A safety detection and repair method for gas leakage

Abstract

The present invention relates to a method and system for safety detection and repair of gas leakage, which belongs to the technical field of pipeline leakage repair, and solves the problems of high safety risk of manual plugging, large economic losses caused by downtime for maintenance, and low repair efficiency in the prior art. The present invention includes the following steps S1: acoustic detection to determine the leakage area; S2: remote control robot alignment; S3: mechanical arm camera positioning the leakage point coordinates; S4: grabbing the repair plate; S5: crimping the repair plate. The present invention adopts a method of remotely controlling a robot to accurately identify and plug pipeline leakage points, which can accurately plug pipeline leakage points and avoid safety risks caused by manual operation. At the same time, the plugging efficiency is high and the operation can be carried out without stopping the machine, thus avoiding economic losses caused by downtime.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline leakage repair, and in particular to a safety detection and repair method for gas leakage. Background Art

[0002] In the prior art, the conventional automatic detection method for gas leaks is to obtain the coordinates of the pipeline leakage point based on the returned image information of the image acquisition unit mounted on the mobile device. However, in this method, image acquisition depends on good lighting conditions. In a dim or low-light environment, the image quality will be greatly reduced, thus affecting the accurate acquisition of the leakage point coordinates. If the environment around the pipeline is complex and there is a large amount of image information that is not related to the gas leak (such as other equipment, obstructed pipelines, etc.), it will also interfere with the accurate identification of the leakage point coordinates. In addition, the resolution of the image acquisition unit is limited and it is impossible to capture tiny gas leaks.

[0003] Although the existing acoustic detection method can capture weak leakage sound wave signals and has a high detection capability for tiny leakage points, it is also easily affected by the environment. In a complex factory environment, the acoustic detection method is easily interfered by environmental noise and other sound waves, and the positioning accuracy is limited to a certain extent.

[0004] When repairing a leak in a pipeline, the conventional automatic repair method is to plug the leak by twisting the pipeline so that the metal can produce enough plastic deformation during the twisting process to plug the leak. However, twisting is mainly suitable for small leak holes, such as sand holes or small holes. For larger leak holes or cracks, twisting cannot effectively plug them. In addition, if the pipe wall is too thin, twisting may cause the metal to crack or deform excessively, which will aggravate the leak.

[0005] In addition, the existing adhesive method of pressure-sealing leak plugging requires on-site preparation of adhesives and their application on the pipes, and it is necessary to ensure that the leak points are covered. Due to the fluidity of adhesives, it is difficult to achieve automated operation, and repairs are generally performed manually, which has high safety risks and low repair efficiency. Summary of the invention

[0006] In view of the above analysis, the embodiments of the present invention aim to provide a safe detection and repair method for gas leakage, so as to solve the problem that the positioning accuracy of the existing detection method is limited by the complex environment and the pasting repair method is difficult to automate.

[0007] On the one hand, the present invention provides a method for safe detection and repair of gas leakage, comprising the following steps: S1: Acoustic detection to determine the leakage area: the robot inspects along a preset path, receives sound or ultrasonic signals at the same time, and determines whether a leakage occurs based on the received signals, and if a leakage occurs, determines the area where the leakage point is located;

[0008] S2: Remote control robot alignment: According to the panoramic image of the pipeline site and the robot's audio-visual image, the robot is controlled to move to the area where the leak is located;

[0009] S3: Robotic arm camera locates the leak point coordinates: The camera installed on the robotic arm performs close-range detection and accurately locates the leak point coordinates, determines the specifications of the pipeline, and the size and shape of the leak point;

[0010] S4: Grab the repair plate: control the robotic arm so that the vacuum suction cup of the repair device at the end of the robotic arm grabs the repair plate;

[0011] S5: crimping the repair plate: controlling the mechanical arm to crimp the repair plate to the leakage point on the pipeline surface.

[0012] Further, in step S2, controlling the robot to move to the area where the leakage point is located specifically means controlling the robot to move to a position outside the preset path, which is reachable by the robot and closest to the leakage point.

[0013] Furthermore, step S4 specifically includes:

[0014] S41: Control the movement of the robot arm so that the vacuum suction cup of the repair device at the end of the robot arm is closely attached to the surface of the repair plate;

[0015] S42: Start the vacuum pump;

[0016] S43: Control the robot arm to move, and drive the repair plate to leave the storage box.

[0017] Furthermore, step S4 further includes:

[0018] S44: Controlling the robot arm to flip the repair device 180° so that the repair plate faces upward;

[0019] S45: Control the robot arm to move so that the repair plate reaches the composite glue bonding location for bonding;

[0020] S46: Control the electric push rod of the robot to push the glue into the sealing ring of the repair plate to apply the glue.

[0021] Further, step S5 includes:

[0022] S51: Control the robot arm to align the repair plate of the repair device at the end of the robot arm with the leak point coordinates obtained in step S3;

[0023] S52: Control the robot arm to extend forward to press the repair plate onto the surface of the pipeline, so that the sealing ring at the center of the repair plate fits tightly with the surrounding area of ​​the leakage point of the pipeline.

[0024] Furthermore, step S5 further includes:

[0025] S53: The electromagnetic coil maintains pressure, specifically, the electromagnetic coil of the repair device is controlled to be energized to work and adsorbed on the surface of the pipe. The elastic force of the compressed second spring keeps the pressure plate in a pressed state.

[0026] Furthermore, step S53 also includes turning off the vacuum pump of the vacuum suction cup.

[0027] Furthermore, step S5 also includes S54: heating the repair plate and / or blowing air toward the repair plate.

[0028] Furthermore, step S54 also includes: after the pressing plate is kept in the pressing state for a period of time, the electromagnetic coil is controlled to be powered off.

[0029] Furthermore, the method further includes step S6: returning the robotic arm to its initial position by controlling the robotic arm to return to its initial position.

[0030] Furthermore, the method further includes step S7: post-repair inspection, where the location of the leaking point is observed again using the audio-visual device installed on the robot to inspect the repair status of the leaking point in the pipeline.

[0031] Furthermore, the method also includes step S8: the robot leaves the site: after the repair of the leaking point of the detection pipeline is completed, the operator controls the repair robot to leave the site to complete the repair work.

[0032] On the other hand, the present invention provides a safety detection and repair system for gas leakage, which is used to implement the safety detection and repair method for gas leakage as described above.

[0033] Furthermore, the safety detection and repair system includes a control center, a robot and a panoramic camera. The control center sends instructions to control the robot to perform patrol, detection and repair operations; there are multiple panoramic cameras that transmit panoramic images to the control center in real time.

[0034] Furthermore, the robot has a mechanical arm, and a repair device is provided at the end of the mechanical arm.

[0035] Furthermore, the robot has a storage box, and the repair plate is stored in the storage box.

[0036] Furthermore, the repair plate is an arc-shaped steel plate, and an annular sealing ring is installed in the middle of the inner side of the repair plate.

[0037] Furthermore, the robot has a composite cement supply device, and the composite cement supply device includes an automatic mixing tube and an electric push rod.

[0038] Furthermore, the composite glue adopts AB glue.

[0039] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0040] (1) Through remote-controlled robot inspections, gas pipeline leaks can be discovered in a timely manner. By combining acoustic detection with camera image detection, it can flexibly respond to complex environments, accurately identify inaccessible leak points, and accurately locate the coordinates of leak points. There is no need for on-site operators to directly contact dangerous areas, reducing the safety risks of operators.

[0041] (2) By using a repair plate with a sealing ring, the glue is applied inside the sealing ring during the repair operation, which prevents the glue from flowing to areas outside the leakage point due to gravity or pressure. At the same time, the sealing ring can seal the area around the leakage point.

[0042] (3) By using electromagnetic coils and springs to apply pressure, the pressurized repair operation can be completed while the pipeline is online, without stopping the gas or replacing it, thus avoiding the economic losses caused by downtime for maintenance.

[0043] (4) The composite adhesive combined with the strong magnetic tape pressure sealing technology ensures the sealing effect of the leakage point and improves the reliability of pipeline leakage point repair.

[0044] In the present invention, the above-mentioned technical solutions can also be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the subsequent description, and some advantages can become obvious from the description, or can be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the contents particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The drawings are only for the purpose of illustrating particular embodiments and are not to be considered limiting of the present invention. Like reference symbols denote like components throughout the drawings.

[0046] Figure 1 A flow chart of the method for safe detection and repair of gas leakage of the present invention;

[0047] Figure 2 This is an exploded view of the repair device;

[0048] Figure 3 It is a schematic diagram of the structure of the repair device of the present invention;

[0049] Figure 4 It is a structural schematic diagram of the repair plate in the present invention;

[0050] Figure 5 It is a side view of the repair plate of the present invention.

[0051] Reference numerals:

[0052] 201-main support plate; 202-first sliding rod; 203-electromagnetic coil; 204-H-type bracket; 205-pressing plate; 206-repairing plate; 207-second sliding rod; 208-vacuum suction cup. DETAILED DESCRIPTION

[0053] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0054] Example 1

[0055] This embodiment 1 provides a remote control method for robot repair of low-pressure pipeline 100, which completes the repair work of pipeline 100 leakage by manually operating the robot remotely, aiming to solve the problems of high safety risk of on-site manual operation, large economic loss of downtime maintenance and low repair efficiency in traditional pipeline 100 leakage repair. Figure 1 , the method comprises the following steps:

[0056] S1: Acoustic detection to determine the leakage area: The robot patrols along a pre-set path, while receiving sound or ultrasonic signals, and determines whether a leakage has occurred and the area where the leakage is located based on the received signals.

[0057] In complex pipeline environments, such as high-altitude pipelines with a height of 5-18 meters or other equipment intertwined around the pipeline, traditional manual inspections are difficult to detect leaks in a timely manner. Ordinary inspection robots also find it difficult to detect leaks and determine the specific location of the leak through conventional detection methods.

[0058] In the present invention, the factory building is divided into different areas according to the three-dimensional space and numbered, and the inspection route is set for the robot so that the robot can detect the conditions of all pipelines in all areas. During the inspection process, when a gas leak occurs in the pipeline 100, when the robot moves to a certain range of the leak point, the acoustic imager can convert the energy captured by the sound pressure sensor array into a visible image by receiving the sound wave or ultrasonic signal generated by the eddy current at the leak point, and display the theoretical position of the leak point in the form of superposition of sound wave energy on the display screen, thereby preliminarily determining the area where the leak point is located. This technology overcomes the problem that leak points are difficult to detect due to limited viewing angles and complex environments in manual observation, and realizes the rapid preliminary positioning of leak points.

[0059] When gas leaks, turbulence will occur at the leak point, which will in turn generate sound waves. The size of these sound waves is related to the size and geometry of the leak. Larger leaks have lower sound waves that can be heard by the human ear, but smaller leaks have higher sound waves, usually exceeding 20kHz, entering the ultrasonic range and cannot be heard by the human ear. The acoustic detection method uses microphone array beamforming technology to obtain sound source distribution data, and obtains leak location information through phase time difference analysis. This information is then superimposed on the video screen, and after rendering, the visual and precise positioning of the gas leak point can be achieved.

[0060] S2: Remote control robot alignment: After the acoustic detection determines the leakage area, the operator manually controls the robot to move to the area where the leakage point is located, or plans the path through program calculation to make the robot automatically move to the area. In complex application scenarios, the leakage point may be located in a place that the robot cannot reach directly, such as an area blocked by equipment or with uneven terrain. At this time, the robot needs to be moved to a position that is closest to the leakage point and can be reached by the robot outside the inspection path.

[0061] S3: Robotic arm camera locates the leak point coordinates: The camera installed on the robotic arm is used for close-range detection, and the coordinates of the leak point, the specifications of the pipeline, the size and shape of the leak point are accurately located.

[0062] Traditional manual or fixed mechanical devices are difficult to operate when dealing with leaks at different heights and complex angles, especially when the pipe is bent or blocked by supporting structures. The present invention uses a robot with a high-degree-of-freedom mechanical arm to take pictures with a camera installed on the mechanical arm. The control center calculates the leak location based on the picture to obtain the accurate coordinates, size and shape of the leak point, and can also determine the specifications of the pipeline. Precise operation can be achieved even in limited spaces. Combined with the accurately recorded coordinate data, it provides a reliable basis for subsequent repair operations.

[0063] S4: Grab the repair plate 206: Determine the specifications of the required repair plate 206 based on the size and shape of the leak point and the specifications of the pipeline. The operator remotely controls the robotic arm or the control center automatically controls the robotic arm so that the vacuum suction cup 208 of the repair device 200 at the end is accurately aligned with the repair plate 206 of the corresponding specifications in the storage box and completes the grabbing. In order to ensure the accuracy of the grabbing process, the system combines the high-precision position feedback of the robotic arm and the standardized placement design of the repair plate in the storage box, and adopts a combination of visual guidance and force control to achieve precise grabbing. Visual guidance uses a camera installed on the robotic arm to scan the position of the repair plate in the storage box and generate coordinate information, while force control ensures that the repair plate is not damaged due to excessive contact force or the grabbing fails due to insufficient force during the grabbing process.

[0064] The repair plate 206 is an arc-shaped steel plate, and a vulcanized annular sealing ring is fixedly provided at the inner leakage point sealing position thereof.

[0065] Specifically, step S4 includes:

[0066] S41: Control the movement of the robot arm so that the vacuum suction cup of the repair device 200 at the end of the robot arm is closely attached to the surface of the repair plate 206;

[0067] S42: Start the vacuum pump;

[0068] S43: Control the robot arm to move, driving the repair plate 206 to leave the storage box;

[0069] S44: Control the robot arm to flip the repair device 200 180 degrees so that the repair plate 206 faces upward;

[0070] S45: Control the robot arm to move so that the repair plate 206 reaches the composite glue bonding position for bonding. The composite glue supply device consists of an automatic mixing tube, an electric push rod, and a glue storage tank. The repair glue uses AB glue, which is automatically mixed through the mixing tube and then output. When the robot arm moves the repair plate to the bonding position, it ensures that the repair plate is aligned with the nozzle of the mixing tube through precise alignment. Keep a suitable distance (about 5-10 mm) between the nozzle and the repair plate to avoid spraying deviation or glue overflow, and the residence time is controlled until the glue is evenly covered.

[0071] S46: Control the robot's electric push rod to push the glue to the repair plate sealing ring to apply glue. The electric push rod pushes the mixed glue to the inner side of the repair plate sealing ring to ensure that the sealing ring forms a reliable seal when it is subsequently fitted to the pipe. During the gluing process, the repair plate remains stationary, and the robot arm adjusts the nozzle movement to ensure uniform gluing. If necessary, a small amount of glue can be added near the sealing ring to enhance the sealing effect.

[0072] The composite glue is made of AB glue, which is automatically mixed in a mixing tube and then pushed to the sealing ring of the repair plate 206 by an electric push rod for coating.

[0073] S5: crimping the repair plate 206: controlling the mechanical arm to crimp the repair plate 206 to the leaking point on the surface of the pipeline 100. Through this step, the repair plate 206 is crimped to the leaking point on the surface of the pipeline 100, so that the vulcanized annular sealing ring of the repair plate 206 is located around the leaking point and closely attached to the surface of the pipeline 100, thereby blocking the leaking point.

[0074] Step S5 specifically includes:

[0075] S51: Control the robot arm so that the repair device 200 at the end of the robot arm is aligned to the recorded coordinate position of the leakage point.

[0076] S52: Control the robotic arm to drive the pressure plate 205 of the repair device 200 to move to the vicinity of the leakage point. The robotic arm extends forward to press the repair plate 206 onto the surface of the pipe 100 so that the glue-coated sealing ring in the center of the repair plate 206 fits tightly with the area around the leakage point of the pipe 100.

[0077] S53: The electromagnetic coil 203 maintains pressure, specifically, the electromagnetic coil 203 of the repair device 200 is powered on and adsorbed on the surface of the pipe, the second spring under the H-shaped bracket 204 is compressed, and the elastic force keeps the pressing plate 205 in a pressing state. At the same time, the vacuum pump of the vacuum suction cup 208 is turned off.

[0078] S54: To shorten the curing time of the composite mortar, the repair plate 206 can be assisted in heating and / or low-speed blowing can be applied to the repair plate 206 while the pressing plate 205 is kept in the pressed state. The contact area between the repair plate 206 and the pipe 100 is locally heated to 40-60°C by the heating module, and then the moisture is removed by the blowing module to accelerate the curing of the mortar. Through this optimization, the pressing time can be shortened to 5-10 minutes, while ensuring that the repair plate 206 is firmly attached to the surface of the pipe 100, thereby improving the repair efficiency.

[0079] Step S6: The robot arm returns to its original position: the electromagnetic coil 203 is powered off, and the operator controls the robot arm to return to its initial position.

[0080] Step S7: Post-repair inspection: After the repair is completed, use an audio-visual device to observe the leak point again to check the repair effect. If the inspection finds that the repair is unsuccessful, the system will record the coordinates of the leak point and start the repair process, requesting to start manual repair.

[0081] Step S8: The robot leaves the site: After the leak point of the detection pipeline 100 is repaired, the operator controls the robot to leave the site to complete the repair work.

[0082] The robot remote repair control method based on the low-pressure pipeline 100 of this embodiment, the plugging process includes acoustic detection to determine the leakage area, remote control robot alignment, mechanical arm camera positioning leakage point coordinates, grabbing the repair plate 206, crimping the repair plate 206, electromagnetic coil 203 pressure maintenance, mechanical arm return, post-repair detection and robot departure. Through manual remote operation of the robot, the problems of high safety risks of on-site manual operation, large economic losses due to downtime maintenance and low repair efficiency in pipeline 100 leakage repair are solved. Its advantages are high operational flexibility, high plugging efficiency, and non-stop operation. The robot itself has strong scalability and can accurately plug the leakage point of the pipeline 100. The composite glue combined with strong magnetic tape pressure sealing technology is used to ensure the sealing effect of the leakage point of the pipeline 100. The operator monitors and operates in real time through the audio-visual instrument and wireless network to ensure the accuracy and timeliness of the plugging operation, providing an efficient and safe pipeline leakage repair method.

[0083] Example 2

[0084] On the other hand, the present invention provides a safety detection and repair system for gas leakage, which is used to implement the safety detection and repair method for gas leakage of Example 1.

[0085] The safety detection and repair system for gas leaks includes a control center, a robot, and multiple panoramic cameras arranged throughout the scene. The control center receives signals from the robot and the panoramic camera, and sends instructions to control the robot to perform patrol, detection, repair and other operations; the panoramic camera is arranged according to actual needs and transmits the panoramic image to the control center in real time. The panoramic camera transmits back the real-time scene in the factory. The control center can plan the robot's path to the leak point and the target position based on the scene and the leak point area fed back by the robot, thereby controlling the robot's movement. The operator can also manually remotely control the robot's movement path based on the panoramic real-time scene, so that the robot can avoid obstacles and move to the target position.

[0086] The robot is equipped with an acoustic imager, a robotic arm, a repair device 200, a storage box, a composite clay supply device, etc.

[0087] The acoustic imager is installed on the robot body. The sound waves or ultrasonic energy generated by the eddy current at the leak point is transmitted to the sound pressure sensor array of the acoustic imager, and the sound wave energy can be displayed on the display screen with a visible image superimposed on it, thereby helping the operator to quickly locate the area where the leak point is located.

[0088] The mechanical arm is arranged on the robot body, and the repair device 200 is arranged at the end of the mechanical arm, and can be driven by the mechanical arm to perform translation, flipping, etc. A camera is also arranged on the mechanical arm.

[0089] See also Figure 2-Figure 3 The repair device 200 includes a mounting plate 201, a first sliding rod 202, a first spring, an electromagnetic coil 203, an H-shaped bracket 204, a second sliding rod 207, a second spring, a pressure plate 205 and a vacuum suction cup, wherein the mounting plate 201 is fixedly connected to the end of the robot arm, and four first sliding rods 202 are slidably arranged on the mounting plate 201, and each first sliding rod 202 is provided with two first springs, one of which is arranged above the mounting plate 201, between the mounting plate 201 and the nut at the top of the first sliding rod; the other first spring is arranged between the mounting plate 201 and the electromagnetic coil 203.

[0090] The bottoms of the two first sliding rods 202 on the same side are fixedly connected to an electromagnetic coil 203 , and the two electromagnetic coils 203 are fixedly connected to form a whole through an H-shaped bracket 204 .

[0091] Four second sliding rods 207 are slidably arranged on the connecting plate in the middle of the H-shaped bracket 204, and the bottoms of the four second sliding rods 207 are fixedly connected to the pressing plate 205. Two second springs are sleeved on each second sliding rod 207, one of which is located above the connecting plate in the middle of the H-shaped bracket 204, and the other second spring is located below the connecting plate in the middle of the H-shaped bracket 204.

[0092] Preferably, the elastic coefficient of the second spring is smaller than the elastic coefficient of the first spring. This arrangement can keep the distance between the electromagnetic coil 203 of the repair device 200 and the mounting plate 201 stable and prevent deformation, thereby achieving accurate positioning. At the same time, the robot arm does not need to overcome too much resistance to press the pressing plate 205, thereby improving the reliability of the operation.

[0093] A through hole is provided in the middle of the pressing plate 205, and a vacuum suction cup 208 is provided in the through hole. The vacuum suction cup 208 is connected to a vacuum pump through a pipeline.

[0094] The bottom surface of the pressing plate 205 protrudes from the bottom surface of the electromagnetic coil 203 on both sides, preferably by 5-10 mm. With this arrangement, when the bottom surface of the electromagnetic coil 203 is adsorbed to the surface of the pipe, the pressing plate 205 pushes the second sliding rod 207 upward, and the second spring between the pressing plate 205 and the H-shaped bracket is compressed, generating a thrust toward the pressing plate 205, thereby maintaining the pressure of the pressing plate 205.

[0095] In some preferred embodiments, the repair device 200 further includes a heating module and / or a blowing module. The heating module may be disposed on the pressing plate 205 and may heat the pressing plate 205 to 40-60° C. The blowing module may be disposed on the inner surface of the electromagnetic coil 203 and may blow air toward the pressing plate 205 to accelerate the curing of the cement.

[0096] Preferably, the storage box can be arranged on the robot body, and the storage box stores the repair plate 206. The storage box can also be arranged on other equipment attached to the robot, such as an accompanying trolley.

[0097] See also Figure 4-Figure 5 The repair plate 206 is an arc-shaped steel plate, and a vulcanized annular sealing ring is installed in the middle of the inner side of the repair plate 206. The arc surface of the repair plate 206 is adapted to the outer surface of the pipeline 100. The annular sealing ring can be tightly attached to the outer wall of the pipeline to achieve sealing, and at the same time, it can also limit the movement of the cement or adhesive on the surface of the repair plate 206, and keep the cement or adhesive around the leak point during the pressing process, and will not randomly flow to the area outside the leak point, resulting in plugging failure.

[0098] In a preferred embodiment, a plurality of vulcanized annular sealing rings are provided in the middle of the inner side of the repair plate 206, and these vulcanized annular sealing rings are arranged concentrically. Such an arrangement can further prevent the cement or adhesive from flowing to areas outside the leakage point due to gravity or pressing force, thereby improving the reliability of the repair.

[0099] If there are pipelines 100 of various diameters that need to be maintained, repair plates 206 of various specifications can be prepared. In the process of determining the location of the leak point, the specifications of the pipeline 100 are determined to determine the specifications of the matching repair plate 206. When grabbing the repair plate 206, the corresponding repair plate 206 is grabbed according to the determined specifications of the repair plate 206.

[0100] The composite mortar supply device comprises an automatic mixing tube and an electric push rod.

[0101] The composite glue is made of AB glue. After the AB glue is automatically mixed in the automatic mixing tube, it is pushed out by the electric push rod and applied to the area inside the sealing ring on the repair plate 206.

[0102] Through the safety detection and repair system of this embodiment 2, it is possible to remotely control the robot to detect and repair pipeline leaks. The system has high operational flexibility, high plugging efficiency, and can operate without stopping. The robot itself has strong scalability and can accurately plug pipeline leaks. The composite mastic combined with strong magnetic tape pressure sealing technology ensures the sealing effect of pipeline leaks.

[0103] The embodiments described above are only preferred specific implementation methods of the present invention. The embodiments and the specification only describe the principles of the present invention. The technical features of the embodiments can be combined arbitrarily. Any technician in the field can make several improvements and equivalent substitutions to the technical solutions and concepts of the invention within the scope of the present invention, which should all be covered within the protection scope of the present invention.

Claims

1. A method for safety detection and repair of gas leakage, characterized in that: The steps include: S1: Acoustic detection to determine the leakage area: The robot inspects along a pre-set path, receives sound or ultrasonic signals, and determines whether a leakage occurs based on the received signals. If a leakage occurs, the area where the leakage point is located is determined; S2: Remote control robot alignment: According to the panoramic image of the pipeline site and the robot's audio and video image, the robot is controlled to move to the area where the leak is located; S3: Robotic arm camera locates the leak point coordinates: The camera installed on the robotic arm performs close-range detection and accurately locates the leak point coordinates, determines the specifications of the pipeline, and the size and shape of the leak point; S4: Grab the repair plate: control the robotic arm so that the vacuum suction cup of the repair device at the end of the robotic arm grabs the repair plate; S5: crimping the repair plate: controlling the mechanical arm to crimp the repair plate to the leakage point on the pipeline surface.

2. The method for safety detection and repair of gas leakage according to claim 1, characterized in that: In step S2, controlling the robot to move to the area where the leakage point is located specifically means controlling the robot to move to a position outside the preset path, which is reachable by the robot and closest to the leakage point.

3. The method for safety detection and repair of gas leakage according to claim 2, characterized in that: Step S4 specifically includes: S41: Control the movement of the robot arm so that the vacuum suction cup of the repair device at the end of the robot arm is closely attached to the surface of the repair plate; S42: Start the vacuum pump; S43: Control the robot arm to move, and drive the repair plate to leave the storage box.

4. The method for safety detection and repair of gas leakage according to claim 3, characterized in that: Step S4 also includes: S44: Control the robot arm to flip the repair device 180 degrees so that the repair plate faces upward; S45: Control the robot arm to move so that the repair plate reaches the composite glue bonding location for bonding; S46: Control the electric push rod of the robot to push the glue into the sealing ring of the repair plate to apply the glue.

5. The method for safety detection and repair of gas leakage according to claim 4, characterized in that: Step S5 includes: S51: Control the robot arm to align the repair plate of the repair device at the end of the robot arm with the leak point coordinates obtained in step S3; S52: Control the robot arm to extend forward to press the repair plate onto the surface of the pipeline, so that the sealing ring at the center of the repair plate fits tightly with the surrounding area of ​​the leakage point of the pipeline.

6. The method for safety detection and repair of gas leakage according to claim 5, characterized in that: Step S5 also includes: S53: The electromagnetic coil maintains pressure, specifically, the electromagnetic coil of the repair device is controlled to be energized to work and adsorbed on the surface of the pipe. The elastic force of the compressed second spring keeps the pressure plate in a pressed state.

7. The method for safety detection and repair of gas leakage according to claim 6, characterized in that: Step S53 also includes turning off the vacuum pump of the vacuum suction cup.

8. The method for safety detection and repair of gas leakage according to claim 7, characterized in that: Step S5 also includes S54: heating the repair plate and / or blowing air toward the repair plate.

9. The method for safety detection and repair of gas leakage according to claim 8, characterized in that: Step S54 also includes: after the pressing plate is kept in the pressed state for a period of time, the electromagnetic coil is controlled to be powered off.

10. The method for safety detection and repair of gas leakage according to any one of claims 1 to 9, characterized in that: A safety detection and repair system for gas leakage is used for safety detection and repair.

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