4. The system for identifying the oil product leakage of the application inspection robot according to claim 1, wherein the wireless client (7) and the wireless base station (9) or the upper computer (10) are in any one of 3G/4G/5G, Bluetooth, Zigbee, Wi-Fi and NB-IoT in a wireless communication mode.

5. The utility model provides an use finished product oil of patrolling and examining robot to leak identification method which characterized in that includes:

the method comprises the steps that firstly, an inspection robot (1) moves along an oil pipeline (3), when the inspection robot moves to a pipeline flange (4), an image collecting device (2) obtains an image of a product oil detection test paper (5), then the image is sent to a wireless base station (9) through a wireless client (7), and the wireless base station (9) sends the image to an upper computer (10);

converting the image into an HSV color model form by a vision software module of the upper computer (10), and respectively reading the converted H value, S value and V value;

if the H value is in a first range, the S value is in a second range or the V value is in a third range, the color of the product oil detection test paper (5) is judged to be changed, and the oil pipeline (3) is leaked; otherwise, the oil pipeline (3) is not leaked;

and fourthly, the upper computer (10) outputs a detection result, and if the oil pipeline (3) leaks, the upper computer (10) gives out sound and light alarm.

6. The inspection robot product oil leakage identification method according to claim 5, wherein in the first step, the robot control module of the upper computer (10) processes the image and stores the image in a folder designated by the upper computer (10), and the name is named in the form of equipment name + shooting time.

7. The method for identifying the oil leakage of the application inspection robot as claimed in claim 6, wherein the robot control module directs the image to the vision software module in the form of a pointer while specifying the location information of the photograph.

8. The inspection robot applied product oil leakage identification method according to claim 6, wherein the vision software module transmits the detection result to the upper computer (10) and the robot control module in a pointer mode.

9. The method for identifying the leakage of the product oil by applying the inspection robot according to claim 5, wherein the vision software module is an opencv vision module.

10. The inspection robot applied product oil leakage identification method according to claim 5, wherein the first range is 0-10 or 156-180, the second range is 43-255, and the third range is 43-255.

Technical Field

The invention relates to the technical field of product oil leakage detection, in particular to a product oil leakage identification system and method applying an inspection robot.

Background

For finished oil selling enterprises, pipeline transportation is an important transportation means and is widely applied. The oil transportation station is an important component of a finished oil sales terminal and is provided with a large number of oil transportation pipelines. Meanwhile, because the pipelines in the oil transportation station are positioned on the ground surface and are influenced by the environment and equipment aging, the pipelines are easy to leak at the flange connection parts of the pipelines and the equipment connection parts. The traditional method for detecting the leakage of the product oil in the oil transportation station mainly depends on the installation of a fixed sensor to realize detection, and the sensor realizes alarm by detecting the content of oil gas in the air. The sensor can play a good role in alarming for detecting large-scale leakage of the product oil, but mainly detects the fine dripping condition of the product oil by means of manual inspection.

With the popularization of robot application, at present, there is a case that an inspection robot replaces manual inspection at an oil transportation station, but the inspection is realized mainly by a fixed sensor carried by the robot, and the leakage accident of the oil transportation station cannot be prevented from the source.

Disclosure of Invention

The present invention is directed to solve the above-mentioned problems of the prior art, and an object of the present invention is to provide a system for identifying oil leakage of an inspection robot, which can improve detection accuracy.

The invention also aims to provide a finished oil leakage identification method of the application inspection robot, which can improve the detection precision.

In order to achieve the first purpose, the invention provides a product oil leakage identification system applying an inspection robot, which comprises the inspection robot, image acquisition equipment, product oil detection test paper, a wireless client, an omnidirectional antenna, a wireless base station and an upper computer, wherein the image acquisition equipment, the wireless client and the omnidirectional antenna are all arranged on the inspection robot, the image acquisition equipment is connected with the wireless client through a cable, the wireless client is in wireless communication connection with the wireless base station or the upper computer, the wireless base station is in network connection with the upper computer, the omnidirectional antenna is connected with an antenna interface of the wireless client through a coaxial shielded cable, and the product oil detection test paper wraps a pipeline flange connecting two oil conveying pipelines.

As a further improvement, the inspection robot is an explosion-proof wheel type inspection robot or a flying robot.

Further, the image acquisition equipment is a pan-tilt camera or a camera.

Further, the wireless communication mode between the wireless client and the wireless base station or the upper computer is any one of 3G/4G/5G, Bluetooth, Zigbee, Wi-Fi and NB-IoT.

In order to achieve the second purpose, the invention provides a product oil leakage identification method applying an inspection robot, which comprises the following steps:

the method comprises the following steps that firstly, an inspection robot moves along an oil pipeline, when the inspection robot moves to a pipeline flange, an image acquisition device acquires an image of a product oil detection test paper, then the image is sent to a wireless base station through a wireless client, and the wireless base station sends the image to an upper computer;

converting the image into an HSV color model form by a vision software module of the upper computer, and respectively reading the converted H value, S value and V value;

if the H value is in a first range, the S value is in a second range or the V value is in a third range, the color of the product oil detection test paper is judged to be changed, and the oil pipeline is leaked; otherwise, the oil pipeline is not leaked;

and fourthly, outputting a detection result by the upper computer, and giving out an audible and visual alarm by the upper computer if the oil pipeline leaks.

As a further improvement, in the step one, the robot control module of the upper computer processes the image and stores the image in a folder designated by the upper computer, and names are named in the form of device name + shooting time.

Further, the robot control module directs the image at the vision software module in the form of a pointer while specifying location information for the photograph.

Furthermore, the vision software module transmits the detection result to the upper computer and the robot control module in a pointer mode.

Further, the vision software module is an opencv vision module.

Further, the first range is 0-10 or 156-180, the second range is 43-255, and the third range is 43-255.

Advantageous effects

Compared with the prior art, the invention has the advantages that:

in the inspection process, the invention monitors the leakage condition of the product oil in a visual identification mode and gives an alarm in time, thereby better replacing the manual work to finish the inspection work of the oil transportation station and improving the accuracy and timeliness of the leakage detection of the oil transportation pipeline.

Drawings

FIG. 1 is a schematic diagram of the system of the present invention;

FIG. 2 is a schematic diagram of the system components of the present invention.

Wherein: the method comprises the following steps of 1-inspection robot, 2-image acquisition equipment, 3-oil pipeline, 4-pipeline flange, 5-product oil detection test paper, 6-robot internal power supply, 7-wireless client, 8-omnidirectional antenna, 9-wireless base station and 10-upper computer.

Detailed Description

The invention will be further described with reference to specific embodiments shown in the drawings.

Referring to fig. 1 and 2, a finished oil leakage identification system using an inspection robot includes an inspection robot 1, an image acquisition device 2, a finished oil detection test paper 5, a wireless client 7, an omnidirectional antenna 8, a wireless base station 9, and an upper computer 10. The image acquisition equipment 2, the wireless client 7 and the omnidirectional antenna 8 are all arranged on the inspection robot 1. The image acquisition equipment 2 is connected with the wireless client 7 through a cable, the wireless client 7 is in wireless communication connection with the wireless base station 9 or the upper computer 10, the wireless base station 9 is in network connection with the upper computer 10, and the robot internal power supply 6 of the inspection robot 1 supplies power to the wireless client 7 and the image acquisition equipment 2 through power cables. The omnidirectional antenna 8 is connected with an antenna interface of the wireless client 7 through a coaxial shielded cable, so that the distance and the stability of wireless signal transmission are improved. The finished oil detection test paper 5 wraps the pipeline flanges 4 connected with the two oil pipelines 3, and if the finished oil leaks from the joints of the pipeline flanges 4 and contacts the finished oil detection test paper 5, the finished oil detection test paper 5 changes color, such as changing into red or other colors.

In one embodiment, the inspection robot 1 is an explosion-proof wheel type inspection robot, has good trafficability characteristic and can be suitable for different terrains.

In one embodiment, the inspection robot 1 is a flying robot and has high flexibility.

In one embodiment, the image acquisition device 2 is a pan-tilt camera, and the pan-tilt camera is an omni-directional mobile visible light pan-tilt camera, so that the adaptability is good.

In one embodiment, the image acquisition device 2 is a camera or a video camera.

The wireless communication mode between the wireless client 7 and the wireless base station 9 or the upper computer 10 is any one of 3G/4G/5G, Bluetooth, Zigbee, Wi-Fi and NB-IoT. The upper computer 10 is a computer or a server.

A method for identifying the leakage of product oil by using an inspection robot comprises the following steps:

the method comprises the following steps that firstly, an inspection robot 1 moves along an oil pipeline 3, when the inspection robot moves to a pipeline flange 4, an image acquisition device 2 captures the appearance of a product oil detection test paper 5 to obtain an image of the product oil detection test paper 5, then the image is transmitted to a wireless base station 9 through wireless transmission of a wireless client 7, and the wireless base station 9 transmits the image to an upper computer 10 through a network;

converting the image into an HSV color model form by a vision software module of the upper computer 10, and respectively reading the converted H value, S value and V value;

if the H value is in the first range, the S value is in the second range or the V value is in the third range, the color of the product oil detection test paper 5 is judged to be changed, and the oil pipeline 3 is leaked; otherwise, judging that the color of the product oil detection test paper 5 is not changed and the oil pipeline 3 is not leaked;

and step four, the upper computer 10 outputs a detection result, and if the oil pipeline 3 leaks, the upper computer 10 gives out sound and light alarm to remind workers to process in time.

In the first step, the robot control module of the upper computer 10 processes the image, such as denoising or judging the integrity of the image, and stores the image in a folder designated by the upper computer 10 after the processing, and names the image in the form of device name + shooting time.

The robot control module directs the image to the vision software module in the form of a pointer while specifying the location information of the photograph. The vision software module transmits the detection result to the upper computer 10 and the robot control module in a pointer mode.

Preferably, the vision software module is an opencv vision module. The first range is 0 to 10 or 156 to 180, the second range is 43 to 255, and the third range is 43 to 255.

In the inspection process, the invention monitors the leakage condition of the product oil in a visual identification mode and gives an alarm in time, thereby better replacing the manual work to finish the inspection work of the oil transportation station and improving the accuracy and timeliness of the leakage detection of the oil transportation pipeline.

The above is only a preferred embodiment of the present invention, and it should be noted that it is obvious to those skilled in the art that several variations and modifications can be made without departing from the structure of the present invention, which will not affect the effect of the implementation of the present invention and the utility of the patent.