CN215444037U

CN215444037U - Multi-sense organ inspection robot and multi-sense organ inspection system for oil extraction equipment

Info

Publication number: CN215444037U
Application number: CN202120594456.0U
Authority: CN
Inventors: 檀朝东; 宋健; 檀庭庄; 毛军军; 冯钢; 张�杰
Original assignee: Beijing Yadan Petroleum Technology Co ltd; China University of Petroleum Beijing
Current assignee: Beijing Yadan Petroleum Technology Co ltd; China University of Petroleum Beijing
Priority date: 2021-03-23
Filing date: 2021-03-23
Publication date: 2022-01-07
Anticipated expiration: 2031-03-23

Abstract

The utility model relates to a multi-sense inspection robot and a multi-sense inspection system aiming at oil extraction equipment, which at least comprise: the driving device is used for providing moving power drive for the multi-sense inspection tour robot; the image collector comprises a holder, a camera, sound collection equipment and at least one sensor, wherein the camera, the sound collection equipment and the at least one sensor are installed on one end of the holder, the camera and the sound collection equipment are respectively used for collecting image data and audio data of the oil extraction equipment, and the sensor is used for collecting surrounding environment information of the oil extraction equipment.

Description

Multi-sense organ inspection robot and multi-sense organ inspection system for oil extraction equipment

Technical Field

The utility model relates to the technical field of measurement of indicator diagrams of oil wells, in particular to a multi-sense inspection robot and a multi-sense inspection system for oil extraction equipment.

Background

The oil recovery method generally refers to a method for recovering crude oil flowing to the bottom of a well to the surface, and includes two major types, i.e., a self-injection oil recovery method and a mechanical oil recovery method (or an artificial lift oil recovery method). The self-injection oil production method is characterized in that the energy of the stratum is utilized to lift crude oil, and the method is the most economic oil production method. However, as oil fields are continuously developed, the formation energy is gradually consumed, and the oil fields cannot be produced by a self-injection method in order to ensure the stable and high yield of crude oil. Meanwhile, due to the geological characteristics of the oil layer, some wells cannot be self-blown at the beginning. For these wells that are not capable of flowing, it is necessary to artificially supplement the fluid in the well with mechanical equipment to lift the crude oil from the well to the surface, and this type of recovery is called mechanical oil recovery. The mechanical oil production method is divided into a gas lift method and an oil pump method. The gas-lift method features that the energy of compressed gas is used to lift crude oil to ground, and the oil-well pump method features that each oil-well pump is put under well for oil extraction. From the countries developed in the oil industry abroad, the number of wells produced by the oil-well pump method accounts for the majority of the total number of production wells, about 85% of pumping wells in the United states are produced by the method, and the number of wells produced by the oil-well pump method also accounts for the majority of the total number of oil wells in China.

Most oil pumping units used in oil fields in China are beam pumping units (also called kowtow type oil pumping units) which are of various types, but the basic structures and the working principles are the same: the pumping unit is powered by power equipment and drives the oil well pump to work through the rope hanger assembly. When the pumping unit makes an upward stroke, the oil pipe elastically contracts to drive the oil extraction device to move upwards, the sliding sleeve is impacted to generate vibration, and meanwhile, the forward check valve is closed, so that a negative pressure area is formed in the lower area, and a huge suction force is generated on the stratum equivalently. When the pumping unit is stroked downwards, a high-pressure area is formed in the lower area, and an opposite impact force is generated on an oil channel in the bottom layer, so that crude oil in the well is continuously pumped out of the shaft.

In the oil exploitation industry, in order to ensure the production safety of the oil exploitation field, the oil exploitation field and the oil exploitation equipment need to be regularly inspected, and potential safety hazards, equipment faults or potential faults are discovered and eliminated in time to avoid safety accidents, but the manual inspection has the defects of poor timeliness, low efficiency, insufficient accuracy, large workload, high repeatability and the like, and particularly when the oil exploitation field is located in a place with a severe environment. The indicator diagram of the oil pumping unit is used as a main means for directly knowing the working condition of the deep well pump, and can comprehensively reflect the running condition of the underground oil well pump and the exploitation condition of crude oil. The indicator diagram of the oil pumping unit is the relation curve of the load of the polished rod of the oil pumping unit and the displacement of the polished rod, which is measured by a special indicator and is drawn on a piece of coordinate paper, and the area enclosed by a closed line on the diagram represents the work of the oil pumping unit in one reciprocating motion of the furnace end of the oil pumping unit. The abscissa in the indicator diagram of the oil pumping unit represents the moving distance of the polished rod recorded in proportion, the ordinate represents the load on the polished rod recorded in proportion, and the size of the curve trap area represents the amount of work done by the pump.

The existing indicator system generally comprises an acceleration sensor, a load sensor, a collecting and amplifying module, a core processing module, a wireless communication unit, external upper equipment and the like, wherein the load sensor and the acceleration sensor are usually arranged on a polished rod between a square clamp and a rope hanger and are connected through signal lines. The specific work flow of the indicator system is as follows: the wireless communication module receives a command of an external upper device for measuring an indicator diagram of a cycle of the pumping unit, and transmits the command to the core processing module, the core processing module controls the acceleration sensor and the load sensor to measure a cycle (the cycle is calculated according to the rotating speed of a motor of the pumping unit), analog signals output by the acceleration sensor and the load sensor are processed by the acquisition and amplification module and then transmitted to the core processing module, in the measurement of the whole cycle, the core processing module stores load and acceleration data sets of not less than 200 points, then displacement values of initial storage points are obtained according to twice integration of the acceleration values, correct displacement values of the storage points are corrected through numerical values of a cam curve, a lever arm ratio and the like of the pumping unit, and finally the corrected displacement values are transmitted to the external upper device through the wireless communication unit.

Although the conventional indicator can measure the pressure load value and the displacement value required for drawing the indicator diagram, the conventional indicator still has certain defects: (1) the load can be measured by a load sensor, the displacement value is determined by the acceleration value, and the acceleration value needs to be integrated twice, so that the problems that the calculated displacement value is inaccurate or the pressure load value and the displacement value cannot be accurately corresponding due to the complexity and the time delay of calculation in the actual operation process can exist; (2) when the pumping unit rotates at a non-uniform speed, the measurement error is large, which is not beneficial to obtaining an accurate measurement value; (3) and due to the adoption of wired connection, the wiring cost is huge, and the construction amount of initial construction is large. In view of the above-mentioned shortcomings, related research has proposed a technical solution using visual recognition, for example, a dynamometer diagram measuring device disclosed in patent document with publication number CN212206438U includes a dynamometer body and an image processing device, the dynamometer body includes a strain body and a data display panel, the strain body is provided with a pressure load sensor, a control unit and a rechargeable battery, the data display panel includes a solar panel, the solar panel is provided with a frame and an LED dot matrix as a substrate, the LED dot matrix is used for displaying a pressure load value, the image processing device includes an image collector and an image processor, the image collector is used for acquiring image information of the data display panel at different positions during the whole stroke of the pumping unit, the image processor respectively acquires the pressure load value and an actual displacement value of the data display panel according to the image information, the indicator diagram measuring system comprises the indicator diagram measuring equipment and the upper equipment.

In fact, the technical scheme combines visual identification and the sensor, and data measured by the load sensor is identified by an external image collector in a display mode, so that the problem of cost increase caused by wired data connection of a traditional indicator is solved, however, the problems of serious temperature drift influence and short service life of a precision device existing in a severe environment of the sensor cannot be avoided.

SUMMERY OF THE UTILITY MODEL

The dynamometer system used for the pumping unit at present generally comprises an acceleration sensor, a load sensor, an acquisition amplification module, a core processing module, a wireless communication unit, external upper equipment and the like, and although the existing dynamometer can measure a pressure load value and a displacement value required by drawing a dynamometer diagram, the existing dynamometer still has certain defects: (1) the load can be measured by a load sensor, the displacement value is determined by an acceleration value, and two times of integration of the acceleration value is required, so that the problems that the calculated displacement value is inaccurate or the pressure load value and the displacement value cannot be accurately corresponding to each other possibly exist in the actual operation process due to the complexity and the time delay of calculation; (2) when the pumping unit rotates at a non-uniform speed, the measurement error is large, which is not beneficial to obtaining an accurate measurement value; (3) and due to the adoption of wired connection, the wiring cost is huge, and the construction amount of initial construction is large.

In view of the above, related researches have proposed a visual recognition-based indicator diagram measuring apparatus, such as that disclosed in patent document No. CN212206438U, which combines visual recognition with a sensor to recognize data measured by a load sensor by an external image collector through a display, thereby solving the problem of cost increase caused by wired data connection of the conventional indicator. However, the above technical solution still cannot avoid the problem that the sensor itself has a severe temperature drift effect in a severe environment.

Aiming at the defects in the prior art, the application provides a multi-sense inspection robot for oil extraction equipment and a multi-sense inspection system for the oil extraction equipment, the system adopts the technical scheme that visual identification and elastic deformation are combined, the elastic deformation is mainly used for replacing a traditional load sensor to synchronously reflect the axial pressure of the load of an oil pumping polished rod, the deformation data of the elastic deformation is directly acquired by an image acquisition device, namely the axial pressure data of the load of the oil pumping polished rod is acquired, meanwhile, the image acquisition device can acquire the height displacement condition of the oil pumping polished rod, the system can replace the traditional indicator and an external display which are already proposed, and the problems that the sensor cannot avoid serious temperature drift influence under severe environment and the service life of a precision device is short are solved.

The application provides a robot is patrolled and examined to many sense organs of oil recovery equipment includes at least: the driving device is used for providing moving power drive for the multi-sense inspection tour robot; the image collector comprises a holder, a camera, sound collection equipment and at least one sensor, wherein the camera, the sound collection equipment and the at least one sensor are installed on one end of the holder, the camera and the sound collection equipment are respectively used for collecting image data and audio data of the oil extraction equipment, and the sensor is used for collecting surrounding environment information of the oil extraction equipment.

According to a preferred embodiment, the body of the multi-sense inspection tour robot is further provided with a controller and a radar device installed on the body, and the radar device is in signal connection with the controller and is used for transmitting navigation data to the controller.

According to a preferred embodiment, the sensor is one or more of an odor sensor, a combustible gas detection sensor, a radiation sensor, an ambient light sensor, a smoke sensor, a temperature and humidity sensor, and an audible and visual alarm.

According to a preferred embodiment, at least one side of the body is provided with one or more of at least one thermal infrared imager, at least one distance sensor and at least one illuminating lamp, and the thermal infrared imager, the distance sensor and the illuminating lamp are respectively in signal connection with the controller.

According to a preferred embodiment, the drive means comprise at least one mecanum wheel or omni wheel arranged under the body.

According to a preferred embodiment, the head is fixed to the body by a turntable, and the turntable is further provided with at least one camera.

The application also provides a many sense organs system of patrolling and examining to oil recovery equipment includes at least: the inspection robot is provided with an image collector and is used for collecting image data of oil extraction equipment; the elastic deformation body is loaded on a polished rod of the oil production equipment; the deformation compensation structure is provided with at least two fixed sections which are respectively connected to different positions on the elastic deformation body, and the two fixed sections are rotationally connected with each other.

According to a preferred embodiment, the system further comprises an assembly base, which is detachably mounted on the polish rod and which is provided with a cavity for accommodating the deformation compensation structure.

According to a preferred embodiment, the deformation compensation structure is movably connected to the inner wall of the cavity in such a way that the included angle between the two fixed sections is an acute angle.

According to a preferred embodiment, at least one end face of the cavity of the mounting base adjacent to the external environment is transparent.

Drawings

FIG. 1 is a simplified overall schematic of a beam pumping unit according to the present invention;

FIG. 2 is a simplified overall structure diagram of the multi-sensory inspection robot according to the present invention;

fig. 3 is a simplified structural schematic diagram of a pan-tilt head according to a preferred embodiment of the present invention;

FIG. 4 is a simplified elevational cross-sectional structural schematic view of the polish rod of the present invention at the location of the mounting base;

fig. 5 is a simplified top cross-sectional view of a polished rod of the present invention at the location of the mounting base.

List of reference numerals

1: the rope hanger 2: donkey head

3: a walking beam 4: cross beam

5: the beam shaft 6: connecting rod

7: the support shaft 8: support frame

9: balance weight 10: crank arm

11: crank pin bearing 12: reduction gearbox

13: reduction gearbox pulley 14: electric motor

15: the braking device 16: circuit control device

17: base 18: polish rod

19: elastic deformation body 20: camera head

21: the rotating disk 22: cloud platform

24: the sound collection device 25: sensor with a sensor element

26: the radar device 27: deformation compensation structure

28: assembly base

Detailed Description

To facilitate the understanding of the technical solutions proposed in the present application for those skilled in the art, the related terms referred to in the present application are described as follows:

the beam-pumping unit, also called beam-pumping unit, beam-crank balance pumping unit, refers to the pumping unit which contains the beam, and through the link mechanism switching-over, the crank pouring weight is balanced, commonly called kowtow machine. The main parts of the ground part of the beam-pumping unit and the functions thereof are as follows: firstly, donkey head: the walking beam is arranged at the front end of the walking beam and has the function of ensuring that the polished rod 18 is always aligned with the center of a well head when oil is pumped, and the running arc line of the horse head is obtained by drawing an arc by taking the bracket bearing as the center of a circle and taking the front arm length of the walking beam as the radius. ② walking beam: the walking beam is fixed on the bracket, the front end of the walking beam is provided with a horse head for bearing underground load, and the rear end of the walking beam is connected with a connecting rod, a crank and a reduction gearbox for transmitting the power of the motor. ③ the crank-connecting rod mechanism: the function of the horse head reciprocating mechanism is to change the rotating motion of the motor into the up-and-down reciprocating motion of the horse head. 4-8 holes for adjusting the stroke are formed in the crank. Fourthly, the reduction gearbox: its function is to change the high-speed rotation of the motor into the low-speed rotation of the crankshaft, and at the same time, to support the balance weight. A balance block: install on beam-pumping unit walking beam afterbody or crank axle, when the beam-pumping unit upstroke, the balancing piece downstream helps overcoming the load on the horse head, and when the downstroke, the motor makes the balancing piece move upwards, and the stored energy can reduce the load difference in the beam-pumping unit upstroke under the effect of balancing piece. Sixthly, the rope suspending device: which is a flexible coupling connecting polished rod 18 to the horse head. The wellhead device: the wellhead assembly of a pumping well functions similarly to a flowing well, but is simpler and subject to relatively lower pressures than a flowing well. The device mainly comprises a sleeve tee joint, an oil pipe tee joint and a sealing filler box. The underground part of the beam pumping unit comprises the following main components: firstly, pumping a rod: the pumping rod is an important component of pumping equipment, and is connected with pumping unit and connected with deep-well pump to transfer power. The sucker rod is acted by various loads in the working process, the stress is extremely uneven in the up-and-down movement process, the stress is larger in the up-going process, and the stress is smaller in the down-going process. Sucker rods are typically rod members made of solid round steel. Both ends are provided with thickened forging heads, and the lower part is provided with connecting threads and a square section for lapping a wrench. The uppermost rod of the rod string is referred to as polished rod 18. The polish rod 18 is used in cooperation with a wellhead packing box to seal a wellhead. Secondly, deep well pump: the deep well pump is a core pumping device of pumping well, and is driven into well via sucker rod and oil pipe and sunk to some depth below the working fluid level, and the power is transmitted via sucker rod to pump crude oil to ground via pumping action.

The application provides a many sense organs of aiming at oil production equipment patrols and examines robot and a many sense organs system of patrolling and examining to oil production equipment, combines the figure below to carry out the detailed description to this application.

The robot comprises a robot body and a driving device arranged below the robot body, wherein the driving device is used for providing moving power drive for the multi-sense inspection tour robot. The drive means may comprise at least one mecanum wheel or omni wheel provided under the vehicle body. Mecanum wheels are omni-directional devices based on the principle of a central wheel with a number of axles located at the periphery of the wheel, these angled peripheral axles translating a portion of the wheel steering force above a wheel normal force, depending on the direction and speed of the respective wheels, the resulting combination of these forces producing a resultant force vector in any desired direction thereby ensuring that the platform is free to move in the direction of the resultant force vector without changing the direction of the wheels themselves. On its rim, many small rollers are obliquely distributed, so that the wheel can be transversely slided. The generatrix of the small rollers is particularly so that the envelope of each small roller is cylindrical when the wheel is turned around a fixed wheel spindle, so that the wheel can roll forward continuously. Based on the Mecanum wheel, the movement modes of advancing, transverse moving, oblique moving, rotating, combination of the advancing, transverse moving, oblique moving and rotating can be realized.

A rotary table is arranged on the machine body in a driving and rotating manner, and a cloud deck is fixedly arranged on the rotary table. The end part of the holder is provided with a camera, sound acquisition equipment and at least one sensor. The camera and the sound acquisition equipment are respectively used for acquiring image data and audio data of the oil extraction equipment. The sensor is at least one of an odor sensor, a combustible gas detection sensor, a radiation sensor, an ambient light sensor, a smoke sensor, a temperature and humidity sensor and an audible and visual alarm. Various kinds of surrounding environment data that may have chemical industry danger in the in-process various detections of robot that patrol inspection can be collected to each sensor.

The holder at least comprises an axial rod body part and a multi-degree-of-freedom rod body part. Based on this, can be according to actual conditions, through adjusting the cloud platform, can be to installing the height or the orientation of the camera above that adjusts. Here, the image data may be picture information, video information, or the like.

The inspection robot supplies power to all electric components of the inspection robot by arranging a power supply device.

The body of the multi-sense inspection robot is also provided with a controller and radar equipment installed on the body. The camera, the sensor, the sound collection equipment, the radar equipment and the like are respectively in signal connection with the controller. The radar equipment is used for transmitting navigation data to the controller, and the radar equipment can be laser radar, sonar radar, radio radar and the like.

At least one thermal infrared imager, a distance sensor or a lighting lamp can be arranged on the side surface of the machine body. The thermal infrared imager can be used for acquiring infrared images and detecting the temperature of the routing inspection target. At least one distance sensor may be provided on a side of the body. At least one illuminating lamp can be arranged on the side surface of the machine body.

The turntable is also provided with at least one camera. The camera is located below the camera on the cloud deck, and when the camera on the cloud deck carries out image acquisition on the oil extraction equipment, the camera can carry out image acquisition on the front condition, so that the travelling safety guarantee of the robot is improved.

The system adopts the technical scheme of combining visual identification with the elastic deformation body 19, and mainly utilizes the elastic deformation body 19 to replace a traditional load sensor so as to synchronously reflect the axial pressure of the load of the polished pumping rod 18. And directly acquires deformation data of the elastic deformation body 19, namely axial pressure data of the load of the polished sucker rod 18 by means of visual recognition.

In the actual production and operation process of the beam-pumping unit, the polished rod 18 of the pumping unit can bear static load and dynamic load in operation, the static load comprises gravity of the polished rod 18 and a crude oil liquid column and the like, the dynamic load comprises additional load generated by factors such as inertia load, vibration and piston friction generated in the operation process of the sucker rod column, liquid viscous resistance, hard friction at the joint of the sucker rod column, large stroke frequency, accidental dislocation of a cylinder sleeve in a pump barrel of the oil-well pump and the like, under the action of the axial dynamic load, the wall of the polished rod 18 of the pumping unit is subjected to micro deformation, and deformation data of the wall is data required for drawing a power diagram of the well of the oil-well. In contrast, in the present application, the elastic deformation body 19 is directly loaded on the polish rod 18 of the pumping unit, and the elastic deformation body 19 deforms synchronously with the polish rod 18 due to the load change borne by the polish rod 18 of the pumping unit, that is, the deformation data of the polish rod 18 can be obtained by measuring the elastic deformation body 19.

In the present application, since the elastic deformation body 19 and the deformation compensation structure 27 are fixed on the polish rod 18, the displacement data of the polish rod 18 is the displacement data of the elastic deformation body 19 or the deformation compensation structure 27. The image collector 23/robot is positioned so that the field of view of its camera is sufficient to encompass the different positions of the elastic deformation 19 during a single pumping cycle. That is, the image collector 23 may collect the moving distance/displacement of the elastic deformation body 19 in a single pumping cycle, that is, may obtain displacement data required for indicator diagram drawing.

Because the deformation amount of the elastic deformation body 19 generated along with the polished rod 18 is still small, the image collector 23 is erected at a certain distance away from the oil pumping unit, and effective image collection cannot be guaranteed, based on the deformation compensation structure, the deformation compensation structure 27 is provided on the basis of the elastic deformation body 19, the deformation compensation structure 27 can deform along with the elastic deformation body 19 synchronously, the deformation performance of the elastic deformation body 19 is amplified through deformation compensation, the image collector 23 can perform effective image collection, and deformation data of the elastic deformation body 19 are obtained.

The strain compensation structure 27 may be a lever structure having a fulcrum and two levers, and the two levers can rotate around the fulcrum respectively under the action of force. Wherein the fulcrum is fixed relative to the polish rod 18. As a preferred embodiment, each lever can be divided at a fulcrum into a shorter first lever arm and a longer second lever arm. The free ends of the first lever arms are each fixed to the elastic deformation body 19. The free ends of the first lever arms of the two levers are respectively fixed to different positions on the elastic deformation body 19. Since the polished rod 18 is mainly subjected to axial loads, the different position/positions mentioned herein may be referred to as being distributed on both sides of the elastic deformation body 19 in the axial direction. The different positions may be two maximum deformation positions where the elastic deformation bodies 19 are arranged side by side along the axial direction. The fixed section mentioned in this application is the free end of the first lever arm. As another preferred embodiment the strain compensating structure 27 may be a front cross-sectional structure as shown in fig. 3.

In the present application, since the deformation compensation structure 27 is assembled on the elastic deformation body 19 in a cross structure by two levers, that is, only the second lever arm of the two levers needs to be observed to obtain the displacement change between the first lever arms of the levers, and thus obtain the deformation generated on the elastic deformation body 19.

Deformation compensating structure 27 may be secured to polished rod 18 by mounting base 28. The mounting base 28 may be a U-shaped structure in a top cross-sectional view as shown in fig. 4. The deformation compensation structure 27 is light in weight, and may be made of a material with light weight and certain hardness, such as graphene. The weight of the strain compensation structure 27 does not affect the elastic deformation body 19, and can truly reflect the deformation amount of the elastic deformation body 19.

The deformation-compensating structure 27 is mounted in a cavity of a mounting base 28, the fulcrum of which is pivotally connected to the inner wall of the cavity. The mounting base 28 does not affect the deformation of the deformation-compensating structure 27 with the elastic deformation body 19, while preventing the deformation-compensating structure 27 from being affected by the external environment.

An end surface of the cavity close to the external environment is transparent and faces the side of the image collector 23 after the assembly base 28 is fixed. That is, the image collector 23 can collect the image data of the deformation compensation structure 27 through the transparent end face. Mounting base 28 may be secured to polished rod 18 by commonly used clamping bolts or the like. The image collector 23 may be fixed to the inspection robot. The inspection robot in the system can be a movable robot or a non-movable robot fixed on the base of the oil pumping unit. The mounting orientation of the mounting base 28 is adjusted accordingly in each case.

In the present application, the first lever arm of the deformation compensation structure 27 is shorter than the second lever arm, so that the displacement change between the second lever arms on the deformation compensation structure 27 is amplified by lever transmission to compensate the deformation of the elastic deformation body 19. Under the arrangement, even if the image collector 23 is separated from the beam pumping unit by a preset distance, the image collector 23 still can observe the deformation change of the end of the beam pumping unit after deformation compensation.

Based on the acquired deformation data and displacement data, the controller can convert the deformation data and the displacement data to obtain a load magnitude value and a displacement magnitude value of the force applied to the polished rod 18 in the oil pumping process, and/or can draw and output an indicator diagram of the oil pumping well.

The deformation data obtained by the camera 20 after deformation compensation, i.e. the displacement data between the two second lever arms of the deformation compensation structure 27, needs to be converted to obtain the load magnitude of the force applied to the polish rod 18 during the oil pumping process. Because the force arm proportion of the lever structure is fixed, namely the deformation compensation structure 27 has a determined deformation compensation coefficient, the image processor can process the deformation change of the deformation compensation structure 27 acquired by the camera 20 based on the determined deformation compensation coefficient, so as to obtain the deformation data of the elastic deformation body 19 or the load value of the force applied to the polished rod 18 in the oil pumping process.

It should be noted that the above-mentioned embodiments are exemplary, and that those skilled in the art, having benefit of the present disclosure, may devise various arrangements that are within the scope of the present disclosure and that fall within the scope of the utility model. It should be understood by those skilled in the art that the present specification and figures are illustrative only and are not limiting upon the claims. The scope of the utility model is defined by the claims and their equivalents.

Claims

1. A multi-sense inspection robot for oil extraction equipment at least comprises:

the driving device is used for providing moving power drive for the multi-sense inspection tour robot;

an image collector is arranged on the base plate,

the device is characterized in that the image collector comprises a holder (22), a camera (20), a sound collection device (24) and at least one sensor (25), the camera (20) and the sound collection device (24) are mounted on one end of the holder (22), the camera (20) and the sound collection device (24) are respectively used for collecting image data and audio data of the oil extraction device, and the sensor (25) is used for collecting surrounding environment information of the oil extraction device.

2. The multi-sensory inspection robot according to claim 1, wherein a controller and a radar device (26) mounted on the body of the multi-sensory inspection robot are further provided in the body of the multi-sensory inspection robot, and the radar device (26) is in signal connection with the controller and is used for transmitting navigation data to the controller.

3. The multi-sensory inspection robot according to claim 2, wherein the sensor (25) is one or more of an odor sensor, a combustible gas detection sensor, a radiation sensor, an ambient light sensor, a smoke sensor, a temperature and humidity sensor, an audible and visual alarm.

4. The multi-sensor inspection robot according to claim 3, wherein at least one side of the body is provided with one or more of at least one thermal infrared imager, at least one distance sensor, and at least one illuminating lamp, and the thermal infrared imager, the distance sensor, and the illuminating lamp are respectively in signal connection with the controller.

5. The multi-sensory inspection robot according to claim 4, wherein the drive arrangement includes at least one of a Mecanum wheel or an omni wheel disposed beneath the body.

6. The multi-sensory inspection robot according to claim 5, wherein the head is secured to the body by a turntable (21), and wherein the turntable (21) is further provided with at least one camera (20).

7. The utility model provides a multisensory inspection system to oil recovery equipment which characterized in that includes at least:

the multi-sensory inspection robot according to any one of claims 1 to 6;

an elastic deformation body (19) loaded on a polish rod (18) of the oil production equipment;

a deformation compensation structure (27) which is provided with at least two fixed sections which are respectively connected to different positions on the elastic deformation body (19), and the two fixed sections are rotationally connected with each other.

8. The multi-sensor inspection system according to claim 7, further including an assembly base (28), the assembly base (28) being removably mounted to the light rod (18) and defining a cavity for receiving the strain compensation structure (27).

9. The multi-sensor inspection system according to claim 8, wherein the strain compensation structure (27) is movably connected to the inner wall of the cavity in such a manner that an included angle between two fixed sections of the strain compensation structure is an acute angle.

10. The multi-sensor inspection system according to claim 9, wherein at least one end surface of the cavity of the mounting base (28) adjacent to the external environment is transparent.