Gas tightness detection method, system and device for gas self-closing valve

Abstract

The invention relates to a gas self-closing valve airtightness detection method, system and device, and relates to the technical field of gas self-closing valves, and the method comprises the steps: selecting an image corresponding to the characteristics of a gas self-closing valve as a to-be-clamped image based on image detection information; determining a manufacturing specification and a to-be-clamped shape according to the to-be-clamped image; determining a clamping shape according to the manufacturing specification; the clamping position is determined according to the to-be-clamped shape and the clamping shape, and the clamping device is controlled to clamp the gas self-closing valve to the detection position based on the clamping position; when the triggering information is consistent with the starting information, the clamping device is controlled to clamp the gas self-closing valve, and the detection device is controlled to detect the gas self-closing valve based on the gas tightness detection method; determining whether the detection device outputs abnormal information; when the detection device outputs abnormal information, the gas self-closing valve on the clamping device is defined to be in an abnormal state and clamped to the placing area. The gas tightness detection device has the effect of improving the gas tightness detection efficiency of the gas self-closing valve.

Description

Technical Field

[0001] The present invention relates to the technical field of gas self-closing valves, and in particular to a gas self-closing valve air tightness detection method, system and detection device. Background Art

[0002] A gas self-closing valve refers to a safety device installed in a gas pipeline system that can automatically cut off the gas supply when the gas pressure becomes negative or overpressured and the gas flow exceeds the safety value, thereby preventing gas leakage from causing safety accidents.

[0003] When it is necessary to conduct an air tightness test on the gas self-closing valve, the gas self-closing valve is manually placed at the testing position. Since the surface of the gas self-closing valve is usually provided with many arc edges, it is necessary to manually support the gas self-closing valve to keep the posture of the gas self-closing valve unchanged until the gas self-closing valve is fixed on the air tightness testing equipment, and compressed air or gas is injected into the gas self-closing valve. The pressure change during inflation is detected by the gas self-closing valve to determine whether there is leakage in the tested product.

[0004] When the gas self-closing valve needs to be tested for air tightness, it is necessary to manually support the gas self-closing valve until the gas self-closing valve is fixed, which consumes too much time and causes the efficiency of the gas self-closing valve air tightness test to be too low. Summary of the invention

[0005] In order to improve the efficiency of gas self-closing valve air tightness detection, the present invention provides a gas self-closing valve air tightness detection method, system and detection device.

[0006] In a first aspect, the present invention provides a method for detecting the air tightness of a gas self-closing valve, which adopts the following technical solution: A method for detecting gas tightness of a gas self-closing valve, comprising: Obtaining image detection information of the gas self-closing valve at a preset position to be tested; An image corresponding to a preset gas self-closing valve feature is selected based on the image detection information, and the selected image is used as an image to be clamped; Determine the manufacturing specifications and shape of the gas self-closing valve to be clamped according to the image to be clamped; Determine the clamping shape according to manufacturing specifications; Determine the clamping position according to the shape to be clamped and the clamping shape, and control the preset clamping device to clamp the gas self-closing valve to the preset detection position based on the clamping position; Acquiring trigger information at the detection position; When the trigger information is consistent with the preset start information, the preset clamping device is controlled to clamp the gas self-closing valve, and the preset detection device is controlled to detect the gas self-closing valve based on the preset air tightness detection method; When the detection device outputs preset abnormal information, the gas self-closing valve on the clamping device is defined as an abnormal state and clamped to a preset placement area.

[0007] By adopting the above technical scheme, the gas self-closing valve at the position to be tested is analyzed to obtain the shape to be clamped and the clamping shape, and the clamping position is obtained through the shape to be clamped and the clamping shape, and the clamping device is controlled to clamp the gas self-closing valve and move it to the detection device for air tightness detection, and the detection device outputs abnormal information to control the clamping device to clamp the gas self-closing valve to the placement area, thereby reducing the time consumed by manually supporting the gas self-closing valve until the gas self-closing valve is fixed, thereby improving the efficiency of air tightness detection of the gas self-closing valve.

[0008] Optional, preset airtightness detection methods include: Determine actual inflation volume and hold time based on manufacturing specifications; Based on the actual inflation volume, the inflation device preset on the clamping device is controlled to inflate the gas outlet pipeline, and when the inflation is completed, the inflation device is controlled to maintain the pressure of the gas self-closing valve for the pressure maintaining time, and the gas pressure detection value of the gas outlet pipeline is obtained; Determine whether the air pressure detection value exceeds a preset air pressure reference detection value; If the air pressure detection value exceeds the preset air pressure reference detection value, the preset abnormal leakage information is output to the detection device based on the air outlet pipeline; If the air pressure detection value does not exceed the preset air pressure reference detection value, the high pressure inflation amount and the high pressure duration are determined based on the manufacturing specifications; Based on the high-pressure inflation amount, the inflation device is controlled to inflate the outlet pipe and the inlet pipe preset on the gas self-closing valve. When the inflation is completed, the inflation device is controlled to maintain the pressure of the gas self-closing valve for a high-pressure duration, and the inlet pressure detection value of the inlet pipe is obtained; Update the air pressure detection value of the air outlet pipeline according to the air intake pressure detection value; Based on the intake pressure detection value and / or the updated air pressure detection value exceeding the preset high pressure reference detection value, the preset abnormal guidance information is output.

[0009] By adopting the above technical scheme, the actual inflation volume, pressure holding time, high-pressure inflation volume and high-pressure duration are obtained through the manufacturing specifications of the gas self-closing valve, and the gas self-closing valve is inflated to detect the air tightness of the gas self-closing valve. By comparing the air pressure detection value with the air pressure reference detection value, and comparing the intake pressure detection value with the updated air pressure detection value and the high-pressure reference detection value, the output of abnormal guidance information and abnormal leakage information is obtained, thereby improving the accuracy of the gas self-closing valve air tightness detection under different inflation conditions.

[0010] Optionally, a valve cap is provided on the gas self-closing valve, and the preset air tightness detection method further includes: When the intake pressure detection value and the updated air pressure detection value do not exceed the preset high pressure reference detection value, the valve cap position is retrieved based on the manufacturing specification; Controlling the leakage detection device preset on the detection device to move to the valve cap position, and obtaining the abutment air pressure detection information of the valve cap; Determine whether the contact air pressure detection information is 0; If the contact air pressure detection information is not 0, the preset abnormal position information is output; If the contact air pressure detection information is 0, the leakage inflation volume and leakage pressure holding time are determined based on the manufacturing specifications; Based on the external leakage inflation amount, the detection inflation device preset on the external leakage detection device is controlled to inflate the valve cap, and when the inflation is completed, the detection inflation device is controlled to maintain the pressure of the gas self-closing valve for the external leakage pressure holding time, and the intake pressure detection value and the gas pressure detection value are updated; When the updated intake pressure detection value and / or the air pressure detection value exceeds the preset reference leakage detection value, the preset abnormal position information is output.

[0011] By adopting the above technical scheme, the abutment air pressure detection information detected by the leakage detection device is understood, and the leakage inflation volume and the leakage pressure holding time are obtained according to whether the abutment air pressure detection information is 0, and inflation is performed to update the intake pressure detection value and the air pressure detection value. The updated intake pressure detection value and the air pressure detection value are compared with the reference leakage detection value respectively, and the abnormal position information is output according to the comparison result, so that the air tightness of the gas self-closing valve can be further detected to improve the accuracy of the air tightness detection of the gas self-closing valve.

[0012] Optionally, the method before outputting the preset abnormal location information further includes: When the contact air pressure detection information is not 0, controlling the leakage detection device to lift a preset lifting distance and obtaining valve cap image information of the valve cap; The valve cap image information includes a preset foreign body feature, and the location of the foreign body is determined according to the valve cap image information and the foreign body feature; According to the manufacturing specifications, the bonnet installation range can be retrieved; If the foreign object falls within the valve bonnet installation range, the area of ​​the foreign object is determined based on the valve bonnet image information and the foreign object characteristics; Matching the blowing power from a preset blowing database based on the updated intake pressure detection value and / or the area of ​​the foreign matter, and controlling the preset blowing device to blow the foreign matter position with the blowing power and update the valve cap image information; When the updated valve bonnet image information has foreign body features, the valve bonnet shape corresponding to the foreign body position is retrieved based on the manufacturing specifications; A foreign matter removal path is determined according to the shape of the valve cap, and a preset foreign matter removal device is controlled to operate along the foreign matter removal path.

[0013] By adopting the above technical solution, the foreign matter on the valve cap is identified and air is blown into the foreign matter with blowing power. If image detection information of the foreign matter still exists, the foreign matter removal device is controlled to run along the foreign matter removal path to remove the foreign matter, thereby reducing the impact of foreign matter on the error caused by the air tightness detection of the gas self-closing valve.

[0014] Optionally, the method after updating the intake pressure detection value and the air pressure detection value further includes: Acquiring abutment image information of the abutment portion between the leakage detection device and the valve cap; When the abutting image information includes a preset crack feature, determining the crack shape according to the abutting image information and the crack feature; Determine the estimated crack length and the estimated average crack width based on the crack shape; Obtaining the usage time of the leakage detection device and the abutment force corresponding to the usage time; Calculate the difference between the usage time and the preset benchmark usage time and use it as a time deviation parameter; Determine the estimated crack depth based on the time deviation parameter, the estimated crack length and the abutment force; Calculate the estimated leakage parameters according to the estimated crack length, the estimated average crack width, the estimated crack depth and the abutment gas pressure detection information; Calculate the difference between the updated air pressure detection value and the reference leakage detection value and use it as the leakage deviation value; When the estimated leakage parameter is consistent with the external leakage deviation value, the detection inflation device is repaired by a preset repair method based on the estimated crack length, the estimated average crack width and the estimated crack depth; When the gas self-closing valve is tested, the preset device replacement information is output.

[0015] By adopting the above technical scheme, the part where the leakage detection device abuts the valve bonnet is understood to obtain the crack shape, and the estimated leakage parameters are obtained by the crack shape. According to the consistency between the estimated leakage parameters and the leakage deviation value, the part where the leakage detection device abuts the valve bonnet is repaired by a repair method, so that it is not easy for the part where the leakage detection device abuts the valve bonnet to be damaged to affect the detection error of the air tightness of the gas self-closing valve.

[0016] Optional, pre-set patching methods include: The estimated crack volume is calculated according to the estimated crack length, the estimated average crack width and the estimated crack depth; Determine the total amount of repair based on the estimated volume of the crack; Determine a repair path corresponding to the estimated length of the crack based on the abutment image information; The preset repair device based on the repair path and the repair total amount control repairs the leakage detection device, and obtains the pallet specifications when the repair device is repairing; Determine the baseline collection range based on pallet specifications; Determine the maximum collection quantity of the crack when repairing it according to the abutment image information and the reference collection range; Determine the collection center point based on the benchmark collection range corresponding to each maximum collection quantity; The maximum collection time is determined based on the maximum collection quantity and the total amount of repairs for each crack corresponding to the collection center point; Determine a priority repair path based on the maximum collection quantity, control the repair device to repair along the priority repair path, control the preset tray device to move to the collection center point corresponding to the priority repair path and stay there for the maximum collection time, and take the repaired path as the repaired path; The collection center point and the maximum collection time are updated according to the repaired path and the remaining repaired paths until all the abutting image information are repaired paths.

[0017] By adopting the above technical scheme, the cracks are understood to obtain the repair path and the total amount of repair, and the maximum collection time is obtained through the benchmark collection range. Then, the maximum collection quantity, collection center point and maximum collection time are used to control the operation of the repair device and the tray device until the abutment image information shows the repaired path. This makes it possible to repair the cracks while protecting the gas self-closing valve from the influence of dripping repair liquid.

[0018] Optional, preset repair methods also include: Obtain the abutment specifications of the abutment portion between the external leakage detection device and the valve cap; Determine the actual total amount of repair and total solidification time based on the estimated crack length, the estimated average crack width and the estimated crack depth; Determine the annular repair cover according to the abutment specifications; Based on the crack shape, the position corresponding to the maximum width of the crack in the estimated length is retrieved as the starting repair position, and the repair quantity is determined based on the starting repair position; The annular repair cover is updated according to the initial repair position and the injection specification of the preset repair device; Based on the initial repair position, the clamping device is controlled to place the updated annular repair cover on the detection and inflation device, and based on the actual total repair amount and the repair quantity, the repair device is controlled to repair the initial repair position; Determine the maximum dwell time based on the total solidification time of each crack; The airbag inflation amount is determined based on the abutment specification, and when the injection of the repair fluid is completed in all the repair devices, the airbag inflation amount is output to the airbag device preset in the annular repair cover; When the abutment time of the annular repair cover reaches the maximum dwell time, the falling inflation amount is determined based on the abutment specification and the airbag inflation amount and output to the airbag device, and the clamping device is controlled to remove the annular repair cover.

[0019] By adopting the above technical scheme, an annular repair cover is obtained through abutment specifications, starting repair position and injection specifications. The cover is arranged on the part abutted by the leakage detection device, and the repair device is controlled to inject the repair liquid to the starting repair position. The operation of the airbag device is controlled through the abutment specifications, so that the gas self-closing valve can be protected from the influence of dripping of the repair liquid while repairing the crack, and the annular repair cover can be easily removed.

[0020] Optionally, the calculation method of the estimated leakage parameter includes: Q=(b×h3×△P) / (K×μ×L), Q is the estimated leakage parameter, b is the estimated average width of the crack, h is the estimated depth of the crack, △P is the deviation value between the preset standard atmospheric pressure and the abutment air pressure detection information, K is the experimental coefficient preset by the operator, μ is the dynamic viscosity of the gas used by the inflation device and the detection inflation device for inflation preset by the operator, and L is the estimated length of the crack.

[0021] By adopting the above technical solution, the estimated leakage parameters are calculated using the above calculation formula, thereby improving the accuracy of gas tightness detection of the gas self-closing valve.

[0022] In the second aspect, the present application provides a gas self-closing valve air tightness detection system, which adopts the following technical solution: A gas self-closing valve air tightness detection system, comprising: An acquisition module, used to acquire image detection information, air pressure detection value, intake pressure detection value, image detection information, abutment air pressure detection information, use time, abutment force and abutment specification; A memory for storing a program of a method for detecting gas tightness of a gas self-closing valve; The processor is used to load, execute and implement the program stored in the memory.

[0023] In a third aspect, the present application provides a gas self-closing valve air tightness detection device, which adopts the following technical solution: A gas self-closing valve air tightness detection device comprises a memory and a processor. The memory stores a computer program which can be loaded by the processor and executes a gas self-closing valve air tightness detection method.

[0024] In summary, the present application includes at least one of the following beneficial technical effects: 1. The gas self-closing valve at the position to be tested is analyzed to obtain the shape to be clamped and the clamping shape, and the clamping position is obtained through the shape to be clamped and the clamping shape, and the clamping device is controlled to clamp the gas self-closing valve to the detection device for air tightness detection, and the clamping device is controlled to clamp the gas self-closing valve to the placement area according to the abnormal information output by the detection device, so as to reduce the time consumed by manual support of the gas self-closing valve until the gas self-closing valve is fixed, thereby improving the efficiency of the gas self-closing valve for air tightness detection; 2. The actual inflation volume, pressure holding time, high-pressure inflation volume and high-pressure duration are obtained according to the manufacturing specifications of the gas self-closing valve, and the gas self-closing valve is inflated to detect the air tightness of the gas self-closing valve. The output of abnormal guidance information and abnormal leakage information is obtained by comparing the air pressure detection value with the air pressure reference detection value, and comparing the intake pressure detection value with the updated air pressure detection value and the high-pressure reference detection value, so as to improve the accuracy of the gas self-closing valve air tightness detection under different inflation conditions; 3. An annular repair cover is obtained through abutment specifications, starting repair position and injection specifications. The cover is set on the part abutted by the leakage detection device, and the repair device is controlled to inject the repair liquid to the starting repair position. The operation of the airbag device is controlled through abutment specifications, so that the gas self-closing valve can be protected from the influence of dripping repair liquid while repairing the crack, and the annular repair cover is convenient to remove. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of a gas self-closing valve according to an embodiment of the present invention; Figure 2 This is a flow chart of a method for detecting gas tightness of a gas self-closing valve according to an embodiment of the present invention; Figure 3 The method flow of the preset airtightness detection method of the embodiment of the present invention is Figure 1 ; Figure 4 The method flow of the preset airtightness detection method of the embodiment of the present invention is Figure 2 .

[0026] The parts indicated by the numerical symbols in the above drawings are as follows: 1. valve body; 2. valve cap; 3. air inlet channel; 4. air outlet channel; 5. valve disc. DETAILED DESCRIPTION

[0027] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0028] Reference Figure 1 , a gas self-closing valve, applied to a gas self-closing valve air tightness detection method, comprises a valve body 1, a valve flap 5 arranged in the valve body 1 and used to control the on and off of gas, a valve core connected to the valve flap 5 and used to manually control the valve flap 5 to on and off the gas, a spring arranged on the valve core and used to provide a closing force, and a valve cap 2 arranged on the valve core and used to manually press or automatically control the gas to enter the valve body 1. The gas self-closing valve controls the on and off of the fluid through the valve flap 5 inside the valve body 1. When the gas self-closing valve is closed, the valve flap 5 is deformed and contacts the inner wall of the valve body 1 to prevent the fluid from passing through the valve body 1. When the gas self-closing valve is opened, the valve flap 5 will move away from the valve body 1, allowing the fluid to pass through the valve body 1. An air inlet channel 3 and an air outlet channel 4 are arranged at both ends of the valve body 1.

[0029] Reference Figure 2 The present application discloses a method for detecting the air tightness of a gas self-closing valve, comprising the following steps: Step S100: Acquire image detection information of the gas self-closing valve at a preset position to be detected.

[0030] The position to be tested is a position set by a technician where a gas self-closing valve that has not been tested for air tightness is placed. The image detection information refers to an image of the position to be tested, and the image of the position to be tested is captured by a camera preset on the detection device as image detection information.

[0031] Step S101: based on the image detection information, an image corresponding to a preset gas self-closing valve feature is framed and selected, and the framed image is used as the image to be clamped.

[0032] The gas self-closing valve features are the shape, color and other features of the gas self-closing valve set by the technicians. The image to be clamped refers to the image of the gas self-closing valve that needs to be tested for air tightness. The image corresponding to the gas self-closing valve features is selected from the image detection information as the image to be clamped.

[0033] Step S102: determining the manufacturing specifications and the shape of the gas self-closing valve to be clamped according to the image to be clamped.

[0034] Manufacturing specifications refer to the size and other specifications of the gas self-closing valve. The parameter information of the gas self-closing valve is obtained by scanning the barcode on the gas self-closing valve in the image to be clamped as the manufacturing specifications. The shape to be clamped refers to the shape of the gas self-closing valve at the position to be measured. The shape to be clamped is formed by the contour corresponding to the image to be clamped.

[0035] Step S103: Determine the clamping shape according to manufacturing specifications.

[0036] The clamping shape refers to the shape of the gas self-closing valve when it can be clamped. The clamping shape is obtained by taking the largest circular or square shape from the manufacturing specifications. Generally, the gas self-closing valve uses the shape corresponding to the valve body 1 as the clamping shape.

[0037] Step S104: determining a clamping position according to the shape to be clamped and the clamping shape, and based on the clamping position, controlling a preset clamping device to clamp the gas self-closing valve to a preset detection position.

[0038] The detection position is the position set by the technicians for detecting the air tightness of the gas self-closing valve, and the detection position is set on the detection device. The clamping position refers to the position corresponding to the clamping device clamping the gas self-closing valve at the position to be tested. By overlapping the clamping shape with the shape to be clamped, the position of the shape on the shape to be clamped that overlaps with the clamping shape is used as the clamping position. The clamping device refers to a mechanical arm used to clamp the gas self-closing valve for movement. The clamping device is controlled to clamp the gas self-closing valve at the position to be tested and move it to the detection position to facilitate subsequent air tightness testing.

[0039] Step S105: Acquire trigger information at the detection position.

[0040] The trigger information refers to information used to check whether the gas self-closing valve is located at the detection position, and the trigger information may be pressure parameter information detected by the pressure sensor.

[0041] Step S106: When the trigger information is consistent with the preset start information, the preset clamping device is controlled to clamp the gas self-closing valve, and the preset detection device is controlled to detect the gas self-closing valve based on the preset air tightness detection method.

[0042] The clamping device refers to a device that is arranged on the detection device and is used to clamp and fix the gas self-closing valve. The start-up information refers to the information used to control the start-up of the detection device. The start-up information can be the reference pressure information preset by the operator. When the trigger information is consistent with the start-up information, it means that the object at the detection position is the gas self-closing valve, so the clamping device is controlled to clamp the gas self-closing valve, and the detection device is controlled to perform an airtightness test on the gas self-closing valve through an airtightness test method. The airtightness test method refers to a method used to detect the airtightness of the gas self-closing valve. The specific detection method refers to steps S200 to S307, which will not be repeated here.

[0043] Step S107: The detection device outputs preset abnormal information, defines the gas self-closing valve on the clamping device as an abnormal state, and clamps it to a preset placement area.

[0044] Abnormal information is a prompt information set by the technician to remind the operator of abnormalities such as leakage or component damage in the gas self-closing valve. The placement area is an area set by the technician to place the gas self-closing valve corresponding to the abnormal state. The abnormal state refers to the state corresponding to the gas self-closing valve with abnormalities such as leakage or component damage. When the detection device outputs abnormal information, it means that the gas self-closing valve on the clamping device has abnormalities such as leakage or component damage. Therefore, the gas self-closing valve on the clamping device is defined as an abnormal state, and the gas self-closing valve in the abnormal state of the clamping device is controlled to the placement area to facilitate the detection of other gas self-closing valves.

[0045] Reference Figure 3 , the preset air tightness detection methods include: Step S200: Determine the actual inflation volume and pressure holding time based on manufacturing specifications.

[0046] The actual inflation volume refers to the amount of gas used to inflate the interior of the valve body 1, and the pressure holding time refers to the time parameter value for maintaining the air pressure inside the valve body 1. The actual inflation volume and pressure holding time are matched from the preset inflation database through the manufacturing specifications. The inflation database stores the actual inflation volume and pressure holding time corresponding to different manufacturing specifications under low pressure or medium pressure. The inflation database is a database set manually and will not be described in detail here. In this embodiment, the low pressure is set to an air pressure of 0.6KPa, and the medium pressure is set to an air pressure of 15KPa. The low pressure and medium pressure are adjusted by technical personnel in this field according to actual conditions and will not be described in detail here.

[0047] Step S201: Based on the actual inflation volume, the inflation device preset on the clamping device is controlled to inflate the gas outlet pipe. When the inflation is completed, the inflation device is controlled to maintain the pressure of the gas self-closing valve for the pressure maintaining time, and the gas pressure detection value of the gas outlet pipe is obtained.

[0048] The inflating device refers to a device used to inflate the outlet channel 4 and the inlet channel 3 to detect the air tightness of the gas self-closing valve. The inflating device is provided on both sides of the clamping device. The air pressure detection value refers to the pressure value of the leakage generated by the gas self-closing valve in the area of ​​the outlet pipe. The outlet pipe is inflated by controlling the inflating device, and when the inflation is completed, the inflating device is controlled to maintain the pressure of the gas self-closing valve for the pressure holding time. Then, the pressure sensor preset on the clamping device detects the difference between the pressure parameter of the outlet pipe and the low pressure or medium pressure value corresponding to the actual inflation amount as the air pressure detection value.

[0049] Step S202: Determine whether the air pressure detection value exceeds a preset air pressure reference detection value.

[0050] The pressure reference detection value refers to the reference pressure deviation value used to detect whether the gas self-closing valve is leaking. The pressure reference detection value is set in advance by those skilled in the art and will not be described in detail here. By determining whether the pressure detection value exceeds the pressure reference detection value, it is determined whether there is a leak in the area of ​​the gas outlet pipeline.

[0051] Step S203: if the air pressure detection value exceeds the preset air pressure reference detection value, output preset abnormal leakage information to the detection device based on the air outlet pipe.

[0052] The abnormal leakage information is set by the technician to remind the operator that there is leakage in the area of ​​the gas outlet pipe. When the air pressure detection value exceeds the air pressure reference detection value, it indicates that there is leakage in the area of ​​the gas outlet pipe, so the control detection device outputs the abnormal leakage information.

[0053] Step S204: If the air pressure detection value does not exceed the preset air pressure reference detection value, the high pressure inflation amount and the high pressure duration are determined based on the manufacturing specifications.

[0054] The high-pressure gas filling volume refers to the gas filling volume corresponding to the leakage of the gas self-closing valve under high pressure. The high-pressure duration refers to the pressure holding time corresponding to the gas self-closing valve being inflated with the high-pressure gas filling volume. When the air pressure detection value does not exceed the air pressure reference detection value, it indicates that there is no leakage in the area of ​​the gas outlet pipe. Therefore, the high-pressure gas filling volume and high-pressure duration are matched from the gas filling database according to the manufacturing specifications. The actual gas filling volume and pressure holding time corresponding to different manufacturing specifications under high pressure are also stored in the gas filling database, which will not be described in detail here. In this embodiment, the high pressure is set to 25KPa.

[0055] Step S205: Based on the high-pressure inflation volume, the inflation device is controlled to inflate the outlet pipe and the inlet pipe preset on the gas self-closing valve. When the inflation is completed, the inflation device is controlled to maintain the pressure of the gas self-closing valve at a high-pressure duration, and the intake pressure detection value of the intake pipe is obtained.

[0056] The intake pressure detection value refers to the pressure value generated by the leakage of the gas self-closing valve in the area of ​​the intake pipe. The outlet pipe and the intake pipe are inflated by controlling the inflation device and the gas self-closing valve is pressurized for a high-pressure duration. The pressure sensor is then used to detect the difference between the pressure value corresponding to the outlet pipe and the high-pressure pressure value as the intake pressure detection value.

[0057] Step S206: updating the air pressure detection value of the air outlet pipe according to the air intake pressure detection value.

[0058] When the pressure sensor detects the intake pressure detection value, the air pressure detection value of the air outlet pipe is re-detected.

[0059] Step S207: Based on the intake pressure detection value and / or the updated air pressure detection value exceeding the preset high pressure reference detection value, output preset abnormal guidance information.

[0060] The abnormal guidance information is a prompt information set by the technician to remind the operator that the gas self-closing valve is leaking under high pressure. The high-pressure reference detection value is a reference pressure deviation value set by the technician to detect whether the gas self-closing valve is leaking under high pressure. When the intake pressure detection value exceeds the high-pressure reference detection value, the updated air pressure detection value exceeds the high-pressure reference detection value, or the intake pressure detection value and the updated air pressure detection value both exceed the high-pressure reference detection value, it indicates that the gas self-closing valve is leaking, so the abnormal guidance information is output.

[0061] Reference Figure 4 , the preset air tightness detection methods also include: Step S300: When the intake pressure detection value and the updated air pressure detection value do not exceed the preset high pressure reference detection value, the valve cap position is retrieved based on the manufacturing specification.

[0062] The valve bonnet position refers to the position where the valve bonnet 2 is provided on the gas self-closing valve. When the intake pressure detection value and the updated gas pressure detection value do not exceed the high-pressure reference detection value, it indicates that there is no leakage in the gas self-closing valve, so the valve bonnet position is retrieved from the manufacturing specifications.

[0063] Step S301: controlling the leakage detection device preset on the detection device to move to the valve cap position, and obtaining the abutment air pressure detection information of the valve cap 2.

[0064] The abutment air pressure detection information refers to the pressure value corresponding to the abutment between the leakage detection device and the valve cap 2. The leakage detection device is controlled to move to the valve cap position, and the parameters detected by the pressure sensor preset on the leakage detection device are used as the abutment air pressure detection information.

[0065] Step S302: Determine whether the contact air pressure detection information is 0.

[0066] By determining whether the abutment air pressure detection information is 0, it is possible to determine whether the valve flap 5 is damaged or a leak occurs at the installation position of the valve flap 5 .

[0067] Step S303: If the contact air pressure detection information is not 0, output the preset abnormal position information.

[0068] The abnormal position information is set by the technician to remind the operator that the valve flap 5 is damaged or there is a leak at the installation position of the valve flap 5. When the abutting air pressure detection information is not 0, it means that the valve flap 5 is damaged or there is a leak at the installation position of the valve flap 5, so the abnormal position information is output to remind the operator.

[0069] Step S304: If the contact air pressure detection information is 0, determine the leakage inflation amount and the leakage pressure holding time based on the manufacturing specifications.

[0070] The leakage inflation volume refers to the inflation volume corresponding to the deformation capacity of the valve flap 5, and the leakage pressure holding time refers to the time for the gas self-closing valve to be pressure-held after the leakage inflation volume is inflated. When the abutment pressure detection information is 0, it means that the probability of the valve flap 5 being damaged or the installation position of the valve flap 5 leaking is low, so the leakage inflation volume and the leakage pressure holding time are matched from the inflation database according to the manufacturing specifications. In this embodiment, the pressure value corresponding to the leakage inflation volume is set to 40KPa.

[0071] Step S306: Based on the leakage inflation amount, the detection inflation device preset on the leakage detection device is controlled to inflate the valve cap 2, and when the inflation is completed, the detection inflation device is controlled to maintain the pressure of the gas self-closing valve for the leakage pressure maintaining time, and the intake pressure detection value and the air pressure detection value are updated.

[0072] The detection and inflation device refers to a device that is arranged on the external leakage detection device and is used to inflate the valve cap 2 to detect the air tightness of the gas self-closing valve. The detection and inflation device is controlled to inflate the valve cap 2 with the external leakage inflation amount and maintain the pressure of the gas self-closing valve for the external leakage pressure holding time, and the intake pressure detection value and the air pressure detection value are re-obtained.

[0073] Step S307: when the updated intake pressure detection value and / or the air pressure detection value exceeds the preset reference leakage detection value, output the preset abnormal position information.

[0074] When the updated intake pressure detection value exceeds the benchmark leakage detection value, the air pressure detection value exceeds the benchmark leakage detection value, or the updated intake pressure detection value and the air pressure detection value both exceed the benchmark leakage detection value, it means that the valve flap 5 is not easy to recover after deformation to allow gas circulation, so the preset abnormal guidance information is output.

[0075] The method before outputting the preset abnormal location information also includes: Step S400 : when the contact air pressure detection information is not 0, controlling the leakage detection device to lift a preset lifting distance and acquiring the valve cap image information of the valve cap 2 .

[0076] The lifting distance is a distance set by the technician to control the lifting of the leakage detection device to facilitate the capture of the image of the valve bonnet 2. The valve bonnet image information refers to the image corresponding to the valve bonnet 2, which is captured by capturing the valve bonnet 2 through a camera preset on the detection device.

[0077] Step S401: The valve cap image information includes preset foreign body features, and the location of the foreign body is determined according to the valve cap image information and the foreign body features.

[0078] Foreign matter features refer to the color features corresponding to foreign matter such as dust and adhesion, which are set and stored in advance by the operator. When the valve cap image information contains foreign matter features, it means that there are foreign matter that affects the air pressure detected by the leakage detection device. Therefore, the position of the foreign matter feature is framed based on the valve cap image information as the foreign matter position.

[0079] Step S402: Retrieve the valve bonnet installation range according to manufacturing specifications.

[0080] The valve bonnet installation range refers to the range corresponding to the shape of the valve bonnet 2. The shape and size of the valve bonnet 2 are retrieved from the manufacturing specifications, and the range included in the shape and size is used as the valve bonnet installation range.

[0081] Step S403: When the position of the foreign object falls within the valve cap installation range, the area of ​​the foreign object is determined according to the valve cap image information and the foreign object characteristics.

[0082] The foreign body area refers to the area corresponding to the foreign body. When the position of the foreign body does not fall within the valve bonnet installation range, the abnormal position information continues to be output. When the position of the foreign body falls within the valve bonnet installation range, it means that when the leakage detection device abuts against the valve bonnet 2, there is a foreign body pressed against the valve bonnet 2 to achieve gas circulation. Therefore, the outline of the range corresponding to the foreign body feature is selected from the valve bonnet image information frame, and the estimated area of ​​the size corresponding to the outline of the range is calculated as the foreign body area.

[0083] Step S404: matching the blowing power from the preset blowing database based on the updated intake pressure detection value and / or the foreign object area, and controlling the preset blowing device to blow the foreign object position with the blowing power and update the valve cap image information.

[0084] Blowing power refers to the power of blowing air on foreign objects. The blowing power is matched from a preset blowing database according to the area of ​​the foreign object. The blowing power corresponding to different foreign object areas is stored in the blowing database. The blowing database is a database set manually and will not be described here. The blowing device preset on the detection device is controlled to blow air according to the blowing power and the position of the foreign object to blow away the foreign object. The blowing device can be a device composed of a pipe and a fan.

[0085] Step S405: When the updated valve cap image information contains foreign matter features, the valve cap shape corresponding to the foreign matter position is retrieved based on the manufacturing specifications.

[0086] When the updated valve bonnet image information has foreign matter features, it means that the blowing device has not blown away the foreign matter, so the valve bonnet 2 size corresponding to the foreign matter position is retrieved from the manufacturing specifications, and the retrieved shapes are combined to obtain the valve bonnet shape.

[0087] Step S406: determining a foreign matter removal path according to the shape of the valve cap, and controlling a preset foreign matter removal device to operate along the foreign matter removal path.

[0088] The foreign body removal device refers to a mechanical arm corresponding to a scraper for removing foreign bodies. The foreign body removal path refers to a path for removing foreign bodies on the valve bonnet shape, and the foreign body removal path is matched from a preset foreign body removal database according to the valve bonnet shape. The foreign body removal database stores foreign body removal paths corresponding to scrapers of different specifications for different valve bonnet shapes. The foreign body removal database is a manually set database and will not be described in detail here. By controlling the foreign body removal device to run along the foreign body removal path, foreign bodies on the valve bonnet 2 are removed.

[0089] The method after updating the intake pressure detection value and the air pressure detection value also includes: Step S500: Acquire the contact image information of the contact portion between the leakage detection device and the valve cap 2.

[0090] The contact image information refers to the image corresponding to the corresponding part of the detection and inflation device contacting the valve cap 2, which is obtained by photographing the corresponding part of the detection and inflation device contacting the valve cap 2 through a camera. In this embodiment, the corresponding part of the detection and inflation device contacting the valve cap 2 is generally made of rubber.

[0091] Step S501: When the abutting image information includes a preset crack feature, determining the crack shape according to the abutting image information and the crack feature.

[0092] The crack feature refers to the shape feature corresponding to the crack at the corresponding part where the inflator is abutted against the valve cap 2. The crack feature is set in advance by a person skilled in the art and will not be described in detail here. When the abutment image information contains the crack feature, it indicates that there is leakage when the leakage detection device is maintaining pressure, so the shape corresponding to the crack feature is selected from the abutment image information as the crack shape.

[0093] Step S502: determining an estimated crack length and an estimated average crack width based on the crack shape.

[0094] The estimated length of a crack refers to the estimated length of the crack, and the estimated average width of the crack refers to the average width corresponding to the crack. The different widths of each position point in the crack shape are retrieved, and the average value of all widths is calculated as the estimated average width of the crack. The center points of each width are connected to form a total length of the line as the estimated length of the crack.

[0095] Step S503: obtaining the usage time of the leakage detection device and the contact force corresponding to the usage time.

[0096] The use time refers to the time used by the detection and inflation device. The time point when the detection and inflation device starts to press and inflate the valve cap 2 is marked, and the time point when the leakage detection device is lifted is marked. The time parameter value between the two time points is calculated as the single use time value, and the number of the single use time value is retrieved from the system and the product of the number and the single use time value is calculated as the use time. The abutment force refers to the force with which the leakage detection device abuts against the valve cap 2 to press the valve cap 2. The abutment force is obtained by the operator inputting it into the system in advance.

[0097] Step S504: Calculate the difference between the usage time and the preset reference usage time and use it as a time deviation parameter.

[0098] The reference usage time refers to the maximum usage time of the contact part between the leakage detection device and the valve cap 2. The reference usage time is set in advance by those skilled in the art and will not be described in detail here. The time deviation parameter refers to the deviation value between the usage time and the reference usage time. The difference between the usage time and the reference usage time is calculated and the difference is used as the time deviation parameter. The time deviation parameter can be a negative number.

[0099] Step S505: determining the estimated crack depth based on the time deviation parameter, the estimated crack length and the abutment force.

[0100] The estimated crack depth refers to the estimated depth corresponding to the crack. The estimated crack depth is matched from a preset crack database through time deviation parameters, estimated crack length and abutment strength. The crack database contains the correspondence between the time deviation parameters, estimated crack length, abutment strength and estimated crack depth. The crack database is an artificially set database and will not be elaborated here.

[0101] Step S506: Calculate the estimated leakage parameter according to the estimated crack length, the estimated average crack width, the estimated crack depth and the abutment air pressure detection information.

[0102] The estimated leakage parameter is calculated by the estimated crack length, the estimated average crack width, the estimated crack depth and the abutment gas pressure detection information. The calculation method of the estimated leakage parameter includes: Q=(b×h3×△P) / (K×μ×L), Q is the estimated leakage parameter, b is the estimated average crack width, h is the estimated crack depth, △P is the deviation value between the preset standard atmospheric pressure and the abutment gas pressure detection information, K is the experimental coefficient preset by the operator, μ is the gas dynamic viscosity of the inflation device and the detection inflation device for inflation, and L is the estimated crack length. In this embodiment, K is set to 12.

[0103] Step S507: Calculate the difference between the updated air pressure detection value and the reference leakage detection value and use it as the leakage deviation value.

[0104] The leakage deviation value refers to the deviation value between the updated air pressure detection value and the reference leakage detection value. The difference between the updated air pressure detection value and the reference leakage detection value is calculated and the difference is used as the leakage deviation value.

[0105] Step S508: When the estimated leakage parameter is consistent with the external leakage deviation value, the detection inflation device is repaired by a preset repair method based on the estimated crack length, the estimated average crack width and the estimated crack depth.

[0106] When the estimated leakage parameter is inconsistent with the external leakage deviation value, it means that the gas self-closing valve is also leaking while the external leakage detection device is leaking, so the abnormal position information continues to be output. When the estimated leakage parameter is consistent with the external leakage deviation value, it means that only the external leakage detection device is leaking, so the detection and inflation device is repaired by the preset repair method based on the estimated crack length, the estimated average crack width and the estimated crack depth, so that the current batch of gas self-closing valves can continue to be tested for air tightness. For specific repair methods, refer to steps S600 to S710.

[0107] Step S509: When the gas self-closing valve completes the detection, output the preset device replacement information.

[0108] The device replacement information is information set by the technician to remind the operator to replace the leakage detection device. When the gas tightness test of the current batch of gas self-closing valves is completed, the control detection device outputs the device replacement information.

[0109] The preset repair methods include: Step S600: Calculate the estimated crack volume according to the estimated crack length, the estimated average crack width and the estimated crack depth.

[0110] The estimated crack volume refers to the estimated volume corresponding to the crack, and is calculated by multiplying the estimated crack length, the estimated average crack width, and the estimated crack depth.

[0111] Step S601: Determine the total amount of repair according to the estimated crack volume.

[0112] The total amount of repair refers to the total amount of repair fluid required to repair a crack. The total amount of repair is matched from the preset repair database through the estimated crack volume. The repair database contains the corresponding relationship between the estimated crack volume and the total amount of repair. The repair database is a database set by humans and will not be described in detail here. The type of repair fluid is matched by the material of the abutting part on the leakage detection device and will not be described in detail here.

[0113] Step S602: determining a repair path corresponding to the estimated length of the crack based on the abutment image information.

[0114] The repair path refers to the path corresponding to a crack that the repair device uses to repair the crack, and the straight line corresponding to the estimated length of the crack is identified from the abutment image information as the repair path.

[0115] Step S603: Control a preset repair device to repair the leakage detection device based on the repair path and the total repair amount, and obtain the tray specification when the repair device is repairing.

[0116] The repair device refers to a device used to inject repair fluid into the crack. The repair device repairs the leakage detection device by controlling the repair path and the total repair amount. The tray specification refers to the specification of the tray used to collect dripping repair fluid. When the repair device is repairing, the operator inputs the tray specification into the system in advance and then retrieves it.

[0117] Step S604: Determine a reference collection range according to the pallet specifications.

[0118] The reference collection range refers to the maximum range in which the tray can collect the repair fluid, and is obtained by retrieving the outline dimensions of the tray from the tray specification and combining the outline dimensions. In this embodiment, the reference collection range is at most the same as the size of the portion abutting the leakage detection device.

[0119] Step S605: Determine the maximum collection quantity of the crack when repairing according to the abutment image information and the reference collection range.

[0120] The maximum collection quantity refers to the maximum number of dripping repair fluids that can be collected within the reference collection range. Each crack is selected from the abutment image information frame, and the reference collection range is expanded left and right based on the estimated length of each crack. The expansion direction containing the most complete cracks is used as the reference direction, and the number of cracks within the reference collection range corresponding to the reference direction is used as the maximum collection quantity. In this embodiment, each reference collection range does not contain repeated cracks.

[0121] Step S606: Determine the collection center point based on the benchmark collection range corresponding to each maximum collection quantity.

[0122] The collection center point refers to the center point of the reference collection range, and the center point of the shape corresponding to the reference collection range is used as the collection center point.

[0123] Step S607: Determine the maximum collection time according to the maximum collection quantity and the total amount of repairs for each crack corresponding to the collection center point.

[0124] The maximum collection time refers to the maximum time for the tray to collect the dripping repair liquid at a collection center point. The maximum collection time is matched from the preset repair database through the maximum collection quantity and the total repair amount of each crack corresponding to the collection center point. The repair database contains the correspondence between the maximum collection quantity, the total repair amount of each crack and the maximum collection time. The repair database is a database set by humans and will not be described here. In this embodiment, the repair device pre-repairs the cracks with the total repair amount from large to small, so it can reduce the time difference for completing the repair of each crack within the reference collection range.

[0125] Step S608: Determine a priority repair path based on the maximum collection quantity, and control the repair device to perform repair along the priority repair path, control the preset tray device to move to the collection center point corresponding to the priority repair path and stay there for the maximum collection time, and use the completed repair path as the repaired path.

[0126] The priority repair path refers to the path that is used to repair cracks first. The reference collection range corresponding to the maximum collection quantity with the largest value, and the repair path corresponding to the maximum total amount of repair within the reference collection range is used as the priority repair path. The repair device is controlled to repair with the priority repair path, and the preset tray device is controlled to move to the collection center point corresponding to the priority repair path and collect the repair liquid on the priority repair path within the maximum collection time. The repaired path refers to the repair path corresponding to the crack that has been repaired, and the path that has been repaired is used as the repaired path. When the repair device repairs the priority repair path, all repair paths within the reference collection range corresponding to the priority repair path need to be repaired.

[0127] Step S609: updating the collection center point and the maximum collection time according to the repaired path and the remaining repaired paths until all the paths on the abutting image information are repaired paths.

[0128] When the repair device completes the repair of all repair paths within the benchmark collection range corresponding to the priority repair path, the maximum collection time and the collection center point are reselected from the cracks corresponding to the remaining repair paths, and the repair device and the tray device are controlled to operate until all the paths on the abutment image information are repaired.

[0129] The default repair methods also include: Step S700: Acquire the contact specifications of the contact portion between the leakage detection device and the valve cap 2.

[0130] The abutment specification refers to the size specification of the part where the leakage detection device abuts the valve cap 2. The size specification of the part where the leakage detection device abuts the valve cap 2 is obtained by scanning the barcode on the leakage detection device as the abutment specification.

[0131] Step S701: Determine the actual total amount of repair and the total solidification time according to the estimated crack length, the estimated average crack width and the estimated crack depth.

[0132] The actual total amount of repair refers to the actual total amount of repair fluid required to repair a crack, and the total solidification time refers to the total time required for the actual total amount of repair fluid to solidify. The volume is calculated based on the estimated length of the crack, the estimated average width of the crack, and the estimated depth of the crack. The actual total amount of repair and the total solidification time corresponding to the actual total amount of repair are matched from the repair database through the volume. The repair database contains the corresponding relationship between the volume of the crack, the actual total amount of repair, and the total solidification time, which will not be elaborated here.

[0133] Step S702: Determine an annular repair cover according to the abutment specification.

[0134] The annular repair cap refers to an annular cap that is provided at the part where the leakage detection device abuts. The corresponding annular repair cap is matched from the preset annular cap database according to the abutment specification. The annular cap database stores annular repair caps of different models corresponding to different abutment specifications. The annular cap database is a manually set database and will not be described in detail here.

[0135] Step S703: based on the crack shape, retrieve the position corresponding to the maximum width of the crack in the estimated length as the starting repair position, and determine the repair quantity based on the starting repair position.

[0136] The starting repair position refers to the position where the repair device starts to repair the crack, and the position corresponding to the maximum width of the estimated length of the crack is retrieved from the crack shape as the starting repair position.

[0137] Step S704: updating the annular repair cover according to the initial repair position and the injection specification of the preset repair device.

[0138] The injection specification is the size specification corresponding to the top of the repair device used to inject the repair liquid set by the technician. A new annular repair cover is obtained by punching a hole in the annular repair cover at the starting repair position according to the injection specification.

[0139] Step S705: Based on the initial repair position, the clamping device is controlled to place the updated annular repair cover on the detection and inflation device, and based on the actual total repair amount and the repair quantity, the repair device is controlled to repair the initial repair position.

[0140] By controlling the clamping device, the updated annular repair cover is placed on the detection and inflation device, and the holes on the annular repair cover are made to correspond one to one with the starting repair position, and then the repair device corresponding to the repair quantity is controlled to repair the starting repair position with the actual total repair amount corresponding to the crack.

[0141] Step S706: Determine the maximum residence time based on the total solidification time of each crack.

[0142] The maximum residence time refers to the maximum time that the annular repair cover needs to stay. The total solidification time of each crack is arranged from large to small, and the maximum total solidification time is selected as the maximum residence time based on the arrangement result.

[0143] Step S707: Determine the airbag inflation amount based on the abutment specification, and output the airbag inflation amount to the airbag device preset in the annular repair cover when the repair liquid is injected into all the repair devices.

[0144] The airbag device refers to an airbag arranged on the annular repair cover toward the leakage detection device, and a plurality of airbag devices are arranged. The airbag inflation volume refers to the amount of gas used to inflate the airbag, and the airbag inflation volume is matched from a preset inflation database through the abutment specifications. The inflation volume of the airbag corresponding to different abutment specifications is stored in the inflation database, which is a manually set database and will not be described here. When all the repair devices complete the injection of the repair liquid, the airbag inflation volume is output to the airbag device so that the airbag device abuts against the leakage detection device to facilitate the repair of the crack with the repair liquid.

[0145] Step S708: When the abutment time of the annular repair cover reaches the maximum dwell time, the falling inflation amount is determined based on the abutment specification and the airbag inflation amount and output to the airbag device, and the clamping device is controlled to remove the annular repair cover.

[0146] The fall-off inflation volume refers to the inflation volume of the airbag corresponding to the fall-off of the annular repair cover. When the abutment time of the annular repair cover reaches the maximum dwell time, the fall-off inflation volume is matched from the inflation database through the abutment specifications and the airbag inflation volume. The inflation database stores the fall-off inflation volumes corresponding to different abutment specifications and airbag inflation volumes. The inflation database is a manually set database and will not be described here. By outputting the fall-off inflation volume to the airbag device to inflate the airbag device to separate the annular repair cover from the leakage detection device, and controlling the clamping device to remove the annular repair cover, the annular repair cover can be conveniently removed while the crack is being repaired.

[0147] Based on the same inventive concept, an embodiment of the present invention provides a gas self-closing valve air tightness detection system, comprising: The acquisition module is used to obtain image detection information, air pressure detection value, intake pressure detection value, image detection information, abutment air pressure detection information, usage time, abutment force and abutment specifications.

[0148] The memory is used to store a program of a method for detecting the air tightness of a gas self-closing valve.

[0149] The processor is used to load, execute and implement the program stored in the memory.

[0150] Based on the same inventive concept, an embodiment of the present invention provides a gas self-closing valve air tightness detection device, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute a gas self-closing valve air tightness detection method.

[0151] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the above-described system, device and unit can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0152] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A method for detecting the air tightness of a gas self-closing valve, characterized in that: include: Obtaining image detection information of the gas self-closing valve at a preset position to be tested; An image corresponding to a preset gas self-closing valve feature is selected based on the image detection information, and the selected image is used as an image to be clamped; Determine the manufacturing specifications and shape of the gas self-closing valve to be clamped according to the image to be clamped; Determine the clamping shape according to manufacturing specifications; Determine the clamping position according to the shape to be clamped and the clamping shape, and control the preset clamping device to clamp the gas self-closing valve to the preset detection position based on the clamping position; Acquiring trigger information at the detection position; When the trigger information is consistent with the preset start information, the preset clamping device is controlled to clamp the gas self-closing valve, and the preset detection device is controlled to detect the gas self-closing valve based on the preset air tightness detection method; When the detection device outputs preset abnormal information, the gas self-closing valve on the clamping device is defined as an abnormal state and clamped to a preset placement area.

2. A method for detecting gas tightness of a gas self-closing valve according to claim 1, characterized in that: The preset airtightness detection methods include: Determine actual inflation volume and hold time based on manufacturing specifications; Based on the actual inflation volume, the inflation device preset on the clamping device is controlled to inflate the gas outlet pipeline, and when the inflation is completed, the inflation device is controlled to maintain the pressure of the gas self-closing valve for the pressure maintaining time, and the gas pressure detection value of the gas outlet pipeline is obtained; Determine whether the air pressure detection value exceeds a preset air pressure reference detection value; If the air pressure detection value exceeds the preset air pressure reference detection value, the preset abnormal leakage information is output to the detection device based on the air outlet pipeline; If the air pressure detection value does not exceed the preset air pressure reference detection value, the high pressure inflation amount and the high pressure duration are determined based on the manufacturing specifications; Based on the high-pressure inflation amount, the inflation device is controlled to inflate the outlet pipe and the inlet pipe preset on the gas self-closing valve. When the inflation is completed, the inflation device is controlled to maintain the pressure of the gas self-closing valve with a high-pressure duration, and the inlet pressure detection value of the inlet pipe is obtained; Update the air pressure detection value of the air outlet pipeline according to the air intake pressure detection value; Based on the intake pressure detection value and / or the updated air pressure detection value exceeding the preset high pressure reference detection value, the preset abnormal guidance information is output.

3. A method for detecting gas tightness of a gas self-closing valve according to claim 2, characterized in that: The gas self-closing valve is provided with a valve cap (2), and the preset air tightness detection method also includes: When the intake pressure detection value and the updated air pressure detection value do not exceed the preset high pressure reference detection value, the valve cap position is retrieved based on the manufacturing specification; Controlling the external leakage detection device preset on the detection device to move to the valve cap position, and obtaining the abutment air pressure detection information of the valve cap (2); Determine whether the contact air pressure detection information is 0; If the contact air pressure detection information is not 0, the preset abnormal position information is output; If the contact air pressure detection information is 0, the leakage inflation volume and leakage pressure holding time are determined based on the manufacturing specifications; Based on the leakage inflation amount, a detection inflation device preset on the leakage detection device is controlled to inflate the valve cap (2), and when the inflation is completed, the detection inflation device is controlled to maintain the pressure of the gas self-closing valve for the leakage pressure maintaining time, and the intake pressure detection value and the gas pressure detection value are updated; When the updated intake pressure detection value and / or the air pressure detection value exceeds the preset reference leakage detection value, the preset abnormal position information is output.

4. A method for detecting gas tightness of a gas self-closing valve according to claim 3, characterized in that: The method before outputting the preset abnormal location information also includes: When the abutment air pressure detection information is not 0, controlling the external leakage detection device to lift a preset lifting distance and obtaining valve cap image information of the valve cap (2); The valve cap image information includes a preset foreign body feature, and the location of the foreign body is determined according to the valve cap image information and the foreign body feature; According to the manufacturing specifications, the bonnet installation range can be retrieved; If the foreign object falls within the valve bonnet installation range, the area of ​​the foreign object is determined based on the valve bonnet image information and the foreign object characteristics; Matching the blowing power from a preset blowing database based on the updated intake pressure detection value and / or the area of ​​the foreign matter, and controlling the preset blowing device to blow the foreign matter position with the blowing power and update the valve cap image information; When the updated valve bonnet image information has foreign body features, the valve bonnet shape corresponding to the foreign body position is retrieved based on the manufacturing specifications; A foreign matter removal path is determined according to the shape of the valve cap, and a preset foreign matter removal device is controlled to operate along the foreign matter removal path.

5. A method for detecting gas tightness of a gas self-closing valve according to claim 3, characterized in that: The method after updating the intake pressure detection value and the air pressure detection value also includes: Acquiring abutment image information of the abutment portion between the leakage detection device and the valve cap (2); When the abutting image information includes a preset crack feature, determining the crack shape according to the abutting image information and the crack feature; Determine the estimated crack length and the estimated average crack width based on the crack shape; Obtaining the usage time of the leakage detection device and the abutment force corresponding to the usage time; Calculate the difference between the usage time and the preset benchmark usage time and use it as a time deviation parameter; Determine the estimated crack depth based on the time deviation parameter, the estimated crack length and the abutment force; Calculate the estimated leakage parameters according to the estimated crack length, the estimated average crack width, the estimated crack depth and the abutment gas pressure detection information; Calculate the difference between the updated air pressure detection value and the reference leakage detection value and use it as the leakage deviation value; When the estimated leakage parameter is consistent with the external leakage deviation value, the detection inflation device is repaired by a preset repair method based on the estimated crack length, the estimated average crack width and the estimated crack depth; When the gas self-closing valve completes the inspection, the preset device replacement information is output.

6. A method for detecting gas tightness of a gas self-closing valve according to claim 5, characterized in that: The preset repair methods include: The estimated crack volume is calculated according to the estimated crack length, the estimated average crack width and the estimated crack depth; Determine the total amount of repair based on the estimated volume of the crack; Determine a repair path corresponding to the estimated length of the crack based on the abutment image information; The preset repair device based on the repair path and the repair total amount control repairs the leakage detection device, and obtains the pallet specifications when the repair device is repairing; Determine the baseline collection range based on pallet specifications; Determine the maximum collection quantity of the crack when repairing it according to the abutment image information and the reference collection range; Determine the collection center point based on the benchmark collection range corresponding to each maximum collection quantity; The maximum collection time is determined based on the maximum collection quantity and the total amount of repairs for each crack corresponding to the collection center point; Determine a priority repair path based on the maximum collection quantity, control the repair device to repair along the priority repair path, control the preset tray device to move to the collection center point corresponding to the priority repair path and stay there for the maximum collection time, and take the repaired path as the repaired path; The collection center point and the maximum collection time are updated according to the repaired path and the remaining repaired paths until all the abutting image information are repaired paths.

7. A method for detecting gas tightness of a gas self-closing valve according to claim 5, characterized in that: The default repair methods also include: Obtaining the abutment specifications of the abutment portion between the external leakage detection device and the valve cap (2); Determine the actual total amount of repair and total solidification time based on the estimated crack length, estimated average crack width and estimated crack depth; Determine the annular repair cover according to the abutment specifications; Based on the crack shape, the position corresponding to the maximum width of the crack in the estimated length is retrieved as the starting repair position, and the repair quantity is determined based on the starting repair position; The annular repair cover is updated according to the initial repair position and the injection specification of the preset repair device; Based on the initial repair position, the clamping device is controlled to place the updated annular repair cover on the detection and inflation device, and based on the actual total repair amount and the repair quantity, the repair device is controlled to repair the initial repair position; Determine the maximum dwell time based on the total solidification time of each crack; The airbag inflation amount is determined based on the abutment specification, and when the injection of the repair fluid is completed in all the repair devices, the airbag inflation amount is output to the airbag device preset in the annular repair cover; When the abutment time of the annular repair cover reaches the maximum dwell time, the falling inflation amount is determined based on the abutment specification and the airbag inflation amount and output to the airbag device, and the clamping device is controlled to remove the annular repair cover.

8. A method for detecting gas tightness of a gas self-closing valve according to claim 5, characterized in that: The calculation method for estimating leakage parameters includes: Q=(b×h3×△P) / (K×μ×L), Q is the estimated leakage parameter, b is the estimated average width of the crack, h is the estimated depth of the crack, △P is the deviation value between the preset standard atmospheric pressure and the abutment air pressure detection information, K is the experimental coefficient preset by the operator, μ is the dynamic viscosity of the gas used by the inflation device and the detection inflation device for inflation preset by the operator, and L is the estimated length of the crack.

9. A gas self-closing valve air tightness detection system, characterized in that: include: An acquisition module, used to acquire image detection information, air pressure detection value, intake pressure detection value, image detection information, contact air pressure detection information, use time, contact force and contact specification; A memory for storing a program of a method for detecting gas tightness of a gas self-closing valve according to any one of claims 1 to 8; The processor is used to load, execute and implement the program stored in the memory.

10. A gas self-closing valve air tightness detection device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and executes a method for detecting air tightness of a gas self-closing valve as claimed in any one of claims 1 to 8.

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