CN114965896A - Method and device for detecting concentration of indoor sulfur hexafluoride - Google Patents
Method and device for detecting concentration of indoor sulfur hexafluoride Download PDFInfo
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- CN114965896A CN114965896A CN202210612318.XA CN202210612318A CN114965896A CN 114965896 A CN114965896 A CN 114965896A CN 202210612318 A CN202210612318 A CN 202210612318A CN 114965896 A CN114965896 A CN 114965896A
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- 229910018503 SF6 Inorganic materials 0.000 title claims abstract description 169
- SFZCNBIFKDRMGX-UHFFFAOYSA-N sulfur hexafluoride Chemical compound FS(F)(F)(F)(F)F SFZCNBIFKDRMGX-UHFFFAOYSA-N 0.000 title claims abstract description 169
- 229960000909 sulfur hexafluoride Drugs 0.000 title claims abstract description 169
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000001514 detection method Methods 0.000 claims abstract description 55
- 238000007689 inspection Methods 0.000 claims description 6
- 230000004044 response Effects 0.000 claims description 6
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 5
- 229910052760 oxygen Inorganic materials 0.000 description 5
- 239000001301 oxygen Substances 0.000 description 5
- 239000007789 gas Substances 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000001931 thermography Methods 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
- G01N33/0009—General constructional details of gas analysers, e.g. portable test equipment
- G01N33/0062—General constructional details of gas analysers, e.g. portable test equipment concerning the measuring method or the display, e.g. intermittent measurement or digital display
- G01N33/0063—General constructional details of gas analysers, e.g. portable test equipment concerning the measuring method or the display, e.g. intermittent measurement or digital display using a threshold to release an alarm or displaying means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
- G01N33/0009—General constructional details of gas analysers, e.g. portable test equipment
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
- G01N33/0009—General constructional details of gas analysers, e.g. portable test equipment
- G01N33/0073—Control unit therefor
- G01N33/0075—Control unit therefor for multiple spatially distributed sensors, e.g. for environmental monitoring
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W76/00—Connection management
- H04W76/10—Connection setup
- H04W76/14—Direct-mode setup
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Abstract
The application discloses a method and a device for detecting the concentration of indoor sulfur hexafluoride, comprising the following steps: responding to the detection request, and establishing wireless connection between the four-footed robot carrying the sulfur hexafluoride detector and the remote control terminal; recording initial coordinates and detecting the concentration of sulfur hexafluoride in an equipment room by a quadruped robot based on map information; when the concentration of the sulfur hexafluoride in the equipment room is larger than a preset sulfur hexafluoride concentration set value, the equipment room is patrolled and examined through the quadruped robot based on map information, and after leakage point information in the equipment room is determined, the leakage point information is sent to the remote control terminal. Therefore, the technical problems that when the sulfur hexafluoride equipment leaks, the position of the leaking equipment cannot be judged according to the concentration information, and the leaking equipment and the leaking point cannot be flexibly searched are solved.
Description
Technical Field
The application relates to the technical field of indoor gas detection, in particular to a method and a device for detecting the concentration of indoor sulfur hexafluoride.
Background
Sulfur hexafluoride gas is widely used as an insulating medium in electrical equipment such as sulfur hexafluoride closed combined electrical equipment and circuit breakers due to its excellent insulating property and stable chemical property. However, sulfur hexafluoride gas filled devices may leak to some extent due to manufacturing and installation processes. Therefore, before the equipment maintenance and test personnel enter the room provided with the sulfur hexafluoride gas-filled equipment, the content of the sulfur hexafluoride and the oxygen in the room needs to be detected so as to ensure the personal safety of the operating personnel.
Although sulfur hexafluoride plant rooms are typically fitted with fixed position sulfur hexafluoride and oxygen content detectors and ventilation systems, the sulfur hexafluoride and oxygen content detectors in the room are typically fixed point detectors and are still spaced a certain distance from the sulfur hexafluoride plant room. Even though the existing method for detecting the content of the sulfur hexafluoride by adopting a wheeled robot or a rail-mounted robot has the defects of obvious portability and obstacle surmounting performance, namely the sulfur hexafluoride cannot be freely selected for point detection in a sulfur hexafluoride room. Therefore, when the sulfur hexafluoride equipment leaks, the position of the leaking equipment cannot be judged according to the concentration information, and the leaking equipment and the leaking point are more difficult to find flexibly.
In conclusion, the method for detecting the concentration of the indoor sulfur hexafluoride is provided, so that the technical problem that leakage equipment and leakage points are difficult to find flexibly is solved, and the method has great significance.
Disclosure of Invention
The invention provides a method and a device for detecting the concentration of indoor sulfur hexafluoride, which are used for solving the technical problem that leakage equipment and leakage points are difficult to find flexibly.
In a first aspect, the invention provides a method for detecting the concentration of indoor sulfur hexafluoride, comprising the following steps:
step S1, responding to the detection request, and establishing wireless connection between the four-footed robot carrying the sulfur hexafluoride detector and the remote control terminal;
step S2, after the quadruped robot enters the equipment room, sending map information corresponding to the equipment room to the quadruped robot through the remote control terminal;
step S3, recording initial coordinates and detecting the concentration of sulfur hexafluoride in the equipment room through the quadruped robot based on the map information;
step S4, judging whether the concentration of the sulfur hexafluoride is greater than a preset sulfur hexafluoride concentration set value, if so, executing step S5; if not, go to step S6;
step S5, the quadruped robot patrols the equipment room based on the map information, and after leakage point information in the equipment room is determined, the leakage point information is sent to the remote control terminal;
and S6, generating a sulfur hexafluoride detection result, and sending the sulfur hexafluoride detection result to the remote control terminal.
Optionally, the step S5 includes:
step S51, patrolling the equipment room through the quadruped robot based on the map information, and determining the concentration of sulfur hexafluoride in the equipment room at a preset distance;
and step S52, determining the leakage point information according to the concentration of all sulfur hexafluoride, and sending the leakage point information to the remote control terminal.
Optionally, the quadruped robot is provided with a depth camera and an obstacle avoidance radar; the step S51 includes:
step S511, determining obstacle information in the equipment room and an obstacle coordinate interval of the obstacle information in the map information through the depth camera and the obstacle avoidance radar;
step S512, calculating the distance between the routing inspection coordinates in the map information based on the obstacle coordinate interval, and detecting the sulfur hexafluoride concentration of the current coordinate through the quadruped robot when the distance between the coordinates is larger than a set distance value;
and step S513, repeating the steps S511-S512 until the quadruped robot returns to the initial coordinate.
Optionally, the leak information includes: leakage point position and image information; the quadruped robot is provided with a shooting system and an image recognition system; the step S52 includes:
step S521, determining the position of a leakage point according to the concentration of all sulfur hexafluoride;
and S522, identifying to obtain the leaked sulfur hexafluoride equipment by using the image identification system through the position of the leakage point of the quadruped robot, and obtaining the image information of the leaked sulfur hexafluoride equipment by using the shooting system.
Optionally, after the step S52, the method further includes:
step S53, generating a detection report including image information of the leaked sulfur hexafluoride device, the map information, the concentrations of all sulfur hexafluoride devices, and the position of the leakage point.
In a second aspect, the present invention further provides an indoor sulfur hexafluoride concentration detection apparatus, including:
the response module is used for responding to the detection request and establishing wireless connection between the four-footed robot carrying the sulfur hexafluoride detector and the remote control terminal;
the map information sending module is used for sending map information corresponding to the equipment room to the quadruped robot through the remote control terminal after the quadruped robot enters the equipment room;
the recording module is used for recording initial coordinates and detecting the concentration of sulfur hexafluoride in the equipment room through the quadruped robot based on the map information;
the judgment module is used for judging whether the concentration of the sulfur hexafluoride is greater than a preset sulfur hexafluoride concentration set value or not, and if yes, the leakage point information determination module is executed; if not, executing a detection result generation module;
the leakage point information determining module is used for patrolling the equipment room through the quadruped robot based on the map information, and after the leakage point information in the equipment room is determined, the leakage point information is sent to the remote control terminal;
and the detection result generation module is used for generating a sulfur hexafluoride detection result and sending the sulfur hexafluoride detection result to the remote control terminal.
Optionally, the leak point information determination module includes:
the concentration determination submodule is used for patrolling the equipment room through the quadruped robot based on the map information and determining the concentration of the sulfur hexafluoride in the equipment room at a preset distance;
and the leakage point information determining submodule is used for determining the leakage point information according to the concentration of all sulfur hexafluoride and sending the leakage point information to the remote control terminal.
Optionally, the quadruped robot is provided with a depth camera and an obstacle avoidance radar; the concentration determination submodule includes:
the obstacle interval determining unit is used for determining obstacle information in the equipment room and an obstacle coordinate interval of the obstacle information in the map information through the depth camera and the obstacle avoidance radar;
the concentration determining unit is used for calculating the distance between the routing inspection coordinates in the map information based on the obstacle coordinate interval and detecting the concentration of sulfur hexafluoride at the current coordinate through the quadruped robot when the distance between the coordinates is larger than a set distance value;
a stopping unit for repeatedly executing the obstacle interval determination unit and the concentration determination unit until the quadruped robot returns to the initial coordinates.
Optionally, the leak information includes: leakage point position and image information; the quadruped robot is provided with a shooting system and an image recognition system; the leak point information determination submodule includes:
the position determining unit is used for determining the position of the leakage point according to the concentration of all sulfur hexafluoride;
and the image information determining unit is used for identifying and obtaining the leaked sulfur hexafluoride equipment by using the image identification system through the position of the quadruped robot at the leakage point, and obtaining the image information of the leaked sulfur hexafluoride equipment by using the shooting system.
Optionally, the leak information determining module further includes:
and the detection report generation submodule is used for generating a detection report containing the image information of the leaked sulfur hexafluoride equipment, the map information, the concentrations of all the sulfur hexafluoride and the position of the leakage point.
According to the technical scheme, the invention has the following advantages:
according to the invention, through the step S1, in response to a detection request, wireless connection between the four-footed robot carrying the sulfur hexafluoride detector and the remote control terminal is established; step S2, after the quadruped robot enters the equipment room, sending map information corresponding to the equipment room to the quadruped robot through the remote control terminal; step S3, recording initial coordinates and detecting the concentration of sulfur hexafluoride in the equipment room through the quadruped robot based on the map information; step S4, judging whether the concentration of the sulfur hexafluoride is greater than a preset sulfur hexafluoride concentration set value, if so, executing step S5; if not, go to step S6; step S5, the quadruped robot patrols the equipment room based on the map information, and after leakage point information in the equipment room is determined, the leakage point information is sent to the remote control terminal; and S6, generating a sulfur hexafluoride detection result, and sending the sulfur hexafluoride detection result to the remote control terminal. The content detection of indoor multi-point sulfur hexafluoride is realized through a quadruped robot, the indoor leakage condition of the equipment is further determined, and the technical problems that when the sulfur hexafluoride equipment leaks, the position of the leaking equipment cannot be judged according to concentration information, and the leaking equipment and the leaking point cannot be flexibly searched are solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts;
fig. 1 is a flowchart illustrating a first step of a method for detecting the concentration of indoor sulfur hexafluoride according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating steps of a second embodiment of a method for detecting the concentration of indoor sulfur hexafluoride, according to the present invention;
fig. 3 is a block diagram of an embodiment of the device for detecting the concentration of indoor sulfur hexafluoride according to the present invention.
Detailed Description
The embodiment of the invention provides a method and a device for detecting the concentration of indoor sulfur hexafluoride, which are used for solving the technical problem that leakage equipment and leakage points are difficult to find flexibly.
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a flowchart illustrating a first step of a method for detecting a concentration of indoor sulfur hexafluoride according to an embodiment of the present invention, which may specifically include the following steps:
step S1, responding to the detection request, and establishing wireless connection between the four-footed robot carrying the sulfur hexafluoride detector and the remote control terminal;
step S2, after the quadruped robot enters the equipment room, sending map information corresponding to the equipment room to the quadruped robot through the remote control terminal;
step S3, recording initial coordinates and detecting the concentration of sulfur hexafluoride in the equipment room through the quadruped robot based on the map information;
step S4, judging whether the concentration of the sulfur hexafluoride is greater than a preset sulfur hexafluoride concentration set value, if so, executing step S5; if not, go to step S6;
step S5, the quadruped robot patrols the equipment room based on the map information, and after leakage point information in the equipment room is determined, the leakage point information is sent to the remote control terminal;
in an alternative embodiment, the step S5 includes:
the equipment room is patrolled and examined through the quadruped robot based on the map information, and the concentration of sulfur hexafluoride of the equipment room at a preset distance is determined;
and determining the leakage point information according to the concentration of all sulfur hexafluoride, and sending the leakage point information to the remote control terminal.
In an optional embodiment, the determining the leakage point information according to the concentrations of all sulfur hexafluoride, and after sending the leakage point information to the remote control terminal, further includes:
and generating a detection report containing image information of the leaked sulfur hexafluoride equipment, the map information, the concentrations of all the sulfur hexafluoride and the position of the leakage point.
And S6, generating a sulfur hexafluoride detection result, and sending the sulfur hexafluoride detection result to the remote control terminal.
In the embodiment of the invention, through step S1, in response to a detection request, a wireless connection between a four-footed robot carrying a sulfur hexafluoride detector and a remote control terminal is established; step S2, after the quadruped robot enters the equipment room, sending map information corresponding to the equipment room to the quadruped robot through the remote control terminal; step S3, recording initial coordinates and detecting the concentration of sulfur hexafluoride in the equipment room through the quadruped robot based on the map information; step S4, judging whether the concentration of the sulfur hexafluoride is greater than a preset sulfur hexafluoride concentration set value, if so, executing step S5; if not, go to step S6; step S5, the quadruped robot patrols the equipment room based on the map information, and after leakage point information in the equipment room is determined, the leakage point information is sent to the remote control terminal; and S6, generating a sulfur hexafluoride detection result, and sending the sulfur hexafluoride detection result to the remote control terminal. The content detection of indoor multi-point sulfur hexafluoride is realized through a quadruped robot, the indoor leakage condition of the equipment is further determined, and the technical problems that when the sulfur hexafluoride equipment leaks, the position of the leaking equipment cannot be judged according to concentration information, and the leaking equipment and the leaking point cannot be flexibly searched are solved.
Referring to fig. 2, a flowchart of a second step of the method for detecting concentration of indoor sulfur hexafluoride according to the embodiment of the present invention specifically includes:
step S201, responding to a detection request, and establishing wireless connection between a four-footed robot carrying a sulfur hexafluoride detector and a remote control terminal; the quadruped robot is provided with a depth camera and an obstacle avoidance radar;
in the embodiment of the invention, the operation and maintenance personnel can establish wireless connection between the quadruped robot and the remote control terminal at the remote control terminal.
In a specific implementation, the operation and maintenance personnel can operate on the remote control terminal to generate a detection request containing information of a target equipment room and the like.
Step S202, after the quadruped robot enters an equipment room, sending map information corresponding to the equipment room to the quadruped robot through the remote control terminal;
in the embodiment of the invention, the operation and maintenance personnel load the indoor two-digit map of the equipment room through the remote control terminal to operate the system.
Step S203, recording initial coordinates and detecting the concentration of sulfur hexafluoride in the equipment room through the quadruped robot based on the map information;
in the embodiment of the invention, the quadruped robot records the initial coordinate of the equipment room based on the map information, and detects the concentration of sulfur hexafluoride in the equipment room at the initial coordinate.
Step S204, judging whether the concentration of the sulfur hexafluoride is greater than a preset sulfur hexafluoride concentration set value, if so, executing step S205; if not, go to step S210;
step S205, determining obstacle information in the equipment room and obstacle coordinate intervals of the obstacle information in the map information through the depth camera and the obstacle avoidance radar;
step S206, calculating the distance between the routing inspection coordinates in the map information based on the obstacle coordinate interval, and detecting the sulfur hexafluoride concentration of the current coordinate through the quadruped robot when the distance between the coordinates is larger than a set distance value;
step S207, repeating the steps S205-S206 until the quadruped robot returns to the initial coordinate;
in the embodiment of the present invention, when the sulfur hexafluoride content in the initial coordinate exceeds a preset sulfur hexafluoride concentration set value, a leakage point detection process is started, which specifically includes: the quadruped robot identifies obstacles such as walls, sulfur hexafluoride equipment and the like under the assistance of a depth camera and an obstacle avoidance radar, records a coordinate interval, and generates an impassable area in a two-dimensional map, namely the obstacle coordinate interval; and then under the control of the remote control terminal, correcting the moving direction and speed of the quadruped robot based on the obstacle coordinate interval, periodically calculating the distance difference between the current coordinate and the previous coordinate, namely the distance between the coordinates, recording the current coordinate when the distance between the coordinates is greater than a set distance value, testing the content of sulfur hexafluoride and oxygen until the quadruped robot patrols to the initial coordinate, and at the moment, finishing the two-dimensional map drawing of the sulfur hexafluoride chamber by the remote control terminal and generating a sulfur hexafluoride and oxygen content testing map.
Step S208, determining the position of a leakage point according to the concentration of all sulfur hexafluoride;
in the embodiment of the invention, the highest point of the sulfur hexafluoride concentration is determined as the position of the leakage point.
S209, identifying and obtaining leaked sulfur hexafluoride equipment by using the image identification system through the position of the leakage point of the quadruped robot, and obtaining image information of the leaked sulfur hexafluoride equipment by using the shooting system;
in the embodiment of the invention, the remote control terminal navigates the quadruped robot to the highest point of the concentration of the sulfur hexafluoride, determines the position of the specific leakage point, re-inspects the leakage point, then uses the infrared thermal imaging camera and the high-definition camera to synchronously shoot the sulfur hexafluoride equipment, and identifies and searches the specific leakage point.
And S210, generating a sulfur hexafluoride detection result, and sending the sulfur hexafluoride detection result to the remote control terminal.
According to the method for detecting the concentration of the indoor sulfur hexafluoride, provided by the embodiment of the invention, through the step S1, in response to a detection request, wireless connection between a four-footed robot carrying a sulfur hexafluoride detector and a remote control terminal is established; step S2, after the quadruped robot enters the equipment room, sending map information corresponding to the equipment room to the quadruped robot through the remote control terminal; step S3, recording initial coordinates and detecting the concentration of sulfur hexafluoride in the equipment room through the quadruped robot based on the map information; step S4, judging whether the concentration of the sulfur hexafluoride is greater than a preset sulfur hexafluoride concentration set value, if so, executing step S5; if not, go to step S6; step S5, the quadruped robot patrols the equipment room based on the map information, and after leakage point information in the equipment room is determined, the leakage point information is sent to the remote control terminal; and S6, generating a sulfur hexafluoride detection result, and sending the sulfur hexafluoride detection result to the remote control terminal. The content detection of indoor multi-point sulfur hexafluoride is realized through a quadruped robot, the indoor leakage condition of the equipment is further determined, and the technical problems that when the sulfur hexafluoride equipment leaks, the position of the leaking equipment cannot be judged according to concentration information, and the leaking equipment and the leaking point cannot be flexibly searched are solved.
Fig. 3 shows a block diagram of an embodiment of an apparatus for detecting the concentration of indoor sulfur hexafluoride, including the following modules:
the response module 301 is used for responding to the detection request and establishing wireless connection between the four-footed robot carrying the sulfur hexafluoride detector and the remote control terminal;
a map information sending module 302, configured to send, through the remote control terminal, map information corresponding to the equipment room to the quadruped robot after the quadruped robot enters the equipment room;
a recording module 303, configured to record an initial coordinate and detect a concentration of sulfur hexafluoride in the equipment room, based on the map information, by using the quadruped robot;
a judging module 304, configured to judge whether the concentration of sulfur hexafluoride is greater than a preset sulfur hexafluoride concentration set value, and if so, execute a leakage point information determining module; if not, executing a detection result generation module;
a leakage point information determining module 305, configured to inspect the equipment room by using the quadruped robot based on the map information, and after determining leakage point information in the equipment room, send the leakage point information to the remote control terminal;
and the detection result generation module 306 is configured to generate a sulfur hexafluoride detection result and send the sulfur hexafluoride detection result to the remote control terminal.
In an alternative embodiment, the leak information determination module 305 includes:
the concentration determination submodule is used for patrolling the equipment room through the quadruped robot based on the map information and determining the concentration of the sulfur hexafluoride in the equipment room at a preset distance;
and the leakage point information determining submodule is used for determining the leakage point information according to the concentration of all sulfur hexafluoride and sending the leakage point information to the remote control terminal.
In an optional embodiment, the quadruped robot is provided with a depth camera and an obstacle avoidance radar; the concentration determination submodule includes:
the obstacle interval determining unit is used for determining obstacle information in the equipment room and an obstacle coordinate interval of the obstacle information in the map information through the depth camera and the obstacle avoidance radar;
the concentration determining unit is used for calculating the distance between the routing inspection coordinates in the map information based on the obstacle coordinate interval and detecting the concentration of sulfur hexafluoride at the current coordinate through the quadruped robot when the distance between the coordinates is larger than a set distance value;
a stopping unit for repeatedly executing the obstacle interval determination unit and the concentration determination unit until the quadruped robot returns to the initial coordinates.
In an alternative embodiment, the leak information includes: leakage point position and image information; the quadruped robot is provided with a shooting system and an image recognition system; the leakage point information determination submodule includes:
the position determining unit is used for determining the position of the leakage point according to the concentration of all sulfur hexafluoride;
and the image information determining unit is used for identifying and obtaining leaked sulfur hexafluoride equipment by using the image identification system through the position of the quadruped robot at the leakage point, and obtaining the image information of the leaked sulfur hexafluoride equipment by using the shooting system.
In an optional embodiment, the leak information determination module further comprises:
and the detection report generation submodule is used for generating a detection report containing the image information of the leaked sulfur hexafluoride equipment, the map information, the concentrations of all the sulfur hexafluoride and the position of the leakage point.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method for detecting the concentration of indoor sulfur hexafluoride is characterized by comprising the following steps:
step S1, responding to the detection request, and establishing wireless connection between the four-footed robot carrying the sulfur hexafluoride detector and the remote control terminal;
step S2, after the quadruped robot enters the equipment room, sending map information corresponding to the equipment room to the quadruped robot through the remote control terminal;
step S3, recording initial coordinates and detecting the concentration of sulfur hexafluoride in the equipment room through the quadruped robot based on the map information;
step S4, judging whether the concentration of the sulfur hexafluoride is greater than a preset sulfur hexafluoride concentration set value, if so, executing step S5; if not, go to step S6;
step S5, the quadruped robot patrols the equipment room based on the map information, and after leakage point information in the equipment room is determined, the leakage point information is sent to the remote control terminal;
and S6, generating a sulfur hexafluoride detection result, and sending the sulfur hexafluoride detection result to the remote control terminal.
2. The method for detecting the indoor sulfur hexafluoride concentration according to claim 1, wherein the step S5 includes:
step S51, patrolling the equipment room through the quadruped robot based on the map information, and determining the concentration of sulfur hexafluoride in the equipment room at a preset distance;
and step S52, determining the leakage point information according to the concentration of all sulfur hexafluoride, and sending the leakage point information to the remote control terminal.
3. The method for detecting the concentration of the indoor sulfur hexafluoride according to claim 2, wherein the quadruped robot is provided with a depth camera and an obstacle avoidance radar; the step S51 includes:
step S511, determining obstacle information in the equipment room and an obstacle coordinate interval of the obstacle information in the map information through the depth camera and the obstacle avoidance radar;
step S512, calculating the distance between the routing inspection coordinates in the map information based on the obstacle coordinate interval, and detecting the sulfur hexafluoride concentration of the current coordinate through the quadruped robot when the distance between the coordinates is larger than a set distance value;
and step S513, repeating the steps S511-S512 until the quadruped robot returns to the initial coordinate.
4. The method for detecting the concentration of indoor sulfur hexafluoride as claimed in claim 2, wherein the leakage point information includes: leakage point position and image information; the quadruped robot is provided with a shooting system and an image recognition system; the step S52 includes:
step S521, determining the position of a leakage point according to the concentration of all sulfur hexafluoride;
and S522, identifying and obtaining leaked sulfur hexafluoride equipment by using the image identification system through the position of the leakage point of the quadruped robot, and obtaining image information of the leaked sulfur hexafluoride equipment by using the shooting system.
5. The method for detecting the concentration of indoor sulfur hexafluoride as claimed in claim 2, wherein after the step S52, the method further includes:
step S53, generating a detection report including image information of the leaked sulfur hexafluoride device, the map information, the concentrations of all sulfur hexafluoride devices, and the position of the leakage point.
6. The utility model provides a detection apparatus for indoor sulfur hexafluoride concentration which characterized in that includes:
the response module is used for responding to the detection request and establishing wireless connection between the four-footed robot carrying the sulfur hexafluoride detector and the remote control terminal;
the map information sending module is used for sending map information corresponding to the equipment room to the quadruped robot through the remote control terminal after the quadruped robot enters the equipment room;
the recording module is used for recording initial coordinates and detecting the concentration of sulfur hexafluoride in the equipment room through the quadruped robot based on the map information;
the judgment module is used for judging whether the concentration of the sulfur hexafluoride is greater than a preset sulfur hexafluoride concentration set value or not, and if yes, the leakage point information determination module is executed; if not, executing a detection result generation module;
the leakage point information determining module is used for patrolling the equipment room through the quadruped robot based on the map information, and after the leakage point information in the equipment room is determined, the leakage point information is sent to the remote control terminal;
and the detection result generation module is used for generating a sulfur hexafluoride detection result and sending the sulfur hexafluoride detection result to the remote control terminal.
7. The apparatus for detecting the concentration of indoor sulfur hexafluoride of claim 6, wherein the leakage point information determining module includes:
the concentration determination submodule is used for patrolling the equipment room through the quadruped robot based on the map information and determining the concentration of the sulfur hexafluoride in the equipment room at a preset distance;
and the leakage point information determining submodule is used for determining the leakage point information according to the concentration of all sulfur hexafluoride and sending the leakage point information to the remote control terminal.
8. The apparatus for detecting the concentration of indoor sulfur hexafluoride as claimed in claim 7, wherein the quadruped robot is equipped with a depth camera and an obstacle avoidance radar; the concentration determination submodule includes:
the obstacle interval determining unit is used for determining obstacle information in the equipment room and an obstacle coordinate interval of the obstacle information in the map information through the depth camera and the obstacle avoidance radar;
the concentration determining unit is used for calculating the distance between the routing inspection coordinates in the map information based on the obstacle coordinate interval and detecting the concentration of sulfur hexafluoride at the current coordinate through the quadruped robot when the distance between the coordinates is larger than a set distance value;
a stopping unit for repeatedly executing the obstacle interval determination unit and the concentration determination unit until the quadruped robot returns to the initial coordinates.
9. The apparatus for detecting the concentration of indoor sulfur hexafluoride of claim 7, wherein the leakage point information includes: leakage point position and image information; the quadruped robot is provided with a shooting system and an image recognition system; the leakage point information determination submodule includes:
the position determining unit is used for determining the position of a leakage point according to the concentration of all sulfur hexafluoride;
and the image information determining unit is used for identifying and obtaining leaked sulfur hexafluoride equipment by using the image identification system through the position of the quadruped robot at the leakage point, and obtaining the image information of the leaked sulfur hexafluoride equipment by using the shooting system.
10. The apparatus for detecting the concentration of indoor sulfur hexafluoride of claim 7, wherein the leakage point information determining module further includes:
and the detection report generation submodule is used for generating a detection report containing the image information of the leaked sulfur hexafluoride equipment, the map information, the concentrations of all the sulfur hexafluoride and the position of the leakage point.
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