CN207601559U - Remote gas leak detection monitoring system - Google Patents
Remote gas leak detection monitoring system Download PDFInfo
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- CN207601559U CN207601559U CN201721462928.7U CN201721462928U CN207601559U CN 207601559 U CN207601559 U CN 207601559U CN 201721462928 U CN201721462928 U CN 201721462928U CN 207601559 U CN207601559 U CN 207601559U
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Abstract
The utility model provides a kind of remote gas leak detection monitoring system, including multiple mobile detection robots, wireless transport module and the multiple communicating terminals communicated to connect with the wireless transport module, the mobile detection robot includes gas sensor, robot ambulation module, main control unit and alarm module；The main control unit controls the robot ambulation module to walk according to polling path；The gas sensor, for acquiring environmental gas concentration information in real time；The main control unit, the environmental gas concentration information is sent to, and send warning message and the control alarm module alarm to the communicating terminal when the environmental gas concentration information is more than pre-set gas alarm threshold value by the communicating terminal by the wireless transport module.
Description
Technical field
The utility model is related to gas-monitoring fields, specifically, relate to a kind of remote gas leak detection monitoring system.
Background technology
Under the situation of structure wisdom factory and safety in production, intelligent monitoring leak detection system is in the application field of intelligent plant
It is more and more wide.The industry being on the hazard when being leaked more particularly to fuel gas or toxic gas to life property safety,
Reliability, real-time, intelligent etc. propose increasingly strict requirement to existing gas leakage monitoring system.Traditional
Gas leak detection monitoring system is transmitted the information such as gas concentration, the humiture of monitoring node acquisition using wired modes such as RS485
Monitoring room host computer is given, when monitoring personnel has found to have gas leakage, startup plant area alert notification personnel is needed to withdraw.
It is existing monitoring leak detection system there are real-time is poor, reliability is low, installation maintenance is of high cost, maintenance personnel cannot be accurate
Judge ambient conditions and it is inconvenient to carry the shortcomings of, when cannot notify trapped person the first in time when gas leakage events occur
Between withdraw danger zone, cause casualties.
In order to solve the problems, such as present on, people are seeking a kind of ideal technical solution always.
Invention content
The purpose of this utility model is in view of the deficiencies of the prior art, so as to provide a kind of remote gas leak detection monitoring system
System, has the advantages that real-time is good, security performance is high.
To achieve these goals, technical solution is used by the utility model：A kind of remote gas leak detection monitoring system
System communicates to connect multiple including multiple mobile detection robots, wireless transport module and with the wireless transport module
Communicating terminal,
The mobile detection robot includes gas sensor, robot ambulation module, main control unit and alarm module；
The main control unit controls the robot ambulation module to walk according to polling path；
The gas sensor, for acquiring environmental gas concentration information in real time；
The environmental gas concentration information is sent to the communication by the main control unit by the wireless transport module
Terminal, and when the environmental gas concentration information is more than pre-set gas alarm threshold value warning message is sent to the communicating terminal
And the control alarm module alarm.
Based on above-mentioned, the inspection route includes the default polling path being stored in advance in the main control unit and by institute
The interim polling path of communicating terminal transmission is stated, the priority of the interim polling path is excellent higher than the default polling path
First grade.
Based on above-mentioned, the robot ambulation module include GPS positioning module, IR evading obstacle sensors, crash sensor,
Photoelectric encoder, direct current motor drive circuit, direct current generator and steering-engine control circuit, the GPS positioning module are used for
The location information of the mobile detection robot is positioned, the IR evading obstacle sensors are used to detect the mobile detection machine
Obstacle information around device people, the crash sensor detect whether robot collides for detecting the movable type,
The photoelectric encoder is used to detect the movement speed of the mobile detection robot；The main control unit is according to polling path
The obstacle information of real-time position information, movement speed and surrounding with the mobile detection robot drives the steering
Helm control circuit turns to and drives the direct current generator by the direct current motor drive circuit.
Based on above-mentioned, each mobile detection robot has unique ID number.
Based on above-mentioned, the wireless transport module includes server and gateway, the gateway and the wireless communication module
Connection, for receiving environmental gas concentration information, location information and the warning message that the mobile detection machine human hair is sent
And the server is sent to, it is issued to the communicating terminal through the server；
The server receives the interim polling path that the communicating terminal is sent and is forwarded to the gateway, described interim
Polling path includes the ID number of target movable type detection robot；
The gateway parsing interim polling path obtains the ID number of target movable type detection robot, and face described
When polling path be forwarded to target movable type detection robot.
Based on above-mentioned, the camera being connect respectively with the main control unit, Temperature Humidity Sensor, the camera are further included
For acquiring ambient image information, the Temperature Humidity Sensor is used to acquire ambient temperature information and humidity information.
Based on above-mentioned, the alarm module is audible-visual annunciator, the communicating terminal is mobile phone, computer, industrial personal computer one
Kind is a variety of.
Based on above-mentioned, the mobile detection robot is connect using LORA technologies with the gateway communication.
Based on above-mentioned, the camera uses CMOS type digital image sensor of the imaging sensor for OV5640, institute
Temperature Humidity Sensor is stated as AM2320.
Based on above-mentioned, the IR evading obstacle sensors are E18-D80NK IR evading obstacle sensors, the steering-engine module
Using Futaba S3003 modules.
The utility model has substantive distinguishing features and progress, specifically, the utility model compared with the prior art：1. pass through
Communicating terminal can understand the situation in robot region of patrolling and examining in real time, play the function of monitoring in real time.2. it is detected by gas
Sensor, Temperature Humidity Sensor can in real time in monitoring robot region of patrolling and examining gas leakage situation and current context information.3.
When there is gas leakage, start machine voice light alarm system, while the communicating terminal of staffing sends out alarm sounds personnel
Danger zone is withdrawn as early as possible, realizes people-oriented security control theory.Mobile robot has automatic detecting, avoidance, accurate
The functions such as positioning, have the advantages that design science, highly practical, production efficiency is high, production cost is low, the quality of production is reliable.
Description of the drawings
Fig. 1 is the functional block diagram of the utility model.
Fig. 2 is the use schematic diagram of the utility model.
Specific embodiment
Below by specific embodiment, the technical solution of the utility model is described in further detail.
As shown in Figure 1, the utility model provides a kind of remote gas leak detection monitoring system, including multiple mobile detection machines
Device people, wireless transport module and multiple communicating terminals with wireless transport module communication connection,
The mobile detection robot includes gas sensor, robot ambulation module, main control unit and alarm module；
The main control unit controls the robot ambulation module to walk according to polling path；
The gas sensor, for acquiring environmental gas concentration information in real time；
The environmental gas concentration information is sent to the communication by the main control unit by the wireless transport module
Terminal, and when the environmental gas concentration information is more than pre-set gas alarm threshold value warning message is sent to the communicating terminal
And the control alarm module alarm.Preferably, the alarm module is audible-visual annunciator.
Preferably, the inspection route includes the default polling path being stored in advance in the main control unit and by described
The interim polling path that communicating terminal is sent, the priority of the interim polling path are preferential higher than the default polling path
Grade.
Preferably, the communicating terminal for mobile phone, computer, industrial personal computer it is one or more.
In practical applications, as shown in Fig. 2, on-site is provided with multiple mobile detection robots, each mobile inspection
It surveys robot and is responsible for one piece of region of inspection, while every operating personnel of on-site is equipped with a communicating terminal；When the master control list
When member does not receive the interim polling path that the communicating terminal is sent, the mobile detection robot is according to default inspection road
Diameter carries out inspection, and the default polling path of each mobile detection robot is unique；When the main control unit receives
During the interim polling path that the communicating terminal is sent, the mobile detection robot is carried out according to the interim polling path
Inspection continues inspection after the inspection complete interim polling path according to original default polling path.It is pre- in this way
If inspection and the combination of interim inspection two ways, the phenomenon that gas leaks can be monitored to greatest extent, so that it is guaranteed that factory
The personal safety of area staff.
When any one mobile detection robot has monitored gas leakage, the audible-visual annunciator is controlled to send out sound
Light is alarmed, while sends out alarm to the communicating terminal by the wireless transport module, and warning personnel withdraw hazardous area as early as possible
Domain realizes people-oriented security control theory：Danger is found at the first time, is withdrawn at the first time.
The wireless transport module includes server and gateway, and the gateway connect with the wireless communication module, is used for
It receives environmental gas concentration information, location information and warning message that the mobile detection machine human hair is sent and is sent to institute
Server is stated, the communicating terminal is issued to through the server；
The server receives the interim polling path that the communicating terminal is sent and is forwarded to the gateway, described interim
Polling path includes the ID number of target movable type detection robot；Specifically, each mobile detection robot has uniquely
ID number；
The gateway parsing interim polling path obtains the ID number of target movable type detection robot, and face described
When polling path be forwarded to target movable type detection robot.
In practice, can the gateway be determined according to the area of plant area and the quantity of the mobile detection robot
Quantity, if the area of plant area is excessive or the quantity of the mobile detection robot is crossed and at most needs to set multiple gateways, often
Prestore a certain number of mobile ID numbers for detecting robots in a gateway；It is interim described in the server to multiple gateway broadcasts
Inspection route, the gateway parsing interim polling path obtains the ID number of target movable type detection robot, if the ID
Number belong to the ID number to prestore in itself, then the interim polling path is sent to corresponding mobile detection robot, if described
ID number is not belonging to the ID number to prestore in itself, then is failure to actuate.
Specifically, the mobile detection robot is connect using LORA technologies with the gateway communication, it is preferred that described
Movable type detection robot using LSD4WN-2N717M91 modules, this module have the advantages that it is small, what overlength distance communicated
Advantage can adapt to multiple product, meets LoRaWANTM CLAA standards and supports CLAA ModeA/B/C/D/E agreements, inside collection
Into LoRaWANTM protocol stacks, CLASS A/CLASS C device types are supported；Hardware supported 433-510MHz ultratvide frequency bands.
Specifically, the robot ambulation module includes GPS positioning module, IR evading obstacle sensors, crash sensor, light
Photoelectric coder, direct current motor drive circuit, direct current generator and steering-engine control circuit, the GPS positioning module is for fixed
The location information of the position mobile detection robot, the IR evading obstacle sensors are used to detect the mobile detection machine
Obstacle information around people, the crash sensor is for detecting whether the mobile detection robot collides, institute
Photoelectric encoder is stated for detecting the movement speed of the mobile detection robot；The main control unit according to polling path and
The obstacle information of the mobile real-time position information for detecting robot, movement speed and surrounding drives the steering rudder
Machine control circuit turns to and drives the direct current generator by the direct current motor drive circuit.
Preferably, the direct current generator of this system use SENSORLESS-BLDC motors, the main control unit be using DSP as
The transplanting BLDC motor Driver Libraries of core support the functions such as BLDC thoughts, noninductive, open loop closed loop.The direct current generator driving electricity
Road uses three-phase bridge driving circuit, specifically, the three-phase bridge driving circuit selects the half-bridge driven chip of high pressure, from
And it can more stably drive SENSORLESS-BLDC motors.The IR evading obstacle sensors use E18-D80NK infrared obstacle avoidances
Sensor can detect barrier in real time, and robot realizes automatic obstacle-avoiding when less than safe distance.The steering-engine module
Using Futaba S3003 steering engines, pulsewidth modulation that it is 20ms in the period that control signal, which is,（PWM）Signal, wherein pulse width from
0.5ms-2.5ms, the position of corresponding steering wheel is 0-180 °, and the two changes linearly.Therefore, certain pulsewidth is provided it with,
Its output shaft is remained in a corresponding angle, and no matter how extraneous torque changes, until providing it with one
In addition the pulse signal of width, it can just change in output angle to new corresponding position.
Specifically, remote gas leak detection monitoring system further include the camera being connect respectively with the main control unit,
Temperature Humidity Sensor, for acquiring ambient image information, the Temperature Humidity Sensor is used to acquire environment temperature the camera
Information and humidity information.
The Temperature Humidity Sensor uses AM2320 sensors, and the main control unit is read described warm and humid by iic bus
Spend the numerical value of sensor；The camera module uses CMOS type digital image sensor of the imaging sensor for OV5640,
The sensor supports output to be up to the image of 5,000,000 pixels, supports, using VGA sequential export image datas, to export image
Data support YUV, RGB565 and jpeg format, and data volume, convenient and net can be reduced by directly exporting the image of jpeg format
Network transmits.It also has and the image collected is compensated simultaneously, supports the based process such as white balance, saturation degree, coloration.Institute
There is DCMI digital camera interfaces with main control unit, support the timing acquisition image data stream using similar VGA, support original
The image data for carrying out tissue by row, frame format, such as YUV, RGB, also support to receive the data flow of jpeg format compression.It uses
These data are simultaneously passed through the channel radios such as LoRa by the image data of RGB565 forms that DCMI interfaces are exported from OV5640 cameras
News mode is transmitted to communicating terminal for real-time display.
Finally it should be noted that:Above example is only to illustrate the technical solution of the utility model rather than it is limited
System；Although the utility model is described in detail with reference to preferred embodiment, those of ordinary skill in the art should
Understand：It can still modify to specific embodiment of the present utility model or some technical characteristics are equally replaced
It changes；Without departing from the spirit of technical solutions of the utility model, should all cover in the claimed technical solution of the utility model
In range.
Claims (10)
- The monitoring system 1. a kind of remote gas is hunted leak, it is characterised in that：Including multiple mobile detection robots, wireless transmission mould Block and multiple communicating terminals with wireless transport module communication connection,The mobile detection robot includes gas sensor, robot ambulation module, main control unit and alarm module；The main control unit controls the robot ambulation module to walk according to polling path；The gas sensor, for acquiring environmental gas concentration information in real time；The environmental gas concentration information is sent to the communication eventually by the main control unit by the wireless transport module End, and the environmental gas concentration information be more than pre-set gas alarm threshold value when to the communicating terminal send warning message with And the control alarm module alarm.
- The monitoring system 2. remote gas according to claim 1 is hunted leak, it is characterised in that：The inspection route includes advance The default polling path being stored in the main control unit and the interim polling path sent by the communicating terminal, it is described interim The priority of polling path is higher than the priority of the default polling path.
- The monitoring system 3. remote gas according to claim 2 is hunted leak, it is characterised in that：The robot ambulation module packet Include GPS positioning module, IR evading obstacle sensors, crash sensor, photoelectric encoder, direct current motor drive circuit, direct current generator And steering-engine control circuit, the GPS positioning module are used to position the location information of the mobile detection robot, institute IR evading obstacle sensors are stated for detecting the obstacle information around the mobile detection robot, the crash sensor is used In detecting whether the mobile detection robot collides, the photoelectric encoder is used to detect the mobile detection machine The movement speed of device people；The main control unit according to the real-time position information of polling path and the mobile detection robot, The obstacle information of movement speed and surrounding drives the steering-engine control circuit to turn to and pass through the direct current generator Driving circuit drives the direct current generator.
- The monitoring system 4. remote gas according to claim 3 is hunted leak, it is characterised in that：Each mobile detection robot With unique ID number.
- 5. according to claim 1-4 any one of them remote gas leak detection monitoring system, it is characterised in that：The wireless transmission Module includes server and gateway, and the gateway is connect with the wireless communication module, for receiving the mobile detection machine Environmental gas concentration information, location information and warning message that device human hair is sent simultaneously are sent to the server, through the service Device is issued to the communicating terminal；The server receives the interim polling path that the communicating terminal is sent and is forwarded to the gateway, the interim inspection Path includes the ID number of target movable type detection robot；The gateway parsing interim polling path obtains the ID number of target movable type detection robot, and patrol described temporarily Inspection path is forwarded to target movable type detection robot.
- The monitoring system 6. remote gas according to claim 5 is hunted leak, it is characterised in that：Further include respectively with the master control Camera, the Temperature Humidity Sensor of unit connection, the camera are used to acquire ambient image information, the Temperature Humidity Sensor For acquiring ambient temperature information and humidity information.
- The monitoring system 7. remote gas according to claim 6 is hunted leak, it is characterised in that：The alarm module is acousto-optic report Alert device, the communicating terminal is mobile phone, computer, industrial personal computer it is one or more.
- The monitoring system 8. remote gas according to claim 7 is hunted leak, it is characterised in that：The mobile detection robot It is connect using LORA technologies with the gateway communication.
- The monitoring system 9. remote gas according to claim 8 is hunted leak, it is characterised in that：The camera is passed using image Sensor is the CMOS type digital image sensors of OV5640, and the Temperature Humidity Sensor is AM2320.
- The monitoring system 10. remote gas according to claim 3 is hunted leak, it is characterised in that：The IR evading obstacle sensors For E18-D80NK IR evading obstacle sensors, the steering-engine module uses Futaba S3003 modules.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721462928.7U CN207601559U (en) | 2017-11-06 | 2017-11-06 | Remote gas leak detection monitoring system |
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| CN201721462928.7U CN207601559U (en) | 2017-11-06 | 2017-11-06 | Remote gas leak detection monitoring system |
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| CN207601559U true CN207601559U (en) | 2018-07-10 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106406314A (en) * | 2016-11-01 | 2017-02-15 | 河池学院 | Robot based road condition and gas detection method of mine |
| CN109188979A (en) * | 2018-09-25 | 2019-01-11 | 中国地质大学（武汉） | A kind of orchard monitoring method and the bionic 6-leg robot monitoring device for orchard |
| CN109358346A (en) * | 2018-11-22 | 2019-02-19 | 苏州米机器人有限公司 | A kind of service robot autonomous navigation chassis system |
| CN112509289A (en) * | 2020-11-04 | 2021-03-16 | 广州理工学院 | Mobile device for detecting toxic gas |
| CN113358819A (en) * | 2021-05-14 | 2021-09-07 | 苏州珀斯方得电子有限公司 | Gas concentration monitoring device and data acquisition method thereof |
| CN113406281A (en) * | 2021-06-16 | 2021-09-17 | 广州科腾信息技术有限公司 | Harmful gas monitoring system based on LORA communication |
| CN113578909A (en) * | 2021-08-23 | 2021-11-02 | 天长市科信电子有限公司 | Laboratory fume chamber with obstacle detection and early warning function |
| CN114973443A (en) * | 2022-05-19 | 2022-08-30 | 杭州中威电子股份有限公司 | Complex gas environment inspection system and method based on inspection robot |
-
2017
- 2017-11-06 CN CN201721462928.7U patent/CN207601559U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106406314A (en) * | 2016-11-01 | 2017-02-15 | 河池学院 | Robot based road condition and gas detection method of mine |
| CN109188979A (en) * | 2018-09-25 | 2019-01-11 | 中国地质大学（武汉） | A kind of orchard monitoring method and the bionic 6-leg robot monitoring device for orchard |
| CN109358346A (en) * | 2018-11-22 | 2019-02-19 | 苏州米机器人有限公司 | A kind of service robot autonomous navigation chassis system |
| CN112509289A (en) * | 2020-11-04 | 2021-03-16 | 广州理工学院 | Mobile device for detecting toxic gas |
| CN113358819A (en) * | 2021-05-14 | 2021-09-07 | 苏州珀斯方得电子有限公司 | Gas concentration monitoring device and data acquisition method thereof |
| CN113406281A (en) * | 2021-06-16 | 2021-09-17 | 广州科腾信息技术有限公司 | Harmful gas monitoring system based on LORA communication |
| CN113578909A (en) * | 2021-08-23 | 2021-11-02 | 天长市科信电子有限公司 | Laboratory fume chamber with obstacle detection and early warning function |
| CN114973443A (en) * | 2022-05-19 | 2022-08-30 | 杭州中威电子股份有限公司 | Complex gas environment inspection system and method based on inspection robot |
| CN114973443B (en) * | 2022-05-19 | 2024-04-12 | 杭州中威电子股份有限公司 | Inspection robot-based complex gas environment inspection system and method thereof |
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