Multi-rotor unmanned aerial vehicle oil and gas pipeline inspection method and system

Abstract

The invention relates to a multi-rotor unmanned aerial vehicle oil and gas pipeline inspection method and system. The method comprises the steps that an automatic inspection route is delimited by a ground station through a geographic information system (GIS); the multi-rotor unmanned aerial vehicle carries a laser methane detector and a high-definition camera and autonomously flies according to an automatic inspection route; the multi-rotor unmanned aerial vehicle starts a laser methane detector and a high-definition camera to perform synchronous scanning and image acquisition on the ground; the multi-rotor unmanned aerial vehicle receives the methane concentration data output by the laser methane detector in real time, and analyzes and processes the standard exceeding of the concentration threshold value of methane; if it is detected that the methane concentration threshold value of the area exceeds the standard, the flight control receives a signal to control the multi-rotor unmanned aerial vehicle to conduct flight strategy adjustment. In addition, the multi-rotor unmanned aerial vehicle can also carry out simulated low-altitude automatic flight according to a preset line, topographic and geological scanning and methane gas leakage scanning can be completed at the same time through one-time flight, the flight sorties of the unmanned aerial vehicle are reduced, the inspection efficiency is improved, and the inspection cost is greatly saved.

Description

Technical Field

[0001] The present invention belongs to the technical field of laser inspection, and in particular relates to an oil and gas pipeline inspection method and system of a multi-rotor unmanned aerial vehicle. Background Art

[0002] In the maintenance and management of natural gas pipelines and oil and gas facilities, it is necessary to focus on monitoring the leakage of methane gas to avoid the occurrence of large-scale methane leakage incidents. It is known that the occurrence of large-scale methane leakage incidents is often accompanied by the location of the leakage point that is difficult to determine, which requires detection personnel to conduct large-scale inspections of the leakage area. Traditional methane monitoring is limited by factors such as terrain and pipeline installation location. Ordinary manual inspections or portable methane detection instruments are often unable to achieve effective and timely monitoring when facing large-scale, long-distance and complex terrain pipelines, which leads to potential safety hazards that cannot be discovered.

[0003] In actual applications, for difficult-to-access areas such as mountainous areas, swamps, and deserts, manual inspections are not only inefficient, but also have a long inspection cycle and high labor costs, and there are high safety risks. Specifically, many oil and gas pipelines are laid in areas with severe soil erosion. These areas have sparse surface cover and poor soil stability. Once soil erosion occurs, oil and gas pipelines are easily exposed on the surface. Lacking the necessary protection, pipeline damage and methane overflow are likely to occur. The use of a large number of manual labor for monitoring and inspection not only fails to obtain accurate guidance and positioning, but also misses the actual leakage point, resulting in the leakage problem not being solved in a timely manner, exacerbating environmental pollution and safety risks. More importantly, after the leaked gas diffuses and accumulates in large quantities, the human body will inhale harmful gases without knowing it, ultimately leading to safety accidents.

[0004] Therefore, based on a UAV laser pod control method and a UAV laser inspection device with patent application number 2024113040443, the present invention proposes a multi-rotor UAV oil and gas pipeline inspection method and system based on a laser pod control method mentioned therein. Summary of the invention

[0005] The purpose of the present invention is to provide a multi-rotor UAV oil and gas pipeline inspection method and system to solve the problems raised in the above background technology.

[0006] To achieve the above objectives, the first aspect of the present invention provides a multi-rotor UAV oil and gas pipeline inspection method:

[0007] The S1 ground station uses a geographic information system (GIS) to delineate automatic inspection routes;

[0008] The S2 multi-rotor drone is equipped with a laser methane detector and a high-definition camera, and flies autonomously according to the automatic inspection route;

[0009] S3 The multi-rotor drone starts the laser methane detector and the high-definition camera to perform synchronous scanning and image acquisition of the ground;

[0010] S4, the multi-rotor drone receives the methane concentration data output by the laser methane detector in real time, and analyzes and processes the methane concentration threshold exceeding the standard;

[0011] If it is detected at S5 that the methane concentration threshold in the area exceeds the standard, the flight control system receives the signal to control the multi-rotor UAV to adjust the flight strategy and conduct a secondary assessment of the area;

[0012] S6 The multi-rotor drone sends the secondary analysis result to the ground station, and the ground station processes the area according to the situation.

[0013] Preferably, the multi-rotor drone starts a laser methane detector to scan the ground, comprising the following steps:

[0014] S301 acquires in real time the position data of the multi-rotor UAV and the position data of the laser methane detector relative to the ground;

[0015] S302 inputs the collected data into the pod control system to calculate the scanning angle and frequency of the laser methane detector;

[0016] S303 dynamically adjusts the scanning angle and frequency of the laser methane detector according to the calculation result to optimize the scanning efficiency.

[0017] The target swing angle of the laser pod is calculated as follows:

[0018]

[0019] In the formula, α is the target swing angle of the laser pod, h is the height of the multi-rotor drone relative to the ground, and X is the required scanning path width set;

[0020] The calculation formula of the target swing frequency of the laser pod is:

[0021]

[0022] In the formula, f is the scanning frequency of the laser detection pod, V is the flight speed of the multi-rotor drone, and Y is the set scanning interval distance of the laser pod relative to the ground.

[0023] Preferably, the multi-rotor drone receives methane concentration data output by a laser methane detector in real time, and analyzes and processes the exceeding of the methane concentration threshold, including the following steps:

[0024] S401 uses TDLAS technology to calculate the methane concentration value and compare it with the preset safety threshold;

[0025] S402: if the methane concentration value is lower than the preset safety threshold, the multi-rotor drone continues to scan along the predetermined flight path, and transmits the collected image data to the ground station to generate a high-definition three-dimensional map along the route;

[0026] S403 If the methane concentration value is higher than a preset safety threshold, the multi-rotor drone triggers an alarm mechanism, transmits image data including the leakage location coordinates and the methane concentration value to the ground station, and generates a methane concentration distribution map in real time.

[0027] Preferably, if it is detected that the methane concentration threshold in the area exceeds the standard, the flight control receives a signal to control the multi-rotor drone to adjust the flight strategy and conduct a secondary assessment of the area. The adjustments include: automatically reducing the flight speed and increasing the scanning density of the laser methane detector.

[0028] Preferably, the scanning density of the laser methane detector is increased mainly by driving the laser pod to generate a spiral projection with a higher density via a three-axis gimbal.

[0029] Preferably, if the methane concentration value is lower than a preset safety threshold, the multi-rotor drone continues to scan along the predetermined flight path, and transmits the collected image data to the ground station to generate a high-definition three-dimensional map along the route, and also includes:

[0030] The ground station uses artificial intelligence to compare the background database map model, mark the locations where hidden dangers exist, and update the background data in real time.

[0031] Preferably, the multi-rotor drone triggers an alarm mechanism, transmits image data containing the leak location coordinates and methane concentration values ​​to a ground station, and generates a methane concentration distribution map in real time.

[0032] The image data is integrated using OSD technology, and the integrated information includes: the GPS location coordinates of the multi-rotor UAV; the flight speed, altitude and heading of the multi-rotor UAV; the real-time methane concentration value of the laser methane detector; the threshold alarm status of the methane concentration; and the real-time image of the multi-rotor UAV camera, including high-definition map generation and marking of potential leakage points.

[0033] Preferably, the flight control system controls the multi-rotor UAV to fly at an altitude of 50-200m.

[0034] A second aspect of the present invention provides a multi-rotor UAV oil and gas pipeline inspection system, comprising: a ground station for delineating an automatic inspection route;

[0035] A multi-rotor drone equipped with a laser methane detector and a high-definition camera;

[0036] Laser methane detector, used for fully autonomous scanning planning of the ground and numerical detection of methane gas concentration;

[0037] High-definition camera for capturing ground-level images;

[0038] A three-axis gimbal and a laser pod are used to control the laser methane detector and high-definition camera to perform large-scale scanning and shooting;

[0039] A flight control system, used to control the multi-rotor UAV to fly autonomously according to the automatic inspection route, receive signals indicating that the methane gas concentration exceeds the standard, and actively adjust the flight parameters;

[0040] A GPS module, used to locate the real-time position of the multi-rotor drone;

[0041] A multi-rotor UAV communication data module, used to send data information on the multi-rotor UAV and receive command information from the ground station;

[0042] The ground communication module is used to receive data information and send command information from the multi-rotor drone.

[0043] Preferably, it also includes data link information on the multi-rotor UAV, and the data link information on the multi-rotor UAV is transmitted over long distances through a dedicated link between the multi-rotor UAV and the ground station, using any communication transmission method such as self-organizing network link, 4G module, relay, and satellite communication.

[0044] Compared with the prior art, the beneficial effects of the present invention are as follows: the multi-rotor UAV in the present invention has the ability to quickly scan the terrain and detect the ground methane concentration by carrying a laser methane detector, and integrates the image information taken by the high-definition camera through the self-organizing network, transmits it to the ground station in real time, and quickly generates a high-definition three-dimensional map along the route, which is conducive to judging the changes in the terrain along the route and preventing geological disasters and man-made damage along the route;

[0045] The multi-rotor UAV in the present invention has a flight control system and obstacle avoidance, which can realize dynamic adjustment of the multi-rotor UAV, maintain a constant height difference with the ground, realize the terrain-imitating flight of the multi-rotor UAV, and ensure the accuracy of its methane concentration detection value. At the same time, it is also equipped with an obstacle avoidance function, so that the multi-rotor UAV can automatically avoid and detour some obstacles on the inspection route along the way during the flight, thereby ensuring its safe flight;

[0046] The multi-rotor UAV in the present invention can also perform low-altitude automatic flight according to a preset route, so that terrain and geological scanning and methane gas leakage scanning can be completed simultaneously in one flight, thereby reducing the number of UAV flights, improving inspection efficiency, and greatly saving inspection costs;

[0047] In the present invention, when the methane concentration value is higher than the preset safety threshold, the collected image information and the methane concentration detection value are transmitted to the ground station in real time through the multi-rotor drone communication module. The positioning coordinates of the exceeding point, the methane leakage value and other data are also integrated into the photographed image of the exceeding point in advance, so that the ground station can grasp the detailed information of the exceeding point at a glance, so as to make a quick judgment and take effective countermeasures.

[0048] In the present invention, after natural gas leakage is detected along the line, the methane leakage signal information will be transmitted to the UAV flight control, and relevant actions including but not limited to reducing the flight speed, increasing the scanning width of the laser methane pod, increasing the scanning spacing of the laser methane pod, etc., which can improve the detection accuracy, will be taken to provide more comprehensive data support for subsequent emergency processing. After the data is transmitted to the ground station in real time, the methane concentration distribution map will be continuously improved and updated, so that the staff can carry out targeted personnel deployment according to the methane concentration and distribution range, accurately find the leakage location, and perform precise operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 The following is a working diagram of the multi-rotor UAV in the present invention;

[0050] Figure 2 The flight state of the multi-rotor UAV and the scanning path of the laser methane detector in the present invention;

[0051] Figure 3 It is a swing angle optimization solution based on a preset flight height and a scanning path width according to an embodiment of the present invention;

[0052] Figure 4 It is an optimization scheme of the swing frequency based on the preset flight speed and scanning interval in the embodiment of the present invention;

[0053] Figure 5 It is a preset terrain-imitating low-altitude automatic flight route of the multi-rotor UAV in the present invention;

[0054] Figure 6 A methane gas concentration distribution map generated by an embodiment of the present invention. DETAILED DESCRIPTION

[0055] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] Example 1

[0057] like Figure 1 , 2 to Figure 5 A multi-rotor UAV oil and gas pipeline inspection method shown includes the following steps:

[0058] The S1 ground station uses a geographic information system (GIS) to delineate automatic inspection routes;

[0059] The S2 multi-rotor drone is equipped with a laser methane detector and a high-definition camera, and flies autonomously along an automatic inspection route;

[0060] The S3 multi-rotor drone activates the laser methane detector and high-definition camera to simultaneously scan the ground and collect images;

[0061] The S4 multi-rotor drone receives methane concentration data output by the laser methane detector in real time, and analyzes and processes the methane concentration threshold exceeding the standard;

[0062] If S5 detects that the methane concentration threshold in the area exceeds the standard, the flight control receives the signal to control the multi-rotor drone to adjust the flight strategy and conduct a secondary assessment of the area;

[0063] The S6 multi-rotor drone sends the secondary analysis results to the ground station, which processes the area based on the situation.

[0064] Before the inspection task begins, the ground station operator will use the geographic information system (GIS) software to accurately plan an optimal automatic inspection route based on the geographical location and terrain features of the oil and gas pipeline. This route will take into account multiple factors such as terrain obstacles, flight safety, and inspection efficiency to ensure that the multi-rotor drone can complete the inspection task efficiently and safely. The ground station will transmit the planned inspection route to the multi-rotor drone, which will be equipped with an advanced laser methane detector and a high-definition camera and fly autonomously along the preset route. The laser methane detector can accurately measure the methane concentration near the oil and gas pipeline, while the high-definition camera is used to capture high-definition images of the pipeline and its surrounding environment. During the flight, the multi-rotor drone will simultaneously start the laser methane detector and the high-definition camera to synchronously scan and capture images of the oil and gas pipeline and its surrounding areas. The laser methane detector can monitor the methane concentration in real time, while the high-definition camera can capture the physical state of the pipeline and the details of the surrounding environment. The multi-rotor drone will receive data from the laser methane detector in real time and analyze it. If it is detected that the methane concentration exceeds the preset safety threshold, the multi-rotor drone will immediately trigger an alarm mechanism, transmit image data containing the leak location coordinates and methane concentration values ​​to the ground control center, and generate a methane concentration distribution map in real time; at the same time, the flight control system of the multi-rotor drone will receive the signal and adjust the flight strategy according to the situation, including but not limited to: reducing the flight speed, increasing the scanning width of the laser methane pod, increasing the scanning spacing and detection accuracy of the laser methane pod, and other extended functions, including high-altitude warnings, etc., so as to conduct a more detailed secondary analysis of the exceeding area and update the methane concentration distribution map of the ground station in real time; the ground station operator will evaluate the suspected leakage area based on the data and images sent back by the multi-rotor drone, and decide whether it is necessary to dispatch maintenance personnel for on-site inspection and repair. If it is confirmed that there is a leak or other safety hazards, the ground station will immediately activate the emergency plan to ensure the safe operation of the oil and gas pipeline.

[0065] Among them, the multi-rotor UAV mainly relies on the flight control system for flight, and the flight control altitude is 50-200m. The multi-rotor UAV takes off according to the preset altitude, obtains terrain data in real time during the flight, and transmits the terrain data into the flight control system, dynamically adjusts the flight altitude of the multi-rotor UAV to maintain a constant height difference with the ground and realize the multi-rotor UAV's terrain-imitating flight; not only that, the multi-rotor UAV is also equipped with an obstacle avoidance radar, that is, equipped with an obstacle avoidance function, so that the multi-rotor UAV can automatically detect some obstacles along the inspection route (such as wires, towers, etc.) during the flight, and automatically avoid and detour the obstacles to ensure safety during flight.

[0066] It should be noted that the obstacle avoidance radar has limited recognition capabilities for ground objects and cannot identify all types of obstacles, so ground stations still need to remain vigilant during the flight of the multi-rotor drone.

[0067] Example 2

[0068] like Figure 1 , 2 and Figure 5 In the oil and gas pipeline inspection method shown in the figure, the multi-rotor drone in step S3 starts the laser methane detector to scan the ground, and the scanning steps are as follows:

[0069] S301 obtains the position data of the multi-rotor UAV and the position data of the laser methane detector relative to the ground in real time;

[0070] S302 inputs the collected data into the pod control system to calculate the scanning angle and frequency of the laser methane detector;

[0071] S303 dynamically adjusts the scanning angle and frequency of the laser methane detector according to the calculation results to optimize the scanning efficiency.

[0072] Among them, Figure 3 and Figure 4 As shown, the target swing angle of the laser pod is calculated as follows:

[0073]

[0074] In the formula, α is the target swing angle of the laser pod, h is the height of the multi-rotor drone relative to the ground, and X is the required scanning path width set;

[0075] The calculation formula of the target swing frequency of the laser pod is:

[0076]

[0077] In the formula, f is the scanning frequency of the laser detection pod, V is the flight speed of the multi-rotor drone, and Y is the set scanning interval distance of the laser pod relative to the ground.

[0078] During the flight of a multi-rotor UAV, the laser beam irradiation angle should be kept perpendicular to the ground slope. If the laser beam emitted by the laser detector irradiates the ground at a non-vertical angle, the scanned data may be distorted due to terrain undulations and slope changes, and lack accuracy. The sensors carried by multi-rotor UAVs can not only monitor the attitude information of the multi-rotor UAV, but also the attitude information of the laser pod. The sensors calculate the attitude information of the laser pod by measuring the acceleration, angular velocity and magnetic field direction of the object in real time, including but not limited to the pitch angle, roll angle and other attitude information of the laser pod. After the attitude control system of the multi-rotor UAV performs data fusion, it can calculate the emission direction of the current laser beam.

[0079] Then, the attitude information of the laser beam emitted by the laser pod relative to the ground and the target swing angle of the laser pod are obtained to calculate the target angle deviation value, including constructing a three-dimensional point cloud data model according to the flight time, emission angle and receiving angle of the laser beam; extracting the geometric features of the ground and fitting the ground model according to the position information of the laser beam and each ground intersection in the three-dimensional point cloud data model; calculating the target angle deviation value between the laser beam and the fitted ground model; controlling and adjusting the target swing angle of the laser pod and changing the emission angle of the laser beam until the target angle deviation value threshold is close to 0; and repeating the calculation to ensure that the laser irradiation angle is perpendicular to the slope of the target ground.

[0080] Example 3

[0081] like Figure 1 , 2 to Figure 5 In the method for inspecting oil and gas pipelines using a multi-rotor drone, the multi-rotor drone starts a laser methane detector and a high-definition camera to perform synchronous scanning and image acquisition of the ground. The multi-rotor drone receives methane concentration data output by the laser methane detector in real time, and analyzes and processes the methane concentration threshold value that exceeds the standard. The steps include:

[0082] S401 uses TDLAS technology to calculate the methane concentration value and compare it with the preset safety threshold;

[0083] Among them, the laser methane detector mainly uses the tunable semiconductor laser absorption spectroscopy technology TDLAS principle to detect the methane concentration. The laser methane detector maintains vertical scanning of the ground by continuously adjusting the angle of the emitted laser beam. Based on the absorption properties of methane molecular structure for light of specific wavelengths, when a beam of precisely tuned laser passes through the methane gas mass, the methane molecules will absorb the specific wavelengths of light therein. This absorption effect is manifested as specific absorption lines in the spectrum, and its intensity is proportional to the concentration of methane molecules.

[0084] Therefore, based on the TDLAS technology, the degree of absorption of light by methane molecules can be analyzed by precisely controlling the output wavelength of the laser to make it accurately match the absorption spectrum of methane molecules, and then measuring the change in light intensity before and after the laser passes through the air mass. The methane concentration in the area can then be accurately calculated based on the corresponding relationship between the absorption degree and the methane concentration.

[0085] The calculation formula for methane concentration based on TDLAS technology is:

[0086] I / I0=exp(-αCL)

[0087] Among them, I0 is the intensity of the incident light, that is, the intensity of the laser before it passes through the air mass; I is the intensity of the transmitted light, that is, the intensity of the laser after it passes through the air mass; α is the absorption coefficient of methane molecules for light of a specific wavelength, which depends on the spectral characteristics of methane molecules and environmental factors such as temperature and pressure; C is the concentration of methane in the air mass to be measured, usually expressed in volume fraction (such as ppm or ppbv); L is the optical path length of light propagating in the air mass, that is, the physical distance the laser passes through the air mass. By measuring I and I0, as well as the known absorption coefficient α and optical path length L, the above formula can be used to infer the concentration C of methane in the air mass to be measured.

[0088] It should be noted that in practical applications, due to the influence of various uncontrollable factors, the results calculated by the above calculation method may have certain errors. Therefore, it is necessary to preprocess and calibrate the measurement data, and use more complex mathematical models, such as nonlinear regression models, neural network models, etc. for correction and optimization to achieve more accurate and reliable concentration detection.

[0089] The methane concentration value is calculated and compared with the preset safety threshold. If the methane concentration value is lower than the preset safety threshold, the multi-rotor drone continues to scan along the predetermined flight path and transmits the collected image data to the ground station to generate a high-definition three-dimensional map along the route, which is conducive to judging the terrain changes along the route and preventing geological disasters and man-made damage along the route. If the methane concentration value is higher than the preset safety threshold, the multi-rotor drone triggers the alarm mechanism, integrates the image data including the leakage location coordinates and methane concentration value, and transmits it to the ground control center after integration, and generates real-time such as Figure 6 The methane concentration distribution map is shown.

[0090] The preset safety threshold of methane concentration is generally determined according to the explosion limit of methane, and is generally set between 10% and 25% of the lower explosion limit of methane, to ensure that when the methane concentration is abnormal, an alarm signal can be issued in time and corresponding safety measures can be taken; the specific safety threshold should be determined according to the actual environment and safety requirements while complying with relevant standards and specifications.

[0091] Example 4

[0092] like Figure 1 , 2 to Figure 5 In the method for inspecting oil and gas pipelines using a multi-rotor drone, the multi-rotor drone starts a laser methane detector and a high-definition camera to perform synchronous scanning and image acquisition of the ground. The multi-rotor drone receives methane concentration data output by the laser methane detector in real time, and analyzes and processes the methane concentration threshold value that exceeds the standard. The steps include:

[0093] S401 uses TDLAS technology to calculate the methane concentration value and compare it with the preset safety threshold;

[0094] S402 If the methane concentration value is lower than the preset safety threshold, the multi-rotor drone continues to scan along the predetermined flight path and transmits the collected image data to the ground station to generate a high-definition three-dimensional map along the route.

[0095] Among them, when the methane concentration value is lower than the preset safety threshold, the multi-rotor drone continues to fly along the preset path, and the methane detector mounted on the three-axis gimbal and the pod is constantly adjusted to achieve continuous and accurate scanning of the ground. At the same time, it is equipped with a high-definition camera to capture and collect real-time topographic maps along the way, and then transmit the collected image information and methane concentration detection values ​​to the ground station in real time through the multi-rotor drone communication module to generate a real-time topographic map.

[0096] The collected image information and methane concentration detection values ​​are transmitted to the ground station in real time through the multi-rotor drone communication module. Specifically, long-distance transmission can be carried out through the following dedicated links:

[0097] 1. Ad hoc network link, which allows multi-rotor drones to transmit data through an autonomously established network without a preset infrastructure, especially suitable for methane detection tasks in complex and changeable or remote areas;

[0098] The 2.4G module uses the existing mobile communication network to provide multi-rotor drones with wide coverage and high-speed data transmission capabilities. It can transmit the detected methane concentration data back to the ground station in real time for timely analysis and response;

[0099] 3. When the direct communication link is blocked or limited by distance, the relay station can serve as a signal transfer point, effectively extending the communication distance of the multi-rotor drone and ensuring the continuity and integrity of the data;

[0100] 4. Satellite communication technology can provide global communication capabilities that are not restricted by geographical location. For large open spaces with sparse population and without too many preset infrastructure signals, the use of satellite communication can ensure a stable connection between multi-rotor drones and ground stations.

[0101] The purpose of generating high-definition three-dimensional maps along the route is: when no methane leak is found, the multi-rotor drone equipped with a methane detector and a high-definition camera flies along a preset route. The high-definition camera collects real-time images of the ground and transmits the images to the ground station. The staff can use artificial intelligence to compare the background database map model and mark locations with hidden dangers, such as damage to the surface anti-corrosion layer, displacement of the pipeline, collapse of earth near the pipeline, construction of other buildings, collapse of buildings or trees hitting the pipeline, earthwork operations near the pipeline, mechanical construction and other abnormalities, to prevent geological disasters and man-made damage along the route.

[0102] Example 5

[0103] like Figure 1 , 2 to Figure 5 In the method for inspecting oil and gas pipelines using a multi-rotor drone, the multi-rotor drone starts a laser methane detector and a high-definition camera to perform synchronous scanning and image acquisition of the ground. The multi-rotor drone receives methane concentration data output by the laser methane detector in real time, and analyzes and processes the methane concentration threshold value that exceeds the standard. The steps include:

[0104] S401 uses TDLAS technology to calculate the methane concentration value and compare it with the preset safety threshold;

[0105] S402 If the methane concentration value is lower than the preset safety threshold, the multi-rotor drone continues to scan along the predetermined flight path and transmits the collected image data to the ground station to generate a high-definition three-dimensional map along the route;

[0106] S403 If the methane concentration value is higher than the preset safety threshold, the multi-rotor drone triggers the alarm mechanism, integrates the image data including the leakage location coordinates and the methane concentration value, and transmits the integrated data to the ground control center to generate a methane concentration distribution map in real time.

[0107] When the methane concentration value exceeds the preset safety threshold, the multi-rotor drone triggers the alarm mechanism, the high-definition camera takes pictures of the point where the methane concentration exceeds the standard, and the GPS positioning provides the coordinates of the point and the calculated methane leakage value.

[0108] Specifically, when the collected image information and methane concentration detection values ​​are transmitted to the ground station in real time through the multi-rotor drone communication module, it is also necessary to integrate the location coordinates of the exceeding point, the methane leakage value and other data into the photographed image of the exceeding point in advance. The integration adopts OSD technology, which can embed additional information (i.e. the location coordinates of the exceeding point and the methane leakage value) into the image in the form of text, numbers, and pictures through image superposition without changing the original image content, so that the ground station can grasp the detailed information of the exceeding point at a glance, including its specific location, leakage degree, etc., so as to make quick judgments and take effective countermeasures.

[0109] In actual applications, the integrated information also includes: the GPS location coordinates of the multi-rotor UAV; the flight speed, altitude and heading of the multi-rotor UAV; the real-time methane concentration value of the laser methane detector; the threshold alarm status of the methane concentration; the real-time image of the multi-rotor UAV camera, including high-definition map generation and marking of potential leakage points, etc.

[0110] Furthermore, the flight control receives the signal to control the multi-rotor UAV to adjust its flight strategy for secondary analysis of the area (the area where the methane concentration is detected to exceed the standard). The flight strategy adjustment of the multi-rotor UAV includes: hovering scanning. The multi-rotor UAV can rely on its arbitrary hovering characteristics. After detecting the exceeding of the standard, it hovers above the point and controls the laser scanner to scan at a larger angle to scan the surrounding methane environment and locate the approximate range of the methane leakage; reduce the flight altitude and speed. The flight control system timely controls the multi-rotor UAV to lower the flight altitude and slow down the flight speed accordingly, so that the multi-rotor UAV can get closer to the ground and capture weaker methane signals and smaller leakage points. At the same time, the reduction in flight speed can ensure that the laser methane pod increases the scanning width while maintaining a high scanning accuracy, that is, covers a wider ground area; or by integrating additional modules, such as visible light, infrared and other sensors, to obtain more information about the leakage source and its surrounding environment.

[0111] All of the above are to provide more comprehensive data support for subsequent emergency response. After the data is transmitted to the ground station in real time, the methane concentration distribution map is continuously improved and updated.

[0112] Example 6

[0113] based on Figures 1 to 6 A multi-rotor UAV oil and gas pipeline inspection system shown includes:

[0114] The ground station mainly integrates advanced geographic information systems (GIS) to accurately define the automatic inspection routes of multi-rotor drones based on historical data, topography and preset monitoring needs, ensuring that multi-rotor drones can cover all key areas.

[0115] Multi-rotor drone, used to carry laser methane detector and high-definition camera to scan the ground and capture images.

[0116] The three-axis gimbal is used to control the laser methane detector and the high-definition camera to perform large-scale scanning and shooting. Among them, the three-axis stable gimbal, as a specific product for loading the laser pod, can precisely control the laser detector in three axes (usually pitch, roll and yaw) to ensure that the laser detector carried by the multi-rotor UAV is always in a stable state during flight; the laser pod can adjust the laser beam to achieve projection of any shape. The specific projection of this embodiment is a spiral projection, that is, the laser beam performs spiral scanning to ensure that every point in the space is evenly and continuously covered.

[0117] Laser methane detector, used for fully autonomous scanning planning of the ground and numerical detection of methane gas concentration;

[0118] High-definition camera, specifically 4K high-definition camera, is used to capture ground images.

[0119] The flight control system is used to control the multi-rotor drone to fly autonomously along the automatic inspection route, receive signals that the methane gas concentration exceeds the standard, and actively adjust the flight strategy.

[0120] It also includes a GPS module for locating the real-time position of the multi-rotor UAV; as well as a multi-rotor UAV-side communication data module and a ground-side communication module, which together form an information bridge between the multi-rotor UAV and the ground station, and are used to send data information on the multi-rotor UAV to the ground station and receive command information from the ground station, ensuring smooth information and accurate commands for the entire monitoring system.

[0121] It should be noted that, in this article, relational terms such as first and second, etc. 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.

[0122] The above description is only used to illustrate the technical solution of the present invention rather than to limit it. Other modifications or equivalent substitutions made to the technical solution of the present invention by ordinary technicians in this field should be included in the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solution of the present invention.

Claims

1. A multi-rotor UAV oil and gas pipeline inspection method, characterized in that: include: The S1 ground station uses a geographic information system (GIS) to delineate automatic inspection routes; The S2 multi-rotor drone is equipped with a laser methane detector and a high-definition camera, and flies autonomously according to the automatic inspection route; S3 The multi-rotor drone starts the laser methane detector and the high-definition camera to perform synchronous scanning and image acquisition of the ground; S4, the multi-rotor drone receives the methane concentration data output by the laser methane detector in real time, and analyzes and processes the methane concentration threshold exceeding the standard; If it is detected at S5 that the methane concentration threshold in the area exceeds the standard, the flight control system receives the signal to control the multi-rotor UAV to adjust the flight strategy and conduct a secondary assessment of the area; S6 The multi-rotor drone sends the secondary analysis result to the ground station, and the ground station processes the area according to the situation.

2. The multi-rotor UAV oil and gas pipeline inspection method according to claim 1 is characterized in that: The multi-rotor drone starts a laser methane detector to scan the ground, including the following steps: S301 acquires in real time the position data of the multi-rotor UAV and the position data of the laser methane detector relative to the ground; S302 inputs the collected data into the pod control system to calculate the scanning angle and frequency of the laser methane detector; S303 dynamically adjusts the scanning angle and frequency of the laser methane detector according to the calculation result to optimize the scanning efficiency. The target swing angle of the laser pod is calculated as follows: In the formula, α is the target swing angle of the laser pod, h is the height of the multi-rotor drone relative to the ground, and X is the required scanning path width set; The calculation formula of the target swing frequency of the laser pod is: In the formula, f is the scanning frequency of the laser detection pod, V is the flight speed of the multi-rotor drone, and Y is the set scanning interval distance of the laser pod relative to the ground.

3. The multi-rotor UAV oil and gas pipeline inspection method according to claim 1 is characterized in that: The multi-rotor drone receives methane concentration data output by the laser methane detector in real time, and analyzes and processes the methane concentration threshold exceeding the standard, including the following steps: S401 uses TDLAS technology to calculate the methane concentration value and compare it with the preset safety threshold; S402: if the methane concentration value is lower than the preset safety threshold, the multi-rotor drone continues to scan along the predetermined flight path, and transmits the collected image data to the ground station to generate a high-definition three-dimensional map along the route; S403 If the methane concentration value is higher than a preset safety threshold, the multi-rotor drone triggers an alarm mechanism, transmits image data including the leakage location coordinates and the methane concentration value to the ground station, and generates a methane concentration distribution map in real time.

4. The multi-rotor UAV oil and gas pipeline inspection method according to claim 1 is characterized in that: If it is detected that the methane concentration threshold in the area exceeds the standard, the flight control receives the signal to control the multi-rotor drone to adjust the flight strategy and conduct a secondary assessment of the area. The adjustments include: automatically reducing the flight speed and increasing the scanning density of the laser methane detector.

5. The multi-rotor UAV oil and gas pipeline inspection method according to claim 4 is characterized in that: The scanning density of the laser methane detector is increased mainly by driving the laser pod to generate a spiral projection with a higher density through the three-axis gimbal.

6. The multi-rotor UAV oil and gas pipeline inspection method according to claim 3 is characterized in that: If the methane concentration value is lower than the preset safety threshold, the multi-rotor drone continues to scan along the predetermined flight path and transmits the collected image data to the ground station to generate a high-definition three-dimensional map along the route, which also includes: The ground station uses artificial intelligence to compare the background database map model, mark the locations where hidden dangers exist, and update the background data in real time.

7. The multi-rotor UAV oil and gas pipeline inspection method according to claim 3 is characterized in that: The multi-rotor drone triggers an alarm mechanism, transmits image data containing the leak location coordinates and methane concentration values ​​to the ground station, and generates a methane concentration distribution map in real time. The image data is integrated using OSD technology, and the integrated information includes: the GPS location coordinates of the multi-rotor UAV; the flight speed, altitude and heading of the multi-rotor UAV; the real-time methane concentration value of the laser methane detector; the threshold alarm status of the methane concentration; and the real-time image of the multi-rotor UAV camera, including high-definition map generation and marking of potential leakage points.

8. The multi-rotor UAV oil and gas pipeline inspection method according to claim 1 is characterized in that: The flight control system controls the multi-rotor UAV to fly at a height of 50-200m.

9. A system for executing the multi-rotor drone oil and gas pipeline inspection method according to any one of claims 1 to 8, characterized in that: include: Ground station, used to define automatic inspection routes; A multi-rotor drone equipped with a laser methane detector and a high-definition camera; Laser methane detector, used for fully autonomous scanning planning of the ground and numerical detection of methane gas concentration; High-definition camera for capturing ground-level images; A three-axis gimbal and a laser pod are used to control the laser methane detector and high-definition camera to perform large-scale scanning and shooting; A flight control system, used to control the multi-rotor UAV to fly autonomously according to the automatic inspection route, receive signals indicating that the methane gas concentration exceeds the standard, and actively adjust the flight parameters; A GPS module, used to locate the real-time position of the multi-rotor drone; A multi-rotor UAV communication data module, used to send data information on the multi-rotor UAV and receive command information from the ground station; The ground communication module is used to receive data information and send command information from the multi-rotor drone.

10. The multi-rotor UAV oil and gas pipeline inspection system according to claim 9, characterized in that: It also includes data link information on multi-rotor drones. The data link information on multi-rotor drones is transmitted over long distances through a dedicated link between the multi-rotor drone and the ground station, using any communication transmission method such as self-organizing network link, 4G module, relay, or satellite communication.

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