Holder scanning type gas leakage detection system based on multi-modal sensing

Abstract

The utility model provides a cradle head scanning type gas leakage detection system based on multi-mode sensing, relates to the technical field of gas leakage detection, and is used for solving the problems that in the prior art, ultrasonic detection is not sensitive to tiny leakage although the coverage range is wide; and although the sensitivity of laser gas telemetering is high, the coverage area is limited. The system comprises a multi-mode sensing unit, an edge gateway and a monitoring platform, the multi-mode sensing unit is connected with the edge gateway, and the edge gateway is connected with the monitoring platform; a three-dimensional explosion-proof holder and a sensing module are arranged in the multi-mode sensing unit, the sensing module is movably arranged on the three-dimensional explosion-proof holder, and the three-dimensional explosion-proof holder and the sensing module are both connected with the edge gateway. According to the utility model, the ultrasonic detection and the laser gas remote measurement technology are organically combined, so that efficient and accurate gas leakage detection of a large-area area is realized.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of gas leakage detection, especially to a cloud platform scanning type gas leakage detection system based on multimodal sensing. BACKGROUND

[0002] In the field of industrial gas leakage detection, common non-contact gas leakage detection techniques include ultrasonic detection and laser gas remote sensing. Ultrasonic detection technology detects leakage points by capturing ultrasonic signals generated by leaking gas, and has the advantages of large coverage area and suitability for large-scale areas. However, its detection sensitivity is relatively low and is easily disturbed by environmental noise, especially in the detection of small leaks, which has certain limitations.

[0003] Laser gas remote sensing technology identifies gas leakage points through laser remote sensing, and has extremely high detection sensitivity, especially suitable for detecting small and micro gas leaks. However, the coverage area of laser gas remote sensing technology is relatively small, and it usually needs to be scanned point by point, which is low in efficiency and difficult to detect quickly in a large area.

[0004] The invention patent with application number 202310367613.8 discloses a multimodal natural gas leakage detection system and method, wherein the system includes a fiber optic acoustic monitoring subsystem, an optoelectronic signal monitoring subsystem, a movable optical image detection subsystem, and a multimodal analysis platform. The fiber optic acoustic monitoring subsystem includes a fiber optic monitoring module. Each group of fiber optic monitoring modules corresponds to a section of natural gas pipeline and includes two auxiliary optical fibers, at least one monitoring optical fiber, and corresponding fiber optic pulse emitters and fiber optic sensors. The optoelectronic signal monitoring subsystem includes an optoelectronic monitoring module. Each group of optoelectronic monitoring modules corresponds to a pipeline valve and includes laser emitters and photoelectric sensors arranged on both sides of the pipeline valve. The movable optical image detection subsystem includes a mobile detection module. Each group of mobile detection modules includes a mobile device, an optical gas camera, a positioner, and a signal transceiver. The above invention can monitor natural gas pipelines in real time and efficiently locate leakage points. However, the above patent has the problems of high construction complexity and high operation and maintenance cost due to the need for fiber winding above the natural gas pipeline, and poor detection effect for small leaks. UTILITY MODEL CONTENTS

[0005] In view of the technical problems in the prior art that ultrasonic detection has a wide coverage range but is not sensitive to small leaks, and laser gas remote sensing has high sensitivity but limited coverage area, the utility model provides a cloud platform scanning type gas leakage detection system based on multimodal sensing, which utilizes the large-area coverage capability of ultrasonic detection and the high sensitivity of laser gas remote sensing to achieve efficient and accurate detection of gas leakage.

[0006] In order to achieve the above object, the technical scheme of the utility model is as follows: a cloud platform scanning type gas leakage detection system based on multi-modal sensing, comprising a multi-modal sensing unit, an edge gateway and a monitoring platform, the multi-modal sensing unit is connected with the edge gateway, the edge gateway is connected with the monitoring platform, a three-dimensional explosion-proof cloud platform and a sensing module are arranged in the multi-modal sensing unit, the sensing module is movably arranged on the three-dimensional explosion-proof cloud platform, and the three-dimensional explosion-proof cloud platform and the sensing module are connected with the edge gateway.

[0007] Preferably, the sensing module comprises an ultrasonic detector and a laser gas remote detector, the ultrasonic detector and the laser gas remote detector are movably arranged on the two sides of the three-dimensional explosion-proof cloud platform respectively, and the ultrasonic detector and the laser gas remote detector are connected with the edge gateway.

[0008] Preferably, the three-dimensional explosion-proof cloud platform comprises a base, a rotating part is movably arranged on the upper end of the base, rotating shafts are movably arranged on the two sides of the upper part of the rotating part, a laser gas remote detector is arranged on one end of the rotating shaft, and an ultrasonic detector is arranged on the other end of the rotating shaft.

[0009] Preferably, the end of the other end of the rotating shaft is fixedly connected with a visible light camera, the ultrasonic detector is fixedly arranged on the lower part of the visible light camera, and the visible light camera is connected with the edge gateway.

[0010] Preferably, the bottom of the laser gas remote detector is provided with an infrared LED lamp matched with the visible light camera.

[0011] Preferably, a cable flange is arranged on the base, power supply cables and signal cables are arranged in the cable flange, the visible light camera, the ultrasonic detector and the laser gas remote detector are connected with the power supply through the power supply cables, and the visible light camera, the ultrasonic detector and the laser gas remote detector are connected with the edge gateway through the signal cables.

[0012] Preferably, a horizontal rotating motor is arranged in the base, the output end of the horizontal rotating motor is fixedly connected with the rotating part, a vertical rotating motor is arranged in the rotating part, the output end of the vertical rotating motor is connected with the rotating shaft through a worm and gear rotating structure, and the horizontal rotating motor and the vertical rotating motor are connected with the power supply through the power supply cables and connected with the edge gateway through the signal cables.

[0013] Preferably, the ultrasonic detector comprises a sound array module and a signal processing module, the sound array module is connected with the signal processing module, and the signal processing module is connected with the edge gateway; the sound array module comprises a plurality of ultrasonic microphone sensors, and the plurality of ultrasonic microphone sensors are uniformly distributed.

[0014] Preferably, the sensing module further comprises an environment sensor, and the environment sensor is connected with the edge gateway.

[0015] Preferably, the monitoring platform comprises a C / S monitor, a B / S remote monitoring platform and a mobile terminal, the C / S monitor is connected with the B / S remote monitoring platform, the B / S remote monitoring platform is connected with the mobile terminal, and the C / S monitor and the B / S remote monitoring platform are both connected with the edge gateway.

[0016] Compared with the prior art, the utility model has the advantages that: by organically combining ultrasonic detection and laser gas remote sensing technology, efficient and accurate gas leakage detection of large area is realized, and multi-modal intelligent data fusion algorithm, dynamic multi-target scanning optimization technology and self-adaptive environment compensation mechanism are introduced, realizing the following technical effects:

[0017] 1. Large area rapid coverage: by using the advantages of ultrasonic detection technology, large area can be quickly covered, and detection efficiency is effectively improved.

[0018] 2. High sensitivity detection: the introduction of laser gas remote sensing technology makes up for the low sensitivity of ultrasonic detection, and can accurately locate and quantify the leakage point.

[0019] 3. Fast response speed: the ultrasonic detector can quickly locate the leakage point in the early stage of leakage, effectively reduce the risk of leakage and reduce the loss of leakage.

[0020] 4. Multi-modal intelligent data fusion: by comprehensively processing data from ultrasonic detectors and laser gas remote sensors, comprehensive analysis of gas leakage information is realized. The edge gateway uses artificial intelligence technology to combine multi-source information, automatically identifies the leakage mode, filters out environmental noise, and improves the accuracy and reliability of detection. The edge gateway greatly enhances the intelligent level of the system by using multi-modal data fusion, realizing efficient detection in complex environments.

[0021] 5. Dynamic multi-target scanning optimization: for multi-point leakage in large area, a real-time adjustment scanning strategy is adopted. The utility model can dynamically optimize the scanning path according to the real-time detected leakage position and quantity, and ensure that the key area is detected first. By optimizing the scanning path and strategy, the utility model can cover the maximum range in the shortest time, improve the detection efficiency, and reduce the risk of missed detection

[0022] 6. Self-adaptive environment compensation: the self-adaptive compensation mechanism can automatically adjust the sensitivity and detection parameters of the sensor according to the environmental changes of the target monitoring area. The self-adaptive compensation mechanism is particularly important in complex or harsh environments, such as strong wind, rain, snow or high noise environment. Through real-time compensation mechanism, the detection accuracy can be maintained, and false positives or false negatives can be avoided. The self-adaptive compensation mechanism ensures the stability and reliability of the system under various environmental conditions.

[0023] 7. Automation detection: The automatic scanning function of the pan-tilt head combined with the intelligent control of the edge gateway, combined with C / S monitoring software or B / S remote monitoring platform, enables the system to automatically complete the leakage detection of a large area without manual intervention, improving the reliability and stability of the detection.

[0024] 8. Multi-level detection: The system seamlessly connects between preliminary detection and accurate detection, ensuring the accuracy and comprehensiveness of the detection results. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0026] Figure 1 The schematic diagram of the principle of the present application.

[0027] Figure 2 For Figure 1 The structural schematic diagram of the multi-modal sensing unit shown.

[0028] In the figure, 1 is a laser gas remote sensor, 2 is an infrared LED lamp, 3 is a rotating part, 4 is a base, 5 is a visible light camera, 6 is an ultrasonic detector, and 7 is a cable flange. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0030] As Figure 1As shown, a cloud head scanning gas leakage detection system based on multi-modal sensing includes a multi-modal sensing unit, an edge gateway and a monitoring platform, the multi-modal sensing unit is connected with the edge gateway, and the edge gateway is connected with the monitoring platform. The monitoring platform can correspond to multiple edge gateways. The multi-modal sensing unit realizes the collection of multiple modal data through a cloud head. The multi-modal sensing unit is provided with a three-dimensional explosion-proof cloud head and a sensing module, the sensing module is movably arranged on the three-dimensional explosion-proof cloud head, and the three-dimensional explosion-proof cloud head and the sensing module are connected with the edge gateway. The sensing module realizes the collection of multiple modal data, and the sensing module includes an ultrasonic detector 6 and a laser gas remote detector 1, the ultrasonic detector 6 and the laser gas remote detector 1 are movably arranged on two sides of the three-dimensional explosion-proof cloud head, and the ultrasonic detector 6 and the laser gas remote detector 1 are connected with the edge gateway, so as to transmit the collected data to the edge gateway. The multi-modal sensing unit is composed of the three-dimensional explosion-proof cloud head, the ultrasonic detector 6 and the laser gas remote detector 1, the ultrasonic detector 6 and the laser gas remote detector 1 are movably arranged on the three-dimensional explosion-proof cloud head, and the three-dimensional explosion-proof cloud head, the ultrasonic detector 6 and the laser gas remote detector 1 are connected with the edge gateway. The three-dimensional explosion-proof cloud head is driven by a motor and can rotate in the horizontal direction and the vertical direction, so as to realize gas scanning in multiple directions and angles of the ultrasonic detector 6 and the laser gas remote detector 1. The ultrasonic detector 6 is installed in a chamber on one side of the three-dimensional explosion-proof cloud head and is used for rapid detection of large-area gas leakage; the laser gas remote detector 1 is installed in a chamber on the other side of the three-dimensional explosion-proof cloud head and is used for secondary accurate re-detection of suspected leakage points detected by the ultrasonic detector. The edge gateway is provided with a multi-modal intelligent data fusion unit realized by using an existing deep learning algorithm. The edge gateway is responsible for data processing and transmission of the multi-modal sensor unit and realizes multi-modal intelligent data fusion. The monitoring platform is responsible for receiving transmission data of the edge gateway and realizes visual display of alarm information, data storage and big data mining analysis. The monitoring platform includes a C / S monitor, a B / S remote monitoring platform and a mobile terminal, the C / S monitor is connected with the edge gateway in a first mode, the B / S remote monitoring platform is connected with the C / S monitor, and the mobile terminal is connected with the B / S remote monitoring platform. In a second mode, the B / S remote monitoring platform is connected with the edge gateway, and the mobile terminal is connected with the B / S remote monitoring platform. The C / S monitor, the B / S remote monitoring platform and the mobile terminal realize visual display of detection data and video pictures, real-time viewing, data storage, setting of equipment inspection mode, target built area leakage risk level evaluation and leakage source inversion.

[0031] As Figure 2As shown, the three-dimensional explosion-proof holder includes a base 4, a rotating part 3 movably arranged at the upper end of the base 4, rotating shafts movably arranged at the upper part of the rotating part 3, the rotating shafts extending out of the two sides of the upper part of the rotating part 3, a laser gas remote tester 1 arranged at one end of the rotating shafts, the laser gas remote tester 1 achieving gas leakage detection of a target monitoring area, and the rotating shafts being connected with the rotating part 3. The other end of the rotating shafts is provided with an ultrasonic detector 6. The end of the other end of the rotating shafts is fixed with a visible light camera 5, and the ultrasonic detector 6 is fixed at the lower part of the visible light camera 5. The ultrasonic detector 6 is hard-connected with the visible light camera 5 through a cylindrical part II, and the visible light camera 5 is connected with an edge gateway. The visible light camera 5 achieves monitoring of the target monitoring area, collects visible light images of the detection area, and the visible light camera 5 and the ultrasonic detector 6 rotate together with the rotating shafts.

[0032] The bottom of the laser gas remote tester 1 is provided with an infrared LED lamp 2 matched with the visible light camera 5. The infrared LED lamp 2 improves the night monitoring clarity of the visible light camera 5, achieves accurate positioning of the leakage source at night, and is hard-connected with the laser gas remote tester 1 through a cylindrical part I. Because the infrared LED lamp 2 is fixed at the two sides of the rotating shafts, it rotates synchronously with the visible light camera 5.

[0033] The base 4 is provided with a cable flange 7, the cable flange 7 is provided with power supply cables and signal cables, and the cable flange 7 achieves safe access of the power supply cables and the signal cables. The visible light camera 5, the ultrasonic detector 6 and the laser gas remote tester 1 are connected with a power supply through the power supply cables, and the visible light camera 5, the ultrasonic detector 6 and the laser gas remote tester 1 are connected with the edge gateway through the signal cables.

[0034] The base 4 is provided with a horizontal rotating motor, the output end of the horizontal rotating motor is fixedly connected with the rotating part 3 through a worm gear transmission structure, and the rotating part 3 is continuously rotated in the horizontal direction by 360° through the horizontal rotating motor. The rotating part 3 is provided with a vertical rotating motor, the output end of the vertical rotating motor is connected with the middle part of the rotating shafts through a worm gear transmission structure, and the rotating shafts are synchronously rotated by the worm. The rotating shafts are rotated by the vertical rotating motor to achieve simultaneous vertical rotation of the laser gas remote tester 1, the infrared LED lamp 2, the visible light camera 5 and the ultrasonic detector 6 by 90° in positive and negative directions. The horizontal rotating motor and the vertical rotating motor are connected with a power supply through the power supply cables, and the horizontal rotating motor and the vertical rotating motor are connected with the edge gateway through the signal cables.

[0035] The ultrasonic detector 6 includes an acoustic array module and a signal processing module. The acoustic array module is connected to the signal processing module, and the signal processing module is connected to the edge gateway. The acoustic array module is composed of N ultrasonic microphone sensors arranged in a multi-arm spiral. The N ultrasonic microphone sensors are uniformly distributed and can simultaneously collect N audio signals. The signal processing module extracts features of the N audio signals, uses a beamforming algorithm and a sound source feature analysis algorithm to obtain the coordinates of the gas leakage point sound source, and superimposes the coordinates on a visible light image to visually display the gas leakage position.

[0036] The ultrasonic detector 6 detects gas leakage using the propagation characteristics of ultrasonic waves. When a pressurized gas leaks, an abnormal sound signal is generated near the leakage hole, and more energy is concentrated in the ultrasonic frequency band. The ultrasonic detector 6 uses an array of ultrasonic microphone sensors to scan ultrasonic signals in the monitoring area, monitors the energy changes, and uses a beamforming algorithm to locate the sound source point, which can quickly locate the gas leakage position. Its advantage is that it can quickly cover a large area, suitable for preliminary scanning and identifying potential gas leakage points. Because ultrasonic waves have strong penetration, they can penetrate obstacles and work in complex environments.

[0037] The laser gas remote detector 1 detects and quantifies gas leakage using the absorption characteristics of specific wavelengths of laser light by gas molecules. When laser light passes through an area where gas leakage may exist, gas molecules absorb part of the laser energy, changing the intensity or phase of the laser light. By analyzing these changes, the laser gas remote detector 1 can accurately locate the leakage point and reverse the concentration and leakage rate of the gas. Laser gas detection has high sensitivity and high precision, and can accurately locate the leakage source in complex environments.

[0038] The sensing module also includes an environmental sensor connected to the edge gateway. The edge gateway has a main control module connected to the visible light camera 5, the ultrasonic detector 6, the laser gas remote detector 1, and the environmental sensor. According to the environmental values obtained by the environmental sensors such as temperature and humidity sensors and pressure sensors, the main control module performs adaptive environmental compensation processing. According to the comparison between the on-site environmental parameters and the preset environmental parameter model, the gain coefficient of the detection data of the ultrasonic detector 6 and the laser gas remote detector 1 is adjusted in real time.

[0039] When the system is working, the ultrasonic detector 6 first performs a preliminary all-around area scan. This process includes the following steps:

[0040] All-around scanning: the three-dimensional explosion-proof holder is driven by a motor, and drives the ultrasonic detector 6 to rotate and scan in the horizontal and vertical directions by 360 degrees. The acoustic array module of the ultrasonic detector 6 is responsible for collecting N audio signals, and sends the collected signal data to a signal processing module. The signal processing module uses a sound source feature analysis algorithm and a beam forming algorithm to determine the gas leakage state and obtain the sound source angle information, generates an audio spatial spectrum cloud chart, and superimposes the visible light image generated by the visible light camera, so as to obtain an acoustic image of the gas leakage position, and mark the sound pressure value of the gas leakage in the acoustic image.

[0041] Precise detection and review: the edge gateway receives the sound source angle information of the leakage point and the acoustic image of the gas leakage position returned by the ultrasonic detector 6 in real time, and controls the holder to rotate according to the sound source angle information, so that the detection beam of the laser gas remote detector 1 irradiates the leakage area, and the small-range dynamic secondary accurate re-inspection is carried out around the sound source angle of the leakage point. After the secondary re-inspection is completed, the edge gateway compares the position of the leakage point by using a video correction guiding function according to the acoustic image of the leakage point, confirms the accurate position of the gas leakage, and evaluates the severity of the leakage.

[0042] Data fusion and alarm: the edge gateway performs multi-modal fusion analysis on the data of ultrasonic detection, laser gas remote detection and environmental parameters, superimposes the fused data on the video screen of the visible light camera in real time, and transmits the data to the monitoring platform through the edge gateway. The monitoring platform judges whether to trigger an alarm according to a preset threshold value, and stores the data for subsequent big data analysis and mining.

[0043] Through the above steps, the detection system of the utility model not only improves the speed and accuracy of gas leakage detection, but also realizes efficient fusion and intelligent analysis of data, so that the whole process is more automated and reliable.

[0044] In a scene with low detection sensitivity requirement, the utility model can only use ultrasonic detection technology to reduce the complexity and cost of the system; or in a scene with low coverage requirement, only laser gas remote detection technology is used to improve the detection sensitivity.

[0045] The utility model can also use other types of sensors, such as infrared gas imaging technology, to replace or assist the ultrasonic detector 6 or the laser gas remote detector 1, so as to improve the multifunctionality of the system and the adaptability of the detection.

[0046] The above is only a preferred embodiment of the utility model, and is not used to limit the utility model. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the utility model shall be included in the protection scope of the utility model.

Claims

1. A multi-modal sensor based pan-tilt-scanning gas leak detection system, comprising: The application relates to a multi-modal sensing unit, an edge gateway and a monitoring platform, wherein the multi-modal sensing unit is connected with the edge gateway, and the edge gateway is connected with the monitoring platform; a three-dimensional explosion-proof holder and a sensing module are arranged in the multi-modal sensing unit, the sensing module is movably arranged on the three-dimensional explosion-proof holder, and the three-dimensional explosion-proof holder and the sensing module are connected with the edge gateway.

2. The multi-modal sensor based pan-tilt-scanning gas leak detection system of claim 1, wherein, The sensing module comprises an ultrasonic detector (6) and a laser gas telemeter (1), the ultrasonic detector (6) and the laser gas telemeter (1) are movably arranged on the two sides of the three-dimensional explosion-proof holder, and the ultrasonic detector (6) and the laser gas telemeter (1) are connected with the edge gateway.

3. The multi-modal sensor based pan-tilt-scanning gas leak detection system of claim 2, wherein, The three-dimensional explosion-proof holder comprises a base (4), a rotating part (3) is movably arranged on the upper end of the base (4), rotating shafts are movably arranged on the two sides of the upper part of the rotating part (3), one end of the rotating shaft is provided with the laser gas telemeter (1), and the other end of the rotating shaft is provided with the ultrasonic detector (6).

4. The multi-modal sensor based pan-tilt-scanning gas leak detection system of claim 3, wherein, The other end of the rotating shaft is fixedly provided with a visible light camera (5), the ultrasonic detector (6) is fixedly arranged on the lower part of the visible light camera (5), and the visible light camera (5) is connected with the edge gateway.

5. The multi-modal sensor based pan-tilt-scanning gas leak detection system of claim 4, wherein, The bottom of the laser gas telemeter (1) is provided with an infrared LED lamp (2) matched with the visible light camera (5).

6. The pan-tilt scanning gas leak detection system based on multi-modal sensing of any one of claims 3-5, wherein, The base (4) is provided with a cable flange (7), the cable flange (7) is internally provided with power supply cables and signal cables, the visible light camera (5), the ultrasonic detector (6) and the laser gas telemeter (1) are connected with the power supply through the power supply cables, and the visible light camera (5), the ultrasonic detector (6) and the laser gas telemeter (1) are connected with the edge gateway through the signal cables.

7. The multi-modal sensor based pan-tilt scanning gas leak detection system of claim 6, wherein, The base (4) is internally provided with a horizontal rotating motor, the output end of the horizontal rotating motor is fixedly connected with the rotating part (3); the rotating part (3) is internally provided with a vertical rotating motor, the output end of the vertical rotating motor is connected with the rotating shaft through a worm and gear rotating structure; the horizontal rotating motor and the vertical rotating motor are connected with the power supply through the power supply cables, and the horizontal rotating motor and the vertical rotating motor are connected with the edge gateway through the signal cables.

8. The multi-modal sensor based pan-tilt scanning gas leak detection system according to any one of claims 2-5, 7, wherein, The ultrasonic detector (6) comprises a sound array module and a signal processing module, the sound array module is connected with the signal processing module, and the signal processing module is connected with the edge gateway; the sound array module comprises a plurality of ultrasonic microphone sensors, and the ultrasonic microphone sensors are uniformly distributed.

9. The multi-modal sensor based pan-tilt scanning gas leak detection system of claim 8, wherein, The sensing module further comprises an environment sensor, and the environment sensor is connected with the edge gateway.

10. The multi-modal sensor based pan-tilt scanning gas leak detection system of claim 9, wherein, The monitoring platform comprises a C / S monitor, a B / S remote monitoring platform and a mobile terminal, the C / S monitor is connected with the B / S remote monitoring platform, the B / S remote monitoring platform is connected with the mobile terminal, and the C / S monitor and the B / S remote monitoring platform are connected with the edge gateway.

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