Oil gas detection robot, method and device and computer equipment

Abstract

The invention discloses an oil and gas detection robot, method and device and computer equipment, and relates to the technical field of detection. The oil gas detection robot comprises a robot body, a telescopic rod, a gas detector and a processor, the telescopic rod is fixed to the robot body, the direction of the telescopic rod is perpendicular to the ground, and the gas detector is fixed to the end, close to the ground, of the telescopic rod. And the robot body is used for advancing along the oil-gas detection route. And the telescopic rod is used for periodically lowering the position of the gas detector in the advancing process of the robot body. And the gas detector is used for detecting the gas concentration of the leaked oil product. And the processor is used for sending an alarm signal under the condition that the gas concentration meets the alarm condition.

Description

Technical Field

[0001] The present application relates to the field of detection technology, and in particular to an oil and gas detection robot, method, device and computer equipment. Background Art

[0002] Oil and gas leak detection refers to the monitoring and identification of unexpected leaks of hydrocarbons such as oil and natural gas during the production, transportation, storage or use.

[0003] In the existing technology, oil and gas are mainly a mixture of large molecular hydrocarbons, which are not very volatile and easily accumulate on the surface. Therefore, for small ground / underground oil and gas leaks such as buried pipelines, drilling is usually used to detect the oil film in the groundwater in the ground voids with fixed sensors, and then the extent of the oil and gas leakage is determined based on the oil film situation.

[0004] However, the oil and gas monitoring methods in the existing technology have a long lag and can only detect large-scale oil and gas leaks. In addition, fixed sensors and oil film detection methods cannot locate the specific location of the leak, resulting in poor oil and gas detection results. Summary of the Invention

[0005] The purpose of this application is to provide an oil and gas detection robot, method, device and computer equipment to improve the accuracy of oil and gas detection.

[0006] To achieve the above objectives, this application adopts the following technical solutions:

[0007] In a first aspect, the present application provides an oil and gas detection robot comprising: a robot body, a telescopic rod fixed to the robot body, perpendicular to the ground, a gas detector fixed to one end of the telescopic rod closest to the ground, and a processor.

[0008] The robot body is used to advance along the oil and gas exploration route.

[0009] The telescopic rod is used to periodically lower the position of the gas detector during the forward movement of the robot body.

[0010] The above-mentioned gas detector is used to detect the gas concentration of leaked oil.

[0011] The processor is used to send an alarm signal when the gas concentration meets the alarm condition.

[0012] The technical solution provided in the embodiment of the present application uses automatic inspections by oil and gas detection robots to flexibly and efficiently detect oil and gas leaks in different locations, accurately locate the location of oil and gas leaks, and has a high degree of automation. At the same time, by lowering the position of the gas detector, it can better detect the concentration of oil and gas accumulated on the surface and detect oil and gas leaks close to the ground. It is suitable for small oil and gas leakage scenarios, and the oil and gas detection results are more accurate.

[0013] In some embodiments, a hyperspectral camera and / or an ultrasonic liquid level sensor is further provided in the end of the telescopic rod away from the ground. The hyperspectral camera is used to determine the type of liquid to be detected and detect the area of the liquid. When it is determined that the liquid to be detected is a leaked oil product and the area of the leaked oil product meets the alarm conditions, an alarm signal is issued. The ultrasonic liquid level sensor is used to detect the thickness of the liquid surface of the leaked oil product, and when the thickness of the liquid surface meets the alarm conditions, an alarm signal is sent. By detecting the ground situation in multiple bands through the hyperspectral camera, it is possible to avoid the visible light band, avoid interference from the sun and lighting fixtures, and improve the detection accuracy of leaked oil products. The ultrasonic liquid level sensor is used to detect and detect the height of the liquid / obstacle before the oil and gas detection robot contacts the liquid to be detected. While achieving obstacle avoidance, the thickness of the liquid surface of the existing leaked oil product is detected, and the leakage situation of the leaked oil product is comprehensively and efficiently obtained.

[0014] In some embodiments, the hyperspectral camera is further configured to acquire spectral signatures of the liquid under inspection at different spectral bands. If the spectral signatures indicate that the liquid under inspection is leaking oil, the leaked area is measured. Identifying leaked oil based on spectral signatures offers high accuracy and efficiency, adapting to the needs of leak identification in complex scenarios.

[0015] In some embodiments, the hyperspectral camera is also used to determine the type of liquid and measure the area of the leak based on the spectral differences between the leaked oil, water, and background areas. Spectral measurement can penetrate thin layers of cover (such as vegetation and sediment) to detect deep oil and gas, providing more accurate measurements of the leak area.

[0016] In some embodiments, the ultrasonic liquid level sensor is further configured to transmit ultrasonic waves toward the leaking oil and receive reflected waves from the leaking oil. The type of liquid to be detected is determined based on changes in ultrasonic wave intensity. The liquid thickness is measured based on the time it takes to transmit the ultrasonic wave and the time it takes to receive the reflected wave. Because ultrasonic wave propagation speed is constant and the reflection time is linearly related to the liquid level, the sensor can output real-time data on the leaking oil's liquid thickness with a fast response time.

[0017] In some embodiments, the alarm condition includes at least one of the following: the leaked oil area is greater than or equal to an area threshold; the liquid surface thickness is greater than or equal to a height threshold; the gas concentration is greater than or equal to a concentration threshold; or, the leaked oil area, liquid surface thickness, and gas concentration are all detected simultaneously, with the leaked oil area less than the area threshold, the liquid surface thickness less than the height threshold, and the gas concentration less than the concentration threshold. If a single oil and gas measurement value exceeds the normal range, or if multiple oil and gas measurements are detected simultaneously, an alarm signal is issued to promptly alert personnel to take action.

[0018] In some embodiments, a visible light camera is located at the end of the telescopic rod that is away from the ground. This visible light camera is used to capture images of the environment at the location of the oil leak. The visible light camera has high resolution and color reproduction, allowing real-time capture of the surrounding environment of the leak, facilitating observation by personnel.

[0019] In some embodiments, the processor is further configured to store information detected at the same detection time in the same storage location, so as to facilitate integration and analysis of the information detected at the same time.

[0020] In some embodiments, the oil and gas detection route is an S-shaped route. The oil and gas detection robot advances along the S-shaped route. The robot body is also used to record the oil and gas detection route it has passed, perform real-time positioning, and build a map to achieve full coverage of the detection range and avoid missing areas to be detected.

[0021] In a second aspect, a method for oil and gas detection is provided, the method comprising:

[0022] While moving along the oil and gas detection route, the position of the gas detector is periodically lowered to detect the gas concentration of the leaked oil.

[0023] When the gas concentration meets the alarm conditions, an alarm signal is sent.

[0024] The technical solution provided by the embodiments of this application flexibly and efficiently detects oil and gas leaks at different locations along an oil and gas detection route, accurately locating the leak. Furthermore, by lowering the position of the gas detector, it can better detect surface oil and gas concentrations and detect oil and gas leaks close to the ground. This solution is suitable for small oil and gas leaks and provides more accurate oil and gas detection results.

[0025] In some embodiments, the oil and gas detection method provided by the embodiments of the present application further includes detecting the area of oil leakage on the ground and issuing an alarm signal if the area of oil leakage meets the alarm conditions. The real-time detection of the oil leakage area indicates the leakage status of the oil, and the alarm signal promptly alerts personnel to take action.

[0026] In some embodiments, detecting the area of a ground oil leak can be specifically implemented by obtaining spectral signatures of the liquid under test in different spectral bands. If the spectral signatures determine that the liquid under test is an oil leak, the leak area is measured. Detecting ground conditions in multiple bands avoids visible light, preventing interference from the sun and lighting, and improving leak detection accuracy.

[0027] In some embodiments, detecting the surface area of a leaked oil product can be achieved by determining the liquid type and measuring the leaked area based on the spectral signature differences between the leaked oil, water, and background areas. Spectral measurement can penetrate thin layers of cover to detect deep oil and gas formations. This spectral signature-based identification of leaked oil products offers high accuracy and efficiency, making it suitable for identifying leaks in complex scenarios.

[0028] In some embodiments, the oil and gas detection method provided by the embodiments of the present application further includes: detecting the thickness of the leaked oil surface; and sending an alarm signal if the thickness meets an alarm condition. Detecting the thickness of the leaked oil surface provides a more comprehensive picture of the leaked oil, while also providing a timely alert to personnel to address the situation.

[0029] In some embodiments, detecting the thickness of a leaked oil can be specifically implemented by transmitting an ultrasonic wave toward the leaking oil and receiving a reflected wave. The thickness of the liquid surface is measured based on the time it takes to transmit the ultrasonic wave and the time it takes to receive the reflected wave. Because the propagation speed of ultrasonic waves is constant and the reflection time is linearly related to the liquid level, the thickness of the leaked oil surface can be output in real time, with a fast response time.

[0030] In some embodiments, the alarm condition includes at least one of the following: the leaked oil area is greater than or equal to an area threshold; the liquid surface thickness is greater than or equal to a height threshold; the gas concentration is greater than or equal to a concentration threshold; or, the leaked oil area, liquid surface thickness, and gas concentration are detected simultaneously, with the leaked oil area less than the area threshold, the liquid surface thickness less than the height threshold, and the gas concentration less than the concentration threshold. If a single oil and gas measurement value exceeds the normal range, or if multiple oil and gas measurement values are detected simultaneously, an alarm signal is issued to promptly alert personnel to take action.

[0031] In some embodiments, the oil and gas detection method provided by the embodiments of the present application further includes: capturing an image of the environment at the location of the leaked oil, thereby capturing the environment around the leaked oil in real time for easy observation by staff.

[0032] In some embodiments, the oil and gas detection method provided by the embodiments of the present application further includes: storing information detected at the same detection time in the same storage location to facilitate integration and analysis of the information detected at the same time.

[0033] In some embodiments, the oil and gas detection route is an S-shaped route. The oil and gas detection robot moves along the S-shaped route, which has a wider detection coverage and is less likely to miss the area to be detected.

[0034] In a third aspect, an oil and gas detection device is provided, which includes: a traveling module, a detection module and a communication module.

[0035] The above detection module is used to periodically lower the position of the gas detector while moving along the oil and gas detection route to detect the gas concentration of the leaked oil.

[0036] The communication module is used to send an alarm signal when the gas concentration meets the alarm condition.

[0037] In some embodiments, the detection module is further used to detect the area of oil leakage on the ground, and to send out an alarm signal when the area of oil leakage meets the alarm condition.

[0038] In some embodiments, the detection module is further configured to obtain spectral characteristics of the liquid to be detected in different spectral bands, and to measure the area of the leaked oil when the liquid to be detected is determined to be leaked oil based on the spectral characteristics.

[0039] In some embodiments, the detection module is further used to determine the type of liquid and measure the area of the leaked oil based on the difference in spectral characteristics between the leaked oil and water and the background area.

[0040] In some embodiments, the detection module is further used to detect the thickness of the liquid level of the leaked oil and send an alarm signal when the liquid level thickness meets the alarm condition.

[0041] In some embodiments, the detection module is further configured to: transmit ultrasonic waves to the leaked oil, receive reflected waves from the leaked oil, and measure the thickness of the liquid surface based on the time it takes to transmit the ultrasonic waves and the time it takes to receive the reflected waves.

[0042] In some embodiments, the alarm conditions include at least one of the following: the area of the leaked oil is greater than or equal to the area threshold; the liquid surface thickness is greater than or equal to the height threshold; the gas concentration is greater than or equal to the concentration threshold; or, the area of the leaked oil, the liquid surface thickness and the gas concentration are detected at the same time, and the area of the leaked oil is less than the area threshold, the liquid surface thickness is less than the height threshold, and the gas concentration is less than the concentration threshold.

[0043] In some embodiments, the oil and gas detection device provided in the embodiments of the present application further includes a camera module, which is used to capture environmental images of the location where the leaked oil is located.

[0044] In some embodiments, the oil and gas detection device provided by the embodiments of the present application further includes a processing module, which is used to store information detected at the same detection time in the same storage location.

[0045] In some embodiments, the oil and gas detection route is an S-shaped route.

[0046] The technical effects corresponding to any one of the implementation methods in the third aspect can be referred to the technical effects corresponding to any one of the implementation methods in the above-mentioned second aspect, and will not be repeated here.

[0047] In a fourth aspect, a computer device is provided, comprising: a processor and a memory, wherein at least one computer program is stored in the memory, and the at least one computer program is loaded and executed by the processor to implement the oil and gas detection method of the above aspect.

[0048] In a fifth aspect, a computer-readable storage medium is provided, in which at least one computer program is stored. The at least one computer program is loaded and executed by a processor to implement the oil and gas detection method of the above aspect.

[0049] In a sixth aspect, a computer program product is provided. The computer program product includes a computer program or instructions. When the computer program or instructions are executed by a processor, the oil and gas detection method of the above aspect is implemented.

[0050] The solutions provided in aspects 4 to 6 above are used to implement the method provided in aspect 1 above, and their specific implementations are not described in detail here. The technical effects corresponding to any implementation of the solutions provided in aspects 4 to 6 above can be referred to the technical effects corresponding to any implementation of aspect 1 above, and are not described in detail here.

[0051] It should be noted that various possible implementations of any of the above aspects can be combined under the premise that the solutions are not contradictory. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0053] Figure 1 A schematic structural diagram of an oil and gas detection robot provided as an exemplary embodiment;

[0054] Figure 2 A schematic structural diagram of a telescopic rod provided as an exemplary embodiment;

[0055] Figure 3 A schematic diagram of a flow chart of oil and gas detection provided as an exemplary embodiment;

[0056] Figure 4 A flow chart of an oil and gas detection method provided as an exemplary embodiment;

[0057] Figure 5 A schematic structural diagram of an oil and gas detection device provided as an exemplary embodiment;

[0058] Figure 6 A schematic structural diagram of a computer device is provided for an exemplary embodiment. DETAILED DESCRIPTION

[0059] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0060] In the description of this application, it should be understood that the terms "upper," "lower," "left," "right," "front," "back," "inner," "outer," and the like, indicating directions or positional relationships, are based on the directions or relative positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of this application and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific direction, be constructed, or operate in a specific direction. Therefore, they should not be construed as limitations on this application. Unless otherwise specified, the above-mentioned directionality descriptions may be flexibly set in actual application, provided that the relative positional relationships shown in the accompanying drawings are met.

[0061] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. Throughout this application, unless otherwise specified, "plurality" means two or more.

[0062] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connected," and "connected" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections. They may be directly connected, indirectly connected through an intermediary, or internally connected between two components. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0063] In the embodiments of the present application, the terms "comprises," "comprising," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, article, or device comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of other identical elements in the process, article, or device comprising the element.

[0064] In the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0065] In the embodiments of the present application, at least one can also be described as one or more, and multiple can be two, three, four or more, which is not limited in this application.

[0066] In the description of this specification, specific features, structures, materials or characteristics may be combined in an appropriate manner in any one or more embodiments or examples.

[0067] To facilitate understanding, the terms involved in the embodiments of this application are first explained.

[0068] Oil and gas: A general term for petroleum and natural gas, which belong to hydrocarbon (hydrocarbon) resources. Petroleum (crude oil) is mainly composed of hydrocarbons of different carbon chain lengths (such as alkanes, cycloalkanes, and aromatic hydrocarbons), containing small amounts of impurities such as sulfur, nitrogen, and oxygen. It is liquid at room temperature and its color ranges from light yellow to dark black (such as light oil and heavy oil). Natural gas is mainly methane (CH4) (accounting for 70% to 90%), containing ethane, propane, butane and small amounts of CO2, H□S, etc. In addition to traditional oil fields and natural gas fields, it also includes shale oil / gas, coalbed methane (methane adsorbed in coal seams), oil sands (sand deposits mixed with asphalt), natural gas hydrates (combustible ice), etc.

[0069] Oil and gas detection: refers to the use of a series of technical means and methods to find and evaluate the existence, distribution, reserves and leakage of underground oil, natural gas and other hydrocarbon resources. Specifically, the detection of oil and gas leakage is mainly to detect accidental leakage of oil and natural gas (including liquefied gas, pipeline natural gas, etc.) during the production, transportation, storage or use of oil and natural gas, so as to prevent safety accidents, environmental pollution and waste of resources. For example, oil and gas leakage detection equipment includes combustible gas sensors (detecting the concentration of combustible gases such as methane and propane), ultrasonic detection equipment (capturing turbulent noise generated by pipeline leaks through high-frequency sound waves), foam leak detection method (applying soapy water on the surface of the pipeline and observing the formation of bubbles), etc.

[0070] It should be noted that the information (including but not limited to device information, personal information of the subject, etc.), data (including but not limited to data used for analysis, storage, and display, etc.), and signals involved in this application are all authorized by the subject or fully authorized by all parties, and the collection, use, and processing of relevant data must comply with relevant laws, regulations, and standards. For example, the gas concentration, leaked oil area, liquid surface thickness, etc. involved in this application were all obtained with full authorization.

[0071] The common oil and gas detection method in the industry is mainly achieved through fixed oil and gas detection equipment, which is briefly explained below.

[0072] For example, monitoring for minor leaks in buried pipelines is primarily done by drilling holes at fixed locations to detect the presence of oil film in the groundwater. Specifically, the drilling equipment includes a drill pipe and a drill bit, which is connected to one end of the pipe. The drill bit and the pipe are interconnected by a channel. The drill bit is equipped with an air inlet, which connects to the channel. The detection unit of the oil and gas detection equipment is extended into the channel to detect leaks.

[0073] However, these technical solutions suffer from a significant lag, making it impossible to pinpoint the exact location of leaks and only addressing the risk of large-scale leaks. Furthermore, for oil and gas that tend to accumulate downward and have low volatility, fixed-position detection equipment cannot flexibly adapt to varying detection environments and concentration requirements. This makes it difficult to accurately identify even minor leaks, resulting in poor oil and gas detection effectiveness.

[0074] Based on this, this application provides an oil and gas detection robot that can flexibly and efficiently detect oil and gas leaks at different locations along an oil and gas detection route, accurately locating the leak. Furthermore, by lowering the gas detector, it can better detect surface oil and gas concentrations and detect oil and gas leaks close to the ground. This makes it suitable for small oil and gas leaks and provides more accurate oil and gas detection results.

[0075] The solution provided in this application can be applied to Figure 1The oil and gas detection robot shown, Figure 1 This is a schematic diagram of the structure of an oil and gas detection robot provided in an exemplary embodiment. The oil and gas detection robot provided in this embodiment includes a robot body 1, a telescopic rod 2, a gas detector 3, and a processor. The telescopic rod 2 is fixed to the robot body 1, oriented perpendicular to the ground. The gas detector 3 is fixed to the end of the telescopic rod 2 closest to the ground.

[0076] The robot body 1 is the most important physical part of the oil and gas detection robot, and is used to drive the oil and gas detection robot along the oil and gas detection route.

[0077] Optionally, the robot body 1 may be a wheeled robot, a tracked robot, or a legged robot. This application does not limit the structure, type, and forward movement mode of the robot body 1 .

[0078] The oil and gas detection route refers to the route that the oil and gas detection robot takes to detect oil and gas leaks.

[0079] Optionally, the oil and gas exploration route includes an S-shaped route (a reciprocating route), a grid coverage route (dividing the environment into grids and traversing each grid in a predetermined order), an obstacle avoidance-based route (a route dynamically planned based on obstacles), etc.

[0080] Preferably, the oil and gas detection route is an S-shaped route, which efficiently covers the entire oil and gas detection area and avoids repeated detection or omissions.

[0081] For example, each time the oil and gas detection robot reaches the endpoint of the oil and gas detection area, it shifts half its detection coverage range, then turns around / redirects on the spot and conducts detection again, achieving full and cross-coverage of the oil and gas detection area. For example, if the oil and gas detection robot has a detection coverage range of 1 meter, upon reaching the endpoint of the oil and gas detection area, it moves 0.5 meters to the left, then turns around and continues along the oil and gas detection route.

[0082] In some embodiments, the oil and gas exploration route that has been passed is recorded by the inertial module / device for real-time positioning and map construction.

[0083] In some embodiments, the oil and gas detection robot uses Beidou high-precision to achieve precise positioning in open spaces and uses inertial navigation positioning in confined spaces, and moves forward along a preset oil and gas detection route.

[0084] In some embodiments, the tires of the robot body 1 are rotating tires, which enable the oil and gas detection robot to turn on the spot.

[0085] Among them, the rotating tire is a detachable tire, which is convenient for replacing tires with different friction according to different needs, and meets the detection requirements of wet and slippery ground and oily surface.

[0086] In some embodiments, the robot body 1 avoids obstacles through ultrasonic radar, and circumvents liquid or other obstacles when it finds them, avoiding entering the liquid and destroying the original form of the scene, and avoiding collision with obstacles and causing damage.

[0087] For example, the robot body 1 sends an ultrasonic signal in the forward direction. When the ultrasonic signal encounters an obstacle in the forward direction of the robot body 1, it will reflect an echo signal. The robot body 1 can calculate the distance to the obstacle based on the time difference between the time the ultrasonic signal is sent and the time the echo signal is received. The distance calculation formula is expressed as:

[0088]

[0089] Wherein, d represents the distance between the robot body 1 and the obstacle, c represents the speed of sound, which is approximately 343 m / s in air, and Δt represents the time difference between the sending time of the ultrasonic signal and the receiving time of the echo signal.

[0090] Exemplarily, when the distance between the robot body 1 and the obstacle is less than a distance threshold, avoidance is performed.

[0091] Optionally, the avoidance method includes turning left, turning right, moving forward to the left, moving forward to the right, etc.

[0092] For example, during the avoidance process, the position of the obstacle relative to the robot body 1 is detected in real time to avoid collision with the obstacle.

[0093] Exemplarily, after the robot body 1 completes the avoidance, it continues to move along the oil and gas detection route.

[0094] In some embodiments, the surface of the robot body 1 is provided with buffer components such as buffer pads (such as foam layers, rubber pads, air cushions), buffer springs, etc. to prevent collision damage to the robot body 1.

[0095] In some embodiments, the robot body 1 also realizes automatic obstacle avoidance through optical sensors, tactile sensors, image acquisition and recognition equipment, etc., which is not limited in this application.

[0096] like Figure 2 As shown, the telescopic rod 2 is a rod-shaped tool or component with adjustable length, which is used to periodically lower the position of the gas detector 3 during the forward movement of the robot body 1.

[0097] Optionally, the telescopic rod 2 includes a nested telescopic rod (multiple sections of the rod are nested step by step from thick to thin), a spiral telescopic rod (the rod adopts a thread to achieve rotation and extension), etc.

[0098] Exemplarily, the telescopic rod 2 is located in the middle of the robot body 1 to balance the center of gravity of the oil and gas detection robot and improve the stability of the oil and gas detection robot.

[0099] In some embodiments, the direction of the telescopic rod 2 is not completely perpendicular to the ground, and it only needs to be able to lower / raise the position of the gas detector 3.

[0100] The gas detector 3 is used to detect the gas concentration of the leaked oil.

[0101] Optionally, the gas detector 3 includes an electrochemical gas detector, a semiconductor detector, a photoionization detector, etc.

[0102] For example, oil and gas molecules absorb specific infrared light. For example, methane (CH4) absorbs infrared light with a wavelength of 3.3μm. Therefore, a non-dispersive infrared (NDIR) gas detector can measure the attenuation of the transmitted light intensity and calculate the concentration, thereby detecting the gas concentration of the leaked oil. NDIR gas detectors have a detection range from ppm to 100% volume concentration, with high detection accuracy and strong anti-interference capabilities. They do not require oxygen and can also determine gas types based on different spectra.

[0103] In some embodiments, the gas detector 3 is located directly below the end of the telescopic rod 2 close to the ground, closer to the ground, so as to detect oil and gas focused on the surface.

[0104] Illustratively, periodically lowering the position of the gas detector 3 means that the gas detector 3 detects the gas concentration using a step sampling method, and the lowering period of the gas detector 3 is consistent with the step length of the step sampling.

[0105] In some embodiments, the robot body 1 stops moving synchronously after the position of the gas detector 3 is lowered, thereby improving the accuracy of the detection position.

[0106] In some embodiments, a hyperspectral camera 4 is further provided at the end of the telescopic rod 2 away from the ground.

[0107] Among them, the hyperspectral camera 4 is a device that can capture the target object in multiple consecutive narrow spectral bands, and is used to determine the type of liquid to be detected and detect the liquid area. When it is determined that the liquid to be detected is leaking oil and the area of the leaked oil meets the alarm conditions, an alarm signal is issued.

[0108] Because the molecular structures of different liquids have different absorption and reflection characteristics for light, they form unique spectral reflectance curves. By using a hyperspectral camera 4 to obtain the spectral characteristics of the liquid to be detected in different spectral bands, the type of liquid to be detected can be determined. For example, water has strong absorption valleys in the near-infrared band (such as 1450nm and 1940nm). Oily liquids have characteristic absorption peaks in specific infrared bands (such as 1720nm and 2300nm). Organic substances such as ethanol and benzene have unique spectral characteristics in the short-wave infrared region. By avoiding the absorption peak of water, the hyperspectral image can distinguish between water and oil.

[0109] Exemplarily, the hyperspectral camera 4 obtains spectral features of the liquid to be detected in different spectral bands, and measures the area of the leaked oil when it is determined that the liquid to be detected is leaked oil based on the spectral features.

[0110] Specifically, the steps for the hyperspectral camera 4 to determine whether the liquid to be detected is leaked oil based on the spectral characteristics are as follows:

[0111] Step 1: After capturing the image of the liquid to be tested on the ground, perform preprocessing such as spectral normalization and atmospheric scattering elimination on the image.

[0112] Step 2: Extract the spectral features of the preprocessed image and compare them with the spectral features of known liquids.

[0113] Optionally, the spectral characteristics include absorption characteristics, reflection characteristics, transmission and reflection characteristics of light of different wavelengths, etc. For example, crude oil absorbs light of 1720 nm and 2300 nm wavelengths, and diesel absorbs light of 1210 nm and 1400 nm wavelengths.

[0114] Step 3: If the spectral characteristics are consistent or similar to those of the leaked oil, it can be determined that the liquid to be tested is the leaked oil.

[0115] In some embodiments, the liquid to be detected is classified or identified based on spectral features using a random classification model or the like.

[0116] For example, if the hyperspectral camera 4 determines that the liquid to be detected is leaking oil, the liquid type and the leaked area are determined based on the spectral characteristics of the leaked oil, water, and background areas. For example, the edge of the leaked oil can be determined by the significant difference in spectral reflectance between the liquid and the surrounding environment (such as soil or asphalt), and the area within the leaked oil edge can be calculated.

[0117] For example, the calculation formula for the oil leakage area is as follows:

[0118] S=n×GSD 2

[0119] Where S represents the area of oil leakage, n represents the number of pixels, and GSD represents the ground sampling distance / ground resolution (GSD).

[0120] For example, if the GSD is 5 cm and the number of pixels in the oil leak area is 1000, then the oil leak area is 2.5 m 2 .

[0121] In some embodiments, an ultrasonic liquid level sensor 5 is further provided at the end of the telescopic rod 2 away from the ground.

[0122] The ultrasonic level sensor 5 is used to detect the thickness of the leaked oil surface, with a sensitivity of mm. It is also used to determine the type of liquid to be detected based on the intensity change of the ultrasonic wave.

[0123] Exemplarily, the ultrasonic level sensor 5 sends ultrasonic waves in the direction of leaked oil, receives reflected waves after the leaked oil reflects the ultrasonic waves, and measures the liquid surface thickness based on the sending time of the ultrasonic waves and the receiving time of the reflected waves.

[0124] For example: The calculation formula for liquid surface thickness is as follows:

[0125]

[0126] Among them, h represents the thickness of the liquid surface, h1 represents the height of the ultrasonic liquid level sensor 5 from the ground, c represents the speed of light, Δt represents the time difference between the transmission time of the ultrasonic wave and the reception time of the reflected wave, and θ represents the angle between the ultrasonic wave and the direction perpendicular to the ground when the ultrasonic liquid level sensor 5 transmits the ultrasonic wave in an oblique downward manner.

[0127] The ultrasonic liquid level sensor 5 measures in an oblique downward manner, which means that ultrasonic waves are sent from the top of the oil and gas detection robot toward the direction of the leaked oil on the ground to detect the liquid surface thickness of the oil, and discover the leaked oil before the robot body 1 contacts the leaked oil, avoiding damage to the robot body 1 and the leaked oil site.

[0128] In some embodiments, the thickness of the leaked oil surface may also be detected by radar level sensors, laser level sensors, infrared level sensors, etc., which is not limited in this application.

[0129] In some embodiments, a visible light camera 6 is further provided at the end of the telescopic rod 2 away from the ground.

[0130] The visible light camera 6 refers to a device that uses the visible light band (wavelength of about 390-700 nanometers) for imaging, and is used to capture environmental images of the location where the leaked oil is located, so as to better observe the leaked oil.

[0131] In some embodiments, when an oil leak is detected, the robot body 1 rotates in place, enabling the hyperspectral camera 4, ultrasonic liquid level sensor 5 and visible light camera 6 to perform panoramic detection and scanning of the surrounding environment of the oil and gas detection robot.

[0132] The processor refers to a device that analyzes and processes the data collected by the hyperspectral camera 4, the ultrasonic liquid level sensor 5, the visible light camera 6, etc.

[0133] Optionally, the processor may be a device that performs processing such as data enhancement, feature analysis, and threshold determination.

[0134] Optionally, the processor is used to send an alarm signal when the gas concentration meets the alarm condition; or, send an alarm signal when the liquid level thickness meets the alarm condition; or, send an alarm signal when the area of leaked oil meets the alarm condition.

[0135] The alarm conditions include at least one of the following: the leaked oil area is greater than or equal to the area threshold; or the liquid surface thickness is greater than or equal to the height threshold; or the gas concentration is greater than or equal to the concentration threshold; or, the leaked oil area, liquid surface thickness, and gas concentration are detected simultaneously, with the leaked oil area less than the area threshold, the liquid surface thickness less than the height threshold, and the gas concentration less than the concentration threshold.

[0136] Exemplarily, the processor has a built-in communication component that communicates with the server via 4G / 5G or indoor wireless fidelity (wifi), and sends the detection results and alarm signals to the server in real time to inform the detection management personnel.

[0137] In some embodiments, the processor fuses the visible image collected by the visible light camera 6 and the information detected by the hyperspectral camera 4 and the ultrasonic liquid level sensor 5 through static image translation.

[0138] For example, data collected by different sensors (such as the hyperspectral camera 4 and the ultrasonic level sensor 5) are spatially aligned through geometric transformation (such as translation) to ensure that the position of the same target (such as leaked oil) in different modal images is consistent.

[0139] The processor is further configured to store information detected at the same detection time in the same storage location, thereby facilitating the integration of detection information from different sources.

[0140] Exemplarily, the information collected by the gas detector 3, the hyperspectral camera 4, the ultrasonic liquid level sensor 5 and the visible light camera 6 is stored in blocks according to time sequence, and the information detected at the same detection time is stored in the same storage block.

[0141] In some embodiments, the processor performs data fusion on information detected at the same detection time, and stores the fused data in chronological order.

[0142] In some embodiments, the gas detector 3, hyperspectral camera 4, ultrasonic liquid level sensor 5 and visible light camera 6 have different information collection periods and cannot be aligned at the same time. In this case, the same data is matched to the upper and lower periods of data collection in different periods by using the method of iterative interpolation.

[0143] For example: the hyperspectral camera 4 collects information once every 10 seconds and obtains one data within 10 seconds; the visible light camera 6 collects information once every 5 seconds and obtains two data within 10 seconds; then the one data collected by the hyperspectral camera 4 within 10 seconds is used as two data and aligned with the two data obtained by the visible light camera 6 within 10 seconds.

[0144] Exemplarily, the upper and lower cycles are matched according to the least common multiple of different cycles.

[0145] For example, Figure 3 As shown, a processing flow for oil and gas detection based on an oil and gas detection robot includes:

[0146] Step S300: The oil and gas detection robot enters the area to be detected.

[0147] Step S310: All sensors synchronously trigger information collection.

[0148] Among them, the sensors include a gas detector 3, a hyperspectral camera 4, an ultrasonic liquid level sensor 5 and a visible light camera 6, etc.

[0149] Step S320: Start detection.

[0150] Step S330: Determine whether the gas concentration exceeds a concentration threshold.

[0151] Step S331: Determine whether the area of the leaked oil exceeds an area threshold.

[0152] Step S332: Determine whether the liquid surface thickness exceeds a height threshold.

[0153] Step S333: Determine whether combustible gas, oil product and liquid level are detected simultaneously.

[0154] Step S340: If the gas concentration exceeds the concentration threshold, the leaked oil area exceeds the area threshold, the liquid level exceeds the height threshold, or if combustible gas, oil, and liquid level are detected simultaneously, an alarm signal is issued. After the alarm signal is issued, step S320 is continued until the detection area is complete or a stop detection instruction is received.

[0155] For example, combustible gas detector 3 detects a combustible gas concentration of 1% LEL and issues an alarm. Hyperspectral camera 4 detects an oil leak exceeding 30mm x 30mm and issues an alarm. Ultrasonic liquid level sensor 5 detects an oil level exceeding 2mm and issues an alarm. Simultaneously detecting combustible gas, oil, and the liquid level will trigger an alarm regardless of whether the detected data exceeds the threshold.

[0156] In summary, the technical solution provided by the embodiment of the present application can flexibly and efficiently detect oil and gas leaks at different locations in the oil and gas detection route and accurately locate the location of the oil and gas leak. At the same time, by lowering the position of the gas detector, it can better detect the concentration of oil and gas accumulated on the surface and detect oil and gas leaks close to the ground. It is suitable for small oil and gas leak scenarios and the oil and gas detection results are more accurate. In addition, it combines hyperspectral cameras, ultrasonic liquid level sensors, visible light cameras and other detection equipment to conduct comprehensive and efficient detection of leaked oil products, so that staff can better understand the leakage situation of leaked oil products. At the same time, it enables the oil and gas detection robot to perform avoidance, circumferential scanning and other actions according to the detection results, making the detection more flexible and reducing the omission of blocked and blurred areas.

[0157] Figure 4 The flow chart of an oil and gas detection method provided by an exemplary embodiment is as follows. The method can be applied to an oil and gas detection robot. The oil and gas detection robot can be Figure 1 The oil and gas detection robot shown may also be other equipment capable of realizing oil and gas detection.

[0158] like Figure 4 As shown, the oil and gas detection method provided in the embodiment of the present application may include:

[0159] Step S401: While the oil and gas detection robot is moving along the oil and gas detection route, it periodically lowers the position of the gas detector to detect the gas concentration of the leaked oil.

[0160] Among them, the oil and gas detection route refers to the walking route of the oil and gas detection robot to detect oil and gas leaks.

[0161] Optionally, the oil and gas exploration route includes an S-shaped route (a reciprocating route), a grid coverage route (dividing the environment into grids and traversing each grid in a predetermined order), an obstacle avoidance-based route (a route dynamically planned based on obstacles), etc.

[0162] Preferably, the oil and gas detection route is an S-shaped route, which efficiently covers the entire oil and gas detection area and avoids repeated detection or omissions.

[0163] For example, each time the oil and gas detection robot reaches an end point on one side of the oil and gas detection area, it offsets half of the detection coverage range, then turns around / turns on the spot and performs detection again to achieve full coverage and cross coverage of the oil and gas detection area.

[0164] Gas detectors are used to detect the gas concentration of leaked oil.

[0165] Optionally, the gas detector includes an electrochemical gas detector, a semiconductor detector, a photoionization detector, etc.

[0166] For example, oil and gas molecules absorb specific infrared light. For example, methane (CHc) absorbs infrared light at a wavelength of 3.3μm. Therefore, an NDIR gas detector can measure the attenuation of the transmitted light intensity and calculate the concentration to determine the gas concentration of the leaked oil. NDIR gas detectors have a detection range from ppm to 100% volume concentration, with high detection accuracy and strong anti-interference capabilities. They do not require oxygen and can also determine gas types based on different spectra.

[0167] Illustratively, periodically lowering the position of the gas detector means that the gas detector detects the gas concentration using a step sampling method, and the lowering period of the gas detector is consistent with the step length of the step sampling.

[0168] In some embodiments, the area of oil leakage on the ground is detected, and an alarm signal is issued when the area of oil leakage meets the alarm condition.

[0169] For example, the spectral characteristics of the liquid to be tested are obtained in different spectral bands. If the spectral characteristics determine that the liquid to be tested is a leaked oil, the area of the leaked oil is measured. Specifically, the liquid type and the leaked oil area are determined based on the spectral characteristics differences between the leaked oil and the water and background areas. For example, the edge of the leaked oil can be determined by the significant difference in spectral reflectance between the liquid and the surrounding environment (such as soil or asphalt), and the area within the leaked oil edge can be calculated.

[0170] In some embodiments, the thickness of the liquid level of the leaked oil is detected, and an alarm signal is sent when the liquid level thickness meets an alarm condition.

[0171] For example, an ultrasonic wave is sent to the leaked oil, and a reflected wave is received after the leaked oil reflects the ultrasonic wave. The liquid surface thickness is measured based on the time when the ultrasonic wave is sent and the time when the reflected wave is received.

[0172] In some embodiments, an environmental image of the location where the leaked oil is located is captured to facilitate better observation of the leaked oil.

[0173] Step S402: The oil and gas detection robot sends an alarm signal when the gas concentration meets the alarm condition.

[0174] Optionally, the alarm conditions include the area of leaked oil being greater than or equal to an area threshold; the liquid surface thickness being greater than or equal to a height threshold; the gas concentration being greater than or equal to a concentration threshold; or the area of leaked oil, liquid surface thickness and gas concentration being detected simultaneously, and the area of leaked oil being less than an area threshold, the liquid surface thickness being less than a height threshold, and the gas concentration being less than a concentration threshold.

[0175] For example, communication with the server is carried out through 4G / 5G or indoor Wi-Fi, and the detection results and alarm signals are sent to the server in real time to inform the detection management personnel.

[0176] In some embodiments, information detected at the same detection time is stored in the same storage location.

[0177] Exemplarily, the collected information is stored in blocks according to time sequence, and information detected at the same detection time is stored in the same storage block.

[0178] Exemplarily, data fusion is performed on information detected at the same detection time, and the fused data is stored in chronological order.

[0179] In some embodiments, different sensors collect information at different periods. If they cannot be aligned at the same time, the same data is matched to the upper and lower periods of data collected at different periods by using a method of interpolation.

[0180] In summary, the technical solution provided by the embodiment of the present application can flexibly and efficiently detect oil and gas leakage at different positions in the oil and gas detection route, and accurately locate the position of the oil and gas leakage. At the same time, by lowering the position of the gas detector, it can better detect the concentration of oil and gas accumulated on the surface, detect oil and gas leakage close to the ground, and is suitable for small oil and gas leakage scenarios, and the oil and gas detection results are more accurate. In addition, by detecting the area of the leaked oil, the thickness of the liquid surface, the surrounding environment, etc., the leaked oil is comprehensively and efficiently detected, so that the staff can better understand the leakage situation of the leaked oil, and at the same time, the oil and gas detection robot can perform avoidance, circumferential scanning and other actions according to the detection results, so that the detection flexibility is higher and the omission of blocked and blurred areas is reduced.

[0181] The above mainly introduces the solution provided by this application. Correspondingly, this application also provides an oil and gas detection device, which is used to implement the above method embodiment.

[0182] like Figure 5 The oil and gas detection device shown in FIG. 5 may include a detection module 501 and a communication module 502. The detection module 501 is used to execute Figure 4 The operation of step S401; the communication module 502 is used to perform Figure 4The operation of step S402 in .

[0183] In some embodiments, in order to realize the above functions, the oil and gas detection device includes hardware structures and / or software modules corresponding to the execution of each function. It should be easily appreciated by those skilled in the art that, in combination with the units and algorithm steps of the various examples described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0184] The embodiments of the present application can divide the oil and gas detection device into functional modules according to the above-mentioned method embodiments. For example, each functional module can be divided according to each function, or two or more functions can be integrated into a calibration module. The above-mentioned integrated modules can be implemented in the form of hardware or software functional modules. It should be noted that the division of modules in the embodiments of the present application is schematic and is only a logical functional division. In actual implementation, other division methods may be used.

[0185] like Figure 6 As shown, the computer device provided in the embodiment of the present application may include a processor 601, a bus 602, a communication interface 603, and a memory 604. The processor 601, the memory 604, and the communication interface 603 communicate with each other via the bus 602. It should be understood that the present application does not limit the number of processors and memories in the network device.

[0186] The bus 602 may be a PCI bus or an extended industry standard architecture (EISA) bus, or a USB bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 The bus 602 may include a path for transmitting information between various components of the network device (eg, memory 604, processor 601, communication interface 603).

[0187] The processor 601 may include any one or more processors such as a CPU, a graphics processing unit (GPU), a microprocessor (MP), or a digital signal processor (DSP).

[0188] The memory 604 may include a volatile memory, such as a random access memory (RAM). The processor 601 may also include a non-volatile memory, such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD), or a solid state drive (SSD).

[0189] The communication interface 603 uses a transceiver module such as, but not limited to, a network interface card or a transceiver to implement communication between the network device and other devices or a communication network.

[0190] The memory 604 stores executable program codes, and the processor 601 executes the executable program codes to implement the functions of the aforementioned method embodiments. That is, the memory 604 stores instructions for executing the aforementioned oil and gas detection method.

[0191] On the other hand, a computer-readable storage medium is provided, in which at least one computer program is stored. The at least one computer program is loaded and executed by a processor to implement the oil and gas detection method provided in the above-mentioned method embodiments.

[0192] On the other hand, a computer program product is provided. The computer program product includes a computer program or instructions. When the computer program or instructions are executed by a processor, the oil and gas detection method provided by the above method embodiments is implemented.

[0193] Through the description of the above embodiments, those skilled in the art will clearly understand that for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the module can be divided into different functional modules to complete all or part of the functions described above. The specific working processes of the systems, modules, and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0194] Since the oil and gas detection module, computer-readable storage medium, and computer program product in the embodiments of the present invention can be applied to the above method, the technical effects that can be obtained can also refer to the above method embodiments, and the embodiments of the present invention will not be repeated here.

[0195] The method steps in this embodiment can be implemented by hardware or by a processor executing software instructions. The software instructions can be composed of corresponding software modules, which can be stored in random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, mobile hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and storage medium can be located in an ASIC. In addition, the ASIC can be located in a network device. Of course, the processor and storage medium can also exist as discrete components in the network device.

[0196] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented using software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the process or function of the embodiment of the present application is executed in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device or other programmable module. The computer program or instruction can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer program or instruction can be transmitted from one website, computer, server or data center to another website, computer, server or data center via wired or wireless means. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium, such as a floppy disk, a hard disk, or a magnetic tape; it can also be an optical medium, such as a digital video disc (DVD); it can also be a semiconductor medium, such as a solid state drive (SSD).

[0197] The above are only specific embodiments of the present application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. An oil and gas detection robot, characterized in that: The oil and gas detection robot comprises: a robot body (1), a telescopic rod (2), a gas detector (3) and a processor, wherein the telescopic rod (2) is fixed to the robot body (1), the direction of the telescopic rod (2) is perpendicular to the ground, and the gas detector (3) is fixed to an end of the telescopic rod (2) close to the ground; The robot body (1) is used to advance along an oil and gas detection route; The telescopic rod (2) is used to periodically lower the position of the gas detector (3) during the forward movement of the robot body (1); The gas detector (3) is used to detect the gas concentration of the leaked oil; The processor is configured to send an alarm signal when the gas concentration meets an alarm condition.

2. The oil and gas detection robot according to claim 1, characterized in that: A hyperspectral camera (4) and / or an ultrasonic liquid level sensor (5) is further provided at the end of the telescopic rod (2) away from the ground; The hyperspectral camera (4) is used to determine the type of liquid to be detected and detect the liquid area; when it is determined that the liquid to be detected is leaking oil and the area of the leaking oil meets the alarm condition, an alarm signal is issued; The ultrasonic liquid level sensor (5) is used to detect the thickness of the liquid level of the leaked oil product; when the liquid level thickness meets the alarm condition, an alarm signal is sent.

3. The oil and gas detection robot according to claim 2, characterized in that: The hyperspectral camera (4) is further used to obtain spectral characteristics of the liquid to be detected in different spectral bands; and when it is determined based on the spectral characteristics that the liquid to be detected belongs to the leaked oil, the area of the leaked oil is measured.

4. The oil and gas detection robot according to claim 3, characterized in that: The hyperspectral camera (4) is also used to determine the liquid type and measure the area of the leaked oil based on the spectral feature differences between the leaked oil and water and the background area.

5. The oil and gas detection robot according to claim 2, characterized in that: The ultrasonic liquid level sensor (5) is further used to send ultrasonic waves to the leaked oil; receive reflected waves after the leaked oil reflects the ultrasonic waves; determine the type of the liquid to be detected based on the intensity change of the ultrasonic waves; and measure the thickness of the liquid surface based on the sending time of the ultrasonic waves and the receiving time of the reflected waves.

6. The oil and gas detection robot according to claim 2, characterized in that: The alarm condition includes at least one of the following: The area of the leaked oil is greater than or equal to the area threshold; The liquid surface thickness is greater than or equal to a thickness threshold; The gas concentration is greater than or equal to a concentration threshold; Or, the leaked oil area, the liquid surface thickness and the gas concentration are detected simultaneously, and the leaked oil area is smaller than an area threshold, the liquid surface thickness is smaller than a height threshold, and the gas concentration is smaller than a concentration threshold.

7. The oil and gas detection robot according to any one of claims 1 to 6, characterized in that: A visible light camera (6) is also provided at one end of the telescopic rod (2) away from the ground; The visible light camera (6) is used to capture an environmental image of the location where the leaked oil is located.

8. The oil and gas detection robot according to any one of claims 1 to 6, characterized in that: The processor is further configured to store information detected at the same detection time in the same storage location.

9. The oil and gas detection robot according to any one of claims 1 to 6, characterized in that: The oil and gas detection route is an S-shaped route; the robot body (1) is also used to record the oil and gas detection route that has been passed, and to perform real-time positioning and map construction.

10. A method for oil and gas detection, characterized in that: The method comprises: While moving along the oil and gas detection route, the position of the gas detector is periodically lowered to detect the gas concentration of the leaked oil; When the gas concentration meets the alarm condition, an alarm signal is sent.

11. The method according to claim 10, characterized in that The method further comprises: Detect the oil leakage area on the ground; When the area of the leaked oil meets the alarm condition, an alarm signal is issued.

12. The method according to claim 11, characterized in that The oil leakage area detected on the ground includes: Obtaining the spectral characteristics of the liquid to be detected in different spectral bands; When it is determined based on the spectral characteristics that the liquid to be detected belongs to the leaked oil, the area of the leaked oil is measured.

13. The method according to claim 10, characterized in that The method further comprises: Detecting the thickness of the liquid level of the leaked oil; and sending an alarm signal when the liquid level thickness meets an alarm condition.

14. The method according to claim 13, characterized in that The detecting the thickness of the liquid level of the leaked oil product comprises: sending ultrasonic waves to the leaked oil; receiving a reflected wave after the leaked oil reflects the ultrasonic wave; The thickness of the liquid surface is measured based on the absorption of the ultrasonic wave, the transmission time, and the reception time of the reflected wave.

15. The method according to claim 10, characterized in that The alarm condition includes at least one of the following: The area of the leaked oil is greater than or equal to the area threshold; The liquid surface thickness is greater than or equal to a height threshold; The gas concentration is greater than or equal to a concentration threshold; Or, the leaked oil area, the liquid surface thickness and the gas concentration are detected simultaneously, and the leaked oil area is smaller than an area threshold, the liquid surface thickness is smaller than a height threshold, and the gas concentration is smaller than a concentration threshold.

16. An oil and gas detection device, characterized in that: The device includes: a walking module, a detection module and a communication module; The detection module is used to periodically lower the position of the gas detector during the forward movement to detect the gas concentration of the leaked oil; The communication module is used to send an alarm signal when the gas concentration meets the alarm condition.

17. A computer device, characterized in that: The computer device includes: a processor and a memory, wherein at least one computer program is stored in the memory, and the at least one computer program is loaded and executed by the processor to implement the oil and gas detection method according to any one of claims 10 to 15.

18. A computer-readable storage medium, characterized in that At least one computer program is stored in the computer-readable storage medium, and the at least one computer program is loaded and executed by the processor to implement the oil and gas detection method according to any one of claims 10 to 15.

19. A computer program product, characterized in that The computer program product includes a computer program or instructions, and when the computer program or instructions are executed by a processor, the oil and gas detection method according to any one of claims 10 to 15 is implemented.

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