A multi-module integrated GIS equipment SF6 micro-leakage online intelligent detection device

Abstract

This invention relates to the field of SF6 leak detection technology, and in particular to a multi-module integrated GIS equipment SF6 micro-leakage online intelligent detection device. It overcomes the shortcomings of existing technologies where detection equipment struggles to achieve full coverage of the flange and can only determine the presence of a leak without precisely locating the leak point. This invention uses a visual recognition module in conjunction with a camera to acquire flange images and determine the presence of SF6 leaks. An image fusion unit enhances image clarity and improves leak observation accuracy. An inner ring and a rotating plate work together to enclose the flange and perform circumferential detection. A region division unit and a leak location unit work together to divide the flange circumference into multiple equal areas and determine the specific leak area number. This achieves the identification of leaking flanges and precise location of leak points, improving the efficiency and accuracy of SF6 leak detection.

Description

Technical Field

[0001] This invention relates to the field of SF6 leakage detection technology, and in particular to an online intelligent detection device for SF6 micro-leakage in multi-module integrated GIS equipment. Background Technology

[0002] GIS equipment, or Gas Insulated Metal Enclosed Switchgear, is a high-voltage power distribution device that encloses high-voltage electrical components such as circuit breakers, disconnectors, and grounding switches within a metal casing. It offers advantages such as small footprint, high operational reliability, and low maintenance, and is widely used in urban substations, power plants, and other similar locations. SF6, or sulfur hexafluoride gas, is a colorless, odorless, and non-toxic inert gas with excellent insulation and arc-extinguishing properties. Its insulation strength is approximately three times that of air, and its arc-extinguishing capacity is 100 times that of air. In GIS equipment, SF6 gas serves as both the insulating and arc-extinguishing medium, filling the interior of the metal casing to isolate live parts from the casing and ensure the safe and stable operation of the high-voltage electrical equipment. This is the core guarantee for the normal operation of GIS equipment.

[0003] Chinese patent application CN121702648A discloses an ultrasonic leak detection device for SF6 gas in GIS pipelines, including a handheld mechanism, a leak detection mechanism, a switching mechanism, and a controller. The leak detection mechanism is mounted on the handheld mechanism and includes a first sensor mounting position and an attitude adjustment mechanism. The attitude adjustment mechanism is configured to drive the sensor mounted on the first sensor mounting position to adjust its position. The switching mechanism is mounted on the handheld mechanism and includes a second sensor mounting position. The controller is located inside the handheld mechanism and is electrically connected to the leak detection mechanism and the switching mechanism. The device is equipped with at least an ultrasonic micro-leak detection sensor and an ultrasonic global scanning sensor. The ultrasonic micro-leak detection sensor and the ultrasonic global scanning sensor can be interchanged between the first sensor mounting position of the leak detection mechanism and the second sensor mounting position of the switching mechanism through the switching mechanism, which significantly improves the detection efficiency and accuracy.

[0004] Regarding the above and existing related technologies, the inventors believe that the following defects often exist: Since the existing methods all use handheld devices equipped with ultrasonic sensors to scan and detect GIS equipment point by point, and switch between different types of sensors to detect the leak area, the detection process relies on manual operation, making it difficult to achieve full coverage detection of the flange, and can only determine whether there is a leak but cannot accurately locate the specific location of the leak point, ultimately resulting in low detection efficiency and insufficient positioning accuracy. Summary of the Invention

[0005] The technical problem to be solved by the present invention is that the existing technology has the disadvantage that the detection equipment is difficult to achieve full coverage detection of the flange and can only determine whether there is a leak but cannot accurately locate the specific location of the leak point. To this end, we propose a multi-module integrated GIS equipment SF6 micro-leakage online intelligent detection device.

[0006] To achieve the above objectives, this application adopts the following technical solution: a multi-module integrated GIS equipment SF6 micro-leakage online intelligent detection device, including a detection vehicle, a guide rail is provided below the detection vehicle, a camera B is fixedly installed on the upper surface of the detection vehicle, a camera A is provided above the detection vehicle, two sets of cameras A are provided, a switching component for determining the leak point is provided inside the detection vehicle, and a detection system is also provided inside the switching component;

[0007] The detection system includes a visual recognition module, an analysis module, a positioning module, and an information processing module, among which:

[0008] The visual recognition module is used to acquire images of the GIS equipment area through camera A and camera B, identify the position, orientation and obstruction of the flanges in the GIS equipment, and observe whether there is SF6 leakage on the flanges. When a leakage is detected, the leaking flange number information is generated.

[0009] The analysis module is used to analyze the orientation of the flange (whether it is set vertically or horizontally), analyze the obstruction status of the flange (whether it is unobstructed, partially obstructed, or completely obstructed), and determine the location of the obstruction area.

[0010] The positioning module is used to work along the outside of the flange by switching components based on the leak flange number information generated by the visual recognition module. It wraps the flange and divides it into multiple equal areas for area-by-area detection. When a leak is detected, it stops sliding and determines the specific leak area number, thus achieving precise location of the leak point.

[0011] The information processing module is used to process flange status information, leakage status information, and leakage location information, generate detection results, and send them to the control terminal.

[0012] Preferably, the switching component includes a side plate disposed inside the testing vehicle, a motor fixedly installed on one side of the side plate, sleeve plates fixedly installed on both sides of the side plate, a rotating rod provided at the output end of the motor, a rotating plate fixedly installed at one end of the rotating rod, a rectangular plate fixedly installed on one side of the rotating plate, a motor fixedly installed on the surface of the rectangular plate, an inner ring movably disposed inside the rotating plate, and a flange located inside the inner ring.

[0013] Preferably, a T-plate is fixedly installed on the upper surface of the inner ring, and a base column is fixedly installed on the surface of the inner ring. Two sets of base columns are provided, and a detection head is fixedly installed on the upper surface of the two sets of base columns. A detection screen is provided on one side of the detection head. The two sets of detection heads are symmetrically arranged, and the detection screens on one side of the two sets of detection heads are directly opposite the flange inside the inner ring. Teeth are fixedly installed on the outer surface of the T-plate, and a gear is provided at the motor output end. The gear meshes with the teeth, and an infrared thermal imaging device is provided inside the detection head.

[0014] Preferably, the inner wall of the rotating plate is provided with an annular groove, and the interior of the rotating plate is provided with a T-groove and a toothed groove. The T-groove is located above the annular groove, and the toothed groove is located on one side of the annular groove. The T-groove is adapted to the T-plate, and the toothed groove is adapted to the teeth.

[0015] Preferably, the inspection vehicle has a base plate inside, a slider is fixedly installed on the lower surface of the base plate, the slider is slidably connected to the guide rail, an electric telescopic rod is fixedly installed on the upper surface of the base plate, an L-plate is fixedly installed on the upper surface of the electric telescopic rod, the upper surface of the L-plate is fixedly installed to the lower surface of the camera B, an electric push rod is fixedly installed on the inner wall of the L-plate, one end of the electric push rod is fixedly installed to one side of the side plate, a rectangular groove is opened on the surface of the L-plate, an inner groove is opened on the inner wall of the rectangular groove, a guide rod is fixedly installed on the inner wall of the inner groove, the rectangular groove is slidably connected to the sleeve plate, and the sleeve plate is fitted on the outer surface of the guide rod.

[0016] Preferably, the visual recognition module includes an image acquisition unit, an infrared thermal imaging unit, a visible light image acquisition unit, an image fusion unit, and a flange recognition unit, wherein:

[0017] The image acquisition unit is used to acquire images of the GIS device area through camera A and camera B;

[0018] The infrared thermal imaging unit is used to acquire infrared thermal images of the flange to check for SF6 leakage.

[0019] The visible light image acquisition unit is used to acquire visible light images of the flange and determine the appearance and connection status of the flange.

[0020] The image fusion unit is used to fuse infrared thermal imaging images with visible light images to enhance image clarity and realize the detection of SF6 trace leakage status.

[0021] Flange identification unit: used to identify the location number, orientation, and obstruction status of the flange. When a leak is detected, it generates the leaking flange number information.

[0022] Preferably, the analysis module includes a modulated laser emission unit, a photoacoustic signal acquisition unit, an adaptive noise reduction unit, a spectral feature extraction unit, and a flange status analysis unit, wherein:

[0023] The modulated laser emitting unit is used to emit a modulated laser beam to irradiate the flange area. The laser excites SF6 gas to generate a photoacoustic signal, thereby realizing the active detection of leaked gas.

[0024] The photoacoustic signal acquisition unit is used to acquire the photoacoustic signal generated by SF6 gas when it is excited, and to obtain the characteristic information of the leaked gas through signal acquisition.

[0025] The adaptive denoising unit is used to perform adaptive denoising processing on the acquired photoacoustic signal, thereby improving signal quality by filtering out environmental noise interference.

[0026] The spectrum feature extraction unit is used to extract multi-scale time-series spectrum features from the denoised signal and realize the SF6 micro-leakage state perception through feature analysis.

[0027] The flange condition analysis unit is used to analyze the flange's orientation (vertical or horizontal) and its obstruction status (unobstructed, partially obstructed, or completely obstructed), and to determine the detection strategy through condition analysis.

[0028] Preferably, the positioning module includes an acoustic sensor array, a sound source separation unit, a spatial inversion unit, a region division unit, and a leak location unit, wherein:

[0029] An acoustic sensor array is used to collect acoustic signals generated by flange leakage. The spatial distribution information of the leakage sound source is obtained through sensors deployed at multiple points.

[0030] The sound source separation unit is used to separate weak leakage sound sources in complex acoustic environments and extract leakage characteristic signals from background noise through signal processing algorithms.

[0031] The spatial inversion unit is used to perform three-dimensional spatial inversion and localization of the separated leakage sound source, and calculates the spatial coordinates of the leakage point through the sound source propagation model.

[0032] The area division unit is used to divide the flange circumference into multiple equal areas, and the leak area can be accurately located by area numbering.

[0033] The leak location unit is used to detect and determine the number of the leak area area by area. When a leak is detected, it stops sliding and locks the leak location to achieve precise location of the leak point.

[0034] Preferably, the information processing module includes a multimodal fusion unit, a data integration unit, and a terminal communication unit, wherein:

[0035] The multimodal fusion unit is used to integrate photoacoustic spectral detection data, acoustic positioning data, infrared thermal imaging data, and visible light image data, thereby improving the accuracy and reliability of leak detection through multi-source data fusion.

[0036] The data integration unit is used to integrate and process flange status information, leakage status information, and leakage location information, and generate complete detection results through data association;

[0037] The terminal communication unit is used to send the detection results to the control terminal, and realize the remote display and early warning of detection information through communication transmission.

[0038] Preferably, the infrared thermal imaging unit works with camera A and camera B to acquire infrared thermal images of the flange and determine whether there is an SF6 leak. An image fusion unit works with the infrared thermal imaging unit and the visible light image acquisition unit to fuse the infrared thermal images and visible light images, enhancing image clarity and improving the accuracy of leak observation. Subsequently, the flange identification unit works with the image fusion unit to identify the flange's location number, orientation, and obstruction status, generating a leak flange number. The inner ring and rotating plate work together to wrap the flange and perform circumferential detection. The region division unit works with the leak location unit to divide the flange circumference into multiple equal regions and determine the specific leak region number. Simultaneously, two sets of detection heads work with the inner ring and rotating plate to perform region-by-region detection on the wrapped flange. When a leak is detected, the leak region number is locked. Finally, the visual recognition module works with the location module. The visual recognition module detects the leak through the infrared thermal imaging unit and generates the leak flange number information. The location module determines the specific leak region number through the region division unit and the leak location unit, achieving precise location of the leak point.

[0039] The technical effects and advantages of this invention are as follows:

[0040] In this invention, the detection vehicle first moves along the guide rail to the GIS equipment area via a slider. Then, cameras A and B acquire images of the GIS equipment area. Subsequently, the visual recognition module identifies the flange's location number, orientation, and obstruction status. Then, the infrared thermal imaging unit observes whether there is SF6 leakage on the flange. When a leak is detected, a leak flange number is generated. Next, the detection vehicle moves to the location of the leak flange. Then, the electric telescopic rod and electric push rod move the switching component to the flange. Then, the motor drives the rotating rod to switch the rotating plate between vertical and horizontal states to adapt to the flange's orientation. Next, the motor drives the inner ring to slide inside the rotating plate to form a ring that wraps around the flange. Then, two sets of detection heads perform area-by-area detection on the flange circumference. When a leak is detected, the sliding stops and the leak area number is locked. Finally, the information processing module sends the detection results to the control terminal to achieve accurate location of the leak point. Attached Figure Description

[0041] The disclosure of this invention is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings, the same reference numerals are used to refer to the same parts:

[0042] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0043] Figure 2 This is a schematic diagram of the detection vehicle and camera A of the present invention;

[0044] Figure 3 This is a schematic diagram of the testing vehicle structure of the present invention;

[0045] Figure 4 This is a schematic diagram of the switching component and L-plate structure of the present invention;

[0046] Figure 5 This is a schematic diagram of the rectangular plate and inner ring split structure of the present invention;

[0047] Figure 6 This is a schematic diagram of the inner ring working structure of the present invention;

[0048] Figure 7 This is an overall flowchart of the present invention.

[0049] Legend: 1. Inspection vehicle; 11. Base plate; 12. Slider; 13. Electric telescopic rod; 14. L-plate; 15. Rectangular groove; 16. Inner groove; 17. Electric push rod; 2. Switching component; 21. Side plate; 22. Motor; 23. Sleeve plate; 24. Rotating plate; 241. T-groove; 242. Gear groove; 243. Ring groove; 25. Rectangular plate; 26. Motor; 261. Gear; 27. Inner ring; 271. T-plate; 272. Gear; 273. Base column; 274. Inspection head; 275. Inspection screen; 3. Camera A; 4. Guide rail; 5. Baffle; 6. Camera B. Detailed Implementation

[0050] It is readily understood that, based on the technical solution of this invention, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of the invention. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this invention and should not be considered as the entirety of the invention or as limitations or restrictions on the technical solution of this invention.

[0051] Reference Figure 1 - Figure 3 and Figure 7As shown, the present invention provides a technical solution: an online intelligent detection device for SF6 micro-leakage of multi-module integrated GIS equipment, including a detection vehicle 1, a guide rail 4 is provided below the detection vehicle 1, a camera B6 is fixedly installed on the upper surface of the detection vehicle 1, a camera A3 is provided above the detection vehicle 1, two sets of cameras A3 are provided, a switching component 2 for determining the leak point is provided inside the detection vehicle 1, and a detection system is also provided inside the switching component 2.

[0052] The detection system includes a visual recognition module, an analysis module, a positioning module, and an information processing module, among which:

[0053] The visual recognition module is used to acquire images of the GIS equipment area through cameras A3 and B6, identify the position, orientation, and obstruction of the flanges in the GIS equipment, and observe whether there is SF6 leakage on the flanges. When a leakage is detected, the leaking flange number information is generated.

[0054] The analysis module is used to analyze the orientation of the flange (whether it is set vertically or horizontally), analyze the obstruction status of the flange (whether it is unobstructed, partially obstructed, or completely obstructed), and determine the location of the obstruction area.

[0055] The positioning module is used to work along the outside of the flange by switching component 2 according to the leak flange number information generated by the visual recognition module. It wraps the flange and divides it into multiple equal areas for area-by-area detection. When a leak is detected, it stops sliding and determines the specific leak area number, thus achieving precise location of the leak point.

[0056] The information processing module processes flange status information, leakage status information, and leakage location information, generates detection results, and sends them to the control terminal. Through the visual recognition module and the positioning module, it can quickly locate which flange is leaking SF6. Then, through the feedback from the analysis module, the switching component 2 adapts to flanges in different states based on the feedback information. Finally, by using the positioning module's zonal detection method, the specific leakage area of ​​the flange can be quickly determined, thereby improving the effectiveness of SF6 leakage detection.

[0057] Reference Figure 1 - Figure 7As shown in this embodiment: the switching component 2 includes a side plate 21 installed inside the inspection vehicle 1. A motor 22 is fixedly installed on one side of the side plate 21, and sleeve plates 23 are fixedly installed on both sides of the side plate 21. A rotating rod is provided at the output end of the motor 22, and a rotating plate 24 is fixedly installed at one end of the rotating rod. A rectangular plate 25 is fixedly installed on one side of the rotating plate 24, and a motor 26 is fixedly installed on the surface of the rectangular plate 25. An inner ring 27 is movably arranged inside the rotating plate 24, and the flange is located inside the inner ring 27. Driven by the motor 22, the rotating rod can drive the rotating plate 24 to switch between vertical and horizontal states, so that the rotating plate 24 can adapt to flanges in different states. The motor 26 can drive the inner ring 27 to move inside the rotating plate 24, so that the moved inner ring 27 and the rotating plate 24 form a ring, which encloses the flange inside the inner ring 27 and the rotating plate 24 for inspection. The rotating inner ring 27 can detect the specific leakage area around the flange from all directions.

[0058] A T-plate 271 is fixedly mounted on the upper surface of the inner ring 27. Two sets of base columns 273 are fixedly mounted on the surface of the inner ring 27. Detection heads 274 are fixedly mounted on the upper surfaces of the two sets of base columns 273. A detection screen 275 is located on one side of each detection head 274. The two sets of detection heads 274 are symmetrically arranged, and the detection screens 275 on one side of each set of detection heads 274 are directly opposite the flange inside the inner ring 27. A toothed gear 272 is fixedly mounted on the outer surface of the T-plate 271. A gear 261 is located at the output end of the motor 26, and the gear 261 meshes with the toothed gear 272. An infrared thermal imaging device is installed inside the detection head 274. When a leak occurs in the flange, the motor 22 will adjust the state of the switching component 2 based on the recognition of the cameras B6 and A3, and then the motor... 26. Based on the flange observed by cameras B6 and A3, the inner ring 27 is rotated at an angle. When the flange is unobstructed, the inner ring 27 rotates half a circle to form a complete ring with the rotating plate 24. During the rotation, the two sets of detection heads 274 will detect the flange in the center. If a leak is detected, the positioning module will lock the leak area and generate a result by integrating the leak area information and sending it to the control terminal. When the flange is obstructed, the motor 26 will drive the inner ring 27 to rotate and detect in the unobstructed area based on the recognition of cameras B6 and A3. When no leak point is found in the unobstructed area, the information processing module will integrate the information that the leak area may be in the obstructed area and send it to the control terminal.

[0059] The inner wall of the rotating plate 24 is provided with an annular groove 243, and the interior of the rotating plate 24 is provided with a T-groove 241 and a toothed groove 242. The T-groove 241 is located above the annular groove 243, and the toothed groove 242 is located on one side of the annular groove 243. The T-groove 241 is adapted to the T-plate 271, and the toothed groove 242 is adapted to the tooth 272. The T-groove 241 can improve the stability of the inner ring 27 when rotating, and can form a complete ring with the rotating plate 24 for detection.

[0060] The inspection vehicle 1 has a base plate 11 inside. A slider 12 is fixedly installed on the lower surface of the base plate 11. The slider 12 is slidably connected to the guide rail 4. An electric telescopic rod 13 is fixedly installed on the upper surface of the base plate 11. An L-plate 14 is fixedly installed on the upper surface of the electric telescopic rod 13. The upper surface of the L-plate 14 is fixedly installed on the lower surface of the camera B6. An electric push rod 17 is fixedly installed on the inner wall of the L-plate 14. One end of the electric push rod 17 is fixedly installed on one side of the side plate 21. A rectangular groove 15 is opened on the surface of the L-plate 14. An inner groove 16 is opened on the inner wall of the rectangular groove 15. A guide rod is fixedly installed on the inner wall of the inner groove 16. The rectangular groove 15 is slidably connected to the sleeve plate 23. The sleeve plate 23 is fitted on the outer surface of the guide rod. The switching component 2 can be moved to the leaking flange by the electric telescopic rod 13 and the electric push rod 17. Then, the inspection vehicle 1 can be moved around the GIS equipment for inspection by the slider 12.

[0061] The visual recognition module includes an image acquisition unit, an infrared thermal imaging unit, a visible light image acquisition unit, an image fusion unit, and a flange recognition unit, wherein:

[0062] The image acquisition unit is used to acquire images of the GIS device area through cameras A3 and B6.

[0063] The infrared thermal imaging unit is used to acquire infrared thermal images of the flange to check for SF6 leakage.

[0064] The visible light image acquisition unit is used to acquire visible light images of the flange and determine the appearance and connection status of the flange.

[0065] The image fusion unit is used to fuse infrared thermal imaging images with visible light images to enhance image clarity and realize the detection of SF6 trace leakage status.

[0066] The flange identification unit is used to identify the location number, orientation, and obstruction status of the flange. When a leak is detected, it generates the leaking flange number information.

[0067] The analysis module includes a modulated laser emission unit, a photoacoustic signal acquisition unit, an adaptive noise reduction unit, a spectral feature extraction unit, and a flange condition analysis unit, wherein:

[0068] The modulated laser emitting unit is used to emit a modulated laser beam to irradiate the flange area. The laser excites SF6 gas to generate a photoacoustic signal, thereby realizing the active detection of leaked gas.

[0069] The photoacoustic signal acquisition unit is used to acquire the photoacoustic signal generated by SF6 gas when it is excited, and to obtain the characteristic information of the leaked gas through signal acquisition.

[0070] The adaptive denoising unit is used to perform adaptive denoising processing on the acquired photoacoustic signal, thereby improving signal quality by filtering out environmental noise interference.

[0071] The spectrum feature extraction unit is used to extract multi-scale time-series spectrum features from the denoised signal and realize the SF6 micro-leakage state perception through feature analysis.

[0072] The flange condition analysis unit is used to analyze the flange's orientation (vertical or horizontal) and its obstruction status (unobstructed, partially obstructed, or completely obstructed), and to determine the detection strategy through condition analysis.

[0073] The localization module includes an acoustic sensor array, a sound source separation unit, a spatial inversion unit, a region division unit, and a leak localization unit, wherein:

[0074] An acoustic sensor array is used to collect acoustic signals generated by flange leakage. The spatial distribution information of the leakage sound source is obtained through sensors deployed at multiple points.

[0075] The sound source separation unit is used to separate weak leakage sound sources in complex acoustic environments and extract leakage characteristic signals from background noise through signal processing algorithms.

[0076] The spatial inversion unit is used to perform three-dimensional spatial inversion and localization of the separated leakage sound source, and calculates the spatial coordinates of the leakage point through the sound source propagation model.

[0077] The area division unit is used to divide the flange circumference into multiple equal areas, and the leak area can be accurately located by area numbering.

[0078] The leak location unit is used to detect and determine the number of the leak area area by area. When a leak is detected, it stops sliding and locks the leak location to achieve precise location of the leak point.

[0079] The information processing module includes a multimodal fusion unit, a data integration unit, and a terminal communication unit, wherein:

[0080] The multimodal fusion unit is used to integrate photoacoustic spectral detection data, acoustic positioning data, infrared thermal imaging data, and visible light image data, thereby improving the accuracy and reliability of leak detection through multi-source data fusion.

[0081] The data integration unit is used to integrate and process flange status information, leakage status information, and leakage location information, and generate complete detection results through data association;

[0082] The terminal communication unit is used to send the detection results to the control terminal, and realize the remote display and early warning of detection information through communication transmission.

[0083] The infrared thermal imaging unit, in conjunction with cameras A3 and B6, acquires infrared thermal images of the flange and determines whether there is an SF6 leak. An image fusion unit, in conjunction with the infrared thermal imaging unit and the visible light image acquisition unit, fuses the infrared thermal images and visible light images to enhance image clarity and improve the accuracy of leak observation. Subsequently, the flange identification unit, in conjunction with the image fusion unit, identifies the flange's location number, orientation, and obstruction status to generate a leak flange number. The inner ring 27, in conjunction with the rotating plate 24, wraps around the flange and performs circumferential detection. The region division unit, in conjunction with the leak location unit, divides the flange circumference into multiple equal regions and determines the specific leak region number. Simultaneously, two sets of detection heads 274, in conjunction with the inner ring 27 and the rotating plate 24, perform region-by-region detection on the wrapped flange. When a leak is detected, the leak region number is locked. Finally, the visual recognition module, in conjunction with the location module, detects the leak through the infrared thermal imaging unit and generates the leak flange number. The location module, through the region division unit and the leak location unit, determines the specific leak region number, achieving precise location of the leak point.

[0084] Working Principle: First, the detection vehicle 1 moves along the guide rail 4 via the slider 12 to the GIS equipment area. Then, cameras A3 and B6 simultaneously acquire images of the GIS equipment area. Subsequently, the visual recognition module identifies the flange's location number, orientation, and obstruction status. Then, the image fusion unit fuses the infrared thermal image with the visible light image to enhance image clarity. Next, the infrared thermal imaging unit observes whether there is SF6 leakage on the flange. When a leak is detected, the flange identification unit generates the leaking flange number information. Then, the analysis module analyzes the flange's orientation status (vertical or horizontal) and the obstruction status (unobstructed, partially obstructed, or completely obstructed). Then, the detection vehicle 1 continues to move along the guide rail 4 to the location of the leaking flange. Then, the electric telescopic rod 13 extends and retracts to adjust the height of the switching component 2. Then, the electric push rod 17 pushes the side plate 21, causing the sleeve plate 23 to slide along the guide rod within the rectangular groove 15, precisely moving the switching component 2 to the flange. Then, the motor 22 drives the rotating rod to switch the rotating plate 24 between vertical and horizontal states, allowing the rotating plate 24 to adapt to flanges with different orientations. Next, the motor 26 drives the inner ring 27 to slide along the T-groove 241 inside the rotating plate 24 through the meshing of gear 261 and teeth 272. The inner ring 27 then rotates half a turn to form a complete circle with the rotating plate 24, enveloping the flange. Then, two sets of detection heads 274 perform area-by-area detection on the flange circumference. Simultaneously, the acoustic sensor array collects leakage sound source signals. Next, the area division unit divides the flange circumference into multiple equally divided areas for detection. When a leak is detected, the detection head 274 takes a picture of the leak point. The inner ring 27 then continues to rotate to detect the remaining areas. The system checks for multiple leaks. When the inner ring 27 completes one revolution, it stops. If there is an obstruction on the flange and a leak is detected in an unobstructed area, the information processing module generates a leak area number and sends it to the control terminal. If there is an obstruction on the flange and no leak is detected in an unobstructed area, the information processing module generates a warning message indicating that the suspected leak area is within the obstructed area and sends it to the control terminal. After the warning is completed, the inspection vehicle 1 continues to move along the guide rail 4 to the next flange for inspection, achieving comprehensive detection and accurate location of multiple leaks.

[0085] The technical scope of this invention is not limited to the content described above. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this invention, and all such modifications and variations should fall within the protection scope of this invention.

Claims

1. A multi-module integrated GIS equipment SF6 micro-leakage online intelligent detection device, characterized in that, The system includes a detection vehicle, a guide rail at the bottom of the detection vehicle, a camera B fixedly mounted on the upper surface of the detection vehicle, a camera A at the top of the detection vehicle, two sets of cameras A, and a switching component inside the detection vehicle for determining the leak point. The switching component also contains a detection system. The detection system includes a visual recognition module, an analysis module, a positioning module, and an information processing module, wherein: The visual recognition module is used to acquire images of the GIS equipment area through camera A and camera B, identify the position, orientation and obstruction of the flanges in the GIS equipment, and observe whether there is SF6 leakage on the flanges. When a leakage is detected, the leaking flange number information is generated. The analysis module is used to analyze the orientation of the flange (whether it is set vertically or horizontally), analyze the obstruction status of the flange (whether it is unobstructed, partially obstructed, or completely obstructed), and determine the location of the obstruction area. The positioning module is used to work along the outside of the flange by switching components based on the leak flange number information generated by the visual recognition module. It wraps the flange and divides it into multiple equal areas for area-by-area detection. When a leak is detected, it stops sliding and determines the specific leak area number, thus achieving precise location of the leak point. The information processing module is used to process flange status information, leakage status information, and leakage location information, generate detection results, and send them to the control terminal.

2. The multi-module integrated GIS equipment SF6 micro-leakage online intelligent detection device according to claim 1, characterized in that: The switching component includes a side plate installed inside the inspection vehicle. A motor is fixedly installed on one side of the side plate, and sleeve plates are fixedly installed on both sides of the side plate. A rotating rod is provided at the output end of the motor. A rotating plate is fixedly installed at one end of the rotating rod. A rectangular plate is fixedly installed on one side of the rotating plate. A motor is fixedly installed on the surface of the rectangular plate. An inner ring is movably arranged inside the rotating plate, and the flange is located inside the inner ring.

3. The multi-module integrated GIS equipment SF6 micro-leakage online intelligent detection device according to claim 2, characterized in that: A T-plate is fixedly installed on the upper surface of the inner ring, and a base column is fixedly installed on the surface of the inner ring. Two sets of base columns are provided, and a detection head is fixedly installed on the upper surface of the two sets of base columns. A detection screen is provided on one side of each detection head. The two sets of detection heads are symmetrically arranged, and the detection screens on one side of each set of detection heads are directly opposite the flange inside the inner ring. Teeth are fixedly installed on the outer surface of the T-plate, and a gear is provided at the motor output end. The gear meshes with the teeth, and an infrared thermal imaging device is provided inside the detection head.

4. The multi-module integrated GIS equipment SF6 micro-leakage online intelligent detection device according to claim 3, characterized in that: The inner wall of the rotating plate is provided with an annular groove, and the interior of the rotating plate is provided with a T-groove and a toothed groove. The T-groove is located above the annular groove, and the toothed groove is located on one side of the annular groove. The T-groove is adapted to the T-plate, and the toothed groove is adapted to the teeth.

5. The multi-module integrated GIS equipment SF6 micro-leakage online intelligent detection device according to claim 4, characterized in that: The testing vehicle has a base plate inside. A slider is fixedly installed on the lower surface of the base plate and is slidably connected to a guide rail. An electric telescopic rod is fixedly installed on the upper surface of the base plate. An L-plate is fixedly installed on the upper surface of the electric telescopic rod. The upper surface of the L-plate is fixedly installed to the lower surface of camera B. An electric push rod is fixedly installed on the inner wall of the L-plate. One end of the electric push rod is fixedly installed to one side of a side plate. A rectangular groove is formed on the surface of the L-plate. An inner groove is formed on the inner wall of the rectangular groove. A guide rod is fixedly installed on the inner wall of the inner groove. The rectangular groove is slidably connected to a sleeve plate. The sleeve plate is fitted onto the outer surface of the guide rod.

6. The multi-module integrated GIS equipment SF6 micro-leakage online intelligent detection device according to claim 5, characterized in that: The visual recognition module includes an image acquisition unit, an infrared thermal imaging unit, a visible light image acquisition unit, an image fusion unit, and a flange recognition unit, wherein: The image acquisition unit is used to acquire images of the GIS device area through camera A and camera B; The infrared thermal imaging unit is used to acquire infrared thermal images of the flange to check for SF6 leakage. The visible light image acquisition unit is used to acquire visible light images of the flange and determine the appearance and connection status of the flange. The image fusion unit is used to fuse infrared thermal imaging images with visible light images to enhance image clarity and realize the detection of SF6 trace leakage status. The flange identification unit is used to identify the location number, orientation, and obstruction status of the flange. When a leak is detected, it generates the leaking flange number information.

7. The multi-module integrated GIS equipment SF6 micro-leakage online intelligent detection device according to claim 6, characterized in that: The analysis module includes a modulated laser emission unit, a photoacoustic signal acquisition unit, an adaptive noise reduction unit, a spectral feature extraction unit, and a flange status analysis unit, wherein: The modulated laser emitting unit is used to emit a modulated laser beam to irradiate the flange area. The laser excites SF6 gas to generate a photoacoustic signal, thereby realizing the active detection of leaked gas. The photoacoustic signal acquisition unit is used to acquire the photoacoustic signal generated by SF6 gas when it is excited, and to obtain the characteristic information of the leaked gas through signal acquisition. The adaptive denoising unit is used to perform adaptive denoising processing on the acquired photoacoustic signal, thereby improving signal quality by filtering out environmental noise interference. The spectrum feature extraction unit is used to extract multi-scale time-series spectrum features from the denoised signal and realize the SF6 micro-leakage state perception through feature analysis. The flange condition analysis unit is used to analyze the flange's orientation (vertical or horizontal) and its obstruction status (unobstructed, partially obstructed, or completely obstructed), and to determine the detection strategy through condition analysis.

8. The multi-module integrated GIS equipment SF6 micro-leakage online intelligent detection device according to claim 7, characterized in that: The positioning module includes an acoustic sensor array, a sound source separation unit, a spatial inversion unit, a region division unit, and a leak location unit, wherein: An acoustic sensor array is used to collect acoustic signals generated by flange leakage. The spatial distribution information of the leakage sound source is obtained through sensors deployed at multiple points. The sound source separation unit is used to separate weak leakage sound sources in complex acoustic environments and extract leakage characteristic signals from background noise through signal processing algorithms. The spatial inversion unit is used to perform three-dimensional spatial inversion and localization of the separated leakage sound source, and calculates the spatial coordinates of the leakage point through the sound source propagation model. The area division unit is used to divide the flange circumference into multiple equal areas, and the leak area can be accurately located by area numbering. The leak location unit is used to detect and determine the number of the leak area area by area. When a leak is detected, it stops sliding and locks the leak location to achieve precise location of the leak point.

9. The multi-module integrated GIS equipment SF6 micro-leakage online intelligent detection device according to claim 8, characterized in that: The information processing module includes a multimodal fusion unit, a data integration unit, and a terminal communication unit, wherein: The multimodal fusion unit is used to integrate photoacoustic spectral detection data, acoustic positioning data, infrared thermal imaging data, and visible light image data, thereby improving the accuracy and reliability of leak detection through multi-source data fusion. The data integration unit is used to integrate and process flange status information, leakage status information, and leakage location information, and generate complete detection results through data association; The terminal communication unit is used to send the detection results to the control terminal, and realize the remote display and early warning of detection information through communication transmission.

10. The multi-module integrated GIS equipment SF6 micro-leakage online intelligent detection device according to claim 9, characterized in that: The infrared thermal imaging unit, in conjunction with cameras A and B, acquires infrared thermal images of the flange and determines whether there is an SF6 leak. An image fusion unit, in conjunction with the infrared thermal imaging unit and the visible light image acquisition unit, fuses the infrared thermal images and visible light images to enhance image clarity and improve the accuracy of leak observation. Subsequently, the flange identification unit, in conjunction with the image fusion unit, identifies the flange's location number, orientation, and obstruction status to generate a leak flange number. The inner ring and rotating plate work together to wrap the flange and perform circumferential detection. The region division unit, in conjunction with the leak location unit, divides the flange circumference into multiple equal regions and determines the specific leak region number. Simultaneously, two sets of detection heads, in conjunction with the inner ring and rotating plate, perform region-by-region detection on the wrapped flange. When a leak is detected, the leak region number is locked. Finally, the visual recognition module, in conjunction with the location module, detects the leak through the infrared thermal imaging unit and generates the leak flange number. The location module, through the region division unit and the leak location unit, determines the specific leak region number, achieving precise location of the leak point.

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