CN207636254U - The leak detection system of utricule - Google Patents
The leak detection system of utricule Download PDFInfo
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- CN207636254U CN207636254U CN201721819885.3U CN201721819885U CN207636254U CN 207636254 U CN207636254 U CN 207636254U CN 201721819885 U CN201721819885 U CN 201721819885U CN 207636254 U CN207636254 U CN 207636254U
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- leak detection
- utricule
- storage box
- detection apparatus
- water storage
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Abstract
The utility model discloses a kind of leak detection systems of utricule.Wherein, which includes：Leakage detection apparatus, including water injector and image collecting device, water injector are used for leak detection point sprinkling leak detection liquid, and image collecting device is used to obtain the image information of leak detection point；Flight instruments carry leakage detection apparatus, for carrying the region belonging to leakage detection apparatus to utricule；First controller, communicates with leakage detection apparatus, the leak detection result for determining leak detection point according to the image information of determining leak detection point.The utility model solves the low technical problem of utricule leak detection efficiency of captive balloon in the prior art.
Description
Technical field
The utility model is related to detection fields, in particular to a kind of leak detection system of utricule.
Background technology
Captive balloon has utricule, flies by helium is filled to utricule.After charging helium to utricule, it is periodically right to need
Utricule is checked that there is no gas leak phenomenons to ensure utricule (the ventilative of material body can be ignored).
Current inspection method is under captive balloon anchored condition, by manually standing in anchoring platform, vertical lift vehicle
In the hanging basket of platform or engineering crane, sprinkling or brush suds are carried out to utricule abdomen and side, and seen whether bubble production
It is raw, to determine whether there is gas leak phenomenon, or directly seen whether with telescope leaky.
But there are following defects for aforesaid way：(1) as stand anchoring platform on, it is necessary to anchored condition hunt leak, influence be
Stay balloon normal use, and since the anchoring platform area that can stand is small, it is limited to the region of utricule abdomen examination；(2) as stood
On vertical lifting platform, it is also necessary to which anchored condition is hunted leak, and influences captive balloon normal use, and must be in calm or wind speed
It hunts leak in the case of smaller, simultaneously as hoistable platform adjustable height is limited, the area that can hunt leak is small, and such as wind of dashing forward
It may result in captive balloon and knock vertical lifting platform, the accidents such as cause injury to personnel, utricule impaired, in addition, vertical lift
Vehicle movement speed is slow, and leak detection efficiency is low；(3) due to limited, the capsule by the region that platform and vertical lifting platform can hunt leak of anchoring
The higher region of body can only carry staff by engineering crane and hunt leak, and be had a disadvantage that using engineering crane：1, at
This height, operating efficiency are slow；2, staff's working at height is dangerous；3, in case of prominent wind may damage utricule, engineering crane is caused to incline
Equal danger；4, must anchored condition hunt leak, influence captive balloon normal use；(4) it such as looks in the distance sem observation, then essence of hunting leak
Degree is poor, can only find particularly apparent loophole, breach etc., tiny air leakage point can not then be found, and not it is observed that capsule
Body top state.
For the low problem of the utricule leak detection efficiency of captive balloon in the prior art, effective solution side is not yet proposed at present
Case.
Utility model content
The utility model embodiment provides a kind of leak detection system of utricule, at least to solve captive balloon in the prior art
The low technical problem of utricule leak detection efficiency.
According to the one side of the utility model embodiment, a kind of leak detection system of utricule is provided, including：Leak detection dress
It sets, including water injector and image collecting device, water injector is used for leak detection point sprinkling leak detection liquid, and image collecting device is used
In the image information for obtaining leak detection point；Flight instruments carry leakage detection apparatus, for carrying leakage detection apparatus to being tethered at belonging to utricule
Region；First controller, communicates with leakage detection apparatus, the leak detection for determining leak detection point according to the image information of determining leak detection point
As a result.
Further, flight instruments further include：The objective table being set to below flight instruments, for carrying leakage detection apparatus.
Further, water injector is connected to objective table by head rod) below, image collecting device passes through second
Connecting rod is connected to below objective table.
Further, leakage detection apparatus further includes：Water storage box is set to above objective table, passes through the pipeline across objective table
It is connected with water injector；Valve is set between water storage box and pipeline, for controlling water storage box water outlet.
Further, leakage detection apparatus further includes：Pressure control device is set between valve and water storage box, for controlling
The discharge pressure of water injector.
Further, leakage detection apparatus further includes：Water amount detection device is set in water storage box, for detecting in water storage box
Leak detection liquid surplus.
Further, leakage detection apparatus further includes：Second controller is set at the top of flight instruments, for control valve
It is opened and closed, the Image Acquisition direction in the sprinkling direction and image collecting device of water injector.
Further, flight instruments include：Four sliding rails are set to after one end of each sliding rail connects in four sliding rails
At the top of water storage box, and each adjacent sliding rail is orthogonal；Four platforms sliding block, each platform sliding block are nested in corresponding one
On sliding rail, and the lower section of each platform sliding block is connected by third connecting rod with objective table, for by being slided on sliding rail, adjusting
Distance of the whole objective table relative to water storage box.Further, the first controller is additionally operable to determine the leak detection track of flight instruments.
Further, flight instruments include：Range unit is set to below objective table, for detecting flight instruments and capsule
The distance of body；First controller is additionally operable to be flown according to distance controlling flight instruments.
Further, image collector is set to full-view camera.
Further, flight instruments are unmanned plane.
In the utility model embodiment, leakage detection apparatus is carried by flight instruments, is carried belonging to leakage detection apparatus to utricule
Region, leakage detection apparatus includes water injector and image collecting device, can be to leak detection region sprinkling leak detection liquid, and obtains inspection
The image information of drain region, then image information is analyzed by controller, to obtain leak detection result.Said program passes through
Flight instruments carry leakage detection apparatus to complete the leak detection work of utricule, spray leak detection liquid to utricule without artificial, make
It obtains during leak detection, the captive balloon belonging to utricule, can be with normal flight without berthing, will not be to the peace of staff
Bring threat entirely, and avoid artificial observation to determine the mode of leak detection result, can obtain more accurately hunting leak as a result, into
And solve the low technical problem of utricule leak detection efficiency of captive balloon in the prior art, improve accuracy and the effect of leak detection
Rate.
Description of the drawings
Attached drawing described herein is used to provide a further understanding of the present invention, and is constituted part of this application,
The exemplary embodiment of the utility model and the description thereof are used to explain the utility model, does not constitute to the improper of the utility model
It limits.In the accompanying drawings：
Fig. 1 is the schematic diagram according to the leak detection system of the utricule of the utility model embodiment；
Fig. 2 is the partial enlargement of part-structure in the leak detection system according to the utility model embodiment utricule shown in FIG. 1
Figure；
Fig. 3 is the schematic diagram that leak detection control is carried out according to a kind of air leakage detection system of the utility model embodiment；And
Fig. 4 is a kind of control captive balloon leak detection system closed-loop control schematic diagram according to the utility model embodiment.
Wherein, above-mentioned attached drawing includes the following drawings label：
10, leakage detection apparatus；11, water injector；12, image collecting device；13, water storage box；14, valve；15, the second control
Device；16, steering engine；20, flight instruments；21, objective table；22, sliding rail；23, platform sliding block.
Specific implementation mode
In order to make those skilled in the art more fully understand the utility model, below in conjunction with the utility model reality
The attached drawing in example is applied, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that described
Embodiment is only the embodiment of the utility model part, instead of all the embodiments.Based on the reality in the utility model
Example is applied, every other embodiment obtained by those of ordinary skill in the art without making creative efforts is all answered
When the range for belonging to the utility model protection.
It should be noted that term " first " in the specification and claims of the utility model and above-mentioned attached drawing,
" second " etc. is for distinguishing similar object, without being used to describe specific sequence or precedence.It should be appreciated that in this way
The data used can be interchanged in the appropriate case, so that the embodiments of the present invention described herein can be in addition at this
In illustrate or description those of other than sequence implement.In addition, term " comprising " and " having " and their any deformation, meaning
Figure be to cover it is non-exclusive include, for example, containing the process of series of steps or unit, method, system, product or equipment
Those of be not necessarily limited to clearly to list step or unit, but may include not listing clearly or for these processes,
The intrinsic other steps of method, product or equipment or unit.
Embodiment 1
According to the utility model embodiment, a kind of embodiment of the leak detection system of utricule is provided, Fig. 1 is according to this practicality
The schematic diagram of the leak detection system of the utricule of new embodiment, as shown in Figure 1, the system includes：
Leakage detection apparatus 10, including water injector 11 and image collecting device 12, water injector 11 are used for leak detection point sprinkling
Leak detection liquid, image collecting device 12 are used to obtain the image information of leak detection point.
Flight instruments 20 carry leakage detection apparatus 10, for carrying leakage detection apparatus 10 to the region belonging to utricule.
First controller (is set in the captive balloon belonging to utricule, be not shown in figure), is communicated with leakage detection apparatus 10, is used
In the leak detection result for determining leak detection point according to the image information of determining leak detection point.
Specifically, above-mentioned leak detection liquid can be suds, flight instruments 20 can be unmanned plane, and water injector 11 can be with
It is the nozzle with certain range, image collecting device 12 can be camera, and the first controller can be disposed on and be tethered at gas
The control centre of ball.
Above-mentioned image collecting device 12 can dynamically adjust acquisition direction and acquire the focal length of image, so as to obtain
To clear accurate image.
Leak detection track can be arranged in control centre according to demand for control, can select two kinds of set-up modes, one is to capsule
Body carries out Daily Round Check, and control centre imports the threedimensional model of utricule shape, and leak detection track is set according to the demand of inspection；Also
A kind of mode is the leak detection region of specified utricule, leak detection track of the setting unmanned plane in the leak detection region.
After leakage detection apparatus 10 sprays leak detection liquid by nozzle to utricule, the image information of utricule is obtained, and will figure
As information is transmitted to control centre, control centre can call image identification model, by the inspection of the image information of utricule and importing
Leakage case information (including picture and/or video) is compared, to judge that the corresponding region of present image information whether there is
Loophole can also record coordinate of the loophole point in the threedimensional model of utricule, and will be in record there are loophole
Hold passback.
From the foregoing, it will be observed that the utility model above-described embodiment carries leakage detection apparatus by flight instruments, leakage detection apparatus is carried extremely
It is tethered at the region belonging to utricule, leakage detection apparatus includes water injector and image collecting device, can be hunted leak to the sprinkling of leak detection region
Liquid, and the image information in leak detection region is obtained, then image information is analyzed by controller, to obtain leak detection knot
Fruit.Said program carries leakage detection apparatus to complete the leak detection work of utricule, without artificial to utricule by flight instruments
Sprinkling leak detection liquid so that during leak detection, the captive balloon belonging to utricule, can be with normal flight, also not without berthing
The safety belt to staff is understood to threaten, and avoids artificial observation to determine the mode of leak detection result, can be obtained more
Accurate leak detection low technical problem of efficiency as a result, the utricule for solving captive balloon in the prior art in turn is hunted leak, improves
The accuracy of leak detection and efficiency.
Optionally, according to the above embodiments of the present application, flight instruments 20 further include：It is set to the load of 20 lower section of flight instruments
Object platform 21, for carrying leakage detection apparatus 10.
Optionally, according to the above embodiments of the present application, water injector 11 is connected to by head rod under objective table 21
Side, image collecting device 12 are connected to 21 lower section of objective table by the second connecting rod.
Fig. 2 is the partial enlargement of part-structure in the leak detection system according to the utility model embodiment utricule shown in FIG. 1
Figure, in conjunction with shown in Fig. 2,21 top of objective table is connected with 20 lower section of flight instruments, and 21 lower section of objective table is adopted by connecting rod and image
Acquisition means 12 are connected with water injector 11.
Further, above-mentioned head rod and the second connecting rod can be rotatable connecting rod, for adjusting figure
As the steering of harvester 12 and water injector 11.
Optionally, according to the above embodiments of the present application, leakage detection apparatus 10 further includes：
Water storage box 13 is set to 21 top of objective table, is connected with water injector 11 by the pipeline across objective table 21；
Valve 14 is set between water storage box 13 and pipeline, is discharged for controlling water storage box 13.
In conjunction with shown in Fig. 1 and Fig. 2, pipeline passes through objective table 21, and water storage box 13 is connected with water injector 11, water storage box 13
For storing liquid of hunting leak, valve 14 can be set between water storage box 13 and pipeline.
Optionally, according to the above embodiments of the present application, leakage detection apparatus 10 further includes：
Pressure control device (not shown) is set between valve 14 and water storage box 13, for controlling water injector
11 discharge pressure.
Specifically, the water spray of water injector 11, which needs certain range, can be sprayed onto utricule surface, therefore water storage box
Water in 13 is needed with certain pressure, the hydraulic pressure in adjustment water storage box 13 is adjusted by pressure control device, so as to adjust spray
The discharge pressure of water installations 11, and then ensure that water spray has certain range.
Optionally, according to the above embodiments of the present application, leakage detection apparatus 10 further includes：
Water amount detection device (not shown) is set in water storage box 13, for detecting liquid of hunting leak in water storage box 13
Surplus.
Specifically, water amount detection device can be liquid level gauge, it is set among water storage box 13, the liquid detected by liquid level gauge
Position information and the volume of water storage box 13 can be obtained the surplus water in water storage box 13.First controller passes through water amount detection device
The surplus of leak detection liquid in dynamic monitoring water storage box 13, and judged according to the surplus of leak detection liquid, under continuing
One step is hunted leak, or returns to ground supplement leak detection liquid.
Optionally, according to the above embodiments of the present application, leakage detection apparatus 10 further includes：
Second controller 15 is set to 20 top of flight instruments, is used for the opening and closing of control valve 14, the spray of water injector 11
Spill direction and the Image Acquisition direction of image collecting device 12.In conjunction with shown in Fig. 1, second controller 15 can be set to flight dress
The top for setting 20 is communicated with the first controller, can also control the injection direction of water injector 11, and control by steering engine 16
The Image Acquisition direction of image collecting device 12.
Optionally, according to the above embodiments of the present application, flight instruments 20 include：
Four sliding rails 22 after one end of each sliding rail 22 connects in four sliding rails 22, are set to 13 top of water storage box, and every
A adjacent sliding rail 22 is orthogonal.
Four platforms sliding block 23, each platform sliding block 23 are nested on a corresponding sliding rail 22, and each platform sliding block
23 lower section is connected by third connecting rod with objective table 21, for by being slided on sliding rail 22, adjustment objective table 21 to be opposite
In the distance of water storage box 13.
As shown in Figure 1, in a kind of optional embodiment, the tool of flight instruments 20 there are four sliding rail 22, adjacent sliding rail 22 it
Between it is orthogonal.Nested on each sliding rail 22 there are one platform sliding blocks 23, and the bottom of four platforms sliding block 23 is in objective table 21
It is connected, which is used to adjust the upper and lower position of objective table 21, when four platforms sliding block 23 is displaced outwardly (sinistral platform sliding block
23 to moving to left, and dextral platform sliding block 23 moves right, and front platform sliding block 23 is moved back to Forward, rear platform sliding block 23) when, it carries
Object platform 21 is moved up relative to water storage box 13 namely the distance between objective table 21 and water storage box 13 reduce；When two platforms
Sliding block 23 to center movement (sinistral platform sliding block 23 moves right, dextral platform sliding block 23 to moving to left, front platform sliding block 23 to
After move, rear platform sliding block 23 to Forward) when, objective table 21 moved down relative to water storage box 13 namely objective table 21 with store
The distance between water tank 13 increases.
Range unit (not shown) is set to the lower section of objective table 21, for detect flight instruments 20 and utricule away from
From；
Wherein, the first controller is also communicated with flight instruments 20, is additionally operable to be flown according to distance controlling flight instruments 20.
In a kind of optional embodiment, the first controller can import leak detection range information, i.e. 20 utricule of flight instruments
The distance between, with the utricule that ensures not wounding during leak detection, accident does not occur.Range unit can be laser ranging dress
Set, feed back the distance that detects to the first controller, distance adjustment unmanned plane that the first controller feed back according to range unit and
The direct distance of captive balloon, the distance for making it be kept fixed.Specifically, the first controller can pass through flight control system control
Wing driving device dynamic driving wing motor rotation processed, controls the rotating speed of wing speed regulation device four wing motors of dynamic regulation
Flight attitude is adjusted, to resist external interference and keep the flying distance with serial balloon.
Optionally, according to the above embodiments of the present application, the first controller is additionally operable to determine the leak detection track of flight instruments 20.
Optionally, according to the above embodiments of the present application, flight instruments 20 include：
Range unit, for detecting flight instruments 20 at a distance from utricule；Wherein, the first controller is additionally operable to according to distance
Adjust the flight of flight instruments 20.
Optionally, according to the above embodiments of the present application, image collecting device 12 is full-view camera.
Optionally, according to the above embodiments of the present application, flight instruments 20 are unmanned plane.
In the following, the control mode of the leak detection system of above-mentioned utricule is described, Fig. 3 is according to the utility model embodiment
A kind of air leakage detection system carry out the schematic diagram of leak detection control, in conjunction with shown in Fig. 3, the leak detection system of utricule includes being set to be
The leak detection control system at balloon end is stayed, and is set to leak detection executive device and the leak detection executing agency of unmanned generator terminal, wherein inspection
Leakage control system with leak detection executive device by wirelessly communicating, and by hunting leak, executive device controls leak detection executing agency.
Control centre's (the first controller) has path planning module, vision processing module, sprinkling Controlling model and flies
Row control module, illustrates in turn below.
Path planning module plans leak detection track by GPS, and passes through laser ranging system detection unmanned plane and utricule
Distance.
Vision processing module is used to drive camera to be directed at the utricule hunted leak, and is believed according to the image that camera returns
Breath is analyzed to obtain leak detection result.
Sprinkling module detects the surplus water of water storage box by water amount detection device, and is controlled and stored by water tank voltage operated device
Hydraulic pressure in water tank；Solenoid valve is also controlled by start stop apparatus of spraying water, to control nozzle water outlet, and passes through sprinkler rotation device
Control sprinkler rotation.
Flight control modules drive the motor of four wings to rotate by wing driving device, and pass through wing speed regulation device
The rotating speed for adjusting the click of four wings, so as to adjust the flight attitude of unmanned plane, to prevent unmanned plane from resisting external interference, together
When keep and the flying distance of captive balloon.
Data (leak detection track, predetermined hydraulic pressure, distance are imported in captive balloon control centre (the first controller) first
Deng), inject leak detection liquid to water storage box.Leak detection system will be opened after leak detection unmanned plane is placed in void spaces, be set as it is automatic/
Leak detection manually.After leak detection system receives control centre's data, system sends out instruction to unmanned plane by radio communication.
Unmanned plane GPS starts according to instruction locus guiding leak detection route, after reaching designated position, vision processing module hair
Go out instruction control camera collection image and return control centre, after control centre's analyzing processing, confirms suspected location.Then
Sprinkling module receives control centre and instructs and adjust the pressure in water storage box, valve switch and nozzle angle, to make nozzle
To leak detection point sprinkling leak detection liquid.
Control valve is closed after liquid is hunted leak in sprinkling, and signal feeds back to control centre through wireless communication system, depending on
Feel and adjust camera angle and focal length after processing system receives control centre's signal, acquires video or image through wireless communication system
Pass back to control centre, control centre analyses and compares collected information.
If any determination, there are loopholes, then record the point coordinates position and preserve corresponding video or picture.Work as analyses and comparison
When not finding loophole, control centre sends out next step flight directive to unmanned plane, Trajectory Planning System according to instruction GPS guide to
It is next to wait examining, so on circulate.
At the same time, the rotation of flight control system parallel processing control wing, speed, to ensure that unmanned plane can reach finger
Positioning sets and keeps certain distance and the flight attitude of stabilization with captive balloon always.Control centre may be arranged as manually
Operation mode, corresponding each system send out work order by manual operation, complete leak detection work.In the process, water storage is detected
The surplus water of case, such as find water shortage can automatically be maked a return voyage with abort the mission origin supply leak detection liquid.
Fig. 4 is a kind of control captive balloon leak detection system closed-loop control schematic diagram according to the utility model embodiment, knot
It closes shown in Fig. 4, sampling and negative-feedback also is carried out to the data for the executing agency that hunts leak in above-mentioned air leakage detection system, to make
It obtains control centre to control leak detection executing agency according to the result of sampling and negative-feedback, to realize utricule
The closed-loop control of leak detection system.
Above-mentioned the utility model embodiment serial number is for illustration only, can not represent the quality of embodiment.
In above-described embodiment of the utility model, all emphasize particularly on different fields to the description of each embodiment, in some embodiment
The part not being described in detail may refer to the associated description of other embodiment.
The above is only the preferred embodiment of the utility model, it is noted that for the common skill of the art
For art personnel, without departing from the principle of this utility model, several improvements and modifications can also be made, these improve and
Retouching also should be regarded as the scope of protection of the utility model.
Claims (12)
1. a kind of leak detection system of utricule, which is characterized in that including：
Leakage detection apparatus (10), including water injector (11) and image collecting device (12), the water injector (11) are used for inspection
Leak source sprinkling leak detection liquid, described image harvester (12) are used to obtain the image information of the leak detection point；
Flight instruments (20) carry the leakage detection apparatus (10), for carrying belonging to the leakage detection apparatus (10) to the utricule
Region；
First controller is communicated with the leakage detection apparatus (10), for being determined according to the image information of the determining leak detection point
The leak detection result of the leak detection point.
2. system according to claim 1, which is characterized in that the flight instruments (20) further include：It is set to described fly
Luggage sets the objective table (21) below (20), for carrying the leakage detection apparatus (10).
3. system according to claim 2, which is characterized in that the water injector (11) is connected to by head rod
Below the objective table (21), described image harvester (12) is connected to by the second connecting rod under the objective table (21)
Side.
4. system according to claim 3, which is characterized in that the leakage detection apparatus (10) further includes：
Water storage box (13) is set to above the objective table (21), passes through the pipeline for passing through the objective table (21) and the spray
Water installations (11) are connected；
Valve (14) is set between the water storage box (13) and the pipeline, for controlling the water storage box (13) water outlet.
5. system according to claim 4, which is characterized in that the leakage detection apparatus (10) further includes：
Pressure control device is set between the valve (14) and the water storage box (13), for controlling the water injector
(11) discharge pressure.
6. system according to claim 4, which is characterized in that the leakage detection apparatus (10) further includes：
Water amount detection device is set in the water storage box (13), for detecting the leak detection liquid in the water storage box (13)
The surplus of body.
7. according to the system described in any one of claim 5 or 6, which is characterized in that the leakage detection apparatus (10) further includes：
Second controller (15) is set at the top of the flight instruments (20), for controlling being opened and closed of the valve (14), described
The Image Acquisition direction in the sprinkling direction and described image harvester (12) of water injector (11).
8. system according to claim 4, which is characterized in that the flight instruments (20) include：
Four sliding rails (22) are set to the water storage box after one end of each sliding rail (22) connects in four sliding rails (22)
(13) top, and each adjacent sliding rail (22) is orthogonal；
Four platforms sliding block (23), each platform sliding block (23) are nested on a corresponding sliding rail (22), and every
The lower section of a platform sliding block (23) is connected by third connecting rod with the objective table (21), for by the sliding rail
(22) it is slided on, adjusts distance of the objective table (21) relative to the water storage box (13).
9. system according to claim 1, which is characterized in that first controller is additionally operable to determine the flight instruments
(20) leak detection track.
10. system according to claim 2, which is characterized in that the flight instruments (20) include：
Range unit is set to below the objective table (21), for detect the flight instruments (20) and the utricule away from
From；
Wherein, first controller is also communicated with the flight instruments (20), is additionally operable to fly according to described in the distance controlling
Luggage sets (20) flight.
11. system according to claim 1, which is characterized in that described image harvester (12) is full-view camera.
12. system according to claim 1, which is characterized in that the flight instruments (20) are unmanned plane.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721819885.3U CN207636254U (en) | 2017-12-20 | 2017-12-20 | The leak detection system of utricule |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721819885.3U CN207636254U (en) | 2017-12-20 | 2017-12-20 | The leak detection system of utricule |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108919674A (en) * | 2018-08-14 | 2018-11-30 | 正德职业技术学院 | UAV Flight Control analogue system |
| JP2020076688A (en) * | 2018-11-09 | 2020-05-21 | 一般財団法人電力中央研究所 | Inspection device and inspection method |
| CN112192539A (en) * | 2020-09-10 | 2021-01-08 | 杭州电子科技大学 | Air tightness autonomous walking robot based on machine vision |
| CN112268663A (en) * | 2020-09-10 | 2021-01-26 | 杭州电子科技大学 | Machine vision soap bubble method air tightness inspection method |
| CN112304508A (en) * | 2019-07-31 | 2021-02-02 | 中国石油化工股份有限公司 | VOCs leakage detection device and system |
| CN114113305A (en) * | 2021-09-29 | 2022-03-01 | 华电电力科学研究院有限公司 | Device and method for detecting bolt holes of cylinder body of steam turbine of thermal power plant |
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2017
- 2017-12-20 CN CN201721819885.3U patent/CN207636254U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108919674A (en) * | 2018-08-14 | 2018-11-30 | 正德职业技术学院 | UAV Flight Control analogue system |
| JP2020076688A (en) * | 2018-11-09 | 2020-05-21 | 一般財団法人電力中央研究所 | Inspection device and inspection method |
| CN112304508A (en) * | 2019-07-31 | 2021-02-02 | 中国石油化工股份有限公司 | VOCs leakage detection device and system |
| CN112304508B (en) * | 2019-07-31 | 2024-02-13 | 中国石油化工股份有限公司 | VOCs leak detection device and system |
| CN112192539A (en) * | 2020-09-10 | 2021-01-08 | 杭州电子科技大学 | Air tightness autonomous walking robot based on machine vision |
| CN112268663A (en) * | 2020-09-10 | 2021-01-26 | 杭州电子科技大学 | Machine vision soap bubble method air tightness inspection method |
| CN114113305A (en) * | 2021-09-29 | 2022-03-01 | 华电电力科学研究院有限公司 | Device and method for detecting bolt holes of cylinder body of steam turbine of thermal power plant |
| CN114113305B (en) * | 2021-09-29 | 2023-06-16 | 华电电力科学研究院有限公司 | Device and method for detecting bolt holes of steam turbine cylinder body of thermal power plant |
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