Inspection unmanned vehicle for hydrogen pipeline leakage detection and inspection method

Abstract

The invention provides an inspection unmanned vehicle and an inspection method for hydrogen pipeline leakage detection, and a remote control method and equipment for hydrogen pipeline leakage detection based on an MEMS type hydrogen sensor carried by an intelligent inspection vehicle, has the functions of hydrogen leakage detection alarm, remote control and the like, and is suitable for hydrogen pipeline leakage detection. The leakage detection technology is accurate, sensitive, safe and reliable.

Description

Technical Field

[0001] The present invention relates to the technical field of hydrogen pipeline safety detection, and in particular to an unmanned inspection vehicle and an inspection method for hydrogen pipeline leakage detection. Background Art

[0002] Hydrogen energy, as a secondary energy source with abundant sources, green, low carbon and wide applications, is an important part of the new energy system and has developed rapidly in recent years. Hydrogen energy storage and transportation is a key link between upstream hydrogen production and downstream hydrogen use, and is crucial in the development of the hydrogen energy industry. Pipeline transportation can not only achieve large-scale and long-distance transportation of hydrogen energy, but also effectively alleviate the imbalance between supply and demand of green hydrogen. It is the most ideal way to transport hydrogen in the future.

[0003] However, hydrogen pipeline inspection and leak detection are indispensable links to ensure the safe operation of hydrogen pipelines. As a flammable and explosive gas, hydrogen has extremely high requirements for pipeline safety. Therefore, it is particularly important to develop an automated and intelligent hydrogen pipeline inspection system.

[0004] Existing automated inspection technology has been applied in oil and gas stations, gas pipeline inspection and other scenarios, but the automated inspection equipment for hydrogen pipelines is not yet mature, especially in the inspection of complex terrain and long-distance pipelines, the traditional inspection method is difficult to meet the actual needs. On the one hand, hydrogen molecules are extremely small and can easily penetrate or even diffuse into certain materials (such as steel, alloys, etc.), which may cause hydrogen embrittlement of the material (the material becomes brittle under the influence of hydrogen), making it more susceptible to material fatigue and embrittlement under high pressure, resulting in an increased risk of leakage. The high diffusivity and permeability of hydrogen require pipeline inspection technology to be more accurate and sensitive. Tiny cracks, welding defects, loose joints, etc. in the pipeline may become potential leakage points. On the other hand, compared with traditional natural gas, hydrogen has low density, strong diffusivity, high permeability, a wider explosion range (the explosion limit of hydrogen is 4%-75%) and more serious explosion consequences. Leakage may produce colorless flames, so its leakage is highly dangerous and difficult to detect by traditional methods. However, existing hydrogen pipeline inspection technologies are mostly manually operated, with problems such as low detection efficiency, insufficient coverage, and high personnel safety risks. Summary of the invention

[0005] The present invention aims to provide an unmanned inspection vehicle and an inspection method for hydrogen pipeline leakage detection that overcome the above-mentioned problems or at least partially solve the above-mentioned problems.

[0006] To achieve the above object, the technical solution of the present invention is specifically implemented as follows:

[0007] One aspect of the present invention provides an unmanned inspection vehicle for hydrogen pipeline leakage detection, comprising: an autonomous mobile platform, a sensor system, an autonomous navigation system, and a data processing and early warning platform; wherein:

[0008] The autonomous mobile platform is provided with a lifting platform, a Beidou positioning system and a sensor identification system. The lifting platform is used to complete the hydrogen concentration detection at a vertical height, and to complete the disassembly and separation of the inspection unmanned vehicle body and the sensor according to the Beidou positioning system and the sensor identification system;

[0009] The sensor system is provided with a hydrogen detector, a light-sensitive image sensor and an acoustic vibration sensor. The hydrogen detector is used to monitor the change of hydrogen concentration in real time, the light-sensitive image sensor is used to record the reflected light situation, and the acoustic vibration sensor is used to detect voiceprint feedback;

[0010] The autonomous navigation system is provided with a camera, a positioning system and a path planning system. The positioning system is used to use the Beidou positioning system combined with SLAM technology for real-time positioning and environmental mapping, and the path planning system is used for path planning;

[0011] The data processing and early warning platform is provided with a signal analysis system, a data remote transmission system and an alarm system. The signal analysis system is used to obtain the hydrogen concentration change data monitored by the hydrogen detector, the reflected light data recorded by the photosensitive image sensor and / or the voiceprint feedback data detected by the acoustic vibration sensor for data analysis. The remote transmission system is used to receive remote control instructions sent to the inspection unmanned vehicle and transmit data and alarm information to the outside. The alarm system is used to generate alarm information based on a set threshold.

[0012] Optionally, the unmanned inspection vehicle for hydrogen pipeline leakage detection further includes: a vehicle body, a four-wheel drive module and a battery, wherein the four-wheel drive module is used for four-wheel drive, the battery is arranged on the chassis of the unmanned inspection vehicle, and the vehicle body is arranged as an explosion-proof structure.

[0013] Optionally, the unmanned inspection vehicle for hydrogen pipeline leakage detection also includes: a remote control module for controlling the opening and closing of the power regulating valve of the plant.

[0014] Optionally, the hydrogen detector is a MEMS hydrogen detector.

[0015] Optionally, the data processing and early warning platform is also used to perform preliminary screening of leakage points based on the reflected light conditions recorded by the optical image sensor in combination with big data learning of pipeline damage images.

[0016] Optionally, the data processing and early warning platform is also used to provide real-time feedback of leakage conditions and images through the data remote transmission system.

[0017] Another aspect of the present invention provides an inspection method for hydrogen pipeline leakage detection, characterized in that it includes: using the above-mentioned inspection unmanned vehicle to perform hydrogen pipeline leakage detection.

[0018] Optionally, the hydrogen pipeline leakage detection includes:

[0019] When inspecting long-distance pipelines, the data processing and early warning platform is combined with Beidou positioning data and pipeline construction drawing data to preferentially locate parts prone to leakage. When a signal exceeding a set threshold appears, the inspection unmanned vehicle will alarm all leak-prone pipe sections within a preset range nearby to narrow the leakage range and conduct further inspections, and provide instant feedback images for manual confirmation of whether to increase inspection measures. The parts prone to leakage include valves, connections or bends, and the preset range is the impact range obtained by simulation calculation based on leakage of different pipe diameters and pressures.

[0020] Optionally, the hydrogen pipeline leakage detection includes:

[0021] When inspecting long-distance pipelines that pass through difficult-to-inspect sections, an analysis of whether hydrogen leakage has occurred is performed in conjunction with flow, pressure and other measuring instruments along the route. For preset areas, the inspection unmanned vehicle collects height data through a lifting platform.

[0022] Optionally, the hydrogen pipeline leakage detection includes:

[0023] When inspecting complex pipelines in local areas or factories, the inspection unmanned vehicle confirms the existence of hydrogen leakage after external inspection and determines the factory. The inspection unmanned vehicle then decomposes the pipeline into different blocks according to the pipeline valve settings, and controls the opening and closing of valves in each block to cause disturbances to the leaking hydrogen and locate the leaking pipe section.

[0024] It can be seen that the unmanned inspection vehicle and inspection method for hydrogen pipeline leakage detection provided by the present invention, and the remote control method and equipment for hydrogen pipeline leakage detection based on the intelligent inspection vehicle equipped with a MEMS hydrogen sensor, have functions such as hydrogen leakage detection alarm and remote control, are suitable for hydrogen pipeline leakage detection, and the leakage detection technology is accurate and sensitive, safe and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0026] Figure 1 A schematic diagram of the structure of an unmanned inspection vehicle for hydrogen pipeline leakage detection provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0027] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0028] Figure 1 The schematic diagram of the structure of the unmanned inspection vehicle for hydrogen pipeline leakage detection provided by the embodiment of the present invention is shown in FIG. Figure 1 The unmanned inspection vehicle for hydrogen pipeline leakage detection provided by the embodiment of the present invention includes: an autonomous mobile platform, a sensor system, an autonomous navigation system and a data processing and early warning platform; wherein:

[0029] The autonomous mobile platform is equipped with a lifting platform, Beidou positioning system and sensor identification system. The lifting platform is used to complete the hydrogen concentration detection at a vertical height, and complete the disassembly and separation of the inspection unmanned vehicle body and the sensor according to the Beidou positioning system and sensor identification system;

[0030] The sensor system is equipped with a hydrogen detector, a light-sensitive image sensor and an acoustic vibration sensor. The hydrogen detector is used to monitor the change of hydrogen concentration in real time, the light-sensitive image sensor is used to record the reflected light, and the acoustic vibration sensor is used to detect voiceprint feedback;

[0031] The autonomous navigation system is equipped with a camera, a positioning system and a path planning system. The positioning system is used to use the Beidou positioning system combined with SLAM technology for real-time positioning and environmental mapping, and the path planning system is used for path planning;

[0032] The data processing and early warning platform is equipped with a signal analysis system, a data remote transmission system and an alarm system. The signal analysis system is used to obtain the hydrogen concentration change data monitored by the hydrogen detector, the reflected light data recorded by the photosensitive image sensor and / or the voiceprint feedback data detected by the acoustic vibration sensor for data analysis. The remote transmission system is used to receive remote control instructions sent to the inspection unmanned vehicle and transmit data and alarm information to the outside. The alarm system is used to generate alarm information based on the set threshold.

[0033] As an optional implementation of an embodiment of the present invention, the unmanned inspection vehicle for hydrogen pipeline leakage detection also includes: a vehicle body, a four-wheel drive module and a battery. The four-wheel drive module is used for four-wheel drive, the battery is arranged on the chassis of the unmanned inspection vehicle, and the vehicle body is arranged as an explosion-proof structure.

[0034] Specifically, the autonomous mobile platform for the inspection vehicle provided by the present invention can adopt a four-wheel drive chassis with strong obstacle crossing ability to construct an autonomous mobile platform for the inspection vehicle. It adopts a four-wheel drive design, and the vehicle body has an obstacle crossing function, which is suitable for complex terrain. The chassis is equipped with a large-capacity battery to ensure long-term operation. The vehicle body adopts an explosion-proof design, and all electronic components meet the explosion-proof standards, adapt to the hydrogen environment, and ensure safe operation in the hydrogen environment. In particular, the lifting platform set up in conjunction with important locations can complete the hydrogen concentration detection at a vertical height. In order to reduce the area and power required for the lifting platform, the vehicle body and the sensor can be disassembled and separated by the platform. The lifting platform can be of any form, equipped with a fixed position and sensor detection and identification combined with the Beidou positioning system to ensure normal disassembly and assembly of the sensor.

[0035] As an optional implementation of the embodiment of the present invention, the hydrogen detector adopts a MEMS hydrogen detector.

[0036] The hydrogen concentration is measured by MEMS sensor. The principle is to collect the surrounding gas into the air bag to determine the difference between the gas and the calibration gas by measuring the thermal conductivity. In actual use, the calibration gas is air, and the difference gas is set to hydrogen. The concentration of hydrogen in the air can be determined by the change in thermal conductivity. The photosensitive image sensor mainly takes pictures and uses artificial data amplification to determine the pipeline leakage. In actual applications, the basic pipeline damage image feature database will be imported and a large number of leaking pipeline surface gaps and damage pictures will be collected during the operation of the inspection vehicle as a supplement. After having enough data, the cloud AI can analyze whether the on-site pipeline is intact. If there is a problem, it will be sent to the manual end for confirmation and further work will be arranged manually. The acoustic vibration sensor is mainly used to confirm the broken site in complex scenes where leakage and damage have been confirmed. Ultrasonic waves are emitted to the pipe wall, and the reflected waveform is compared with the intact pipe wall reflected waveform recorded by the machine to confirm whether there is damage and the specific size and depth of the rupture for later maintenance.

[0037] Specifically, the sensor system can also couple multiple sensors, including MEMS hydrogen sensors, fire detectors and temperature sensors, etc. The sensors collect information on gas concentration, temperature and flame status around the hydrogen pipeline in real time; among them, the MEMS hydrogen detector can monitor the change of hydrogen concentration in real time, has high sensitivity, small size and low power consumption, is easy to integrate and can detect abnormalities at the early stage of hydrogen leakage. The sensor system of the present invention adopts a multi-sensor combination method. In addition to the hydrogen detector as the main body, it is also equipped with a light-sensitive image sensor: recording the reflected light situation and combining it with the big data learning of pipeline damage images can realize the function of preliminary observation and initial screening of leakage points, and can confirm the leakage situation, providing data support for subsequent emergency repairs. There is an acoustic vibration sensor, which can determine whether there is a damage problem in the pipeline through voiceprint feedback at a close distance, and can be used as a supplementary method to accurately locate the leakage point when the image cannot be collected.

[0038] The autonomous navigation system can be equipped with cameras, positioning systems and path planning systems. Based on SLAM (simultaneous localization and mapping) technology, the inspection vehicle can build a three-dimensional map of the surrounding environment, plan the optimal inspection path, and realize automatic obstacle avoidance and path correction. Among them, SLAM (Simultaneous Localization and Mapping) is a simultaneous positioning and mapping technology. This technology uses laser positioning to determine its own position and surrounding environment, and gradually depicts the surrounding map as it moves. The Beidou navigation system provides global positioning, navigation and time services, with the characteristics of high precision, high reliability and all-weather performance. The combination of the two can provide the surrounding environment of the initial position of satellite positioning by the Beidou navigation system, reduce the initial positioning time and accuracy of SLAM technology, and speed up the inspection speed of the inspection vehicle. At the same time, during the inspection process of the inspection vehicle finding the path according to the given target, the Beidou system provides time-synchronized remote environmental feedback, which can determine in advance whether there are obvious obstacles on the forward route obtained by the forward SLAM technology analysis, assist in determining the navigation route, and greatly increase the robustness of the inspection vehicle system.

[0039] The autonomous navigation system of the present invention uses the Beidou positioning system combined with SLAM technology to achieve real-time positioning, environmental mapping and path planning. It can automatically adjust the inspection path to ensure that the inspection task is not affected by environmental obstacles. The pipeline inspection vehicle has the characteristics of relatively fixed inspection content. The method of building an environmental map for navigation in combination with SLAM technology has a strong back-end optimization advantage. After the inspection test is completed in combination with the Beidou positioning system, the environmental map built by SLAM technology can be used as an additional reference for the next navigation. The data accumulated after multiple inspections can greatly improve the robustness of the navigation system, reduce errors and improve accuracy. At the same time, the system combination can realize different inspection paths and inspection object selection based on actual needs, and can manually confirm the inspection section. In combination with the Beidou positioning initial point, it can quickly navigate to the inspection section to carry out the inspection work. When the possible leakage site can be preliminarily confirmed through the pipeline parameters, the time required for the inspection can be greatly reduced by editing the inspection section.

[0040] As an optional implementation of an embodiment of the present invention, the data processing and early warning platform is also used to perform preliminary screening of leakage points based on the reflected light conditions recorded by the optical image sensor combined with big data learning of pipeline damage images.

[0041] As an optional implementation of the embodiment of the present invention, the data processing and early warning platform is also used to provide real-time feedback of leakage conditions and images through a remote data transmission system.

[0042] Specifically, the data processing and early warning platform can analyze the data of the hydrogen sensor in real time through the built-in processor of the patrol vehicle. Once an abnormal hydrogen concentration is detected, the system will automatically issue an alarm and transmit the data back to the control center through the wireless communication module. The patrol vehicle can also be controlled to achieve real-time monitoring of the hydrogen pipeline. The data processing platform of the present invention integrates multi-sensor data, performs real-time analysis, and displays the detection results through a remote visualization interface. The early warning system triggers an alarm based on a set threshold. Users can obtain abnormal information in a timely manner through the platform and remotely control the patrol vehicle.

[0043] The present invention optimizes the data processing method specifically for pipeline hydrogen leakage, mainly catering to the inspection of long-distance pipelines and complex pipeline inspections in local areas / factories.

[0044] As an optional implementation of the embodiment of the present invention, the unmanned inspection vehicle for hydrogen pipeline leakage detection also includes: a remote control module for controlling the opening and closing of the power regulating valve of the plant.

[0045] Specifically, long-distance pipeline inspection: Long-distance pipelines have the characteristics of long travel, large transportation volume, and complex terrain. 1. Data processing will combine Beidou positioning data and pipeline construction drawing data to prioritize the on-site positioning of valves, connections, bends and other leak-prone parts that are prone to leakage. When a signal exceeding the set threshold appears, the inspection vehicle will alarm all leak-prone pipe sections within a certain range nearby (according to the influence range calculated by simulation of different pipe diameters and pressure leakage) to narrow the leakage range and then conduct inspections and investigations, and feedback images in real time to manually confirm whether to increase inspection methods. 2. For long-distance pipelines that cross complex terrain, rivers, lakes, seas, mountains and dense forests, etc., which are difficult to inspect, the flow rate, pressure and other measuring instruments along the road will be combined to analyze whether hydrogen leakage has occurred. For necessary areas, combined with the characteristics of low hydrogen molecular weight and obvious concentration changes in the height direction, a lifting platform is set to realize the height direction data collection of unmanned vehicles, and a height direction hydrogen leakage impact model is added to the algorithm. Based on the present invention, the scope of leakage that can be judged can be greatly increased, and complex terrain can be included as much as possible.

[0046] Inspection of complex pipelines in local areas / factories: The unmanned vehicle will be equipped with the ability to remotely control the power regulating valves in the factory. After confirming the existence of hydrogen leakage during external inspections and narrowing the scope to a certain factory, the unmanned vehicle will decompose the pipeline into different blocks according to the pipeline valve settings, and control the opening and closing of valves in each block to disturb the leaking hydrogen and accurately locate the leaking pipe section.

[0047] Through the above design, the present invention can realize fully automatic inspection of hydrogen pipelines, ensure the safe operation of pipelines, and reduce the risks and costs of manual inspections.

[0048] 1. In view of the problem that hydrogen embrittlement exists in hydrogen pipelines, which affects the strength of the pipelines and makes them prone to leakage, the inspection vehicle uses ultrasonic detection to confirm the damage and the location of the cracks. The specific principles and methods are as follows:

[0049] When there are microcracks caused by hydrogen embrittlement in the material, the ultrasonic wave will be reflected and scattered at the crack, causing the amplitude, frequency and speed of the reflected signal to change. During the trial operation of the pipeline, an ultrasonic detector is used to detect and determine the parameters of the pipeline ultrasonic spectrum. When it is officially in operation, the inspection vehicle will inspect the key pipe sections during the inspection process. Hydrogen embrittlement causes cracks in the pipeline material. Due to the thick pipe wall, it will not cause leakage in the early stage, but ultrasonic detection can capture the sound signals emitted when these cracks are generated and expanded. By comparing it with the spectrum parameters during the initial trial operation, possible leakage points can be found in advance and timely maintenance can be performed. For example, there is a significant deviation in the direction of ultrasonic transmission relative to the initial state, indicating that the gas-solid interface has changed, that is, there may be cracks at the detection point. If severe hydrogen embrittlement occurs, the pipe wall becomes thinner and brittle, and the ultrasonic velocity passing through here will be significantly reduced compared to the initial state, and it can be found whether there is a large-scale hydrogen embrittlement phenomenon.

[0050] When a leak occurs but the leak point is difficult to find on the pipe surface, ultrasonic detection can also assist in screening suspicious areas to help quickly determine the leak point. At the same time, the damaged area can be preliminarily estimated based on changes in the ultrasonic map.

[0051] 2. Since the molecular weight of hydrogen is much smaller than that of air, when hydrogen leaks, it will rise at a very fast speed. Without considering the influence of wind speed, it will exist in an inverted cone shape in the vertical direction. The area where hydrogen can be detected close to the ground is small. Therefore, in order to expand the detection range, the inspection vehicle needs to set up a simple drone as a high-altitude detection method. The simple drone consists of three parts: a flight module, an air pump module, and a connecting pipe. The drone connecting pipe is connected to the vehicle-mounted MEMS hydrogen detector, and the connecting pipe is designed to be 2-10 meters long. During operation, the inspection vehicle releases the drone at the location where detection is required to continuously pump air into the connecting pipe at high altitude to determine the hydrogen concentration through the MEMS hydrogen detector, which can greatly expand the detection range and is conducive to hydrogen leakage detection when the pipeline crosses rivers, vegetation and other sections where inspection vehicles are difficult to pass. (Only some important sections can also be equipped with lifting platforms, traction balloons and other height-raising devices to assist in measurement.

[0052] When a hydrogen leak is found, the hydrogen concentration can be continuously tested by high-altitude vacuuming to determine the direction of change in the hydrogen concentration gradient, so as to estimate the approximate direction of the leak and find the leak point.

[0053] An example of the inspection process of the unmanned inspection vehicle for hydrogen pipeline leakage detection provided by the embodiment of the present invention is as follows:

[0054] 1. Confirm the inspection plan in advance and determine the inspection section.

[0055] 2. Check the status of each component of the patrol vehicle and calibrate the hydrogen detector and other equipped sensors.

[0056] 3. Start the inspection vehicle, turn on the Beidou positioning system to calibrate the initial position and confirm the inspection plan.

[0057] 4. Start the inspection work, set off according to the preset route, and record the location information of the inspection vehicle in real time. Run the SLAM algorithm to load the geographic location information and the inspection plan calibration points.

[0058] 5. Start the inspection. The inspection vehicle drives along the pipeline. The Beidou positioning system updates the vehicle position in real time to ensure the correctness of the inspection path, and combines the SLAM algorithm to navigate and avoid obstacles.

[0059] At the same time, the MEMS hydrogen sensor continuously monitors the hydrogen concentration in the surrounding environment and immediately issues an alarm if the concentration exceeds the standard.

[0060] 6. The inspection vehicle carries out inspection tasks as planned, which include inspection along the line, long-term data collection of key sections, docking with the lifting platform to complete high-altitude hydrogen concentration measurement, photographing marked locations to confirm pipeline status, and alarming for excessive hydrogen concentration, etc., depending on the inspection section settings and situations.

[0061] Case A: No excessive hydrogen concentration is found. During the inspection, images of set key points are taken and the hydrogen concentration is continuously recorded until the inspection task is completed and the inspection endpoint is reached.

[0062] Case B: If the hydrogen concentration exceeds the standard, the patrol car will immediately alarm and upload data, and according to the pipeline design navigation, it will prioritize nearby leak-prone pipe sections. During the traversal process, the hydrogen concentration step changes will be confirmed, and the cloud simulation will confirm the location and number of possible leaks. The patrol car will take optical images at possible leaks and record the situation, and use sensors such as acoustic sensors to assist in confirming the leaks. The above process measurement data and geographic location will be transmitted to the cloud server in real time to provide reference for emergency rescue. After completing all leak detection and data upload work, the patrol car will wait on the spot for further instructions after the manual processing of the alarm.

[0063] Situation C: The inspection vehicle is stuck for various reasons and cannot complete the inspection task. If the problem cannot be solved within a certain period of time, an alarm will be issued, the positioning position and surrounding images will be uploaded in real time, and the vehicle will enter standby mode and wait for recovery.

[0064] 7. After completing the inspection task, the inspection vehicle uploads a task completion report containing the pre-set inspection information display content and the current geographical location to the cloud server. If there is a hydrogen leak or the inspection vehicle is trapped, an abnormal report will be uploaded at the same time. After completion, it will automatically switch to standby mode and wait for recovery.

[0065] It can be seen that the unmanned inspection vehicle for hydrogen pipeline leakage detection provided by the present invention, the remote control method and equipment for hydrogen pipeline leakage detection based on the intelligent inspection vehicle equipped with a MEMS hydrogen sensor, has the functions of hydrogen leakage detection alarm and remote control, is suitable for hydrogen pipeline leakage detection, and the leakage detection technology is accurate and sensitive, safe and reliable.

[0066] The present invention also provides an inspection method for hydrogen pipeline leakage detection, comprising: using the above-mentioned inspection unmanned vehicle to perform hydrogen pipeline leakage detection.

[0067] As an optional implementation of the embodiment of the present invention, the hydrogen pipeline leakage detection includes:

[0068] When inspecting long-distance pipelines, the data processing and early warning platform combines Beidou positioning data and pipeline construction drawing data to prioritize on-site positioning of parts prone to leakage. When a signal exceeding the set threshold appears, the inspection unmanned vehicle will alarm all nearby leak-prone pipe sections within a preset range to narrow the leakage range and conduct further inspections. The image feedback is immediate so that manual confirmation can be made as to whether additional inspection measures should be taken. Parts prone to leakage include valves, connections or bends. The preset range is the impact range calculated based on simulations of leakages at different pipe diameters and pressures.

[0069] As an optional implementation of the embodiment of the present invention, the hydrogen pipeline leakage detection includes:

[0070] When inspecting long-distance pipelines that pass through difficult-to-inspect sections, an analysis of whether hydrogen leakage has occurred is conducted using flow, pressure and other measuring instruments along the route. For preset areas, the height and direction data of the inspection unmanned vehicle is collected through a lifting platform.

[0071] As an optional implementation of the embodiment of the present invention, the hydrogen pipeline leakage detection includes:

[0072] When inspecting complex pipelines in local areas or factories, the unmanned inspection vehicle confirms the existence of hydrogen leakage after external inspection. After determining the factory, the unmanned inspection vehicle decomposes the pipeline into different blocks according to the pipeline valve settings, and controls the opening and closing of valves in each block to cause disturbances to the leaking hydrogen and locate the leaking pipe section.

[0073] It can be seen that the inspection method for hydrogen pipeline leakage detection provided by the present invention, the remote control method and equipment for hydrogen pipeline leakage detection based on the intelligent inspection vehicle equipped with a MEMS hydrogen sensor, has the functions of hydrogen leakage detection alarm and remote control, is suitable for hydrogen pipeline leakage detection, and the leakage detection technology is accurate and sensitive, safe and reliable.

[0074] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. An unmanned inspection vehicle for hydrogen pipeline leakage detection, characterized in that: include: Autonomous mobile platform, sensor system, autonomous navigation system and data processing and early warning platform; among which: The autonomous mobile platform is provided with a lifting platform, a Beidou positioning system and a sensor identification system. The lifting platform is used to complete the hydrogen concentration detection at a vertical height, and to complete the disassembly and separation of the inspection unmanned vehicle body and the sensor according to the Beidou positioning system and the sensor identification system; The sensor system is provided with a hydrogen detector, a light-sensitive image sensor and an acoustic vibration sensor. The hydrogen detector is used to monitor the change of hydrogen concentration in real time, the light-sensitive image sensor is used to record the reflected light situation, and the acoustic vibration sensor is used to detect voiceprint feedback; The autonomous navigation system is provided with a camera, a positioning system and a path planning system. The positioning system is used to use the Beidou positioning system combined with SLAM technology for real-time positioning and environmental mapping, and the path planning system is used for path planning; The data processing and early warning platform is provided with a signal analysis system, a data remote transmission system and an alarm system. The signal analysis system is used to obtain the hydrogen concentration change data monitored by the hydrogen detector, the reflected light data recorded by the photosensitive image sensor and / or the voiceprint feedback data detected by the acoustic vibration sensor for data analysis. The remote transmission system is used to receive remote control instructions sent to the inspection unmanned vehicle and transmit data and alarm information to the outside. The alarm system is used to generate alarm information based on a set threshold.

2. The unmanned inspection vehicle for hydrogen pipeline leakage detection according to claim 1 is characterized in that: Also includes: A vehicle body, a four-wheel drive module and a battery, wherein the four-wheel drive module is used for four-wheel drive, the battery is arranged on the chassis of the inspection unmanned vehicle, and the vehicle body is arranged as an explosion-proof structure.

3. The unmanned inspection vehicle for hydrogen pipeline leakage detection according to claim 2 is characterized in that: Also includes: Remote control module, used to control the opening and closing of power regulating valves in the plant.

4. The unmanned inspection vehicle for hydrogen pipeline leakage detection according to claim 1 is characterized in that: The hydrogen detector is a MEMS hydrogen detector.

5. The unmanned inspection vehicle for hydrogen pipeline leakage detection according to claim 1 is characterized in that: The data processing and early warning platform is also used to perform preliminary screening of leakage points based on the reflected light conditions recorded by the optical image sensor in combination with big data learning of pipeline damage images.

6. The unmanned inspection vehicle for hydrogen pipeline leakage detection according to claim 1 is characterized in that: The data processing and early warning platform is also used to provide real-time feedback of leakage conditions and images through the data remote transmission system.

7. A patrol method for hydrogen pipeline leakage detection, characterized in that: The unmanned inspection vehicle as described in any one of claims 1 to 6 is used to perform hydrogen pipeline leakage detection.

8. The method according to claim 7, characterized in that The hydrogen pipeline leakage detection comprises: When inspecting long-distance pipelines, the data processing and early warning platform is combined with Beidou positioning data and pipeline construction drawing data to preferentially locate parts prone to leakage. When a signal exceeding a set threshold appears, the inspection unmanned vehicle will alarm all leak-prone pipe sections within a preset range nearby to narrow the leakage range and conduct further inspections, and provide instant feedback images for manual confirmation of whether to increase inspection measures. The parts prone to leakage include valves, connections or bends, and the preset range is the impact range obtained by simulation calculation based on leakage of different pipe diameters and pressures.

9. The method according to claim 7, characterized in that: The hydrogen pipeline leakage detection comprises: When inspecting long-distance pipelines that pass through difficult-to-inspect sections, an analysis of whether hydrogen leakage has occurred is performed in conjunction with flow, pressure and other measuring instruments along the route. For preset areas, the inspection unmanned vehicle collects height data through a lifting platform.

10. The method according to claim 7, characterized in that The hydrogen pipeline leakage detection comprises: When inspecting complex pipelines in local areas or factories, the inspection unmanned vehicle confirms the existence of hydrogen leakage after external inspection and determines the factory. The inspection unmanned vehicle then decomposes the pipeline into different blocks according to the pipeline valve settings, and controls the opening and closing of valves in each block to cause disturbances to the leaking hydrogen and locate the leaking pipe section.

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