A hydrogen energy power generation equipment spider type intelligent safety monitoring system and inspection method

Abstract

The application discloses a hydrogen energy power generation equipment spider type intelligent safety monitoring system and a patrol method, and relates to the field of hydrogen energy power generation equipment safety monitoring.The hydrogen energy power generation equipment spider type intelligent safety monitoring system comprises a first sensor and an angle controller arranged on a spider robot body, the angle controller is connected with the first sensor, the angle of the first sensor is adjusted to perform multi-angle patrol on the hydrogen energy power generation equipment to obtain abnormal points, a vertical guide rail is used to adjust the height position of an intelligent multi-shaft mechanical arm on a guide rail tower system column body, a horizontal 360-degree guide rail is used to adjust the horizontal position of the intelligent multi-shaft mechanical arm on the guide rail tower system column body, and the intelligent multi-shaft mechanical arm can grab the spider type patrol robot or install a second sensor to perform multi-angle patrol on the hydrogen energy power generation equipment to obtain abnormal points.The hydrogen energy power generation equipment spider type intelligent safety monitoring system has the advantages of high efficiency, safety and flexibility, can realize all-around and dead-angle-free patrol on the hydrogen energy power generation equipment, and guarantees the safe and stable operation of the hydrogen energy power generation equipment.

Description

Technical Field

[0001] This invention relates to the field of safety monitoring technology for hydrogen power generation equipment, and more specifically, to a spider-like intelligent safety monitoring system and inspection method for hydrogen power generation equipment. Background Technology

[0002] In the booming development of the hydrogen power generation industry, the safe operation of hydrogen power generation equipment is of paramount importance. However, existing inspection methods in related technologies have many shortcomings in ensuring the safety of hydrogen power generation equipment.

[0003] The current inspection methods for hydrogen power generation equipment are inefficient, requiring inspectors to spend a significant amount of time traversing inspection routes. Furthermore, manual inspection is slow and cannot quickly complete a comprehensive inspection of large-scale equipment. These methods are also costly, with long-term employment of inspectors and the associated testing tools resulting in substantial human and material expenses. Additionally, these methods pose significant safety risks, as close-range manual inspections may expose inspectors to hazardous environments, such as areas with gas leaks or partial discharge risks. Finally, these methods lack flexibility, making it difficult to adjust inspection plans and routes in response to changes in equipment layout or the addition of new equipment areas. Finally, the limited coverage of these methods means that some hard-to-reach areas or complex structures may not be effectively inspected, leading to unforeseen safety hazards.

[0004] While some existing technologies for power equipment inspection have yielded certain results, they fail to provide comprehensive and efficient solutions for the unique characteristics of hydrogen power generation equipment, such as the flammability and explosiveness of hydrogen and the unique layout of the equipment. For example, some conventional power inspection robots have limited functionality and cannot meet the multi-dimensional inspection needs of hydrogen power generation equipment; some inspection trajectory planning methods do not fully consider the diverse shapes and structures of hydrogen power generation equipment; and some marking systems struggle to accurately locate abnormal points in the complex environment of hydrogen power generation and lack multi-view, three-dimensional marking capabilities.

[0005] Referring to the relevant technical document CN118075314B, which focuses on intelligent security monitoring for power generation enterprises, primarily addressing the control of security-related elements such as personnel and vehicles, it lacks effective means for detecting key technical indicators unique to hydrogen power generation equipment, such as gas leaks and partial discharges, as well as monitoring equipment operation status. Its system architecture is not designed for the complex process structure and potential hazards of hydrogen power generation equipment, and it cannot achieve a precise inspection mode that integrates ground and aerial inspection trajectories like the inspection robot of this invention. Furthermore, it lacks the advanced acoustic imaging multi-functional sensor in this invention to detect gas leaks and partial discharges and provide location and alarm functions.

[0006] Referring to the relevant technical document CN209608780U, although it has some applications in the field of industrial equipment monitoring, it is still insufficient for the special characteristics of hydrogen power generation equipment. Its inspection trajectory planning fails to fully consider the unique shape and size of hydrogen power generation equipment, making it difficult to achieve a comprehensive, blind-spot-free inspection architecture that can be flexibly constructed based on the characteristics of hydrogen power generation equipment, as is the case with the inspection trajectory system of this invention. Regarding anomaly point marking and hazard location, it lacks the multi-view, three-dimensional markings of this invention, making it impossible to quickly and accurately locate hazards.

[0007] In summary, existing technologies cannot fully meet the specific needs of safety inspection of hydrogen power generation equipment. Based on these shortcomings, this invention proposes an intelligent safety monitoring system and efficient inspection method for hydrogen power generation equipment, aiming to effectively solve many drawbacks of traditional inspection methods, improve the safety inspection level of hydrogen power generation equipment, and ensure the stable operation of the hydrogen power generation industry. Summary of the Invention

[0008] This invention aims to at least solve one of the technical problems existing in the prior art. Therefore, one objective of this invention is to propose a spider-like intelligent safety monitoring system for hydrogen power generation equipment. This system possesses advantages such as high efficiency, safety, and flexibility, enabling comprehensive, blind-spot-free inspection of hydrogen power generation equipment and ensuring its safe and stable operation.

[0009] Another objective of this invention is to provide an inspection method for a spider-like intelligent safety monitoring system for hydrogen power generation equipment as described above.

[0010] According to an embodiment of the present invention, a spider-style intelligent safety monitoring system for hydrogen power generation equipment includes: a spider-style inspection robot, the spider-style inspection robot comprising a spider robot body, a first sensor, and an angle controller, the first sensor and the angle controller being disposed on the spider robot body, the spider robot body having a tracking function, and the angle controller being connected to the first sensor for adjusting the angle of the first sensor to perform multi-angle inspection of the hydrogen power generation equipment to obtain abnormal points; and a guide rail tower system, the guide rail tower system comprising a guide rail tower system column, a horizontal 360° guide rail, a vertical guide rail, a control module, and an intelligent multi-axis robotic arm, the horizontal 360° guide rail, the vertical guide rail, the control module, and the intelligent multi-axis robotic arm being disposed on the guide rail tower system column. On the guide tower system column, the vertical guide rail can adjust the height position of the intelligent multi-axis robotic arm on the guide tower system column, and the horizontal 360° guide rail can adjust the horizontal position of the intelligent multi-axis robotic arm on the guide tower system column. The intelligent multi-axis robotic arm can grasp the spider-like inspection robot or install a second sensor to perform multi-angle inspection of the hydrogen power generation equipment to obtain abnormal points; a multi-view digital marking system is used to digitally mark the abnormal points; an intelligent control system is used to control the guide tower system, the spider-like inspection robot, and the multi-view digital marking system, and the control module is used to transmit the acquired abnormal point information to the intelligent control system.

[0011] According to an embodiment of the present invention, a spider-like intelligent safety monitoring system for hydrogen power generation equipment includes a first sensor and an angle controller mounted on the spider robot body. The angle controller is connected to the first sensor and is used to adjust the angle of the first sensor to perform multi-angle inspections of the hydrogen power generation equipment and obtain abnormal points. A vertical guide rail can adjust the height position of the intelligent multi-axis robotic arm on the guide rail tower system column, and a 360° horizontal guide rail can adjust the lateral position of the intelligent multi-axis robotic arm on the guide rail tower system column. The intelligent multi-axis robotic arm can grasp the spider-like inspection robot or install a second sensor to perform multi-angle inspections of the hydrogen power generation equipment and obtain abnormal points. A multi-view digital marking system is used to digitally mark the abnormal points. This enables spider-like inspection robots and / or guide rail tower systems to quickly locate, alarm, and digitally mark abnormal points. Furthermore, it allows for the re-digital marking of abnormal points from different angles, precisely pinpointing potential hazards through multi-view, three-dimensional marking. This ensures comprehensive inspection coverage while reducing reliance on extensive manual inspections, effectively lowering labor and material costs. It also guarantees personnel safety during inspections, reduces safety hazards, and effectively improves the efficiency and safety of hydrogen power generation equipment inspections.

[0012] In addition, the spider-like intelligent safety monitoring system for hydrogen power generation equipment according to the above embodiments of the present invention may also have the following additional technical features:

[0013] According to some embodiments of the present invention, in a spider-like intelligent safety monitoring system for hydrogen power generation equipment, the first sensor is an acoustic imaging sensor.

[0014] According to some embodiments of the present invention, the height of the guide rail tower system column is set according to the height of the hydrogen power generation equipment; and / or, the length of the vertical guide rail is set according to the monitoring range of the hydrogen power generation equipment.

[0015] According to some embodiments of the present invention, the lateral 360° guide rails are multiple rails spaced apart along the height direction of the guide rail tower system column.

[0016] According to some embodiments of the present invention, the setting height of the plurality of lateral 360° guide rails is set according to the height monitoring range of the hydrogen power generation equipment; and / or, the lateral turning angle of the lateral 360° guide rails is set according to the lateral monitoring range of the hydrogen power generation equipment.

[0017] According to some embodiments of the present invention, the spider-like inspection robot further includes a camera, which is mounted on the first sensor.

[0018] According to some embodiments of the present invention, when the second sensor is installed on the intelligent multi-axis robotic arm, the spider-like inspection robot and the guide tower system can assist simultaneously.

[0019] An inspection method for a spider-like intelligent safety monitoring system for hydrogen power generation equipment according to an embodiment of the present invention, wherein the spider-like intelligent safety monitoring system for hydrogen power generation equipment is the spider-like intelligent safety monitoring system for hydrogen power generation equipment according to an embodiment of the present invention, the inspection method comprising:

[0020] Control the spider-like inspection robot to inspect the hydrogen power generation equipment on the ground;

[0021] When the spider-like inspection robot detects the abnormal location, it performs location, alarm, and digital identification.

[0022] Based on the abnormal locations, control the spider-like inspection robot to digitally mark the abnormal locations again from different angles;

[0023] The guide rail tower system is controlled to conduct safety inspections of the hydrogen power generation equipment in the air.

[0024] When the guide rail tower system detects the abnormal point, it performs location, alarm, and digital identification.

[0025] Based on the abnormal locations, the guide rail tower system is controlled to digitally mark the abnormal locations again from different angles.

[0026] According to an embodiment of the present invention, the inspection method of the spider-type intelligent safety monitoring system for hydrogen power generation equipment includes a first sensor and an angle controller mounted on the spider robot body. The angle controller is connected to the first sensor and is used to adjust the angle of the first sensor to perform multi-angle inspection of the hydrogen power generation equipment and obtain abnormal points. The vertical guide rail can adjust the height position of the intelligent multi-axis robotic arm on the guide rail tower system column, and the 360° horizontal guide rail can adjust the lateral position of the intelligent multi-axis robotic arm on the guide rail tower system column. The intelligent multi-axis robotic arm can grasp the spider-type inspection robot or install a second sensor to perform multi-angle inspection of the hydrogen power generation equipment and obtain abnormal points. A multi-view digital marking system is used to digitally mark the abnormal points. This enables spider-like inspection robots and / or guide rail tower systems to quickly locate, alarm, and digitally mark abnormal points. Furthermore, it allows for the re-digital marking of abnormal points from different angles, precisely pinpointing potential hazards through multi-view, three-dimensional marking. This ensures comprehensive inspection coverage while reducing reliance on extensive manual inspections, effectively lowering labor and material costs. It also guarantees personnel safety during inspections, reduces safety hazards, and effectively improves the efficiency and safety of hydrogen power generation equipment inspections.

[0027] According to some embodiments of the present invention, when the spider-like inspection robot and the guide tower system assist simultaneously, the inspection method includes:

[0028] The intelligent control system controls the intelligent multi-axis robotic arm to grasp the spider-type inspection robot to the target position;

[0029] The spider-like inspection robot is controlled to digitally mark or conduct routine inspections of the abnormal points detected by the guide rail tower system from the air.

[0030] According to some embodiments of the present invention, the digital markings at multiple different angles are gradually removed based on the detection of the spider-like inspection robot and / or the guide rail tower system.

[0031] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0032] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0033] Figure 1 This is a schematic diagram of the combined inspection of a spider-type inspection robot and a guide rail tower system according to an embodiment of the present invention;

[0034] Figure 2 This is a schematic diagram of a spider-type inspection robot conducting ground inspections according to an embodiment of the present invention;

[0035] Figure 3 This is a schematic diagram of the structure of a spider-like intelligent safety monitoring system for hydrogen power generation equipment according to an embodiment of the present invention;

[0036] Figure 4 This is a schematic diagram of the guide rail tower system according to an embodiment of the present invention;

[0037] Figure 5 This is a schematic diagram of the structure of a spider-type inspection robot according to an embodiment of the present invention;

[0038] Figure 6 This is a schematic diagram of the structure of the intelligent multi-axis robotic arm of the guide rail tower system according to an embodiment of the present invention;

[0039] Figure 7 This is a schematic diagram illustrating the logical relationships and applications of a spider-like intelligent safety monitoring system for hydrogen power generation equipment according to an embodiment of the present invention.

[0040] Figure label:

[0041] 100. Spider-style intelligent safety monitoring system for hydrogen power generation equipment; 200. First hydrogen power generation equipment; 300. Second hydrogen power generation equipment; 400. Abnormal points; 500. Inspection scope;

[0042] 10. Spider-like inspection robot; 11. Spider robot body; 12. First sensor; 13. Angle controller; 14. Camera;

[0043] 20. Guide rail tower system; 21. Guide rail tower system column; 22. 360° horizontal guide rail; 23. Vertical guide rail; 24. Control module; 25. Intelligent multi-axis robotic arm; 26. Second sensor; 251. End effector; 252. Multi-axis robotic arm. Detailed Implementation

[0044] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0045] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0046] In the description of this invention, "first feature" and "second feature" may include one or more of the features, "multiple" means two or more, "above" or "below" the second feature may include the first and second features being in direct contact, or the first and second features being in contact through another feature between them, and "above," "over," and "on top" the second feature may include the first feature being directly above or diagonally above the second feature, or simply indicate that the first feature is at a higher horizontal level than the second feature.

[0047] The following description, with reference to the accompanying drawings, describes a spider-like intelligent safety monitoring system 100 for hydrogen power generation equipment according to an embodiment of the present invention.

[0048] Reference Figures 1-5 As shown, the spider-like intelligent safety monitoring system 100 for hydrogen power generation equipment according to an embodiment of the present invention may include: a spider-like inspection robot 10, a multi-view digital marking system, and an intelligent control system.

[0049] Specifically, the spider-type inspection robot 10 includes a spider robot body 11, a first sensor 12, and an angle controller 13. The first sensor 12 and the angle controller 13 are located on the spider robot body 11. The spider robot body 11 has a tracking function. The angle controller 13 is connected to the first sensor 12 and can adjust the angle of the first sensor 12 to achieve multi-angle inspection of the hydrogen power generation equipment and obtain abnormal points 400. The multi-view digital marking system can digitally mark the abnormal points 400 to meet the requirements of digital marking. The intelligent control system can control the spider-type inspection robot 10 and the multi-view digital marking system, enabling the intelligent control system to control the movement of the spider robot body 11.

[0050] The spider-like inspection robot 10 is lightweight, compact, and highly flexible, making it ideal for on-ground safety inspections of hydrogen power generation equipment (e.g., locating and alarming gas leaks or partial discharge phenomena, and digitally labeling them). Figure 2As shown, the inspection range 500 of the spider-type inspection robot 10 can be the pressure vessel weld joint of the second hydrogen power generation equipment 300, confined spaces, hidden areas, or the bottom of the hydrogen power generation equipment. For abnormal points 400, the intelligent control system will command the spider-type inspection robot 10 to digitally mark the abnormal points 400 again from different angles. The different perspectives are achieved by the spider-type inspection robot 10 at different locations and by adjusting the angle of the first sensor 12 to meet the requirements of digital marking. This is conducive to improving the accurate positioning of abnormal points 400, enabling the rapid and accurate locking of potential hazards, and ensuring the safe and stable operation of the hydrogen power generation equipment.

[0051] At the same time, such as Figures 1-4 As shown, the spider-style intelligent safety monitoring system 100 for hydrogen power generation equipment also includes a guide rail tower system 20. The guide rail tower system 20 includes a guide rail tower system column 21, a horizontal 360° guide rail 22, a vertical guide rail 23, a control module 24, and an intelligent multi-axis robotic arm 25. The horizontal 360° guide rail 22, the vertical guide rail 23, the control module 24, and the intelligent multi-axis robotic arm 25 are mounted on the guide rail tower system column 21. The vertical guide rail 23 can adjust the height of the intelligent multi-axis robotic arm 25 on the guide rail tower system column 21, and the horizontal 360° guide rail 22 can adjust the horizontal position of the intelligent multi-axis robotic arm 25 on the guide rail tower system column 21. The intelligent multi-axis robotic arm 25 can grasp the spider-style inspection robot 10, or a second sensor 26 can be installed on the intelligent multi-axis robotic arm 25 to realize multi-angle inspection of the hydrogen power generation equipment and obtain abnormal points 400. The intelligent control system can control the guide rail tower system 20, enabling it to control the movement of the 360° horizontal guide rail 22, the vertical guide rail 23, and the intelligent multi-axis robotic arm 25. The control module 24 can transmit the acquired abnormal point information 400 to the intelligent control system. For example, the second sensor 26 can be a high-precision gas concentration sensor, etc.

[0052] The guide rail tower system 20, through an intelligent multi-axis robotic arm 25, can perform safety inspections of the hydrogen power generation equipment in the air (e.g., locating, alarming, and digitally identifying gas leaks and partial discharge phenomena). In other words, the guide rail tower system 20 can perform safety inspections of the hydrogen power generation equipment in the air using a spider-like inspection robot 10 or a second sensor 26. Figure 1As shown, the inspection range 500 of the guide rail tower system 20 can include the pressure vessel welding point of the first hydrogen power generation equipment 200, locations that cannot be detected by ground inspection, and locations with low accuracy. For abnormal points 400, the intelligent control system will command the intelligent multi-axis robotic arm 25 to digitally mark the abnormal points 400 again from different angles. Different perspectives are achieved by the intelligent multi-axis robotic arm 25 turning to different locations and adjusting the horizontal 360° guide rail 22 and the vertical guide rail 23 to achieve digital marking, which helps to improve the accurate positioning of abnormalities, can quickly and accurately lock the location of potential hazards, and ensure the safe and stable operation of the hydrogen power generation equipment.

[0053] When the intelligent multi-axis robotic arm 25 grabs the spider-type inspection robot 10 for high-altitude inspection, the intelligent control system controls the spider-type inspection robot 10 to reach the target position, and the guide rail tower system 20 grabs it through the intelligent multi-axis robotic arm 25, so that the spider-type inspection robot 10 can digitally mark abnormal points 400 or perform daily inspections in the air.

[0054] Therefore, through the spider-like intelligent safety monitoring system 100 for hydrogen power generation equipment of the present invention, when abnormal phenomena such as gas leakage or partial discharge are detected in the hydrogen power generation equipment, the spider-like inspection robot 10 and / or the guide rail tower system 20 can quickly locate, alarm, and digitally mark the location, achieving rapid location and marking. It can also digitally mark the abnormal point 400 again from different angles, accurately pinpointing the hidden danger through multi-view three-dimensional marking, thereby quickly handling abnormal situations, accelerating the entire inspection process, and improving the inspection efficiency of hydrogen power generation equipment.

[0055] Compared to related technologies that rely on long-term hiring of inspection personnel and the associated testing tools, resulting in high labor and material costs, the spider-like intelligent safety monitoring system 100 for hydrogen power generation equipment of this invention utilizes intelligent equipment such as the guide rail tower system 20 and the spider-like inspection robot 10 for inspection work. This reduces reliance on a large number of manual inspections, effectively lowering labor costs and avoiding the material costs associated with equipping various tools for manual inspections, thus reducing overall cost expenditure. Furthermore, it avoids exposing inspection personnel to hazardous environments (such as gas leak areas or partial discharge risks) during close-range manual inspections, greatly ensuring personnel safety during the inspection process and reducing safety hazards.

[0056] Through unified control by an intelligent control system, inspections and marking operations can be performed according to set programs and instructions, making the inspection process more standardized and orderly, reducing safety risks caused by improper human operation, and further improving the safety of hydrogen power generation equipment inspection operations. The multi-view digital marking system can mark abnormal points 400 and, with the help of a spider-like inspection robot 10 or a guide rail tower system 20, perform three-dimensional marking from multiple perspectives. During the inspection process, it can more accurately confirm whether each area has been inspected, further ensuring coverage of all key parts of the hydrogen power generation equipment, avoiding missed inspection areas, and ensuring comprehensive inspection coverage. This effectively solves the problems of low efficiency, high cost, significant safety hazards, poor flexibility, and limited coverage of existing inspection methods in related technologies, ensuring the safe and stable operation of hydrogen power generation equipment, and effectively improving the inspection efficiency and safety of hydrogen power generation equipment.

[0057] For example, when inspecting hydrogen power generation equipment, such as Figure 2 As shown, the spider-like inspection robot 10 performs inspection work on the ground of the first hydrogen power generation device 200 and / or the second hydrogen power generation device 300. The spider-like inspection robot 10 can inspect the bottom, confined spaces, and hidden locations of the second hydrogen power generation device 300. The first sensor 12 can accurately detect gas leaks, partial discharges, and other conditions. When an anomaly is detected, the first sensor 12 transmits the anomaly point 400 to the intelligent control system. The intelligent control system controls the spider-like inspection robot 10 to locate the anomaly point 400 and issue an alarm signal, while simultaneously activating a multi-view digital marking system for digital identification. To improve the accuracy of the anomaly point 400, under the command of the intelligent control system, the spider-like inspection robot 10 moves to different locations and adjusts the angle controller 13 to change the angle of the first sensor 12, digitally marking the anomaly point 400 again from multiple perspectives, thereby quickly and accurately locating the potential hazard and ensuring the safe and stable operation of the first hydrogen power generation device 200 and / or the second hydrogen power generation device 300.

[0058] like Figure 1As shown, the guide rail tower system 20 performs safety inspections on locations in the first hydrogen power generation equipment 200 and / or the second hydrogen power generation equipment 300 that cannot be detected by ground inspection, locations with low accuracy, and welded joints of pressure vessels. When an anomaly is detected, the control module 24 transmits the information to the intelligent control system, which controls the guide rail tower system 20 to locate, alarm, and digitally mark the abnormal point 400. Then, under the command of the intelligent control system, the intelligent multi-axis robotic arm 25 rotates to different locations and adjusts the 360° horizontal guide rail 22 and the vertical guide rail 23, so that the spider-like inspection robot 10 or the second sensor 26 on the intelligent multi-axis robotic arm 25 digitally marks the abnormal point 400 again from multiple perspectives, so as to achieve accurate location of the anomaly, quickly lock the location of the hidden danger, and ensure the safe and stable operation of the first hydrogen power generation equipment 200 and / or the second hydrogen power generation equipment 300.

[0059] In some embodiments, the multi-view digital marking system uses a special device to mark abnormal points 400 and uses a spider inspection robot or guide rail tower system 20 to perform three-dimensional marking from multiple perspectives, which can quickly and accurately locate the location of potential hazards.

[0060] According to an embodiment of the present invention, a spider-style intelligent safety monitoring system 100 for hydrogen power generation equipment is provided on the spider robot body 11 via a first sensor 12 and an angle controller 13. The angle controller 13 is connected to the first sensor 12 and is used to adjust the angle of the first sensor 12 to perform multi-angle inspection of the hydrogen power generation equipment to obtain abnormal points 400. The vertical guide rail 23 can adjust the height position of the intelligent multi-axis robotic arm 25 on the guide rail tower system column 21, and the horizontal 360° guide rail 22 can adjust the horizontal position of the intelligent multi-axis robotic arm 25 on the guide rail tower system column 21. The intelligent multi-axis robotic arm 25 can grasp the spider-style inspection robot 10 or install a second sensor 26 to perform multi-angle inspection of the hydrogen power generation equipment to obtain abnormal points 400. A multi-view digital marking system is used to digitally mark the abnormal points 400. This enables the spider-type inspection robot 10 and / or the guide rail tower system 20 to quickly locate, alarm, and digitally mark abnormal points 400, and to digitally mark abnormal points 400 again from different angles. Through multi-view three-dimensional marking, the location of potential hazards can be accurately identified, ensuring the comprehensiveness of the inspection coverage. At the same time, it can reduce the reliance on a large number of manual inspections, effectively reducing labor and material costs, and ensuring the safety of personnel during the inspection process, reducing safety hazards, and effectively improving the inspection efficiency and safety of hydrogen power generation equipment.

[0061] In some embodiments of the present invention, the first sensor 12 can be an acoustic imaging sensor. The acoustic imaging sensor can convert the "heard" sound into a visual image, enabling rapid location and quantification of the problem area. The acoustic imaging sensor can accurately realize functions such as gas leakage detection, partial discharge detection, location and alarm using non-contact long-distance detection technology. Moreover, the acoustic imaging sensor has the characteristics of accurate positioning, high sensitivity, wide operating temperature range, small size, light weight and long transmission distance, which can meet the required usage requirements.

[0062] In embodiments of the present invention, the specific structure of the guide rail tower system column 21 can be set according to actual conditions.

[0063] In some embodiments, such as Figure 1 As shown, the height of the guide rail tower system column 21 is set according to the height of the hydrogen power generation equipment. That is, the guide rail tower system column 21 can be flexibly set according to the specific shape and size of the hydrogen power generation equipment, which can ensure all-round inspection without blind spots. Moreover, the inspection structure can be adjusted in a timely manner according to the layout changes of the hydrogen power generation equipment or the temporary addition of hydrogen power generation equipment areas. This overcomes the shortcomings of the inspection methods in related technologies that are difficult to adjust the inspection plan and route in a timely manner according to the situation of the hydrogen power generation equipment, and shows good flexibility.

[0064] In some embodiments, such as Figure 1 As shown, the length of the vertical guide rail 23 is set according to the monitoring range of the hydrogen power generation equipment. That is, the vertical guide rail 23 can be flexibly set according to the specific shape and size of the hydrogen power generation equipment, which can ensure all-round inspection without blind spots. Moreover, the inspection structure can be adjusted in a timely manner according to the layout changes of the hydrogen power generation equipment or the temporary addition of hydrogen power generation equipment areas. This overcomes the shortcomings of the inspection methods in related technologies that are difficult to adjust the inspection plan and route in a timely manner according to the situation of the hydrogen power generation equipment, and shows good flexibility.

[0065] According to some embodiments of the present invention, there can be multiple (two or more) transverse 360° guide rails 22, and the multiple transverse 360° guide rails 22 are along the height direction of the guide rail tower system column 21 (e.g. Figure 1 As shown in the diagram, the vertical (up and down) intervals, along with multiple horizontal 360° guide rails 22, enable lateral inspection of hydrogen power generation equipment at different heights or inspection of multiple hydrogen power generation equipment at different heights. This facilitates comprehensive, blind-spot-free inspection operations and effectively improves the inspection efficiency and safety of hydrogen power generation equipment.

[0066] In embodiments of the present invention, the specific structure of the 360° transverse guide rail 22 can be set according to actual conditions.

[0067] For example, in some embodiments, the height of the multiple lateral 360° guide rails 22 is set according to the height monitoring range of the hydrogen power generation equipment. That is, the multiple lateral 360° guide rails 22 can be flexibly set according to the specific shape and size of the hydrogen power generation equipment, which can ensure all-round inspection without blind spots. Moreover, the inspection structure can be adjusted in a timely manner according to the layout changes of the hydrogen power generation equipment or the temporary addition of hydrogen power generation equipment areas. This overcomes the shortcomings of the inspection methods in related technologies that are difficult to adjust the inspection plan and route in a timely manner according to the situation of the hydrogen power generation equipment, and shows good flexibility.

[0068] For example, in some embodiments, the lateral turning angle of the 360° lateral guide rail 22 is set according to the lateral monitoring range of the hydrogen power generation equipment. That is, the lateral turning angle of the 360° lateral guide rail 22 can be flexibly set according to the specific shape and size of the hydrogen power generation equipment, which can ensure all-round inspection without blind spots. Moreover, the inspection structure can be adjusted in a timely manner according to the layout changes of the hydrogen power generation equipment or the temporary addition of hydrogen power generation equipment areas. This overcomes the shortcomings of the inspection methods in related technologies that are difficult to adjust the inspection plan and route in a timely manner according to the situation of the hydrogen power generation equipment, and shows good flexibility.

[0069] In some embodiments of the present invention, such as Figure 5 As shown, the spider-type inspection robot 10 also includes a camera 14, which is mounted on the first sensor 12. The camera 14 can work in conjunction with the first sensor 12 to provide visual auxiliary information, enabling the first sensor 12 to better determine the status of the hydrogen power generation equipment, thus making the inspection more reliable.

[0070] According to some embodiments of the present invention, when the second sensor 26 is installed on the intelligent multi-axis robotic arm 25, the spider-type inspection robot 10 and the guide rail tower system 20 can assist simultaneously. Through the unique inspection mode combining the spider-type inspection robot 10 and the guide rail tower system 20, a three-dimensional inspection architecture of ground and air is constructed, which can quickly and accurately locate the hidden dangers.

[0071] Specifically, the spider-type inspection robot 10 is lightweight, small in size, and highly flexible. It can nimbly move across the ground to inspect the bottom and concealed, narrow areas of the hydrogen power generation equipment. Meanwhile, the guide rail tower system 20 can inspect locations that are difficult to reach or have low accuracy on the ground, such as welded areas of pressure vessels, higher locations, and special angles. The combined operation of the two allows for comprehensive, seamless coverage of all parts of the hydrogen power generation equipment, solving the problem of inaccessible areas or complex structural parts in other technologies. This expands the inspection coverage, significantly improves overall inspection efficiency, and avoids the drawbacks of other technologies where personnel spend considerable time traversing inspection routes and where manual inspection is slow and unable to quickly complete large-scale comprehensive inspections of hydrogen power generation equipment. Therefore, through the coordinated operation of the spider-type inspection robot 10 and the guide rail tower system 20, inspections of hydrogen power generation equipment can be carried out simultaneously from different locations, including the ground and the air.

[0072] Meanwhile, the spider-type inspection robot 10 can cooperate with the guide rail tower system 20. That is, the guide rail tower system 20 can grab the spider-type inspection robot 10 to perform high-altitude inspections and other collaborative modes. This realizes a unique inspection mode in which the spider-type inspection robot 10 integrates the ground and air guide rail tower system 20 to complement each other. This mode can better adapt to the structure of different hydrogen power generation equipment and different inspection needs, and effectively solve the problem of insufficient flexibility.

[0073] For example, the spider-like inspection robot 10 conducts a preliminary inspection of the hydrogen power generation equipment on the ground, checking the bottom, concealed areas, and narrow spaces of the equipment. When it finds a suspected anomaly but cannot be precisely identified, it feeds the information back to the intelligent control system. Based on the feedback, the intelligent control system controls the guide rail tower system 20 to intervene in the inspection. The intelligent multi-axis robotic arm 25 in the guide rail tower system 20 can grasp the spider-like inspection robot 10 and transport it to a suitable position in the air, where the spider-like inspection robot 10 can further detect and digitally mark the abnormal points 400. Alternatively, the intelligent multi-axis robotic arm 25 in the guide rail tower system 20 can perform multi-angle inspections using the second sensor 26. If an anomaly is found, it will locate, alarm, and digitally mark the anomaly.

[0074] During the inspection process, both the spider-type inspection robot 10 and the guide rail tower system 20 can digitally mark the abnormal point 400 again after an anomaly is detected through their own multi-view digital marking capabilities (for example, the spider-type inspection robot 10 adjusts its position by moving and adjusting the angle of the first sensor 12, and the guide rail tower system 20 adjusts its position by turning the intelligent multi-axis machinery and adjusting the horizontal 360° guide rail 22 and the vertical guide rail 23). The two cooperate with each other and give full play to their respective advantages, which can quickly and accurately locate the hidden danger, realize the efficient inspection of the hydrogen power generation equipment in all directions and without blind spots, and ensure the safe and stable operation of the hydrogen power generation equipment.

[0075] The present invention relates to an inspection method for a spider-like intelligent safety monitoring system 100 for hydrogen power generation equipment, wherein the spider-like intelligent safety monitoring system 100 for hydrogen power generation equipment is an embodiment of the present invention.

[0076] like Figure 7 As shown, the inspection methods include:

[0077] The spider-type inspection robot 10 is controlled to inspect hydrogen power generation equipment on the ground. In other words, the spider-type inspection robot 10 can inspect the pressure vessel welding points, confined spaces, hidden areas, or the bottom of the hydrogen power generation equipment on the ground. For example, the intelligent control system can control the movement of the spider robot body 11 to realize the spider-type inspection robot 10 inspecting the hydrogen power generation equipment on the ground.

[0078] When the spider-like inspection robot 10 detects an abnormal point 400, it performs positioning, alarm, and digital marking to meet the required inspection needs on the ground and can remind users of subsequent maintenance.

[0079] Based on the abnormal point 400, the spider-type inspection robot 10 is controlled to digitally mark the abnormal point 400 again from different angles. In other words, the different perspectives of the spider-type inspection robot 10 can be achieved by the spider-type inspection robot 10 at different locations and by adjusting the angle of the first sensor 12, which is conducive to improving the accurate positioning of the abnormal point 400 and can quickly and accurately lock the location of the hidden danger.

[0080] The control rail tower system 20 can perform safety inspections of hydrogen power generation equipment in the air. In other words, the control rail tower system 20 can inspect the pressure vessel welding points of the hydrogen power generation equipment, locations that cannot be detected by ground inspections, and locations with low accuracy in the air. For example, the intelligent control system can control the intelligent multi-axis robotic arm 25, the horizontal 360° guide rail 22, and the vertical guide rail 23 to realize the control rail tower system 20's inspection of the hydrogen power generation equipment in the air.

[0081] When the guide rail tower system 20 detects an abnormal point 400, it performs positioning, alarm, and digital identification to meet the required aerial inspection needs and provide reminders for subsequent maintenance.

[0082] Based on the abnormal point 400, the control guide rail tower system 20 digitally marks the abnormal point 400 again from different angles. In other words, the different perspectives of the guide rail tower system 20 are achieved by the different locations turned by the intelligent multi-axis robotic arm 25 and by adjusting the horizontal 360° guide rail 22 and the vertical guide rail 23, which helps to improve the accurate positioning of the abnormality and can quickly and accurately lock the location of the hidden danger.

[0083] Therefore, the spider-like inspection robot 10 and the guide rail tower system 20 can more accurately confirm whether each area has been inspected in place during the inspection process, further ensuring coverage of all key parts of the hydrogen power generation equipment, avoiding omissions in the inspection area, ensuring the comprehensiveness of the inspection coverage, and effectively improving the inspection efficiency and safety of the hydrogen power generation equipment.

[0084] For example, in some embodiments, such as Figure 7 As shown, when the spider-like inspection robot 10 inspects the hydrogen power generation equipment, the first sensor 12 detects a suspected gas leak area. The spider-like inspection robot 10 immediately transmits the preliminary location information of this area to the intelligent control system and performs an initial digital marking at that location. Subsequently, based on the equipment layout and preset optimization algorithms, the intelligent control system controls the spider-like inspection robot 10 to move to multiple different surrounding locations and adjusts the angle controller 13 to change the angle of the first sensor 12, performing multiple scans and digital markings of the suspected leak area from different perspectives. Data from each scan is transmitted to the intelligent control system, which uses the multi-view data for preprocessing, feature extraction, analysis, and decision integration to further refine key information such as the boundary of the leak area and the degree of leakage, and updates the detailed content of the digital marking, such as marking the possible direction and range of gas diffusion.

[0085] Simultaneously, the intelligent control system controls the guide rail tower system 20 to perform inspections. A second sensor 26 is installed on the intelligent multi-axis robotic arm 25. Under the precise control of the intelligent control system, based on the preliminary information provided by the spider-like inspection robot 10, the positions of the horizontal 360° guide rail 22 and the vertical guide rail 23 are adjusted, moving the second sensor 26 to different heights and angles above the suspected leak area for further detection and digital labeling. The multi-view data from the guide rail tower system 20 is transmitted to the intelligent control system for fusion analysis with the data transmitted by the spider-like inspection robot 10.

[0086] By comprehensively processing the data collected by the spider-like inspection robot 10 and the guide rail tower system 20 through a multi-view digital marking system, the intelligent control system can not only more accurately determine the location and condition of potential hazards, but also optimize the parameters of the entire inspection system based on this data. For example, by adjusting the tracking path planning strategy of the spider-like inspection robot 10, it can more efficiently cover areas where similar hazards may occur in subsequent inspections; and by optimizing the installation position and preset detection angle of the second sensor 26 of the guide rail tower system 20, the detection sensitivity for specific types of hazards is improved. Thus, based on the in-depth application of the multi-view digital marking system and the system's self-optimization function, the inspection accuracy and reliability of the entire intelligent safety monitoring system for hydrogen power generation equipment are effectively improved, ensuring the long-term stable and safe operation of the hydrogen power generation equipment.

[0087] Since the spider-type intelligent safety monitoring system 100 for hydrogen power generation equipment according to the embodiments of the present invention has the above-mentioned beneficial technical effects, the inspection method of the spider-type intelligent safety monitoring system 100 for hydrogen power generation equipment according to the embodiments of the present invention uses a first sensor 12 and an angle controller 13 installed on the spider robot body 11. The angle controller 13 is connected to the first sensor 12 and is used to adjust the angle of the first sensor 12 to perform multi-angle inspection of the hydrogen power generation equipment to obtain abnormal points 400. The vertical guide rail 23 can adjust the height position of the intelligent multi-axis robotic arm 25 on the guide rail tower system column 21, and the horizontal 360° guide rail 22 can adjust the horizontal position of the intelligent multi-axis robotic arm 25 on the guide rail tower system column 21. The intelligent multi-axis robotic arm 25 can grab the spider-type inspection robot 10 or install a second sensor 26 to perform multi-angle inspection of the hydrogen power generation equipment to obtain abnormal points 400. The multi-view digital marking system is used to digitally mark the abnormal points 400. This enables the spider-type inspection robot 10 and / or the guide rail tower system 20 to quickly locate, alarm, and digitally mark abnormal points 400, and to digitally mark abnormal points 400 again from different angles. Through multi-view three-dimensional marking, the location of potential hazards can be accurately identified, ensuring the comprehensiveness of the inspection coverage. At the same time, it can reduce the reliance on a large number of manual inspections, effectively reducing labor and material costs, and ensuring the safety of personnel during the inspection process, reducing safety hazards, and effectively improving the inspection efficiency and safety of hydrogen power generation equipment.

[0088] In some embodiments of the present invention, when the spider-type inspection robot 10 and the guide tower system 20 assist simultaneously, the inspection method includes:

[0089] The intelligent control system controls the intelligent multi-axis robotic arm 25 to grasp the spider-type inspection robot 10 to the target position;

[0090] The spider-like inspection robot 10 is controlled to digitally mark or perform routine inspections of abnormal points 400 detected by the guide rail tower system 20 in the air. Thus, the multi-axis robotic arm 252 can grasp the spider-like inspection robot 10 to the required inspection location in the air of the hydrogen power generation equipment. The spider-like inspection robot 10 can inspect areas of the hydrogen power generation equipment that are difficult to inspect in the air, or it can further inspect abnormal points 400 in the air of the hydrogen power generation equipment. This allows for more accurate confirmation of the inspection of each area during the inspection process, ensuring coverage of all key parts of the hydrogen power generation equipment, avoiding any missed inspection areas, and guaranteeing comprehensive inspection coverage.

[0091] In some embodiments, such as Figure 6 As shown, the intelligent multi-axis robotic arm 25 includes an end effector 251 and a multi-axis robotic arm 252. One end of the multi-axis robotic arm 252 is connected to the guide rail tower system column 21, and the other end of the multi-axis robotic arm 252 is connected to the end effector 251. The end effector 251 can grasp the spider-type inspection robot 10. The movement of the multi-axis robotic arm 252 enables the end effector 251 to grasp the spider-type inspection robot 10. When a second sensor 26 is installed on the intelligent multi-axis robotic arm 25, the second sensor 26 is located on the multi-axis robotic arm 252. The movement of the multi-axis robotic arm 252 enables the position adjustment of the second sensor 26, which facilitates the digital marking of abnormal points 400 from different angles. The intelligent multi-axis robotic arm 25 has a simple structure and can reduce production costs.

[0092] According to some embodiments of the present invention, such as Figure 7 As shown, multiple digital markers at different angles are gradually removed based on the detection of the spider-type inspection robot 10 and / or the guide rail tower system 20. Specifically, multiple digital markers at different angles are gradually removed based on the detection of the spider-type inspection robot 10, or multiple digital markers at different angles are gradually removed based on the detection of the guide rail tower system 20, or multiple digital markers at different angles are gradually removed based on the detection of both the spider-type inspection robot 10 and the guide rail tower system 20. Therefore, after maintenance is performed at the abnormal point 400, daily inspections are conducted through the spider-type intelligent safety monitoring system 100 for the hydrogen power generation equipment. If no abnormality is detected at the location of the digital marker, the digital marker at that location can be removed. Furthermore, each digital marker is judged for removal after inspection, ensuring the complete elimination of the abnormal point 400, preventing the omission of potential hazards, and ensuring the safe and stable operation of the hydrogen power generation equipment. For example, digital markers can be removed through the data stream module of the multi-view digital marking system.

[0093] Other components and operations of the spider-like intelligent safety monitoring system 100 for hydrogen power generation equipment and its inspection method according to embodiments of the present invention are known to those skilled in the art and will not be described in detail here.

[0094] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0095] In the description of this specification, the references to terms such as "embodiment," "specific embodiment," and "example" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0096] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A spider-like intelligent safety monitoring system for hydrogen power generation equipment, characterized in that, include: A spider-type inspection robot, comprising a spider robot body, a first sensor, and an angle controller, wherein the first sensor and the angle controller are located on the spider robot body, the spider robot body has a tracking function, and the angle controller is connected to the first sensor to adjust the angle of the first sensor in order to perform multi-angle inspection of hydrogen power generation equipment and obtain abnormal points. The guide rail tower system includes a guide rail tower system column, a 360° horizontal guide rail, a vertical guide rail, a control module, and an intelligent multi-axis robotic arm. The 360° horizontal guide rail, the vertical guide rail, the control module, and the intelligent multi-axis robotic arm are mounted on the guide rail tower system column. The vertical guide rail can adjust the height position of the intelligent multi-axis robotic arm on the guide rail tower system column, and the 360° horizontal guide rail can adjust the lateral position of the intelligent multi-axis robotic arm on the guide rail tower system column. The intelligent multi-axis robotic arm can grasp the spider-like inspection robot or install a second sensor to perform multi-angle inspections of the hydrogen power generation equipment to obtain abnormal points. A multi-view digital marking system, wherein the multi-view digital marking system is used to digitally mark the abnormal points; An intelligent control system is provided, which controls the guide rail tower system, the spider-type inspection robot, and the multi-view digital marking system. The control module is used to transmit the acquired abnormal point information to the intelligent control system.

2. The spider-like intelligent safety monitoring system for hydrogen power generation equipment according to claim 1, characterized in that, The first sensor is an acoustic imaging sensor.

3. The spider-like intelligent safety monitoring system for hydrogen power generation equipment according to claim 1, characterized in that, The height of the guide rail tower system column is set according to the height of the hydrogen power generation equipment. And / or, the length of the vertical guide rail is set according to the monitoring range of the hydrogen power generation equipment.

4. The spider-like intelligent safety monitoring system for hydrogen power generation equipment according to claim 1, characterized in that, The 360° transverse guide rails are multiple rails spaced apart along the height of the guide rail tower system column.

5. The spider-like intelligent safety monitoring system for hydrogen power generation equipment according to claim 4, characterized in that, The height of the multiple 360° horizontal guide rails is set according to the height monitoring range of the hydrogen power generation equipment; And / or, the lateral turning angle of the 360° lateral guide rail is set according to the lateral monitoring range of the hydrogen power generation equipment.

6. The spider-like intelligent safety monitoring system for hydrogen power generation equipment according to claim 1, characterized in that, The spider-like inspection robot also includes: A camera, which is mounted on the first sensor.

7. The spider-like intelligent safety monitoring system for hydrogen power generation equipment according to claim 1, characterized in that, When the second sensor is installed on the intelligent multi-axis robotic arm, the spider-like inspection robot and the guide tower system can work together simultaneously.

8. An inspection method for a spider-like intelligent safety monitoring system for hydrogen power generation equipment, characterized in that, The spider-style intelligent safety monitoring system for hydrogen power generation equipment is the same as the spider-style intelligent safety monitoring system for hydrogen power generation equipment according to any one of claims 1-7, and the inspection method includes: Control the spider-like inspection robot to inspect the hydrogen power generation equipment on the ground; When the spider-like inspection robot detects the abnormal location, it performs location, alarm, and digital identification. Based on the abnormal locations, control the spider-like inspection robot to digitally mark the abnormal locations again from different angles; The guide rail tower system is controlled to conduct safety inspections of the hydrogen power generation equipment in the air. When the guide rail tower system detects the abnormal point, it performs location, alarm, and digital identification. Based on the abnormal locations, the guide rail tower system is controlled to digitally mark the abnormal locations again from different angles.

9. The inspection method of the spider-type intelligent safety monitoring system for hydrogen power generation equipment according to claim 8, characterized in that, When the spider-like inspection robot and the guide tower system work together, the inspection method includes: The intelligent control system controls the intelligent multi-axis robotic arm to grasp the spider-type inspection robot to the target position; The spider-like inspection robot is controlled to digitally mark or conduct routine inspections of the abnormal points detected by the guide rail tower system from the air.

10. The inspection method of the spider-type intelligent safety monitoring system for hydrogen power generation equipment according to claim 8, characterized in that, The digital markings from multiple different angles are gradually removed based on the detection results of the spider-like inspection robot and / or the guide rail tower system.

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