Dangerous gas leakage position detection and early warning method and system

Abstract

The invention relates to a dangerous gas leakage position detection early warning method and system, and relates to the technical field of gas leakage detection, and the method comprises the steps: determining a to-be-detected region, determining an unmanned plane group of the to-be-detected region, obtaining the gas monitoring data of a gas sensor group through the gas sensor group disposed on an unmanned plane in the unmanned plane group, and obtaining a dangerous gas leakage position detection early warning result. The first position data is determined according to the gas monitoring data, and leakage early warning is performed through the unmanned aerial vehicle according to the gas monitoring data and the first position data, so that the unmanned aerial vehicle is combined with a plurality of sensors to perform cooperative monitoring and early warning; the system can rapidly and accurately position the leakage source of hazardous gas such as hydrogen in cooperation with the unmanned aerial vehicle, carries out early warning in time, effectively improves the regional safety, and solves the problems existing in the conventional hazardous gas leakage detection technology.

Description

Technical Field

[0001] The present application relates to the technical field of gas leakage detection, and in particular to a method and system for detecting and warning the location of dangerous gas leakage. Background Art

[0002] In related technologies, gases such as hydrogen and helium have a wide range of applications. Taking hydrogen as an example, hydrogen energy, as a secondary energy source with abundant sources, green and low carbon, and wide applications, has a wide range of application scenarios in various fields. However, as a flammable and explosive gas, hydrogen has a wide range of explosion concentrations and an extremely low minimum ignition energy. It usually requires ultra-low temperature or ultra-high pressure storage. Due to its extremely strong permeability, hydrogen is prone to leakage. It can be seen that hydrogen is highly dangerous. Accidental leakage of hydrogen can form a flammable mixture with the surrounding air in a very short time. Once it encounters an ignition source, it will cause serious fire and explosion accidents. Therefore, it is particularly important to identify hydrogen-related equipment with hydrogen leaks in hydrogen-related systems and to provide early warnings.

[0003] However, the existing hydrogen leak detection method mainly uses the low temperature characteristics of liquid hydrogen to identify the leak source through infrared technology. However, infrared identification technology can only identify the leak source after the hydrogen leak reaches a certain scale. As the lightest element, hydrogen will spread rapidly once it leaks, and hydrogen-related systems and equipment will face extremely high safety risks. It can be seen that the existing hazardous gas leak detection technology cannot detect the gas leak source in time, let alone ensure the safe operation of various systems and equipment in the area. Summary of the invention

[0004] The present application provides a method and system for detecting and warning the location of dangerous gas leaks, which uses drones and multiple types of sensors to collaboratively monitor and warn of an area, effectively improving the safety of various systems and equipment in the area. By using different sensor data and cooperating with drones, the source of dangerous gas leaks can be quickly and accurately located, and timely warnings can be issued to avoid possible fires and explosions caused by dangerous gas leaks, thereby solving the problems existing in existing dangerous gas leak detection technologies.

[0005] In a first aspect, the present application provides a method for detecting and warning a dangerous gas leakage location, comprising:

[0006] Determine an area to be detected, and determine a drone group in the area to be detected, wherein the drone group includes at least one drone, and a gas sensor group is disposed on the drone;

[0007] Acquiring gas monitoring data of the gas sensor group;

[0008] Determining first position data according to the gas monitoring data;

[0009] Based on the gas monitoring data and the first location data, a leakage warning is issued by the drone;

[0010] The gas sensor group includes at least three gas sensors, and the at least three gas sensors are the same type of sensors corresponding to the detection gas.

[0011] Optionally, the performing leakage warning by the drone based on the gas monitoring data and the first location data includes:

[0012] Analyzing and processing the gas monitoring data and the first position data in combination with multi-sensor data to obtain gas leakage distribution data, wherein the multi-sensor data is sensor data obtained by monitoring the area to be detected through a multi-sensor group;

[0013] Based on the gas leakage distribution data, a leakage warning is issued by the drone;

[0014] The multi-sensor group includes at least one sensor, and the multi-sensor group is arranged on the drone or on the ground of the area to be detected.

[0015] Optionally, the drone group includes at least one type of drone among a multi-rotor drone, a fixed-wing drone and a vertical lift drone, and the step of determining the drone group of the area to be detected includes:

[0016] Obtaining a spatial range value of the area to be detected and a preset spatial range threshold;

[0017] When the spatial range value is less than the spatial range threshold, a preset multi-rotor drone group is determined as the drone group in the area to be detected, wherein the multi-rotor drone group includes a single multi-rotor drone and / or a multi-rotor drone array;

[0018] When the spatial range value is not less than the spatial range threshold, determining a preset vertical lift UAV group or a preset fixed-wing UAV group as the UAV group in the area to be detected;

[0019] The vertical lift UAV group includes a single vertical lift UAV and / or a vertical lift UAV array, and the fixed-wing UAV group includes a single fixed-wing UAV and / or a fixed-wing UAV array.

[0020] Optionally, the three gas sensors are arranged on one drone or each gas sensor is arranged on an unmanned aerial vehicle, and three drones form a detection unit; the three sensors or three drones are arranged in a triangle, and the triangle is an equilateral triangle, an isosceles right triangle, an isosceles triangle or a common triangle;

[0021] Determine the first position data according to the gas monitoring data, including: taking the concentration data of the point where the triangle gravity center is located as the average data of the three gas sensors; based on the average data, combine the gas monitoring data to predict the gradient direction to obtain the first position data.

[0022] Optionally, the gas leakage distribution data is obtained by analyzing and processing the gas sensor monitoring data and the first position data in combination with multi-sensor monitoring data, including:

[0023] Extract infrared imaging data from multi-sensor monitoring data;

[0024] Performing a cold-hot comparison based on the infrared imaging data to obtain second position data;

[0025] A leakage point analysis is performed based on the gas sensor monitoring data, the first position data, and the second position data to obtain gas leakage distribution data.

[0026] Optionally, before the detection, the three gas detection sensors are initially reset to zero in a gas leakage-free environment, and the gas leakage distribution data is obtained by analyzing and processing the gas sensor monitoring data and the first position data in combination with the multi-sensor monitoring data, including:

[0027] Extracting position fusion data from the multi-sensor monitoring data, wherein the position fusion data includes positioning data and altitude data;

[0028] Determine a topographic map of the area to be detected based on the positioning data and the altitude data;

[0029] Image analysis is performed based on the gas sensor monitoring data, the first location data, and the topographic map to obtain gas leakage distribution data.

[0030] Optionally, before the detection, the three gas detection sensors are initially reset to zero in a gas leakage-free environment, and the gas leakage distribution data is obtained by analyzing and processing the gas sensor monitoring data and the first position data in combination with the multi-sensor monitoring data, including:

[0031] Extracting multivariate fusion data from the multivariate sensor monitoring data, wherein the multivariate fusion data includes at least one of temperature data, humidity data, wind direction data, and wind force data;

[0032] A coupling calculation is performed based on the gas sensor monitoring data, the first position data and the multivariate fusion data to obtain gas leakage distribution data.

[0033] Optionally, before the detection, the three gas detection sensors are initially reset to zero in an environment without gas leakage, and the leakage warning is performed by the drone based on the gas leakage distribution data, including:

[0034] Acquiring sound sensing data for the gas leakage distribution data through a sound sensor, wherein the sound sensor is a sensor disposed on the ground of the area to be detected or disposed on the drone;

[0035] Based on the sound sensor data, the preset flow leakage audio data is compared to obtain the gas leakage amount;

[0036] According to the gas leakage amount, the drone is used to check for leakage and to issue a sound warning.

[0037] In a second aspect, the present application provides a dangerous gas leakage location detection and early warning system, comprising:

[0038] A drone group determination module, used to determine an area to be detected, and based on the area to be detected, determine a drone group, wherein the drone group includes at least one drone, and a gas sensor group is provided on the drone;

[0039] An acquisition module, used for acquiring gas monitoring data of the gas sensor group;

[0040] A position data determination module, configured to determine first position data according to the gas monitoring data;

[0041] A leakage warning module is used to provide leakage warning through the drone based on the gas monitoring data and the first position data; wherein the gas sensor group includes at least three gas sensors, and the at least three gas sensors are the same type of sensors corresponding to the detected gas.

[0042] In a third aspect, the present application provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus;

[0043] Memory, used to store computer programs;

[0044] The processor is used to implement the steps of the dangerous gas leakage location detection and early warning method described in any one of the first aspects when executing the program stored in the memory.

[0045] In summary, the embodiment of the present application determines the area to be detected and the drone group in the area to be detected, and the drone group includes at least one drone. The gas monitoring data is obtained by using the gas sensor group set on the drone, and then the first position data is determined according to the gas monitoring data. Based on the gas monitoring data and the first position data, a leakage warning is issued through the drone, thereby realizing the drone combining multiple sensors for collaborative monitoring and warning. By using different sensor data and cooperating with the drone, the gas leakage source can be quickly and accurately located, and timely warning can be issued, thereby effectively improving the regional safety and solving the problems existing in the existing hazardous gas leakage detection technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0047] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0048] Figure 1 A flowchart of a method for detecting and warning the location of a dangerous gas leak provided in an embodiment of the present application;

[0049] Figure 2 This is a schematic diagram of the steps of a dangerous gas leakage location detection and early warning method provided by an optional embodiment of the present application;

[0050] Figure 3 This is a schematic diagram of the steps of a dangerous gas leakage location detection and early warning method provided by an optional embodiment of the present application;

[0051] Figure 4 It is a schematic diagram of the arrangement of three gas detection sensors of a single multi-rotor drone provided by an optional example of the present application;

[0052] Figure 5 A schematic diagram of the arrangement of three gas detection sensors of a multi-rotor drone array provided as an optional example of the present application;

[0053] Figure 6 A schematic diagram of the ground sensor arrangement of a single multi-rotor drone provided as an optional example of the present application;

[0054] Figure 7 A schematic diagram of the arrangement of three gas detection sensors of a single vertical lift drone provided as an optional example of the present application;

[0055] Figure 8 A schematic diagram of the arrangement of three gas detection sensors of a vertical lift drone array provided as an optional example of the present application;

[0056] Fig. 9 A schematic diagram of simulation results after 10SLPM hydrogen leakage is provided as an optional example of this application;

[0057] Fig.10 A diagram showing the locations of various test points for a hydrogen leak test provided as an optional example of the present application;

[0058] Fig.11 A schematic diagram of actual detection results of a 10SLPM helium leak provided as an optional example of this application;

[0059] Fig.12 A structural block diagram of a dangerous gas leakage location detection and early warning system provided in an embodiment of the present application;

[0060] Fig.13 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0061] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0062] In the relevant technology, hydrogen, helium, etc. have a wide range of applications. Taking hydrogen as an example, hydrogen energy is widely used, which can help large-scale consumption of renewable energy, realize large-scale peak load regulation of power grids and cross-seasonal and cross-regional energy storage, and accelerate the low-carbonization of industries, construction, transportation and other fields. However, hydrogen is a flammable and explosive gas with a wide range of explosion concentrations. It has many characteristics, including but not limited to: easy leakage, strong permeability, easy reaction, easy explosion and light. Specifically, the explosive property of hydrogen refers to the minimum content of combustible gas that can cause an explosion. Its lower explosion limit (LowExplosion-Level, referred to as LEL) is 4% (percentage), and the explosion concentration (UEL) of an open flame in the air is 75%. The minimum ignition energy is extremely low, and the energy density of hydrogen is extremely low at room temperature and pressure, requiring ultra-low temperature or ultra-high pressure storage. In addition, hydrogen has extremely strong permeability and is easy to leak from flanges, threads and other mating surfaces. Hydrogen can also react with many substances, such as hydrogen embrittlement of metals. These characteristics determine the high danger of hydrogen. Accidental leakage of hydrogen can form a flammable mixture with the surrounding air in a very short time, which will cause serious fire and explosion accidents once it encounters an ignition source. At the same time, hydrogen is the first element in the periodic table and the lightest element. The "lightness" of hydrogen is a very important characteristic. Once hydrogen leaks, it will quickly diffuse and float. The floating rate of hydrogen in air at normal temperature and pressure can reach 1.2 to 9 meters per second. Therefore, it is particularly important for hydrogen-related systems and equipment in hydrogen-related areas to always detect hydrogen leaks and issue timely warnings.

[0063] Taking hydrogen as an example, the existing hydrogen leak detection technology is mainly divided into two types: one is that for areas such as hydrogen filling stations, fixed hydrogen detection devices and on-site personnel inspections are generally used to prevent hydrogen leaks, which requires a lot of manpower and material resources. In addition, hydrogen is a flammable and explosive dangerous gas. Once leaked, it may cause serious fires and explosions, endangering the safety of detection personnel; the other is to target the low-temperature characteristics of liquid hydrogen, by setting infrared sensors in a certain area or on drones to identify the source of the leak. However, hydrogen has the characteristic of rapid diffusion. Infrared sensors can only identify the source of the leak after the hydrogen leak reaches a certain scale, and it is impossible to locate the source of the hydrogen leak in a timely and accurate manner. In addition, for the leakage of gases such as helium, it is also necessary to reach a certain scale before the leak source can be identified, and the gas leak source cannot be located in a timely and accurate manner.

[0064] It can be seen that the existing dangerous gas leakage detection methods have many problems.

[0065] To solve the above problems, one of the concepts of the present application is to set a high-precision gas sensor on the drone, and set multiple different sensors on the drone or on the ground in the area to form a multi-sensor group. When hydrogen leakage occurs in the area, the high-precision gas sensor can be identified as the leakage source in the first time, and timely warning can be issued, so that the leakage source of the dangerous gas can be located quickly and accurately, and timely warning can be issued, which effectively improves the safety of the area and solves the problems existing in the existing dangerous gas leakage detection technology.

[0066] To facilitate the understanding of the embodiments of the present application, further explanation will be given below in conjunction with the drawings and specific embodiments. The embodiments do not constitute a limitation on the embodiments of the present application.

[0067] Figure 1 A flowchart of a method for detecting and warning the location of a dangerous gas leak provided in an embodiment of the present application. In a specific implementation, the method for detecting and warning the location of a dangerous gas leak provided in the present application can be applied to leak detection and warning of a variety of gases, including but not limited to timely leak detection and warning of dangerous gases such as hydrogen, helium, ammonia, methane, and fluorine. Figure 1 As shown, the dangerous gas leakage location detection and early warning method provided in the embodiment of the present application may specifically include the following steps:

[0068] Step 110, determining an area to be detected and determining a group of drones in the area to be detected.

[0069] The drone group includes at least one drone, and a gas sensor group is arranged on the drone. The gas sensor group includes at least three gas sensors, and the at least three gas sensors are the same type of sensors corresponding to the detected gas.

[0070] Specifically, the area to be detected can be an open space area or a non-open space area. The area to be detected can contain multiple devices involving hazardous gases, and the area where these devices are located is used as the area to be detected. Taking the hydrogen-related system as an example, the space area where the hydrogen-related devices in the hydrogen-related system are located can be used as the area to be detected.

[0071] In this embodiment, the gas sensor group may include at least three gas sensors (also referred to as gas detection sensors). Preferably, the three gas sensors that the gas sensor group may include may all be high-precision gas sensors, thereby enabling high-precision, accurate and timely gas leakage detection in the area to be detected.

[0072] It should be noted that, in this embodiment, the detection gas may include but is not limited to: hydrogen, helium, etc. The three gas sensors are the same type of sensor corresponding to the detection gas, that is, the three gas sensors are the same type of sensor, corresponding to the detection gas, and are used to jointly realize leakage detection of the detection gas. Preferably, the three gas sensors are sensors of the same model. Exemplarily, taking hydrogen leakage detection as an example, at this time, the detection gas is hydrogen, and the three gas sensors in the gas sensor group can all be high-precision hydrogen sensors. Only three hydrogen sensors are needed to obtain the concentration gradient of hydrogen, thereby reducing the sensor cost.

[0073] In this embodiment, the drone group may include at least one drone, and the drone type may include but is not limited to multi-rotor, fixed-wing, and vertical lift, etc. The gas sensors in the gas sensor group may be arranged on the drone in a certain structure / form. When the drone group has only one drone (i.e., a single drone), all gas sensors in the gas sensor group may be arranged at different positions of the drone, such as near the landing gear, etc.; when the drone group includes multiple drones, such as when the drone group includes three drones, the gas sensors in the gas sensor group may correspond to the drones one by one, and be arranged on the drones in a one-to-one correspondence. Of course, at least one gas sensor in the gas sensor group may also be arranged on the drone for a certain drone in the drone group. For example, the drone group includes three drones, and the gas sensor group includes three high-precision gas sensors. At this time, the three high-precision gas sensors may all be arranged on one drone, or on three drones in a one-to-one correspondence.

[0074] In actual implementation, taking hydrogen detection as an example, the gas sensor can be a hydrogen detection sensor, which can include but is not limited to catalytic, thermal conductivity, electrochemical, resistance, work function, mechanical, optical, acoustic, etc. In a complete system, multiple hydrogen detection sensors can be sensors of the same model and specification. The display value of a high-precision hydrogen detection sensor can be below ppm (parts per million), such as ppm, ppb (parts per billion), and ppt (parts per trillion).

[0075] In a specific implementation, in order to improve the detection accuracy, the present embodiment can also perform an initial zeroing of the gas sensors in the gas sensor group before performing gas leakage detection. Taking the hydrogen-related system as an example, at this time, at least three hydrogen detection sensors in the hydrogen sensor group can be initially zeroed in an environment without hydrogen leakage, and the initial zeroing can be used to improve the detection accuracy and reduce the zero point deviation between sensors. Preferably, the hydrogen detection sensor group includes three hydrogen detection sensors, and before the detection, the three hydrogen detection sensors are initially zeroed in an environment without hydrogen leakage.

[0076] It should be noted that this embodiment does not limit the number of gas sensors installed on the same drone; for a drone group including multiple drones and a gas sensor group including multiple gas sensors, there are many ways and quantities of setting gas sensors on the drones, which can be set according to actual usage requirements, and this embodiment does not explain them one by one.

[0077] Step 120: Acquire gas monitoring data of the gas sensor group.

[0078] Step 130: Determine first position data according to the gas monitoring data.

[0079] The following is a unified description of steps 120 to 130:

[0080] Specifically, the gas monitoring data (also called gas detection data, gas sensor data, etc.) is sensor data obtained by detecting the area to be detected by a gas sensor. Since the gas sensor group can include at least three gas sensors, the gas monitoring data can actually include sensor data detected by at least three gas sensors, and this embodiment does not limit this. The first position data is used to characterize the gradient direction of the gas leakage, that is, the approximate location of the gas leakage in the area to be detected can be determined by the first position data.

[0081] In a specific implementation, when the drone conducts a cruise inspection of the area to be inspected, the gas sensor can be used to detect the area to be inspected in real time to obtain gas monitoring data. The gas monitoring data is analyzed to determine whether there is a gas leak in the area to be inspected, such as a hydrogen leak. After determining that there is a gas leak in the area to be inspected, the approximate concentration gradient of the gas leak can be analyzed from the gas monitoring data, thereby determining the direction of the gas leak, and then determining the approximate gas leak location to obtain the first location data. Therefore, this embodiment solves the problem of leak point detection through limited hydrogen detection sensors.

[0082] For example, taking hydrogen leakage as an example, the drone carries out hydrogen leakage detection in the detection area by carrying a high-precision hydrogen sensor. Since the hydrogen rising rate is relatively high and there is no hydrogen source on the upper part, the hydrogen is actually transferred from bottom to top in the detection area. If the gas monitoring data detected by the high-precision hydrogen sensor indicates that there is a hydrogen leakage in the detection area, the gas monitoring data can be analyzed to obtain the approximate concentration gradient of the hydrogen leakage. The approximate direction of the hydrogen leakage can be determined according to the gradient direction, and then the approximate gas leakage position, i.e., the first position data, can be analyzed.

[0083] Step 140: Based on the gas monitoring data and the first location data, a leakage warning is issued by the drone.

[0084] In this embodiment, the gas monitoring data and the first position data can be used to determine the approximate location of the gas leakage, that is, the gas leakage source. The drone can then investigate the leakage source and issue a warning sound in real time and continuously to indicate that a gas leakage has occurred at this location, thereby providing a timely warning of the gas leakage source. As a result, the embodiment of the present application realizes the use of drones in combination with multiple sensors for coordinated monitoring and early warning. By using different sensor data and drones, the leakage source of hazardous gases such as hydrogen can be quickly and accurately located, and timely warnings can be issued, effectively improving regional safety and solving the problems existing in existing hazardous gas leakage detection technologies.

[0085] It can be seen that the embodiment of the present application determines the area to be detected and the drone group in the area to be detected, and the drone group includes at least one drone. The gas monitoring data is obtained by using the gas sensor group set on the drone, and then the first position data is determined according to the gas monitoring data. Based on the gas monitoring data and the first position data, a leakage warning is issued through the drone, thereby realizing the drone combining multiple sensors for coordinated monitoring and warning. By using different sensor data and cooperating with the drone, the gas leakage source can be quickly and accurately located, and timely warning can be issued, thereby effectively improving the regional safety and solving the problems existing in the existing hazardous gas leakage detection technology.

[0086] Reference Figure 2 , shows a schematic diagram of the steps of a method for detecting and warning the location of a dangerous gas leak provided by an optional embodiment of the present application. The method for detecting and warning the location of a dangerous gas leak may specifically include the following steps:

[0087] Step 210, determining an area to be detected and determining a group of drones in the area to be detected.

[0088] The drone group includes at least one drone, and a gas sensor group is arranged on the drone. The gas sensor group includes at least three gas sensors, and the at least three gas sensors are the same type of sensors corresponding to the detected gas.

[0089] The description of step 210 can refer to the above step 110, and this embodiment will not describe it in detail.

[0090] Step 220: Acquire gas monitoring data of the gas sensor group.

[0091] For the description of step 220, reference may be made to the above step 120, which will not be described in detail in this embodiment.

[0092] Step 230: Determine first position data based on the gas monitoring data.

[0093] For the description of step 230, reference may be made to the above step 130, which will not be described in detail in this embodiment.

[0094] Step 240 , analyzing and processing the gas monitoring data and the first position data in combination with the multi-sensor data to obtain gas leakage distribution data.

[0095] Among them, the multi-sensor data is sensor data obtained by monitoring the area to be detected through a multi-sensor group, and the multi-sensor group includes at least one sensor, and the multi-sensor group is set on the drone or on the ground of the area to be detected.

[0096] In this embodiment, the multi-sensor group may be composed of at least one sensor, and the sensors constituting the multi-sensor group may be collectively referred to as multi-sensors. The sensor types of the multi-sensors may be the same or different, that is, the multi-sensor group may actually include multiple types of sensors, and this embodiment does not limit the types of sensors in the multi-sensor group and the number of sensors of the same type. Exemplarily, the sensor types of the multi-sensor may include but are not limited to temperature, humidity, wind direction, wind force, sound, positioning system, height, infrared thermal imaging, etc., that is, the multi-sensor group may include but are not limited to temperature sensors, humidity sensors, wind direction sensors, wind force sensors, sound sensors, positioning system sensors, height sensors, infrared thermal imaging sensors, etc. At least one sensor of at least one type mentioned above may be selected to form a multi-sensor group according to actual detection requirements, and the multi-sensor group may be set on a drone or on the ground; of course, according to actual requirements, some sensors in the multi-sensor group may be set on a drone and some may be set on the ground, and this embodiment does not limit this.

[0097] In this embodiment, since the multi-sensor group is essentially composed of one or more multi-sensors, the multi-sensor data can be understood as the fusion data of one or more sensor data, that is, when the multi-sensor group includes one multi-sensor, the multi-sensor data is the sensor data of the multi-sensor; when the multi-sensor group includes multiple multi-sensors, the multi-sensor data is the fusion data of the sensor data of multiple multi-sensors.

[0098] In a specific implementation, the approximate gas leakage position can be determined through the gas monitoring data and the first position data, thereby estimating the hydrogen leakage position. In order to further improve the detection accuracy of gas leakage and locate the gas leakage source, the multi-sensor data fed back by the multi-sensor group can be combined to further analyze the approximate gas leakage position, so as to accurately locate the gas leakage position and obtain gas leakage distribution data. The gas leakage distribution data can include a gas leakage distribution map and gas leakage position data. The gas leakage distribution map can be used to characterize the concentration gradient and / or leakage amount of the gas leakage. The gas leakage position data can be used to characterize the gas leakage point, that is, the gas leakage position. Among them, the position with the highest concentration can be understood as the precise position of the gas leakage, thereby accurately locating the gas leakage position, realizing the coordinated monitoring of the drone in combination with multiple types of sensors, and using different sensor data, the drone can quickly and accurately locate the hydrogen leakage source, solving the problem of rapid detection in a large area.

[0099] Step 250, based on the gas leakage distribution data, using the drone to issue a leakage warning;

[0100] In order to achieve timely warning of gas leakage, in this embodiment, a sound-generating device may be provided on the drone or the ground of the area to be detected, such as a device / equipment capable of making sound, such as a speaker, etc. After locating the gas leakage source according to the gas leakage distribution data, the drone can check the leakage source and can issue a warning sound in real time and continuously to indicate that a gas leakage occurs at this location, thereby achieving timely warning of the gas leakage source.

[0101] Taking the hydrogen-related system as an example, for the area where the hydrogen-related system is located, the embodiment of the present application realizes the use of different sensor data, in conjunction with drones and high-precision hydrogen sensors carried by drones, to quickly and accurately locate the source of hydrogen leakage and issue timely warnings, effectively improving regional safety and solving the problems existing in existing hydrogen leakage detection technology.

[0102] Furthermore, in this embodiment, the multi-sensor group installed on the drone is better related to the hydrogen detection sensor than the multi-sensor group installed on the ground in the area to be detected, but it takes up more communication bandwidth. The multi-sensor usually installed on the drone has lower requirements for sensor power, higher requirements for stability, and also higher requirements for size and weight, but no area size requirements for the detection site area. In addition, the drone can also carry wireless (such as Wi-Fi) communication or other wireless network communication for other multi-sensors to communicate data.

[0103] It can be seen that the embodiment of the present application determines the area to be detected and the drone group in the area to be detected, and uses the gas sensor group set on the drone in the drone group to obtain gas monitoring data, and then determines the first position data according to the gas monitoring data, and analyzes and processes the gas monitoring data and the first position data in combination with the multi-sensor data monitored by the multi-sensor group to obtain gas leakage distribution data, and then uses the drone to issue a leakage warning based on the gas leakage distribution data. The embodiment of the present application achieves: ① using limited gas detection sensors to solve the leakage point detection problem, which is suitable for the detection of leakage of various gases such as hydrogen and helium; ② can solve the problem of large-scale rapid detection through fewer gas detection sensors, and can combine multiple types of sensors for coordinated monitoring and warning, using different sensor data, cooperating with drones to quickly and accurately locate the source of gas leakage, and timely warn, effectively improve regional safety, and solve the problems existing in existing gas leakage detection technology; ③ the entire system structure is simple and flexible to use.

[0104] Reference Figure 3 , shows a schematic diagram of the steps of a method for detecting and warning the location of a dangerous gas leak provided by an optional embodiment of the present application. The method for detecting and warning the location of a dangerous gas leak may specifically include the following steps:

[0105] Step 310: determine the area to be detected.

[0106] For the description of step 310 , please refer to the above step 110 , which will not be described in detail in this embodiment.

[0107] Step 320: Obtain the spatial range value of the area to be detected and a preset spatial range threshold.

[0108] The drone group includes at least one type of drone among multi-rotor drones, fixed-wing drones and vertical lift drones.

[0109] In this embodiment, the spatial range value of the area to be detected can be understood as the spatial size of the area to be detected, such as the site area or the volume of the space, etc. The spatial range threshold can be understood as a preset spatial size threshold, which can be a preset area threshold or volume threshold, etc. This embodiment does not impose any restrictions on this.

[0110] In a specific implementation, there may be many types of drones, including but not limited to multi-rotor drones, vertical lift drones, and fixed-wing drones. Since different types of drones are suitable for different sizes of detection space, and the size of the space of the area to be detected is not fixed, in order to improve the detection accuracy, the most suitable drone can be selected for monitoring and early warning according to the size of the space of the area to be detected. The spatial range threshold can be used to determine which type of drone to use. For example, a multi-rotor drone can preferably be detected in a smaller space; a vertical lift drone or a fixed-wing drone can preferably be detected in a large range or large area.

[0111] Step 330: When the spatial range value is less than the spatial range threshold, a preset multi-rotor UAV group is determined as the UAV group in the area to be detected.

[0112] Wherein, the multi-rotor drone group includes a single multi-rotor drone and / or a multi-rotor drone array; the drone group includes at least one drone, and the drone is provided with a gas sensor group.

[0113] Step 340: When the spatial range value is not less than the spatial range threshold, a preset vertical lift UAV group or a preset fixed-wing UAV group is determined as the UAV group in the area to be detected.

[0114] The vertical lift UAV group includes a single vertical lift UAV and / or a vertical lift UAV array, and the fixed-wing UAV group includes a single fixed-wing UAV and / or a fixed-wing UAV array.

[0115] The following is a unified description of steps 330 to 340:

[0116] In this embodiment, according to the type of drone and its applicable space range, the drone group can be divided into a multi-rotor drone group, a vertical lift drone group and a fixed-wing drone group, wherein the multi-rotor drone group includes a multi-rotor drone, the vertical lift drone group includes a vertical lift drone, and the fixed-wing drone group includes a fixed-wing drone. Of course, according to actual needs, multi-rotor drones, vertical lift drones and / or fixed-wing drones can be used in the drone group at the same time, and this embodiment does not limit this.

[0117] In a specific implementation, when the spatial range value is less than the spatial range threshold, it indicates that the spatial range of the area to be detected is less than the preset spatial range, that is, the space of the area to be detected is small. Preferably, the multi-rotor drone group can be determined as the drone group in the area to be detected; when the spatial range value is not less than the spatial range threshold, it indicates that the spatial range of the area to be detected is not less than the preset spatial range, that is, the space of the area to be detected is large, or the area to be detected is a large range and large area. Preferably, the vertical lift drone group or the fixed-wing drone group can be determined as the drone group in the area to be detected. Thus, it is realized to set up appropriate drone groups according to different areas to be detected for monitoring and early warning.

[0118] In actual processing, when a drone group contains multiple drones, such as a multi-rotor drone group contains multiple multi-rotor drones, the multiple multi-rotor drones can be formed into a multi-rotor drone array; for example, when a vertical-lift drone group contains multiple vertical-lift drones, the multiple vertical-lift drones can be formed into a vertical-lift drone array; for example, when a fixed-wing drone group contains multiple fixed-wing drones, the multiple fixed-wing drones can be formed into a fixed-wing drone array. By utilizing the drone array composed of multiple drones, the area to be inspected can be quickly monitored and checked.

[0119] In actual implementation, whether it is a multi-rotor drone array, a vertical lift drone array or a fixed-wing drone array, the multiple drones contained in the drone array can work together to monitor and warn the area to be detected. Specifically, the multiple drones in the drone array can fly in a certain structural combination to monitor and warn the area to be detected. For example, when the drone array contains three drones, the three drones can form a triangular structure (the triangular structure of the drone includes but is not limited to an equilateral triangle or an isosceles right triangle, etc.), fly together in the area to be detected, and monitor and warn the area to be detected to improve the detection accuracy; of course, the multiple drones in the drone array can also detect the area to be detected in different directions, so that the detection and warning of the area to be detected can be completed quickly.

[0120] Step 350: Acquire gas monitoring data of the gas sensor group.

[0121] The gas sensor group includes at least three gas sensors, and the at least three gas sensors are the same type of sensors corresponding to the detection gas.

[0122] In this embodiment, the gas sensor group may include at least three gas sensors, and the three gas sensors may be arranged on the drones of the drone group in a certain structure / form, such as being arranged on the drones in a triangular structure. Specifically, when the drone group includes only one drone (i.e., a single drone), the three gas sensors may all be arranged on the single drone according to the triangular structure; when the drone group includes a drone array, gas sensors may be arranged on the drones in the drone array according to actual needs.

[0123] Step 360: Determine first position data based on the gas monitoring data.

[0124] In actual processing, since the three gas sensors may be set at different positions of the same drone or on different drones, the gas monitoring data received by the three gas sensors may have data differences. In order to improve the monitoring accuracy, this embodiment can obtain the mean data of the three gas sensors for the gas monitoring data. Specifically, this embodiment can determine the mean data of the three gas sensors by the position error between the gas sensors. Subsequently, the drone group can use the gas monitoring data combined with the mean data to perform difference calculations, obtain the data difference between the high-precision hydrogen detection sensor and the mean, and obtain the approximate concentration gradient direction as the first position data. Therefore, this embodiment realizes the use of one or more drones, combined with three high-precision gas sensors, to reasonably detect possible gas leaks in the detection area, and can obtain the approximate gradient direction of the gas leak based on the detection situation, and then determine the gas leak location.

[0125] In actual implementation, for a drone group composed of a drone array, each drone in the drone array is equipped with a high-precision hydrogen detection sensor, or, for a drone group composed of a single drone, the single drone is equipped with three high-precision hydrogen detection sensors. The drone group and the high-precision hydrogen detection sensors carried by the drone group can be initially zeroed in an environment without hydrogen leakage to reduce the initial deviation value between the sensors.

[0126] In an optional embodiment, the three gas sensors are arranged on an unmanned aerial vehicle or each gas sensor is arranged on an inorganic device, and a detection unit is composed of three unmanned aerial vehicles; the three sensors or three unmanned aerial vehicles are arranged in a triangle, and the triangle is an equilateral triangle, an isosceles right triangle, an isosceles triangle or an ordinary triangle; according to the gas monitoring data, the first position data is determined, which may specifically include: taking the concentration data at the point where the center of gravity of the triangle is located as the mean data of the three gas sensors; based on the mean data, the gradient direction is predicted in combination with the gas monitoring data to obtain the first position data.

[0127] In an optional embodiment, the concentration data at the point where the center of gravity of the triangle is located is used as the mean data of the three gas sensors to achieve the acquisition of the mean data of the gas sensor group. In this embodiment, when the drone group is a multi-rotor drone group, the mean data of the gas sensor group is obtained, which can specifically include: if the multi-rotor drone group is a single multi-rotor drone, then position comparison is performed based on the three gas sensors to obtain the mean data, and the three gas sensors are respectively arranged near the landing gear of the single multi-rotor drone in the form of an equilateral triangle; if the multi-rotor drone group is a multi-rotor drone array, then the sensor position data and drone position data of each multi-rotor drone in the multi-rotor drone array are respectively obtained; position comparison is performed based on the sensor position data and the drone position data to obtain the mean data.

[0128] Among them, the multi-rotor UAV array includes at least three multi-rotor UAVs, the three multi-rotor UAVs are arranged in the form of an equilateral triangle, the three gas sensors correspond to the three multi-rotor UAVs one by one, and the three gas sensors are respectively arranged near the landing gears of the three multi-rotor UAVs.

[0129] In a specific implementation, for a single multi-rotor drone, three high-precision gas sensors can be set in the form of an equilateral triangle near the landing gear of the multi-rotor drone. At this time, the high-precision gas sensors can form an equilateral triangle, and the center position of the equilateral triangle can be understood as the center of gravity position of the three high-precision gas sensors. Therefore, this embodiment can be based on the setting position of the three high-precision gas sensors, use the positions of the three high-precision gas sensors for comparison, obtain the center of gravity of the three high-precision gas sensors, and identify the center of gravity of the figure composed of the three high-precision gas sensors as corresponding to the mean of the three high-precision gas sensors, thereby obtaining the mean data.

[0130] For example, refer to Figure 4 For a single multi-rotor UAV, high-precision gas sensors can be set near the landing gear of the multi-rotor UAV. Figure 4 In the figure, three hydrogen gas detection sensors 11 (i.e., high-precision hydrogen gas detection sensors 11) are arranged near the landing gear of the multi-rotor drone 1 in the form of an equilateral triangle, so that the three hydrogen gas detection sensors 11 form an equilateral triangle, and the center of the equilateral triangle is the sensor triangle gravity center 14. Figure 4In the multi-rotor drone 1 shown, the multi-rotor drone 1 may also be equipped with other sensors 12, and a ground sound sensor 15 and a pressure sensor 16 may be provided at the ground position below the multi-rotor drone. Among them, the other sensors 12 may be used as a multi-sensor group, including but not limited to: temperature, humidity, wind direction, wind force, sound, positioning system, height, infrared thermal imaging and other signal detection sensors, and image sensors (including infrared image sensors), etc.

[0131] In actual implementation, for a multi-rotor drone array, taking a multi-rotor drone array containing three multi-rotor drones as an example, the three multi-rotor drones can be arranged in the form of an equilateral triangle, and the three multi-rotor drones are understood as the three vertices of the equilateral triangle, thereby obtaining the drone position data. Each multi-rotor drone can be provided with a high-precision gas sensor. By using the setting position of the high-precision gas sensor on each drone (that is, the sensor position data), combined with the drone position data of the multi-rotor drone, the center of gravity position of the three high-precision gas sensors can be determined, and the center of gravity of the figure composed of the three high-precision gas sensors is identified as corresponding to the mean of the three high-precision gas sensors, thereby obtaining the mean data.

[0132] For example, see Figure 5 A multi-rotor drone array consisting of three multi-rotor drones 1 is arranged in the area to be detected to inspect the area to be detected. A hydrogen detection sensor 11 can be arranged on each multi-rotor drone 1. The sensor triangle center of gravity 14 can be determined according to the setting positions of the three multi-rotor drones 1 and the setting positions of the hydrogen detection sensors 11. At the same time, a multi-sensor group consisting of other ground sensors 13 such as temperature, humidity, wind direction, wind force, sound, infrared thermal imaging, etc. is arranged on the ground.

[0133] Furthermore, in order to reduce the burden on the drone and reduce the cost of sensors, taking a single multi-rotor drone as an example, the single multi-rotor drone can be equipped with only three hydrogen detection sensors 11, and the remaining multi-sensors can be arranged on the ground, such as Figure 6 shown.

[0134] In an optional embodiment, when the drone group is a vertical-lift drone group or a fixed-wing drone group, the present embodiment obtains mean data of the gas sensor group, which may specifically include: if the vertical-lift drone group is a single vertical-lift drone or the fixed-wing drone group is a single fixed-wing drone, then a gravity center comparison is performed based on three gas sensors to obtain mean data, and the three gas sensors are respectively arranged on a single vertical-lift drone in the form of an isosceles right triangle, or the three gas sensors are respectively arranged on a single fixed-wing drone in the form of an isosceles right triangle; if the vertical-lift drone group is a vertical-lift drone array or the fixed-wing drone group is a fixed-wing drone array, then the sensor position data and drone position data of each vertical-lift drone in the vertical-lift drone array are respectively obtained, or the sensor position data and drone position data of each fixed-wing drone in the fixed-wing drone array are respectively obtained; a gravity center comparison is performed based on the sensor position data and the drone position data to obtain mean data.

[0135] Among them, the vertical lift UAV array includes at least three vertical lift UAVs, and the fixed-wing UAV array includes at least three fixed-wing UAVs. The three vertical lift UAVs or three fixed-wing UAVs are arranged in the form of an isosceles right triangle, and the three gas sensors are set on the three vertical lift UAVs or three fixed-wing UAVs in a one-to-one correspondence with the UAVs.

[0136] In this embodiment, when the drone group is a vertical-lift drone group, and the vertical-lift drone group only includes a single vertical-lift drone, the three gas sensors can be arranged in the form of an isosceles right triangle at multiple positions of the single vertical-lift drone; similarly, when the drone group is a fixed-wing drone group, and the fixed-wing drone group only includes a single fixed-wing drone, the installation method of the three gas sensors can refer to the installation method of the gas sensors on a single vertical-lift drone, and this embodiment will not go into details.

[0137] When the drone group is a vertical-lift drone group, and the vertical-lift drone group includes a vertical-lift drone array, the three vertical-lift drones in the vertical-lift drone array can be arranged in the form of an isosceles right triangle, and the three gas sensors are installed on the three vertical-lift drones in a one-to-one correspondence with the three vertical-lift drones; similarly, when the drone group is a fixed-wing drone group, and the fixed-wing drone group includes a fixed-wing drone array, the three fixed-wing drones in the fixed-wing drone array, their arrangement form and sensor installation form can refer to the vertical-lift drone array, and this embodiment will not go into details.

[0138] In the specific implementation, similar to the method of determining the mean data of a single multi-rotor drone mentioned above, for a single vertical lift drone, three high-precision gas sensors can be set on the vertical lift drone in the form of an isosceles triangle or an isosceles right triangle. In this case, the high-precision gas sensors can form an isosceles triangle, and the center position of the isosceles triangle can be understood as the center of gravity of the three high-precision gas sensors. The center of gravity of the isosceles triangle formed by the three high-precision gas sensors is determined to correspond to the mean of the three high-precision gas sensors, thereby obtaining the mean data.

[0139] For example, refer to Figure 7 For a single vertical lift drone 2, a large area can be inspected using the vertical lift drone 2. Specifically, the hydrogen detection sensor 11 can be arranged on the vertical lift drone 2 in the form of an isosceles triangle (or an isosceles right triangle). Thus, the three high-precision hydrogen detection sensors 11 form an isosceles triangle, and the center of gravity of the isosceles triangle is the center of gravity 14 of the sensor triangle.

[0140] In actual implementation, similar to the method of determining mean data for the above-mentioned multi-rotor drone array, take the vertical lift drone array containing three vertical lift drones as an example. The three vertical lift drones can be arranged in the form of an isosceles right triangle, and the three vertical lift drones are understood as the three vertices of the isosceles right triangle, thereby obtaining the drone position data. Each high-precision gas sensor is set on each vertical lift drone, combined with the drone position data of the vertical lift drone, to determine the center of gravity of the three high-precision gas sensors, and the center of gravity of the figure composed of the three high-precision gas sensors is identified as corresponding to the mean of the three high-precision gas sensors, thereby obtaining the mean data.

[0141] For example, see Figure 8 In the area to be detected, a vertical lift drone array consisting of three vertical lift drones 2 is arranged to inspect the area to be detected. A hydrogen detection sensor 11 can be arranged on each vertical lift drone 2. The sensor triangle gravity center 14 can be determined according to the position of the isosceles right triangle formed by the three vertical lift drones 2 and the position of the hydrogen detection sensor 11. At the same time, other sensors 12 consisting of some multi-sensors are arranged on the vertical lift drone 2, and a ground sound sensor 15 and a pressure sensor 16 are arranged on the ground.

[0142] Furthermore, for a single fixed-wing UAV, the method for installing the gas sensor on the single fixed-wing UAV and the method for determining the mean data can refer to the description of installing the gas sensor on the single vertical lift UAV and the description of determining the mean data, which will not be repeated in this embodiment.

[0143] For the fixed-wing UAV array, the method of installing the gas sensors of the fixed-wing UAV array and the method of determining the mean data can refer to the description of installing the gas sensors of the vertical lift UAV array and the description of determining the mean data, which will not be repeated in this embodiment.

[0144] Step 370: Analyze and process the gas monitoring data and the first position data in combination with the multi-sensor data to obtain gas leakage distribution data.

[0145] The multi-sensor data is sensor data obtained by monitoring the area to be detected through a multi-sensor group.

[0146] In actual implementation, the multi-sensor group is essentially a sensor combination composed of multiple types of sensors. According to actual needs, a part of sensors can be selected from multiple types of sensors to form a multi-sensor group, which is used for coordinated monitoring and early warning in combination with the drone group, while improving the monitoring accuracy and reducing the sensor cost; of course, in order to better improve the monitoring accuracy, the above-mentioned signal detection sensors, image sensors, sound sensors, and pressure sensors can also be combined together to form a multi-sensor group, and this embodiment does not limit this.

[0147] In an optional embodiment, the embodiment of the present application performs analysis and processing based on the gas sensor monitoring data and the first position data in combination with the multi-sensor monitoring data to obtain gas leakage distribution data, which may specifically include: extracting infrared imaging data from the multi-sensor monitoring data; performing hot and cold comparison based on the infrared imaging data to obtain second position data; performing leakage point analysis based on the gas sensor monitoring data, the first position data and the second position data to obtain gas leakage distribution data.

[0148] In a specific implementation, when the multi-sensor group includes an infrared image sensor, the multi-sensor monitoring data includes infrared imaging data, based on the first position data that has been determined by the drone group. The infrared imaging data is used to obtain a thermal imaging image of the area to be detected, and then the gas leakage distribution data can be obtained by comparing the original thermal imaging image and finding the cold area of ​​the thermal imaging image. Then, according to the gas leakage distribution data, the newly appeared cold area can be early warned and checked, especially in the area where liquid hydrogen exists. This method is more effective. Therefore, this embodiment realizes that on the basis of determining the approximate location of the gas leakage, the gas leakage location is further analyzed and determined in combination with the thermal imaging image, thereby effectively improving the accuracy of gas leakage detection. On the basis of the gas sensor already carried by the drone, combined with the infrared image sensor, multi-sensor collaborative monitoring is carried out to effectively improve regional safety.

[0149] In an optional embodiment, the embodiment of the present application performs analysis and processing based on the gas sensor monitoring data and the first position data in combination with the multi-sensor monitoring data to obtain gas leakage distribution data, which may specifically include: extracting position fusion data from the multi-sensor monitoring data, the position fusion data including positioning data and altitude data; determining a topographic map of the area to be detected based on the positioning data and the altitude data; performing image analysis based on the gas sensor monitoring data, the first position data and the topographic map to obtain gas leakage distribution data.

[0150] In a specific implementation, when the multi-sensor group includes a positioning device (such as a positioning sensor or a positioning system) and an altitude sensor, the multi-sensor monitoring data may include the positioning data detected by the positioning device and the altitude data detected by the altitude sensor. The real-time data detected by the hydrogen detection sensor of the drone is combined with the positioning data and the altitude data to determine the position data corresponding to each real-time data. Subsequently, the specific location of the corresponding confirmation data such as the topographic map, building topographic map, equipment layout map, etc. in the actual detection area can be combined to obtain the gas leakage distribution data. Therefore, this embodiment realizes that on the basis of determining the approximate location of the gas leakage, the gas leakage location is further analyzed and determined in combination with the positioning data and the altitude data, thereby effectively improving the accuracy of gas leakage detection. On the basis of the gas sensors already carried by the drone, combined with the multi-sensor, multi-sensor collaborative monitoring is carried out to effectively improve regional safety.

[0151] In an optional embodiment, the embodiment of the present application performs analysis and processing based on the gas sensor monitoring data and the first position data in combination with the multi-sensor monitoring data to obtain gas leakage distribution data, which may specifically include: extracting multi-sensor fusion data from the multi-sensor monitoring data, the multi-sensor fusion data including at least one of temperature data, humidity data, wind direction data and wind force data; performing coupling calculation based on the gas sensor monitoring data, the first position data and the multi-sensor fusion data to obtain gas leakage distribution data.

[0152] In a specific implementation, in this embodiment, when the multi-sensor group includes at least one sensor such as a temperature sensor, a humidity sensor, a wind direction sensor, and a wind force sensor, the multi-sensor monitoring data includes at least one sensor data of the above sensors, that is, multi-sensor fusion data. Subsequently, the first position data and the multi-sensor fusion data can be coupled to determine the hydrogen transmission direction and obtain gas leakage distribution data.

[0153] In actual implementation, in order to improve the detection accuracy and quickly locate the gas leakage point, all sensors in the above-mentioned multi-sensor group can be used simultaneously in the area to be detected, including signal detection sensors, image sensors and pressure sensors, etc., and set on the drone or on the ground according to actual use needs. When the drone group is cruising in the area to be detected, the sensor data detected by the three high-precision gas detection sensors of the drone group is coupled with the signals of each sensor in the multi-sensor group to obtain the accurate hydrogen transmission direction and the gas leakage distribution data. Among them, the pressure sensor can also be set on the gas equipment. Under the condition that the equipment is not exhausted, if the pressure drops beyond the fluctuation range of the instrument, an early warning needs to be issued to check the leakage point of the corresponding equipment of the pressure sensor.

[0154] For example, refer to Fig. 9 and Fig.10 .in, Fig. 9 A simulation diagram of the change of hydrogen over time during a hydrogen leakage process provided as an example of this application, characterizing the change of the hydrogen concentration fraction over time after the hydrogen leakage, Fig.10 This is the location diagram of the experimental measurement points for hydrogen leakage. Fig.10 Figure 2 is the location diagram of the experimental measurement points for hydrogen leakage. Fig.10 Take the case where a hydrogen leak of 10 SLPM (Stard Liter Per Minute, standard liter per minute flow value) occurs at the experimental measuring point in a building with a temperature of 26°C and a windless environment as an example. Fig. 9 Characterization: hydrogen distribution result diagram after 4 seconds of hydrogen leakage, hydrogen distribution result diagram after 8 seconds of hydrogen leakage, hydrogen distribution result diagram after 30 seconds of hydrogen leakage, and hydrogen distribution result diagram after 50 seconds of hydrogen leakage. Fig. 9 As shown in the figure, it can be seen that the hydrogen leak reaches the top of the building 4 seconds later, and a certain concentration of hydrogen exists in most locations on the top of the entire building after 8 seconds. A certain concentration of hydrogen can be observed in the 10-meter height area after 30 seconds. A certain concentration of hydrogen appears in more than one open space in the 6-meter area after 50 seconds. It can be seen that the hydrogen detection sensor set by the drone group can quickly obtain hydrogen leakage signals and analyze the concentration distribution of hydrogen leakage.

[0155] Furthermore, this embodiment also provides the concentration variation of helium leakage over time. Fig.11 To simulate the actual detection data of using 10SLPM of helium leakage as the characteristic gas in the building.

[0156] Step 380: Based on the gas leakage distribution data, a leakage warning is issued by the drone.

[0157] For the description of step 380, please refer to the above step 250, which will not be described in detail in this embodiment.

[0158] Optionally, the above-mentioned leak warning is performed by the drone based on the gas leak distribution data, which may specifically include the following sub-steps:

[0159] Sub-step 3801, acquiring sound sensing data through a sound sensor for the gas leakage distribution data, wherein the sound sensor is a sensor disposed on the ground of the area to be detected or disposed on the drone.

[0160] Sub-step 3802, based on the sound sensor data, combined with the preset flow leakage audio data, a comparison is performed to obtain the gas leakage amount.

[0161] Sub-step 3803: Based on the gas leakage amount, the drone is used to check for leakage and to issue a sound warning.

[0162] The following is a unified description of sub-steps 3801 to 3803:

[0163] In actual implementation, various flow leakage sounds can be pre-recorded as preset flow leakage audio data, and the sound sensor carried by the drone and / or the sound sensor installed on the ground can be used to perform sound detection on the detection area to obtain sound sensing data. The sound sensing data can then be compared with the preset flow leakage audio data to obtain the estimated flow of the leakage as the gas leakage amount. According to the estimated flow, an early warning is issued through the drone or the sound device installed on the ground, and the area where the sound is emitted is checked. In addition, the present embodiment can also use the sound sensing data to identify the direction of the sound, and further locate the specific leakage point of the leakage source. For example, when a gas leak occurs in a certain device, the specific leakage position of the gas leakage device can be located. Therefore, the present embodiment realizes the coordinated monitoring and early warning of drones combined with multiple types of sensors, and can use drones to quickly and accurately locate the source of gas leakage, and issue early warnings in time, effectively improving regional safety and solving the problems existing in existing gas leakage detection technologies.

[0164] In actual processing, alarm setting values ​​can be preset for different gas leakage amounts (such as setting values ​​including but not limited to 100ppm, 1000ppm, 1%), and an alarm is issued when the hydrogen leakage amount in the area to be detected is higher than or equal to the alarm setting value. In addition, considering that the measurement position may be far away from the leakage point, the alarm setting value can be set as low as possible outside the detector accuracy and zero drift range, such as 100ppm, 50ppm, 10ppm, etc.

[0165] In summary, the embodiment of the present application determines the area to be detected to obtain the spatial range value of the area to be detected and a preset spatial range threshold. When the spatial range value is less than the spatial range threshold, the preset multi-rotor drone group is determined as the drone group in the area to be detected; when the spatial range value is not less than the spatial range threshold, the preset vertical lift drone group is determined as the drone group in the area to be detected, and the gas monitoring data of the gas sensor group is obtained. Then, for the gas monitoring data, the mean data of the three gas sensors are obtained. Based on the mean data, the gradient direction is predicted in combination with the gas monitoring data to obtain the first position data. The gas monitoring data and the first position data are analyzed and processed in combination with the multi-sensor data to obtain gas leakage distribution data. Finally, based on the gas leakage distribution data, a leakage warning is issued through the drone. Therefore, the embodiments of the present application achieve the following: ① According to different areas to be detected, appropriate drone groups are set for monitoring and early warning; ② The problem of leak point detection is solved by using limited gas detection sensors. At the same time, only three gas detection sensors are needed to obtain the direction of gas leakage, which minimizes the system cost and realizes the timely detection of gas leakage such as hydrogen and helium; ③ The problem of large-scale rapid detection can be solved by multiple groups of gas detection sensors, and the alarm value can be set. It can even be used to link the leakage alarm device with the corresponding device to handle the leakage problem, further improving the safety of the detection area; ④ The whole system structure is simple and flexible to use; ⑤ Based on the gas detection sensor, multiple types of sensors are combined for coordinated monitoring and early warning, which can quickly and accurately locate the source of gas leakage, and issue early warning in time, effectively improving regional safety. It can be seen that the embodiments of the present application solve the problems existing in the existing gas leakage detection technology.

[0166] It should be noted that, for the purpose of simple description, the method embodiments are expressed as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present application are not limited to the described order of actions, because according to the embodiments of the present application, certain steps may be performed in other orders or simultaneously.

[0167] like Fig.12 As shown, the embodiment of the present application also provides a dangerous gas leakage location detection and early warning system 1200, including:

[0168] The drone group determination module 1210 is used to determine an area to be detected, and based on the area to be detected, determine a drone group, wherein the drone group includes at least one drone, and the drone is provided with a gas sensor group;

[0169] An acquisition module 1220, configured to acquire gas monitoring data of the gas sensor group;

[0170] A position data determination module 1230, configured to determine first position data according to the gas monitoring data;

[0171] The leakage warning module 1240 is used to provide leakage warning through the drone based on the gas monitoring data and the first position data; wherein the gas sensor group includes at least three gas sensors, and the at least three gas sensors are the same type of sensors corresponding to the detected gas.

[0172] Optionally, the leakage warning module 1240 includes:

[0173] An analysis and processing submodule, configured to perform analysis and processing based on the gas monitoring data and the first position data in combination with multi-sensor data to obtain gas leakage distribution data, wherein the multi-sensor data is sensor data obtained by monitoring the area to be detected through a multi-sensor group;

[0174] An early warning submodule is used to provide a leakage early warning through the drone based on the gas leakage distribution data; wherein the multi-sensor group includes at least one sensor, and the multi-sensor group is arranged on the drone or on the ground of the area to be detected.

[0175] Optionally, the drone group includes at least one type of drone among a multi-rotor drone, a fixed-wing drone, and a vertical lift drone, and the acquisition module 1220 includes:

[0176] A spatial value acquisition submodule is used to obtain the spatial range value of the area to be detected and a preset spatial range threshold;

[0177] A first drone group determination submodule, configured to determine a preset multi-rotor drone group as the drone group of the to-be-detected area when the spatial range value is less than the spatial range threshold, wherein the multi-rotor drone group includes a single multi-rotor drone and / or a multi-rotor drone array;

[0178] The second drone group determination submodule is used to determine a preset vertical lift drone group or a preset fixed-wing drone group as the drone group of the area to be detected when the spatial range value is not less than the spatial range threshold; wherein the vertical lift drone group includes a single vertical lift drone and / or a vertical lift drone array, and the fixed-wing drone group includes a single fixed-wing drone and / or a fixed-wing drone array.

[0179] Optionally, the three gas sensors are arranged on one drone or each gas sensor is arranged on an unmanned aerial vehicle, and three drones form a detection unit; the three sensors or three drones are arranged in a triangle, and the triangle is an equilateral triangle, an isosceles right triangle, an isosceles triangle or a common triangle;

[0180] The position data determination module 1230 is specifically used to: use the concentration data of the point where the triangle gravity center is located as the average data of the three gas sensors; based on the average data, combined with the gas monitoring data, predict the gradient direction to obtain the first position data.

[0181] Optionally, the analysis and processing submodule includes:

[0182] A first extraction unit, used for extracting infrared imaging data from multi-sensor monitoring data;

[0183] A cold-hot comparison unit, used for performing a cold-hot comparison based on the infrared imaging data to obtain second position data;

[0184] a leakage point analysis unit, configured to perform leakage point analysis based on the gas sensor monitoring data, the first position data, and the second position data to obtain gas leakage distribution data;

[0185] A second extraction unit is used to extract position fusion data from the multi-sensor monitoring data, wherein the position fusion data includes positioning data and altitude data;

[0186] A topographic map determining unit, configured to determine a topographic map of the area to be detected based on the positioning data and the altitude data;

[0187] an image analysis unit, configured to perform image analysis based on the gas sensor monitoring data, the first location data, and the topographic map to obtain gas leakage distribution data;

[0188] A third extraction unit, configured to extract multivariate fusion data from the multivariate sensor monitoring data, wherein the multivariate fusion data includes at least one of temperature data, humidity data, wind direction data, and wind force data;

[0189] A coupling calculation unit is used to perform coupling calculation based on the gas sensor monitoring data, the first position data and the multivariate fusion data to obtain gas leakage distribution data.

[0190] Optionally, the early warning submodule includes:

[0191] A sound sensor data acquisition unit, used for acquiring sound sensor data through a sound sensor for the gas leakage distribution data, wherein the sound sensor is a sensor arranged on the ground of the area to be detected or arranged on the drone;

[0192] A comparison unit, used for comparing the sound sensor data with preset flow leakage audio data to obtain the gas leakage amount;

[0193] The leakage detection unit is used to detect the gas leakage through the drone and issue a sound warning through the drone.

[0194] It should be noted that the hazardous gas leakage position detection and early warning system provided in the embodiments of the present application can execute the hazardous gas leakage position detection and early warning method provided in any embodiment of the present application, and has the corresponding functions and beneficial effects of executing the hazardous gas leakage position detection and early warning method.

[0195] In a specific implementation, the above-mentioned dangerous gas leakage position detection and early warning system can be integrated into a device, so that the device can determine the first position data according to the gas monitoring data of the drone, thereby quickly locating the gas leakage source. As an electronic device, the drone can be combined with multiple sensors for coordinated monitoring and early warning, which can quickly and accurately locate the gas leakage source and issue a timely early warning, effectively improving regional safety. The electronic device can be composed of two or more physical entities, or it can be composed of one physical entity, such as a personal computer (PC), a computer, a server, etc., and the embodiments of the present application do not impose specific restrictions on this.

[0196] like Fig.13 As shown, an embodiment of the present application provides an electronic device, including a processor 111, a communication interface 112, a memory 113 and a communication bus 114, wherein the processor 111, the communication interface 112, and the memory 113 complete mutual communication through the communication bus 114; the memory 113 is used to store computer programs; the processor 111 is used to implement the steps of the dangerous gas leakage position detection and early warning method provided by any of the above method embodiments when executing the program stored in the memory 113. Exemplarily, the steps of the dangerous gas leakage position detection and early warning method may include the following steps: determining an area to be detected, and determining a drone group of the area to be detected, the drone group includes at least one drone, and a gas sensor group is provided on the drone; obtaining gas monitoring data of the gas sensor group; determining first position data according to the gas monitoring data; and performing a leakage early warning through the drone according to the gas monitoring data and the first position data; wherein the gas sensor group includes at least three gas sensors, and the at least three gas sensors are the same type of sensors corresponding to the detected gas.

[0197] An embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the dangerous gas leakage location detection and early warning method provided in any of the aforementioned method embodiments are implemented.

[0198] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0199] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A method for detecting and warning the location of a dangerous gas leak, characterized in that: include: Determine an area to be detected, and determine a drone group in the area to be detected, wherein the drone group includes at least one drone, and a gas sensor group is disposed on the drone; Acquiring gas monitoring data of the gas sensor group; Determining first position data according to the gas monitoring data; Based on the gas monitoring data and the first location data, a leakage warning is issued by the drone; The gas sensor group includes at least three gas sensors, and the at least three gas sensors are the same type of sensors corresponding to the detection gas.

2. The method according to claim 1, characterized in that The step of providing a leakage warning by using the drone based on the gas monitoring data and the first location data includes: Analyzing and processing the gas monitoring data and the first position data in combination with multi-sensor data to obtain gas leakage distribution data, wherein the multi-sensor data is sensor data obtained by monitoring the area to be detected through a multi-sensor group; Based on the gas leakage distribution data, a leakage warning is issued by the drone; The multi-sensor group includes at least one sensor, and the multi-sensor group is arranged on the drone or on the ground of the area to be detected.

3. The method according to claim 2, characterized in that The drone group includes at least one type of drone among a multi-rotor drone, a fixed-wing drone, and a vertical lift drone. The step of determining the drone group of the area to be detected includes: Obtaining a spatial range value of the area to be detected and a preset spatial range threshold; When the spatial range value is less than the spatial range threshold, a preset multi-rotor drone group is determined as the drone group in the area to be detected, wherein the multi-rotor drone group includes a single multi-rotor drone and / or a multi-rotor drone array; When the spatial range value is not less than the spatial range threshold, determining a preset vertical lift UAV group or a preset fixed-wing UAV group as the UAV group in the area to be detected; The vertical lift UAV group includes a single vertical lift UAV and / or a vertical lift UAV array, and the fixed-wing UAV group includes a single fixed-wing UAV and / or a fixed-wing UAV array.

4. The method according to claim 3, characterized in that The three gas sensors are arranged on one drone or each gas sensor is arranged on one drone, and three drones form a detection unit; the three sensors or three drones are arranged in a triangle, and the triangle is an equilateral triangle, an isosceles right triangle, an isosceles triangle or a common triangle; Determining first position data according to the gas monitoring data includes: taking the concentration data of the point where the center of gravity of the triangle is located as the average data of the three gas sensors; Based on the mean data and in combination with the gas monitoring data, a gradient direction is predicted to obtain the first position data.

5. The method according to any one of claims 2 to 4, characterized in that: The gas leakage distribution data is obtained by analyzing and processing the gas sensor monitoring data and the first position data in combination with the multi-sensor monitoring data, including: Extract infrared imaging data from multi-sensor monitoring data; Performing a cold-hot comparison based on the infrared imaging data to obtain second position data; A leakage point analysis is performed based on the gas sensor monitoring data, the first position data, and the second position data to obtain gas leakage distribution data.

6. The method according to any one of claims 2 to 4, characterized in that: The gas leakage distribution data is obtained by analyzing and processing the gas sensor monitoring data and the first position data in combination with the multi-sensor monitoring data, including: Extracting position fusion data from the multi-sensor monitoring data, wherein the position fusion data includes positioning data and altitude data; Determine a topographic map of the area to be detected based on the positioning data and the altitude data; Image analysis is performed based on the gas sensor monitoring data, the first location data, and the topographic map to obtain gas leakage distribution data.

7. The method according to any one of claims 2 to 4, characterized in that: The gas leakage distribution data is obtained by analyzing and processing the gas sensor monitoring data and the first position data in combination with the multi-sensor monitoring data, including: Extracting multivariate fusion data from the multivariate sensor monitoring data, wherein the multivariate fusion data includes at least one of temperature data, humidity data, wind direction data, and wind force data; A coupling calculation is performed based on the gas sensor monitoring data, the first position data and the multivariate fusion data to obtain gas leakage distribution data.

8. The method according to claim 2, characterized in that: The method of providing leakage warning by using the drone based on the gas leakage distribution data includes: Acquiring sound sensing data for the gas leakage distribution data through a sound sensor, wherein the sound sensor is a sensor disposed on the ground of the area to be detected or disposed on the drone; Based on the sound sensor data, the preset flow leakage audio data is compared to obtain the gas leakage amount; According to the gas leakage amount, the drone is used to check for leakage and to issue a sound warning.

9. A dangerous gas leakage location detection and early warning system, characterized in that: include A drone group determination module, used to determine an area to be detected, and based on the area to be detected, determine a drone group, wherein the drone group includes at least one drone, and a gas sensor group is provided on the drone; An acquisition module, used for acquiring gas monitoring data of the gas sensor group; A position data determination module, configured to determine first position data according to the gas monitoring data; A leakage warning module is used to provide leakage warning through the drone based on the gas monitoring data and the first position data; wherein the gas sensor group includes at least three gas sensors, and the at least three gas sensors are the same type of sensors corresponding to the detected gas.

10. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; Memory, used to store computer programs; The processor is used to implement the steps of the dangerous gas leakage location detection and early warning method described in any one of claims 1-8 when executing the program stored in the memory.

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