CN107462380A - A kind of gas leakage freedom positioning device and method based on intelligent smell vision - Google Patents
A kind of gas leakage freedom positioning device and method based on intelligent smell vision Download PDFInfo
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- CN107462380A CN107462380A CN201710620378.5A CN201710620378A CN107462380A CN 107462380 A CN107462380 A CN 107462380A CN 201710620378 A CN201710620378 A CN 201710620378A CN 107462380 A CN107462380 A CN 107462380A
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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Abstract
The invention discloses a kind of gas leakage freedom positioning device and method based on intelligent smell vision.The device includes 12 parts such as travel mechanism, Artificial Olfactory unit, machine vision unit, main control module, Wireless data transmission unit and battery pack.In monitoring leakage, the present apparatus monitors atmospheric conditions by atmospheric conditions monitoring unit, the visible and infrared picture data monitored by the target gas levels and machine vision unit that monitor Artificial Olfactory unit normalizes, obtain gas leakage gross information content, by the information gradient disparities for calculating the multi-point in mobile route, device is moved to the direction that total information gradient increases, finally terminated in the maximum point of total information character gradient coefficient.The present invention can realize complexity ground space environment under, the autonomous fast positioning of earth's surface and underground volatile media storage and transportation apparatus leak position.The present invention has the advantages that low, easy to operate, the real-time continuous monitoring of monitoring cost, not limited by external environment condition.
Description
Technical field
The present invention relates to gas detection monitoring technology, electronic information, mechanical engineering, safety engineering, chemical equipment, oil gas storage
The fields such as fortune, more particularly to a kind of gas leakage freedom positioning device and method based on intelligent smell vision, can be effectively
Realize under complicated special large space environment, the automatic monitoring identification of dangerous volatile media premature leak and fast positioning.
Background technology
The materials such as oil, natural gas, Organic Chemicals occupy consequence in industrial processes, these materials
Often all there is volatile nature.In the storage and transport process of these materials, leakage, which occurs, for storage-transport vessel pipeline to cause
Potential significant damage.It is to make at present that intoxicating caused by dangerous volatile media diffusion or even blast is lethal caused by leakage
Into one of the main reason for major casualties.Thus, it is special that leakage monitoring is carried out to dangerous volatile media accumulating yard storehouse
Monitor and identify for premature leak, and be accurately positioned, help to reduce or avoid due to leaking the risk brought, reduce by
In the harm that leakage is brought.
Several main leakage monitoring methods used at present on the leakage of volatile media accumulating pipe container
Mainly have：
(1) sensing cable, optical fiber leak detection：Using detection cable and optic fibre characteristic, according to leaking medium to sensing cable electricity
The change of characteristic and optical fiber optical characteristics is learned, so as to accurately be responded, leakage can also be obtained according to related algorithm
Position, it is mainly used in long-distance transport pipes leakage monitoring.Although sensing cable and optical fiber leak hunting technology can be detected more accurately
To leakage signal, but it main problem is that needs are embedded to cable or optical fiber along pipeline, construction is more complicated, and cost compares
Height, and container class leakage monitoring can not be applicable.
(2) leakage field, ultrasonic wave, acoustic emission：By between container material defect and magnetic field signal, acoustic signals
Dependency relation, chamber wall defect, particularly crack defect can be detected.This several method is mainly used in pressure vessel and let out at present
Among leakage monitoring, but this several method is suitable for material local defect, and is typically only capable to overhaul after equipment parking,
On-line monitoring difficult to realize, so relatively difficult for large-scale leakage monitoring.
(3) gas leakage medium single-point monitoring and warning：Presently used gas leakage monitoring, be all by based on optics,
The one point sensing device of the principles such as electrochemistry, although these sensors can detect the concentration signal after obvious leakage occurs, enter
Row alarm, but due to premature leak produce gas it is more micro, it is easy to be interfered, and these traditional detection means due to
Have the shortcomings that detection range is limited, single physical property selects sensor poor anti jamming capability, early warning hysteresis, it is micro for premature leak
Vestige gas is difficult to be accurately detected.
And mainly applied for leak position, current correlation technique in terms of long-distance transport pipes, mainly there is detection electricity
The side of cable, optical fiber, also the pipeline leakage testing localization method based on barometric gradient time series analysis, fault model wave filter
Method, kalman filter method, statistical method, the pipe based on suction wave of the gas based on dynamic quantity balance and fluid pipeline
It is road leakage detection and localization method, residual based on the pipeline leakage detection and location method of sonic detection, nonlinear observer in pipe
Poor positioning, oscillatory flow exciting signal frequency response method, pipeline leakage detection method based on statistical analysis etc..And for big face
The means that the positioning of product container storage tank yard storehouse leakage largely uses at present are positioned manually by leakage detecting instrument, efficiency compared with
It is low, and operational risk is higher.
In summary, because current volatile media container conduit leakage monitoring and localization method still come with some shortcomings,
Need further in terms of pipe container yard storehouse monitoring positioning in the range of the micro vestige gas identification of leakage early stage and large space
Research and development.
The content of the invention
In order to overcome above-mentioned prior art deficiency, it is autonomous that the present invention provides a kind of gas leakage based on intelligent smell vision
Positioner and method.
The technical proposal of the invention is realized in this way：
A kind of gas leakage freedom positioning device based on intelligent smell vision, device are made up of 12 parts, each several part
Between structural relation be：Travel mechanism is made up of two crawler belts and chassis, and other funtion parts are mounted in travel mechanism,
The column installed on chassis carries monitoring platform, and 5 functional units are equipped with monitoring platform.Company between device each several part
The relation of connecing is：Carried out data transmission between travel mechanism and main control module by internal bus, charging inlet is direct with battery pack
It is connected, can direct electric energy supplement.There are 5 functional units on monitoring platform, wherein, Artificial Olfactory unit, monitoring platform control are single
Member, machine vision unit, atmospheric conditions monitoring unit, four units are connected by internal bus with main control module, no line number
Communicated with PC remote terminals by wireless communication protocol according to delivery unit, and be connected by internal bus with main control module.It is overall
Two units of device front end are avoiding obstacles by supersonic wave unit and Artificial Olfactory unit, and two units pass through internal bus and master control
Module connects.The battery pack of device side is powered to whole device, and solar panel can give battery pack electric energy supplement.
Three atmospheric conditions monitoring unit, Artificial Olfactory unit, machine vision unit units are each independent.Three units are adopted
The data collected are transmitted directly to main control module by internal bus, and main control module carries out pattern-recognition.
Atmospheric conditions monitoring unit is mainly made up of air velocity transducer, wind transducer, wind-warm syndrome sensor, three sensors
Between it is each independent, the data collected are passed into main control module by internal bus respectively.
The Artificial Olfactory unit has two groups, and every group of gas sensor array by 8 different responses is formed.Lineup's work
Smell unit is arranged on monitoring platform, and another group of Artificial Olfactory unit is arranged on the front end of single unit system.
The machine vision unit is made up of two parts, respectively visual light imaging unit and Passive IR imaging unit.
It is characterized in that, it is seen that and infrared imaging unit shares primary mirror, is made up of a set of infrared visible Integral imaging unit, using not
Same optical filtering and optical imaging system.
Wireless data transmission unit is mainly made up of wireless transmission and receiving unit, can be connect by wireless communication protocol
PC remote terminal informations are received, while information can be sent to PC remote terminals.
Solar charging electric unit can give battery pack electric energy supplement.By wired charhing unit to battery before execution monitoring task
Group charging, can give battery pack electric energy supplement during operation by solar charging electric unit out of doors.
Mainly by pattern-recognition and positioning unit, monitoring platform adjustment unit, mobile control unit, electricity inside main control module
Source control unit and communication unit are formed, and are communicated between five units by way of internal data transfer.
Pattern-recognition and positioning unit include：The information monitored according to Artificial Olfactory unit carries out gas qualitative, quantitative knowledge
Not；The view data monitored according to machine vision unit carries out leaking cloud cluster concentration and position identification；It is special according to visible images
Sign carries out feature recognition to scene facility to be measured；Fusion smell, infrared, visible imaging data, which carry out source of leaks information fusion, to be determined
Position.
A kind of gas leakage autonomic positioning method based on intelligent smell vision, comprises the following steps：
(1) by outside reference coordinate, after the gridding of monitored area, the coordinate of freedom positioning device is initialized, with can
Variable step, advance from current location according to Z-shaped track；
(2) the total information degree of the apex of each Z-shaped track four is recorded, total information degree is obtained by Artificial Olfactory unit
Concentration information and Passive IR imaging unit obtain leakage cloud cluster concentration information normalization summation obtain；
(3) total information graded in each each direction of advance in Z-shaped track is calculated.If unchanged, according to silent
Recognize track to continue to move ahead, if total information gradient changes, adjustment direction, the direction maximum towards total information gradient, advance one
Individual step-length；
(4) after a step-length of advancing, continued search for Z-shaped track, until finding total information character gradient coefficient maximum
Point untill, this point can determine whether as source of leaks position, and send positional information and in this position monitoring to PC remote terminals
Gas concentration information.
Compared with prior art, the present invention has technique effect beneficial below：
(1) a kind of gas leakage freedom positioning device and method based on intelligent smell vision proposed by the present invention, it is let out
The identification of gas leakage body is based on artificial intelligence smell and vision system, can realize to leakage early stage micro vestige gas-monitoring and knowledge
Not；
(2) a kind of gas leakage freedom positioning device and method based on intelligent smell vision proposed by the present invention, simultaneously
Monitoring leakage gas concentration, leakage cloud cluster concentration, atmospheric conditions, according to gas leakage diffusion concentration distribution principle, design leakage
Source running fix algorithm, realize the autonomous fast positioning of source of leaks.
(3) a kind of gas leakage freedom positioning device and method based on intelligent smell vision proposed by the present invention, with reference to
The functions such as leak position algorithm, mobile control, power supply, radio communication, can be realized in the case of pilotless, on ground
Face monitors and follows the trail of leakage source position automatically.
(4) a kind of gas leakage freedom positioning device and method based on intelligent smell vision proposed by the present invention, can be with
Positioning is monitored automatically used in Oil ＆ Gas Storage yard storehouse, chemical industry plant area volatile danger medium accumulating region, may be also used in big
Among the monitoring and leakage positioning of the dangerous matter sources gases such as type volatility dangerous material storage region, while it may be also used in leakage and trigger
When the disasters such as fire occur, go deep into the autonomous unattended identification that danger zone carries out disaster environment situation and dangerous matter sources.
Brief description of the drawings
Fig. 1 is apparatus of the present invention schematic diagram；
Fig. 2 apparatus of the present invention structural representations；
Wherein 201- travel mechanisms, 202- charging inlets, 203- main control modules, 204- Artificial Olfactory units, 205- monitorings
Platform adjustment unit, 206- machine vision units, 207- Wireless data transmission units, 208- atmospheric conditions monitoring unit, 209-
Solar charging electric unit, 210- battery packs, 211- avoiding obstacles by supersonic wave units, 212- Artificial Olfactory units
Fig. 3 freedom positioning device algorithm basic flow sheets；
Fig. 4 freedom positioning device algorithm general principle figures；
Wherein 401 be source of leaks, and 402 be gas diffusion isoconcentrate, and 403 be motion track point, and 404 be moving step length a,
405 moving step length b, 406 be total information gradient augment direction.
Embodiment
With reference to specific example and accompanying drawing, the present invention is described in further detail, and described is the solution to the present invention
Release rather than limit.
The technological means that the present invention uses is：
(1) freedom positioning device is positioned in monitored area and performs monitoring location tasks, travel mechanism's support is whole to move
Dynamic monitoring platform；Atmospheric conditions monitoring unit, machine vision unit and Artificial Olfactory unit collect monitoring position in monitoring process
Put that the atmospheric conditions at place, gas leakage concentration information, monitoring angular field of view be visible and the data message such as passive infrared image scene；
The data message monitored is transferred to main control module by internal bus and handled, and carries out pattern-recognition, the adjustment of device route, monitoring
Platform adjustment, remote data transmission etc. operate；It can be passed in the data message that monitoring platform obtains by Wireless data transmission unit
PC remote control terminals are passed, data can also be handled in PC remote terminals, concurrently send signal control device towards finger
Advance in fixed direction；Battery pack and solar panel are powered for whole freedom positioning device.
(2) carried in travel mechanism simultaneously, the backup confession that solar charging electric unit is used for device is also carried in travel mechanism
Electricity.Other modules carried in travel mechanism's module can be communicated with main control module by internal bus and data transfer.
(3) in travel mechanism, while 1 atmospheric conditions monitoring unit is carried, 1 machine vision unit, 2 groups are manually smelt
Feel unit.Atmospheric conditions monitoring unit, monitoring air wind speed, wind direction, wind-warm syndrome parameter, needs for follow-up localization process；Machine
Visual unit is made up of visual light imaging unit and Passive IR imaging unit, and the two shares primary mirror, using different optical filterings and
Optical imaging system, monitoring leakage region is visible and the data such as IR Scene image.Passive IR imaging unit can detect
Leakage cloud cluster concentration feature in camera lens visual range, it is seen that photoimaging can be set with the surrounding environment in detecting lenses visual range
Situations such as applying.
(4) the Artificial Olfactory unit carried in travel mechanism has 2 groups, and every group is all passed by the air-sensitive of 8 different response characteristics
Sensor forming array.Lineup's work smell unit is arranged on monitoring platform, is believed for detecting gas leakage concentration in atmosphere
Breath；Another group of Artificial Olfactory unit is arranged on device front end, detects the gas leakage concentration information near surface.
(5) main control module can monitor according to atmospheric conditions monitoring unit, machine vision unit and Artificial Olfactory unit
During collect atmospheric conditions, gas leakage concentration information, angular field of view is visible and the number such as passive infrared image scene for monitoring
It is believed that breath, obtains gas leakage concentration information and leakage cloud cluster graphic feature, changes according to characteristic parameter to predict and adjust shifting
Dynamic path, and podium level is adjusted according to avoiding obstacles by supersonic wave unit automatic obstacle-avoiding, while according to scene changes, and receive to come from PC
The information of remote terminal, adjust mobile route.
(5) pattern-recognition and positioning unit are located inside main control module, and its major function is：Supervised according to Artificial Olfactory unit
The signal of survey carries out gas leakage qualitative, quantitative identification；It is dense that the view data monitored according to machine vision unit carries out leakage cloud cluster
Degree and position feature identification；Feature recognition is carried out to scene facility to be measured according to visible images feature；Merge smell, it is infrared,
Visual light imaging data carry out leak position.
(6) monitor start when, freedom positioning device by external reference node gridization by monitoring space, and to going out
Hair point carries out coordinate initialization.After monitoring starts, freedom positioning device relies on default step-length and path, before Z-shaped track
OK, often advance and complete " Z " route, calculate total normalization information content of four apexes on track.Gross information content is by artificial
The leakage cloud cluster concentration information that the gas leakage quantitative concentrations information and Passive IR imaging unit that smell unit obtains obtain is returned
Sum and obtain after one change.
Then the total information gradient of any two zenith directions is calculated, if total information gradient changes, adjusts moving direction
The direction maximum towards total information gradient is advanced a step-length, continues to move ahead according to Z-shaped track, while calculates gross information content, total
Information gradient and the coefficient of variation for often completing 4 its maximum information gradients of Z-shaped track, because the coefficient of variation being capable of response data
Group deviates the behavior of overall statistical law, once and searching position crosses a certain scope, the change of total information gradient near source of leaks
Obvious exception occurs in change.
So source of leaks can be found very accurately using the coefficient of variation for searching for information gradient, thus the present apparatus is set in
Total information character gradient index variation maximum point is found in search procedure, that is, is defined as leaking source position, and to PC remote terminals
Send current location information and Monitoring Data information.
As shown in Figure 1, 2, 3, it is of the present invention it is a kind of based on intelligent smell vision gas leakage freedom positioning device and
Method is mainly made up of 12 parts, and each several part major function is：
Travel mechanism 201：Freedom positioning device is positioned in monitored area and performs monitoring location tasks, travel mechanism
The 201 whole mobile monitoring device platforms of support；And it can receive what is sent by main control module or Wireless data transmission module
Data, adjust mobile route.
Charging inlet 202：To battery pack electric energy supplement, single unit system normal operation is maintained.
Main control module 203：The data monitored are handled by main control module, carry out gas componant identification and gas is dense
Degree identification, the route adjustment of device, monitoring platform highly adjusts, data transfer to PC remote terminals etc. operates；
Artificial Olfactory unit 204,212：Atmospheric conditions, the gas leakage that monitoring opening position is collected in monitoring process are dense
Degree；
Monitoring platform adjustment unit 205：In monitoring process, by analysis of the main control module to information data, it can obtain
The general height of cloud cluster is leaked, and monitoring platform adjustment unit is communicated information to by internal bus, to the height of monitoring platform
Degree is adjusted, so as to more accurately detect leakage information data；
Machine vision unit 206：Monitor that angular field of view is visible and the data such as passive infrared image scene, and by Monitoring Data
Information is transferred to main control module by internal bus and handled.
Wireless data transmission unit 207：It can be transmitted in the data that monitoring platform obtains by Wireless data transmission module 207
PC remote terminals are given, PC remote terminals can carry out analysis judgement to signal, and can also send instruction makes freedom positioning device court
The direction movement specified.
Atmospheric conditions monitoring unit 208：Atmospheric conditions monitoring unit is passed by air velocity transducer, wind transducer, wind-warm syndrome
Sensor is combined, while monitors wind speed, wind direction and wind-warm syndrome data, and data message is transferred into master control mould by internal bus
Block, data are analyzed by main control module, and then before sending the direction that control instruction allows device to increase towards total information gradient
Enter.
Battery pack 210：Powered for single unit system, maintain normal operation.
Solar battery cell 209：Solar charging electric unit can give battery pack electric energy supplement.Battery before execution monitoring task
Group charging, can give battery pack electric energy supplement during operation by solar charging electric unit out of doors.
Avoiding obstacles by supersonic wave unit 211：Using whether having barrier in front of ultrasonic detection device, be set in from barrier away from
Place from 15cm to 25cm is stopped, and cut-through thing continues to advance and reconnoiter towards the maximum direction of total information gradient.
Device work general flow be：
As shown in Fig. 2 freedom positioning device is positioned in monitored area, by external reference node, gridding monitoring
Region, presets monitoring initial coordinate, path and step-length, and freedom positioning device carries atmospheric conditions monitoring unit (Figure 20 8) monitoring
Air wind speed, wind direction and temperature, lineup's work smell unit (Figure 20 8) and a machine vision unit are carried in monitoring platform
(Figure 20 4), the gas leakage concentration that Artificial Olfactory unit is used in atmospheric sounding, machine vision unit are used to detect in vision model
Enclose internal leakage air mass feature and environmental facility feature.Another group of Artificial Olfactory unit (Figure 21 2) in device front end detects simultaneously
From near surface gas leakage concentration.During traveling, while being powered by battery pack (Figure 21 0), it can also pass through
Solar charging electric unit (Figure 20 9) carries out automatic charging to battery pack, keeps electric power sufficient.
Mobile control unit in main control module, can be according to spy by avoiding obstacles by supersonic wave unit (Figure 21 1) detection data
Measurement information automatically controls travel mechanism's avoidance, realizes automatic obstacle avoidance functions, while receives from pattern-recognition and positioning unit
Control signal adjusts mobile route.As shown in figure 4, device is with fixed step size an a and b (Figure 40 4, Figure 40 5), according to Z-shaped track
Advance.Artificial Olfactory unit detects gas response and carries out concentration quantitative identification, Passive IR imaging by algorithm for pattern recognition
Unit detects leakage cloud cluster and realized by Infrared image feature mode recognizer.Artificial Olfactory unit and machine vision unit
Obtained concentration information is expressed by obtaining total information degree after normalization, and it is directly proportional to concentration of component.It is complete in each " Z " track
Cheng Hou, calculate total information degree gradient between the summit any two points of " Z " track four.The diffusion principle of gas leakage in an atmosphere is
Using source of leaks as origin (Figure 40 1), along downwind according to elliptical orbit isoconcentrate, such as the diffusion mobilities of Figure 40 2.Moved in device
During dynamic, tracing point 404 is by using the principle, continuous adjusting apparatus moving direction, towards the direction of total information degree increase
(Figure 40 6) advances, until finding position maximum with concentration dependent total information character gradient coefficient in monitored area, so that it may sentence
Disconnected source of leaks is located at the region, and device is sent at positional information and source of leaks by Wireless data transmission module to PC remote terminals
Smell visual information, complete search mission.
Claims (9)
1. a kind of gas leakage freedom positioning device based on intelligent smell vision, it is characterised in that travel mechanism (201) is by two
Bar crawler belt and chassis composition, other funtion parts are mounted in travel mechanism (201), and the column installed on chassis, which carries, supervises
Platform is surveyed, 5 functional units are equipped with monitoring platform, by internal total between travel mechanism (201) and main control module (203)
Line carries out data transmission, and charging inlet (202) is joined directly together with battery pack (210), there is 5 functional units on monitoring platform, its
In, Artificial Olfactory unit (204), monitoring platform control unit (205), machine vision unit (206), atmospheric conditions monitoring unit
(208), four units are connected by internal bus with main control module (203), and Wireless data transmission unit (207) is by wireless
Communication protocol communicates with PC remote terminals, and is connected by internal bus with main control module (203), avoiding obstacles by supersonic wave unit
(211) it is connected respectively with main control module (203) with Artificial Olfactory unit (212).
2. a kind of gas leakage freedom positioning device based on intelligent smell vision according to claim 1, its feature exist
In (206) three atmospheric conditions monitoring unit (208), Artificial Olfactory unit (204,212), machine vision unit units are each
Independent, the data that three units collect are transmitted directly to main control module (203) by internal bus, and main control module enters row mode
Identification.
3. a kind of gas leakage freedom positioning device based on intelligent smell vision according to claim 2, its feature exist
In atmospheric conditions monitoring unit (208) is made up of air velocity transducer, wind transducer, wind-warm syndrome sensor, between three sensors
It is each independent, the data collected are passed into main control module (203) by internal bus respectively.
4. a kind of gas leakage freedom positioning device based on intelligent smell vision according to claim 2, its feature exist
In the Artificial Olfactory unit (204,212) has two groups, and every group of gas sensor array by 8 different responses is formed, one group
Artificial Olfactory unit (204) is arranged on monitoring platform, before another group of Artificial Olfactory unit (212) is arranged on single unit system
End.
5. a kind of gas leakage freedom positioning device based on intelligent smell vision according to claim 1 or 2, its feature
It is, the machine vision unit (206) is made up of two parts, respectively visual light imaging unit and Passive IR imaging list
Member, it is seen that and infrared imaging unit shares primary mirror, is made up of a set of infrared visible Integral imaging unit, using different optical filterings
And optical imaging system.
6. a kind of gas leakage freedom positioning device based on intelligent smell vision according to claim 1, its feature exist
In Wireless data transmission unit (207) is made up of wireless transmission and receiving unit, and it is long-range to receive PC by wireless communication protocol
End message, while send information to PC remote terminals.
7. a kind of gas leakage freedom positioning device based on intelligent smell vision according to claim 1, its feature exist
In main control module (203) is internal by pattern-recognition and positioning unit, monitoring platform adjustment unit, mobile control unit, power supply control
Unit and communication unit processed are formed, and are communicated between five units by way of internal data transfer.
8. a kind of gas leakage freedom positioning device based on intelligent smell vision according to claim 7, its feature exist
In pattern-recognition and positioning unit include：The information monitored according to Artificial Olfactory unit carries out gas qualitative, quantitative identification；According to
The view data of machine vision unit monitoring carries out leaking cloud cluster concentration and position identification；According to visible images feature to be measured
Scene facility carries out feature recognition；Merge smell, infrared, visible imaging data carries out source of leaks information fusion positioning.
A kind of 9. gas leakage autonomic positioning method based on intelligent smell vision, it is characterised in that：
(1) by outside reference coordinate, after the gridding of monitored area, the coordinate of freedom positioning device is initialized, with variable step
It is long, advance from current location according to Z-shaped track；
(2) the total information degree of the apex of each Z-shaped track four is recorded, total information degree is obtained dense by Artificial Olfactory unit
The leakage cloud cluster concentration information normalization summation that degree information and Passive IR imaging unit obtain obtains；
(3) total information graded in each each direction of advance in Z-shaped track is calculated；If unchanged, according to acquiescence rail
Mark continues to move ahead, if total information gradient changes, adjustment direction, and the direction maximum towards total information gradient, a step of advancing
It is long；
(4) after a step-length of advancing, continued search for Z-shaped track, until finding the maximum point of total information character gradient coefficient
Untill, this point can determine whether as source of leaks position, and send positional information and the gas in this position monitoring to PC remote terminals
Bulk concentration information.
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| CN108444653A (en) * | 2018-03-09 | 2018-08-24 | 北京理工大学 | A kind of face formation ultrasonic gas leak point positioning detection device and method |
| CN108920818A (en) * | 2018-06-29 | 2018-11-30 | 中国安全生产科学研究院 | Hazardous chemical gas leakage isoconcentrate centroid trajectory is traced to the source algorithm |
| CN109900431A (en) * | 2018-11-13 | 2019-06-18 | 阿里巴巴集团控股有限公司 | The detection method and device of container state, electronic equipment |
| CN111141460A (en) * | 2019-12-25 | 2020-05-12 | 西安交通大学 | Equipment gas leakage monitoring system and method based on artificial intelligence sense organ |
| CN112345201A (en) * | 2020-11-10 | 2021-02-09 | 中国石油大学(北京) | Gas leakage detection method and system |
| CN112709935A (en) * | 2020-12-09 | 2021-04-27 | 解光有 | Equipment gas leakage monitoring system and method based on artificial intelligence sense organ |
| CN113375712A (en) * | 2021-04-30 | 2021-09-10 | 西安交通大学 | Special operation is looked and is smelt flexible thing of safe recognition and allies oneself with system |
| CN114034737A (en) * | 2021-11-16 | 2022-02-11 | 北京航空航天大学 | Sense system based on sense of smell |
| CN114047305A (en) * | 2022-01-14 | 2022-02-15 | 中国农业科学院农业信息研究所 | Three-dimensional measurement system and method for gas concentration of greenhouse |
| CN114486128A (en) * | 2022-02-18 | 2022-05-13 | 汉威科技集团股份有限公司 | Gas leakage detection device and method integrating ultrasonic wave and passive infrared imaging |
| CN114689804A (en) * | 2022-04-14 | 2022-07-01 | 北京环拓科技有限公司 | Method for intelligently monitoring dangerous gas leakage based on VOC gas cloud imaging |
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