CN214277928U - Detection robot based on infrared gas cloud imaging - Google Patents
Detection robot based on infrared gas cloud imaging Download PDFInfo
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- CN214277928U CN214277928U CN202021676567.8U CN202021676567U CN214277928U CN 214277928 U CN214277928 U CN 214277928U CN 202021676567 U CN202021676567 U CN 202021676567U CN 214277928 U CN214277928 U CN 214277928U
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Abstract
The utility model relates to a detection robot based on infrared gas cloud formation of image relates to a gas tracking positioning system based on infrared spectrum technique, which comprises a carriage body, install on the automobile body: the infrared imaging device is used for acquiring infrared radiation in the environment and generating imaging information according to the infrared radiation; the high-definition camera is used for acquiring video information in the environment; the infrared imaging device and the high-definition camera are both connected to the controller, and the controller is used for acquiring imaging information acquired by the infrared imaging device and video information acquired by the high-definition camera and fusing the imaging information and the video information to visualize leaked gas; a navigation device connected with the controller; and the driving device is arranged on the vehicle body chassis and connected with the navigation device so as to drive the vehicle body to move. The utility model discloses realize the all-round monitoring in factory, to the accurate monitoring in factory crucial, reduced manufacturing cost when having improved efficiency.
Description
Technical Field
The utility model relates to a gas tracking positioning system based on infrared spectroscopy especially relates to a detection robot based on infrared gas cloud formation of image.
Background
In the production and transportation process of petrochemical industry, the hidden danger of gas leakage caused by pipeline aging or other reasons seriously threatens the production safety. If the leakage is not found in time and the corresponding measures are taken, the explosion can be caused, and the casualties and the more serious consequences can be caused.
The utility model discloses a patent that the prior art can refer to the grant bulletin number is CN208079221U, this utility model relates to a gas cloud imaging device, including high spectrum imaging camera and the remote computer of being connected with high spectrum imaging camera electricity, the inside remote control chip that is equipped with of high spectrum imaging camera, remote control chip and remote computer electricity are connected.
The above prior art solutions have the following drawbacks: the gas cloud imaging equipment can be only installed in a specific place, so that pipeline equipment in a small range is monitored. In a factory with a large area, multiple devices are often required to be monitored simultaneously, and the manual supervision cost and the device cost are greatly improved. Maintenance of the equipment is also a difficult task since the equipment is installed outdoors and operates all the time.
SUMMERY OF THE UTILITY MODEL
In order to improve the problem that above-mentioned artifical supervision cost and equipment cost are high, the utility model provides a detection robot based on formation of image of infrared gas cloud.
The above utility model discloses an above-mentioned utility model purpose can realize through following technical scheme:
a detection robot based on infrared gas cloud imaging comprises a vehicle body, wherein the vehicle body is provided with:
the infrared imaging device is used for acquiring infrared radiation in the environment and generating imaging information according to the infrared radiation;
the high-definition camera is used for acquiring video information in the environment;
the infrared imaging device and the high-definition camera are both connected to the controller, and the controller is used for acquiring imaging information acquired by the infrared imaging device and video information acquired by the high-definition camera and fusing the imaging information and the video information to visualize leaked gas;
a navigation device connected with the controller;
and the driving device is arranged on the vehicle body chassis and connected with the navigation device so as to drive the vehicle body to move.
Through adopting above-mentioned technical scheme, when using, gather environmental information through infrared imaging device and high definition camera, then carry out infrared gas and visible light fusion formation image through the controller to through controller analysis processes, judge gas position and concentration, the navigation head and the drive arrangement that the robot carried on can realize the robot and independently navigate, according to the judged result planning navigation route of controller, independently remove to gas leakage position, the intelligence and the flexibility of dangerous place monitoring have been improved.
The present invention may be further configured in a preferred embodiment as: the infrared imaging device adopts a non-refrigeration type infrared focal plane detector.
By adopting the technical scheme, the infrared imaging device adopts the non-refrigeration type infrared focal plane detector, is suitable for large-range and long-distance detection, and greatly prolongs the service life of the detector and reduces the production cost because the optical filter and the infrared focal plane adopt the non-refrigeration mode.
The present invention may be further configured in a preferred embodiment as: the controller includes:
the infrared imaging device and the high-definition camera are both connected to the image processing unit, and the image processing unit receives imaging information sent by the infrared imaging device and video information sent by the high-definition camera and fuses the imaging information and the video information to form a real-time monitoring video and send the real-time monitoring video;
and the central control unit is connected with the image processing unit, receives the real-time monitoring video sent by the image processing unit, judges the current environmental gas position and concentration, forms a judgment result and sends the judgment result.
By adopting the technical scheme, the image processing unit carries out infrared gas and visible light fusion imaging on the environmental information acquired by the infrared imaging device and the high-definition camera, and the gas position and concentration are judged through analysis and processing of the central control unit.
The present invention may be further configured in a preferred embodiment as: the image processing unit further includes:
the AI identification unit is connected with the image processing unit and quantifies and sends out the gas concentration and the diffusion speed in the imaging information;
the pseudo color processing unit is connected with the AI identification unit, receives the imaging information quantified by the AI identification unit, performs pseudo color with different concentrations on a leakage area in the imaging information and sends the imaging information;
and the video fusion unit is connected with the pseudo color processing unit and the central control unit, receives pseudo color imaging information processed by the pseudo color processing unit and video information sent by the high-definition camera, and performs fusion processing on the imaging information and the video information and sends the fused imaging information and the video information.
By adopting the technical scheme, the gas concentration and the diffusion speed are quantified based on AI gas identification, so that the standardization and the accuracy of the acquired information are improved, and the result is more precise and objective; after the image is converted into colors through the pseudo-color processing unit, the dynamic range of a display signal can be subjectively increased, and the recognizable degree of the image boundary is enhanced; the video fusion unit is used for fusing the video acquisition information with the information after pseudo-color processing so as to increase the interactivity between the virtual scene and the reality and reduce the uncertain factors of the acquisition information.
The present invention may be further configured in a preferred embodiment as: the image processing unit further includes:
and the preprocessing unit is used for receiving the imaging information sent by the infrared gas cloud imaging unit, performing preprocessing such as noise reduction and image enhancement on the imaging information to improve the quality of the imaging information and sending the imaging information.
By adopting the technical scheme, the preprocessing unit is used for carrying out preprocessing such as noise reduction and image enhancement on the acquired imaging information so as to solve the problems of image blurring, skewness or defect caused by weather or shooting angle and the like.
The present invention may be further configured in a preferred embodiment as: the navigation device includes:
the navigation unit is connected with the central control unit, receives the judgment result transmitted by the central control unit, plans a route according to the judgment result and sends an action instruction, and the driving device is connected with the navigation unit.
By adopting the technical scheme, autonomous navigation is realized, the navigation route is planned according to the judgment result of the controller, and the vehicle autonomously moves to the gas leakage position.
The present invention may be further configured in a preferred embodiment as: the controller further includes:
and the wireless communication unit is connected with the central control unit, receives the judgment result sent by the central control unit and the real-time monitoring video sent by the image processing unit and sends the real-time monitoring video to a remote computer.
By adopting the technical scheme, the communication connection between the wireless communication unit and the remote computer is realized, and the remote control is realized.
To sum up, the utility model discloses a following at least one useful technological effect:
1. the utility model adds a unique navigation system and a drive system, increases the mobility of the gas cloud imaging system, is suitable for various complex environments, and realizes the accurate monitoring under all weather and various weather conditions;
2. the utility model adopts the non-refrigeration infrared focal plane detector, which is suitable for large-range and long-distance detection, and because the optical filter and the infrared focal plane adopt the non-refrigeration mode, the service life of the detector is greatly prolonged, and the production cost is reduced;
3. the high-definition camera is combined with the infrared detector, so that real-time gas images and gas concentration analysis can be obtained, leaked gas can be visualized, and measures can be taken immediately;
4. and a central control system is adopted to analyze different gases according to the obtained information and send different alarms so as to facilitate quick judgment.
Drawings
FIG. 1 is a system schematic of an embodiment;
FIG. 2 is a schematic structural view of a highlighted vehicle body in the embodiment.
In the figure, 1, an infrared gas cloud imaging unit; 2. a high definition camera; 3. an image processing unit; 31. a pre-processing unit; 32. an AI identification unit; 33. a pseudo color processing unit; 34. a video fusion unit; 4. a central control unit; 5. a navigation unit; 6. a drive unit; 7. a wireless communication unit; 8. a vehicle body; 81. a drive device; 82. an infrared imaging device; 83. a high definition camera; 84. a navigation device.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Example 1:
referring to fig. 1, the utility model discloses a detection system based on infrared gas cloud formation of image, including the detection robot with install the following unit on the detection robot:
infrared cloud imaging unit 1, infrared cloud imaging unit 1 include infrared imaging device 82, and infrared imaging device 82 receives the infrared radiation in the environment and generates the formation of image information according to infrared radiation, and infrared cloud imaging unit 1 sends the formation of image information. The infrared gas cloud imaging unit 1 is based on an infrared spectrum technology, adopts the targeted design of an infrared lens, passively receives infrared information in the environment, and presents unique absorption curves for different gases; the spectral differences of different gases can be obtained by the combined application of several different filters.
The infrared gas cloud imaging unit 1 detects gas by integrating radiation in a system response range, and the whole imaging process is realized by two different conditions: in the absence of gas leakage, the detector is presented with infrared radiation emitted from the environment; when gas leaks, the leaked gas cloud cluster can reflect and scatter infrared light in the environment and reflect the infrared light by itself, large change is shown in a certain wave band range, and if the change is larger than the sensitivity of the detector, the gas leakage can be detected.
And the image processing unit 3 is used for receiving the imaging information sent by the infrared cloud imaging unit 1 and the video information sent by the high-definition camera 2, and fusing the imaging information and the video information to form a real-time monitoring video and send the real-time monitoring video.
The image processing unit 3 comprises a preprocessing unit 31, wherein the preprocessing unit 31 receives the imaging information sent by the infrared gas cloud imaging unit 1, and performs preprocessing for improving the quality of the imaging information such as noise reduction and image enhancement on the imaging information and sends the imaging information; the AI identification unit 32, the AI identification unit 32 receives the imaging information preprocessed by the preprocessing unit 31, quantifies the gas concentration and diffusion speed in the imaging information and sends out the quantified imaging information; the pseudo color processing unit 33, the pseudo color processing unit 33 receives the imaging information quantified by the AI identifying unit 32, and carries out pseudo color with different concentrations on the leakage area in the imaging information and sends out the leakage area; and the video fusion unit 34, the video fusion unit 34 receives the imaging information pseudo-colorized by the pseudo-color processing unit 33 and the video information sent by the high-definition camera 2, and performs fusion processing on the imaging information and the video information and sends out the fusion processing.
The central control unit 4 is used for receiving the real-time monitoring video sent by the image processing unit 3, judging the current environmental gas position and concentration, forming a judgment result and sending the judgment result;
the navigation unit 5 receives the judgment result transmitted by the central control unit 4, plans a route according to the judgment result and sends an action instruction;
the driving unit 6 is used for receiving the action instruction sent by the navigation unit 5 and driving the detection robot to operate according to the action instruction;
and the wireless communication unit 7 is used for receiving the judgment result sent by the central control unit 4 and the real-time monitoring video sent by the image processing unit 3, and transmitting the real-time monitoring video to the remote computer through the WLAN.
During the use, gather environmental information through infrared imaging device and high definition camera 2, then carry out infrared gas and visible light fused image through image processing unit 3, video information is through well accuse unit 4 analysis processes, judges gas position and concentration, transmits to station control system through wireless communication unit 7 at last. Meanwhile, the navigation unit 5 and the driving unit 6 carried by the robot can realize autonomous navigation of the robot, and the intelligence and flexibility of monitoring in dangerous places are improved.
Example 2:
the utility model discloses a detection method based on infrared gas cloud formation of image sets up a detection robot, including following step:
the detection robot firstly collects the information of the leaked gas in the environment, detects the source position of the leaked gas and forms imaging information;
then the detection robot carries out preprocessing such as noise reduction and image enhancement on the acquired gas imaging information;
then quantifying the concentration and diffusion speed of the imaging information based on AI gas identification;
then, pseudo colorizing the imaging information of the leakage area with different concentrations;
the detection robot shoots video information in the environment through a high-definition camera and fuses the video information with pseudo-colorized imaging information to form a real-time monitoring video;
the specific position and the peripheral situation of gas leakage are judged through real-time monitoring videos, the type of gas is identified, the leaked gas is visualized, and measures are taken immediately.
Example 3:
referring to fig. 2, the utility model discloses an use detection robot based on infrared gas cloud imaging detection system, including automobile body 8, install infrared imaging device 82, high definition camera 83 and drive arrangement 81 on the automobile body 8. Infrared imaging device 82 combines with high definition camera 83 with visual leakage gas, and infrared imaging device 82 adopts the infrared focal plane detector of non-refrigeration type, is applicable to on a large scale, long distance detection, because light filter, infrared focal plane adopt non-refrigerated mode, greatly increased the life of detector, reduction in production cost.
The vehicle body 8 is also provided with a driving device 81 and a navigation device 84 connected with the driving device 81, so that the mobility of the vehicle body 8 is improved, and the vehicle body is suitable for various complex environments and realizes accurate monitoring under all-weather and various weather conditions.
The vehicle body 8, the infrared imaging device 82, the high-definition camera 83, the driving device 81 and the navigation device 84 are all explosion-proof covers.
The embodiment of this specific implementation mode is the preferred embodiment of the present invention, not limit according to this the utility model discloses a protection scope, so: all equivalent changes made according to the structure, shape and principle of the utility model are covered within the protection scope of the utility model.
Claims (7)
1. A detection robot based on infrared cloud formation of image which characterized in that: including automobile body (8), install on automobile body (8):
an infrared imaging device (82) for acquiring infrared radiation in the environment and generating imaging information from the infrared radiation;
a high definition camera (83) for capturing video information in an environment;
the infrared imaging device (82) and the high-definition camera (83) are connected to the controller, and the controller is used for acquiring imaging information acquired by the infrared imaging device (82) and video information acquired by the high-definition camera (83) and fusing the imaging information and the video information to visualize leaked gas;
a navigation device (84), the navigation device (84) being connected with the controller;
and the driving device (81) is arranged on the chassis of the vehicle body (8) and is connected with the navigation device (84) so as to drive the vehicle body (8) to move.
2. The infrared cloud imaging-based detection robot of claim 1, wherein: the infrared imaging device (82) is a non-refrigeration type infrared focal plane detector.
3. The infrared cloud imaging-based detection robot according to claim 1 or 2, wherein: the controller includes:
the infrared imaging device (82) and the high-definition camera (83) are connected to the image processing unit (3), the image processing unit (3) receives imaging information sent by the infrared imaging device (82) and video information sent by the high-definition camera (83), and the imaging information and the video information are fused to form a real-time monitoring video and sent out;
and the central control unit (4) is connected with the image processing unit (3), receives the real-time monitoring video sent by the image processing unit (3), judges the current environmental gas position and concentration, forms a judgment result and sends the judgment result.
4. The infrared cloud imaging-based detection robot of claim 3, wherein: the image processing unit (3) comprises:
the AI recognition unit (32), the AI recognition unit (32) is connected with the image processing unit (3), the AI recognition unit (32) quantifies and sends out the gas concentration and the diffusion speed in the imaging information;
the pseudo color processing unit (33), the pseudo color processing unit (33) is connected with the AI identification unit (32), the pseudo color processing unit (33) receives the imaging information quantified by the AI identification unit (32), and performs pseudo color with different concentrations on leakage areas in the imaging information and sends out the leakage areas;
the video fusion unit (34), the video fusion unit (34) with pseudo-color processing unit (33) and central control unit (4) are connected, the video fusion unit (34) accepts the pseudo-colorized imaging information of pseudo-color processing unit (33) and the video information sent by high definition camera (83), and the imaging information and the video information are fused and sent.
5. The infrared cloud imaging-based detection robot of claim 4, wherein: the image processing unit (3) further comprises a preprocessing unit (31), the preprocessing unit (31) is connected to the image processing unit (3) and the AI identification unit (32), the preprocessing unit (31) receives imaging information sent by the infrared imaging device (82), and the preprocessing unit carries out noise reduction and image enhancement on the imaging information to improve the quality of the imaging information and sends the preprocessing to the AI identification unit (32).
6. The infrared cloud imaging-based detection robot of claim 5, wherein: the navigation device (84) comprises:
the navigation unit (5) is connected with the central control unit (4), the navigation unit (5) receives the judgment result transmitted by the central control unit (4), plans a route according to the judgment result and sends an action instruction, and the driving device (81) is connected with the navigation unit (5).
7. The infrared cloud imaging-based detection robot of claim 6, wherein: the controller further includes:
and the wireless communication unit (7) is connected with the central control unit (4), and the wireless communication unit (7) receives the judgment result sent by the central control unit (4) and the real-time monitoring video sent by the image processing unit (3) and transmits the real-time monitoring video to the remote computer.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021676567.8U CN214277928U (en) | 2020-08-12 | 2020-08-12 | Detection robot based on infrared gas cloud imaging |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021676567.8U CN214277928U (en) | 2020-08-12 | 2020-08-12 | Detection robot based on infrared gas cloud imaging |
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| CN214277928U true CN214277928U (en) | 2021-09-24 |
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| CN202021676567.8U Active CN214277928U (en) | 2020-08-12 | 2020-08-12 | Detection robot based on infrared gas cloud imaging |
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