Gas leakage rapid positioning and disposal system based on swarm intelligence

Abstract

The invention discloses a fuel gas leakage rapid positioning and handling system based on swarm intelligence, and the system comprises a plurality of aircrafts which are used for obtaining an optimal flight route and executing a flight instruction, the optimal flight route refers to an inspection route in which the flight distance of each aircraft from the starting point to the terminal point is shortest and the repeated flight sections with other aircrafts are least; the laser methane telemetering modules are used for monitoring the methane concentration, and at least one laser methane telemetering module is arranged at the bottom of each aircraft; the coordinate module is used for acquiring aircraft coordinates; the curve drawing module is used for drawing an aircraft coordinate and methane concentration contrast curve; and the judgment processing module is used for determining a gas leakage position and executing an emergency processing scheme when judging that the gas concentration detected by the laser telemetering module array exceeds a preset lower limit threshold value. The leakage source can be more efficiently and accurately positioned, the inspection efficiency is greatly improved, and the inspection cost is reduced.

Description

Technical Field

[0001] The present application relates to the field of industrial security monitoring technology, and in particular to a gas leak rapid positioning and disposal system based on swarm intelligence. Background Art

[0002] At present, urban gas pipeline networks are facing increasingly serious problems of corrosion and aging. In addition, illegal construction, illegal occupation and blind excavation and construction frequently occur around gas pipelines and facilities, causing damage to gas pipelines and facilities. Gas leaks occur from time to time, posing a huge challenge to urban safety.

[0003] At present, gas information projects mainly use static discrete sampling methods, which can only achieve monitoring and early warning functions. Due to the high construction cost, such projects are usually only used as small-scale technical transformation demonstration projects, and cannot achieve full coverage of the gas pipeline network. This is still a big gap from the required "real-time monitoring, timely early warning, and effective disposal". Therefore, it is urgent to adopt new technical means to reduce costs and improve efficiency to ensure the safe operation of urban gas pipelines. Summary of the invention

[0004] The embodiments of this specification provide a gas leak rapid location and disposal system based on swarm intelligence, which is used to solve the problem of high cost or low efficiency caused by large-scale gas pipeline network monitoring in the prior art.

[0005] The technical solutions provided by the embodiments of this specification are: The embodiment of the present application provides a gas leak rapid location and disposal system based on swarm intelligence, including: A plurality of aircrafts, used to obtain an optimal flight route and execute flight instructions, wherein the optimal flight route refers to an inspection route with the shortest flight distance from a starting point to an end point for each aircraft and the least overlapped flight sections with other aircrafts; A laser methane telemetry module, used to monitor methane concentration, at least one laser methane telemetry module is provided at the bottom of each of the aircraft; Coordinate module, used to obtain aircraft coordinates; Curve drawing module, used to draw the comparison curve between aircraft coordinates and methane concentration; The judgment processing module is used to determine the gas leakage location and execute the emergency treatment plan when the gas concentration detected by the laser telemetry module array exceeds the preset lower limit threshold.

[0006] Furthermore, obtaining the optimal flight route includes: Divide the cruise area into several grid cells and number them uniformly; The drone selects the corresponding grid unit through broadcast negotiation to obtain the optimal flight route.

[0007] Further, the broadcast negotiation method selects the corresponding grid unit including: All members of the drone swarm form a distributed network through wireless communication; If one of the drones applies to cruise route N and does not receive an objection message, the application is successful, and a broadcast message is sent to other drones that the grid cell of route N is occupied; When the N route completes the inspection task, the cruise status table is updated and recorded, and a broadcast message that the N route inspection is completed is sent to other drones.

[0008] Furthermore, the broadcast negotiation method for selecting a corresponding grid unit further includes: If at least two drones apply to cruise route M, they will receive an objection message; The cruising distance and endurance of all drones cruising route M are obtained respectively. The one with the lower data withdraws from the application, and the one with the best data reapplies. If no objection information is received, the application is successful.

[0009] Furthermore, the drone carries a laser methane telemetry module just below the center of the fuselage and below each rotor.

[0010] Furthermore, each laser methane telemetry module is connected to the drone via a small turntable.

[0011] Furthermore, obtaining the coordinates of the aircraft includes: a high-precision GPS and laser ranging module is installed on the UAV, and the longitude and latitude coordinates of the measurement point of the laser methane telemetry module are obtained according to the UAV flight altitude measured by the high-precision GPS and laser ranging modules, and the turntable angle data of each rotor telemetry module.

[0012] Further, determining the gas leakage location includes: Obtain the location of potential leak sources based on subtle differences in gas concentrations; Adjust the drone's cruising route so that it moves precisely in the direction of the leak source; Reduce the scanning range by lowering the flying altitude of the drone or adjusting the angle between the telemetry module and the vertical direction; With the help of pressure data uploaded by the smart pressure gauge on the gas pipeline, the source of the leak was finally identified.

[0013] Furthermore, the emergency treatment plan includes: Send a command to the intelligent safety valve to immediately interrupt the gas supply in the leak source pipeline, start the valve of the backup pipeline, continue to supply gas through the backup channel, and send the specific location information of the faulty pipe section to the background, prompting the relevant departments to repair or replace it as soon as possible.

[0014] Furthermore, the drone is equipped with a 720° three-dimensional panoramic high-definition camera for real-time scene acquisition and making favorable judgments.

[0015] At least one of the above-mentioned technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects: it can locate the leakage source more efficiently and accurately, greatly improve the inspection efficiency, and reduce the inspection cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings: Figure 1 A schematic diagram of the overall structure provided for the embodiments of this specification; Figure 2 A schematic diagram of grid unit numbering provided in the embodiments of this specification; Figure 3 A schematic diagram of the horizontal distribution of a laser methane telemetry module carried by a quad-rotor drone provided in an embodiment of this specification; Figure 4 A schematic diagram of the range that can be monitored by a small turntable provided in the embodiments of this specification; Figure 5 The monitoring range provided in the embodiment of this specification when the flight altitude is 95 meters; Figure 6 This is a schematic diagram of the monitoring effect provided in the embodiments of this specification. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only 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 the present application.

[0018] The technical solutions provided by various embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0019] This specification provides a gas leak rapid location and disposal system based on swarm intelligence. Figure 1 As shown, it includes an aircraft 1, a laser methane telemetry module 2, a coordinate module 3, a curve drawing module 4 and a judgment processing module 5.

[0020] Among them, a number of aircraft are set up, and the aircraft are used to obtain the optimal flight route and execute flight instructions. The optimal flight route refers to the inspection route with the shortest flight distance from the starting point to the end point of each aircraft and the least repeated flight sections with other aircraft; the aircraft include but are not limited to four-wing aircraft and eight-wing aircraft.

[0021] In one possible implementation, Figure 2 As shown, obtaining the optimal flight route includes: dividing the cruising area into a number of grid units and uniformly numbering them; the UAV selects the corresponding grid unit through broadcast negotiation to obtain the optimal flight route.

[0022] Further explanation: the broadcast negotiation method selects the corresponding grid unit, including: all members of the drone cluster form a distributed network through wireless communication; if one of the drones applies to cruise route N and does not receive an objection message, the application is successful, and a broadcast message that the grid unit of route N is occupied is sent to other drones; when route N completes the inspection task, the cruise status table is updated and recorded, and a broadcast message that the inspection of route N is completed is sent to other drones.

[0023] Specifically, when faced with a vast inspection area, the multi-machine collaboration approach significantly improves inspection efficiency. In the process of assigning patrol tasks, the system divides the entire patrol area into several grid units and uniformly numbers them, and then imports this information into the drone cluster. Each drone selects the corresponding grid unit to perform the patrol task through broadcast negotiation. All members of the drone cluster form a distributed network through wireless communication. Assuming that a member wants to perform a patrol task for a grid unit numbered N, it will first send an application broadcast to other members in the network. If no objection message is received within the specified time, it means that the application is successful. The member immediately sends a broadcast message to other members that the grid unit numbered N is occupied (cruising). After receiving the message, other members record it for filing to avoid task conflicts.

[0024] In addition, when the inspection task of the grid unit numbered N is completed, the member who performs the task will send a broadcast message to other members that the inspection of grid unit N has been completed. After receiving the message, other members will also record it and update the "Regional Patrol Status Table" in real time to ensure efficient synchronization of information and avoid invalid operations.

[0025] In another possible implementation, if at least two drones apply to cruise route M, they will receive an objection message; the cruising distance and endurance time of all drones cruising route M are obtained respectively, the one with lower data withdraws the application, and the one with the best data applies again. If no objection message is received, the application is successful.

[0026] Specifically, when two or more members apply to perform the inspection task of the grid unit numbered M at the same time, they may receive objection messages from each other. At this time, the conflicting members enter the negotiation stage. The arbitration algorithm makes decisions based on the principle of survival of the fittest based on data such as distance difference and endurance time difference. The weak party actively withdraws from the competition, and the strong party re-issues the inspection task application for the grid unit numbered M. If there is no objection, it means that the application is successful; if there is an objection, the above process continues to cycle.

[0027] The laser methane telemetry module is used to monitor the methane concentration. At least one laser methane telemetry module is set at the bottom of each aircraft. In one possible implementation, see Figure 3 As shown, this embodiment uses a four-wing UAV, and the UAV is equipped with a laser methane telemetry module directly below the center of the fuselage and under each rotor. The UAV is equipped with a laser methane telemetry module directly below the center of the fuselage and under each rotor, which can realize multi-point data collection at the same time, not only can the coverage area of ​​a single voyage be increased, but also the direction of the leakage source can be quickly locked according to the concentration distribution law, providing important reference data for cruise path planning; according to different application scenarios and requirements, four-rotor, six-rotor and eight-rotor UAVs can be selected. Choose according to needs, no limitation here.

[0028] In a possible implementation, each laser methane telemetry module is connected to the drone via a small turntable. It can achieve 360° horizontal rotation and 90° vertical rotation. By adjusting the horizontal and vertical angles of the telemetry module mounted under the rotor, the scanning width can be dynamically adjusted, thereby achieving efficient and accurate inspections. Figure 4 shown.

[0029] The coordinate module is used to obtain the coordinates of the aircraft; for example, a high-precision GPS and laser ranging module is installed on the drone. According to the flight altitude of the drone measured by the high-precision GPS and laser ranging module, and the turntable angle data of each rotor telemetry module, the longitude and latitude coordinates of the measurement point of the laser methane telemetry module are obtained. In specific applications, such as Figure 5 As shown, the flight altitude and the angle of the telemetry module are adjusted according to the actual situation on site. The flight altitude is set to 95 meters, the horizontal position of the rotor telemetry module is kept away from the center direction of the UAV, and the vertical angle with the axis is 6°, then the scanning width is about 20 meters. According to this configuration, under normal circumstances, 25 flights can cover a grid inspection area with a width of 500 meters.

[0030] The curve drawing module is used to draw the comparison curve between the aircraft coordinates and the methane concentration; The judgment processing module is used to determine the gas leakage location and execute the emergency treatment plan when the gas concentration detected by the laser telemetry module array exceeds the preset lower limit threshold.

[0031] In one possible implementation, determining the location of a gas leak includes: obtaining the direction of a potential leak source based on slight differences in gas concentration; adjusting the drone's cruise route to accurately head in the direction of the leak source; reducing the drone's flight altitude or adjusting the angle between the telemetry module and the vertical direction to narrow the scanning range; and ultimately locating the leak source with the help of pressure data uploaded by a smart pressure gauge on the gas pipeline.

[0032] Specifically, when the gas concentration detected by the laser telemetry module array exceeds the preset lower threshold, the system immediately conducts an in-depth analysis of the data from each sensor. Based on the subtle differences in gas concentration, the location of the potential leak source is intelligently inferred, and the drone's cruise route is quickly adjusted to accurately move in the direction of the leak source. In the final positioning stage of the leak point, in order to speed up the positioning speed, measures such as lowering the drone's flight altitude or adjusting the angle between the telemetry module and the vertical direction can be taken to narrow the scanning range. At the same time, real-time concentration data is sent to other members of the drone cluster as an important reference for their path planning. This strategy not only improves the efficiency and accuracy of leak detection, but also enhances the collaborative ability of the entire drone cluster.

[0033] Whenever the inspection task of a grid unit comes to an end, the corresponding grid status is carefully marked, mainly including leakage and non-leakage. If a leak is detected, relevant data such as the concentration distribution of the leaking area and high-risk leak points will be shared immediately. In the case of a gas leak across multiple grid units, after completing the first round of inspections, a second round of detailed supplementary inspections will be carried out on the leaking grid. The core of this round of inspections is to further accurately locate the source of the leak. By conducting joint static collection and observation of the leaking area within a certain period of time, eliminating interference from air flow or other factors, and supplemented by the pressure data uploaded by the smart pressure gauge on the gas pipeline, the source of the leak is finally locked.

[0034] In another possible implementation, the emergency response plan includes: issuing a command to the intelligent safety valve to immediately interrupt the gas supply in the leak source pipeline, and starting the valve of the backup pipeline to continue supplying gas through the backup channel, and sending the specific location information of the faulty pipe section to the background, prompting the relevant departments to repair or replace it as soon as possible.

[0035] Specifically, when the source of the leak is accurately locked, the drone will send a command to the intelligent safety valve to immediately interrupt the gas delivery in the current pipeline, and start the valve of the backup pipeline to continue supplying gas through the backup channel. After successfully switching the gas supply line, the system will continue to dynamically monitor the gas concentration in the leakage area. If the gas concentration is monitored to gradually decrease, it means that the emergency measures have effectively controlled the situation. At this time, the system will send the specific location information of the faulty pipe section to the background, prompting the relevant departments to repair or replace it as soon as possible. This process not only realizes real-time monitoring and early warning of potential risks, but also ensures immediate response and disposal on site, thereby eliminating or reducing the risk of accidents in the shortest time.

[0036] It is further explained that when the gas leak source is precisely located in the vicinity of a gas treatment plant or outdoor overhead pipeline, the system's on-site emergency response mechanism is immediately activated. The drone spray system responds quickly, spraying dense water mist to mix the gas with the air, effectively reducing the gas concentration and ensuring that it drops below the lower explosion limit, thereby eliminating the risk of gas explosion. At the same time, the increase in water mist also increases the air humidity, which not only helps to reduce the probability of static sparks, but also further reduces the risk of gas explosion, providing more comprehensive safety protection for the site.

[0037] It is further preferred that the drone is equipped with a 720° 3D panoramic high-definition camera for real-time scene acquisition and favorable judgment. For example, each drone is equipped with a 720° 3D panoramic high-definition camera and an image-based deep learning algorithm. This enables the drone to quickly identify various complex risk factors, including both malicious man-made attacks and dangerous scenes in the natural environment. Once a threat is detected, the drone will immediately adjust its flight strategy to ensure that the equipment will not be hijacked or damaged. In addition, in the application scenario of locating overhead pipeline leakage points, the drone can spray a soap solution of a specific concentration on the target area, and then quickly and accurately locate the leakage point through real-time image analysis and processing.

[0038] The following is an example of a specific implementation. Assume that the inspection target is a rectangular area with a length of 6000 meters and a width of 1000 meters. The system platform divides the area evenly into 6 grid units, each with a length of 2000 meters and a width of 500 meters. Figure 2 This inspection task was carried out by a cluster (or formation) of 4 quad-rotor drones, numbered A, B, C, and D. To ensure the precision of the inspection, the system requires that the scanning width of each drone should not exceed 25 meters during cruising, and the coordinate information of the scanning area and the specific grid information should be imported into the drone cluster.

[0039] After the patrol mission is issued to the drone cluster, each drone autonomously negotiates to select the grid unit for the first inspection. For example, drone A selects grid unit numbered 1, drone B selects grid unit numbered 2, drone C selects grid unit numbered 3, and drone D selects grid unit numbered 4. Because there is no conflict, all applications are approved at once; then each drone autonomously plans the flight route according to the location of the target grid.

[0040] When performing inspection tasks in each grid unit, the drone adjusts the flight altitude and telemetry module angle according to the system requirements and the actual situation on site. Figure 5 As shown in the figure, the flight altitude is set to 95 meters, the horizontal position of the rotor telemetry module is kept away from the center of the drone, and the vertical angle with the axis is 6°, then the scanning width is about 20 meters. According to this configuration, under normal circumstances, 25 flights can cover a grid inspection area with a width of 500 meters.

[0041] During the cruise, once UAV B detects that the concentration of leaked gas exceeds the preset lower limit of the warning threshold, it will immediately activate the leak source tracking mechanism. Specific operations include reducing the flight speed and adjusting the flight direction based on the data of the sensor array and the leakage direction judgment results, aiming to accurately locate the point with the highest methane gas concentration in the grid area. Once the maximum value of the gas concentration is locked, if this concentration reaches or exceeds the upper limit of the warning threshold, the UAV will quickly initiate on-site emergency disposal measures, including valve linkage, plugging and spraying. On the contrary, if the maximum concentration does not reach the upper limit of the warning threshold, the UAV will continue to patrol the areas that have not yet been covered in the grid according to the predetermined strategy to ensure the integrity and continuity of the data.

[0042] Assume that drone A has completed the inspection task of grid unit number 1 ahead of other members of the cluster, while other members are still busy on their respective inspection routes. At this time, drone A quickly changes its target, successfully applies for and starts the inspection of grid unit number 5. Following closely, drone C also successfully turns its target to grid unit number 6 after completing the inspection of grid unit number 3. Soon, drone D and drone B complete the inspection tasks of grid units numbered 4 and 2 respectively. At this point, all areas to be inspected have been covered.

[0043] Assume that, in this series of inspections, only the grid unit numbered 2 was found to have a gas leak. To this end, drone D and drone B immediately re-inspected the leaking area of ​​the grid unit and subdivided it into two independent sub-units. Through an efficient negotiation mechanism, the two drones were responsible for each sub-area, collecting data and continuously tracking the maximum concentration point, ensuring the accuracy of monitoring and avoiding misjudgment caused by air diffusion or other factors.

[0044] After the first round of inspections, all data were comprehensively analyzed. The results showed that the gas concentration in grid cells No. 2 and No. 5 exceeded the standard. Therefore, in the second round of inspections, drones D and B jointly conducted another in-depth inspection of grid cell No. 2, while drones A and C were responsible for re-inspecting grid cell No. 5. The data of the four drones were shared in real time, forming a closely coordinated whole. Through this continuous and real-time data analysis, the gas distribution in the leakage area and the most likely location of the leakage source can be more accurately portrayed.

[0045] This system cleverly combines the significant advantages of TDLAS laser telemetry technology, including its long-distance detection capability, high-precision measurement performance, fast response time and excellent anti-interference. At the same time, by combining with the group intelligence of drone clusters, an efficient monitoring strategy is achieved: starting from single-point sampling, extending to lines, and then to surfaces, an intuitive image of the gas concentration and its coordinate distribution in the inspection area is drawn in real time. Figure 6 This is a simple effect diagram. This innovative method enables supervisors to clearly understand the on-site situation.

[0046] In addition, the collaborative operation mode of multiple drones provides the ability to overlook the overall situation from a higher perspective, so as to locate the source of the leak more efficiently and accurately, and take corresponding measures quickly. Thanks to the powerful scalability of drone clusters, the number of drones can be flexibly adjusted according to the scope of the inspection task to ensure that it can adapt to a wider range of monitoring needs.

[0047] The above description is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of the claims of the present application. It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0048] Therefore, the present application also proposes a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the method described in any embodiment of the present application is implemented.

[0049] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0050] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0051] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0052] Furthermore, the present application also proposes an electronic device (or computing device), comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in any embodiment of the present application when executing the computer program.

[0053] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory. Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium. Computer-readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device. According to the definition in this article, computer-readable media does not include temporary computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0054] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity 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, commodity or device. In the absence of further restrictions, the elements defined by the sentence "comprises..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0055] It will be understood by those skilled in the art that, unless expressly stated, the singular forms "one", "said", and "the" used may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. It should be understood that when an element is "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may be intermediate elements. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein includes all or any unit and all combinations of one or more associated listed items.

[0056] Those skilled in the art will understand that unless otherwise defined, all terms (including technical, technical and scientific terms) used herein have the same meaning as commonly understood by those skilled in the art to which this invention belongs.

[0057] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A gas leak rapid location and disposal system based on swarm intelligence, characterized in that: include: A plurality of aircrafts, used to obtain an optimal flight route and execute flight instructions, wherein the optimal flight route refers to an inspection route with the shortest flight distance from a starting point to an end point for each aircraft and the least overlapped flight sections with other aircrafts; A laser methane telemetry module, used to monitor methane concentration, at least one laser methane telemetry module is provided at the bottom of each of the aircraft; Coordinate module, used to obtain aircraft coordinates; Curve drawing module, used to draw the comparison curve between aircraft coordinates and methane concentration; The judgment processing module is used to determine the gas leakage location and execute the emergency treatment plan when the gas concentration detected by the laser telemetry module array exceeds the preset lower limit threshold.

2. A gas leak rapid location and disposal system based on swarm intelligence according to claim 1, characterized in that: Obtaining the optimal flight route includes: Divide the cruise area into several grid cells and number them uniformly; The drone selects the corresponding grid unit through broadcast negotiation to obtain the optimal flight route.

3. A gas leak rapid location and disposal system based on swarm intelligence according to claim 2, characterized in that: The broadcast negotiation method for selecting a corresponding grid unit includes: All members of the drone swarm form a distributed network through wireless communication; If one of the drones applies to cruise route N and does not receive an objection message, the application is successful, and a broadcast message is sent to other drones that the grid cell of route N is occupied; When the N route completes the inspection task, the cruise status table is updated and recorded, and a broadcast message that the N route inspection is completed is sent to other drones.

4. A gas leak rapid location and disposal system based on swarm intelligence according to claim 2, characterized in that: The broadcast negotiation method for selecting the corresponding grid unit also includes: If at least two drones apply to cruise route M, they will receive an objection message; The cruising distance and endurance of all drones cruising route M are obtained respectively. The one with the lower data withdraws from the application, and the one with the best data reapplies. If no objection information is received, the application is successful.

5. The gas leak rapid location and disposal system based on swarm intelligence according to claim 1 is characterized in that: The drone carries a laser methane telemetry module just below the center of the fuselage and below each rotor.

6. A gas leak rapid location and disposal system based on swarm intelligence according to claim 1, characterized in that: Each laser methane telemetry module is connected to the drone via a small turntable.

7. A gas leak rapid location and disposal system based on swarm intelligence according to claim 6, characterized in that: Obtaining the coordinates of the aircraft includes: installing a high-precision GPS and laser ranging module on the drone, obtaining the longitude and latitude coordinates of the measurement point of the laser methane telemetry module based on the drone's flight altitude measured by the high-precision GPS and laser ranging modules, and the turntable angle data of each rotor telemetry module.

8. The gas leak rapid location and disposal system based on swarm intelligence according to claim 6 is characterized in that: Determining the gas leakage location comprises: Obtain the location of potential leak sources based on subtle differences in gas concentrations; Adjust the drone's cruising route so that it moves precisely in the direction of the leak source; Reduce the scanning range by lowering the flying altitude of the drone or adjusting the angle between the telemetry module and the vertical direction; With the help of pressure data uploaded by the smart pressure gauge on the gas pipeline, the source of the leak was finally identified.

9. The gas leak rapid location and disposal system based on swarm intelligence according to claim 1 is characterized in that: The emergency response plan includes: Send a command to the intelligent safety valve to immediately interrupt the gas supply in the leak source pipeline, start the valve of the backup pipeline, continue to supply gas through the backup channel, and send the specific location information of the faulty pipe section to the background, prompting the relevant departments to repair or replace it as soon as possible.

10. The gas leak rapid location and disposal system based on swarm intelligence according to claim 1, characterized in that: The drone is equipped with a 720° three-dimensional panoramic high-definition camera to capture the scene in real time and make favorable judgments.

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