Gas leakage detection method and system based on unmanned flight

Abstract

The invention discloses a gas leakage detection method and system based on unmanned flight, and relates to the technical field of gas safety. According to the invention, the flight path is planned in advance, so that the unmanned aerial vehicle can systematically cover the natural gas pipeline of the building of the target community according to the preset route, especially the rising riser which is difficult to inspect manually. The problem of missing inspection of manual inspection is avoided, and the comprehensiveness of the detection range is ensured. Through real-time data collection of the leakage detection equipment carried by the unmanned aerial vehicle and in combination with the pipeline appearance image shot by the unmanned aerial vehicle, multi-dimensional data fusion analysis can be realized, the leakage positioning accuracy is improved, and a leakage area is photographed and preserved as a basis for subsequent leakage risk study and judgment. Therefore, a gas enterprise can master the safety state of the whole scene of the gas in real time, and the method has great significance in guaranteeing safe operation of the gas and improving economic benefits.

Description

Technical Field

[0001] The present invention relates to the technical field of gas safety, and particularly to a gas leakage detection method and system based on unmanned flight. Background Art

[0002] City gas is an important energy guarantee for supporting the harmonious development of the city, and the safe operation of gas is related to the development process of the whole city. At present, the city gas pipeline network spreads all over the city corners, delivering clean energy to industries, businesses and thousands of households.

[0003] Gas leakage is an important factor affecting the safe operation of gas pipeline networks. Currently, manual inspection is mainly used to detect gas leakage in gas pipeline networks. However, this method can only solve the problem of detecting gas leakage in the gas pipeline networks below the ground, and for gas pipelines above the ground, such as the rising vertical pipes in communities, it is impossible to carry out leakage detection by manual inspection.

[0004] Some small leaks are difficult to detect. Over time, the natural gas leaked from small leak sources may accumulate in a certain enclosed space, resulting in serious consequences.

[0005] Therefore, the existing technology still needs to be improved and developed. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a gas leakage detection method and system based on unmanned flight in view of the above-mentioned defects of the existing technology, aiming to solve the problem that when using manual inspection to detect gas leakage in gas pipeline networks in the existing technology, only the gas pipeline networks below the ground can be detected, and the gas pipelines above the ground cannot be detected.

[0007] The technical solution adopted by the present invention to solve the problem is as follows:

[0008] In the first aspect, an embodiment of the present invention provides a gas leakage detection method based on unmanned flight, and the method includes:

[0009] Pre-set a flight planning path of an unmanned aerial vehicle based on the natural gas pipeline to be detected in the target community building, and install a leakage detection device on the unmanned aerial vehicle;

[0010] Start the unmanned aerial vehicle according to the flight planning path, and bring the leakage detection device to the surrounding of the natural gas pipeline to be detected through the unmanned aerial vehicle;

[0011] Obtain the acquisition data of the leakage detection device and the captured images of the unmanned aerial vehicle, and generate leakage analysis data of the natural gas pipeline to be detected according to the acquisition data and the captured images.

[0012] In one embodiment, the natural gas pipeline to be detected includes: a rising riser.

[0013] In one embodiment, setting a flight planning path of the unmanned aerial vehicle based on the natural gas pipeline to be detected in the building of the target community includes:

[0014] Obtain the basic area information of the building in the target community, and generate a set of marking information according to the basic area information; the set of marking information includes the coordinate markings of the building, floor, and door.

[0015] Construct a basic base map according to the set of marking information, and set the flight planning path according to the basic base map and the natural gas pipeline to be detected.

[0016] In one embodiment, bringing the leak detection device to the vicinity of the natural gas pipeline to be detected by the unmanned aerial vehicle includes:

[0017] Lift the leak detection device into the air by the unmanned aerial vehicle and hover it on a horizontal plane at the same height corresponding to the natural gas pipeline to be detected.

[0018] In one embodiment, after hovering, it further includes:

[0019] Adjust the hovering direction of the unmanned aerial vehicle, and align the suction port direction of the leak detection device with the natural gas pipeline to be detected.

[0020] In one embodiment, after the suction port direction is aligned, it further includes:

[0021] Control the flight direction and flight speed of the unmanned aerial vehicle, so that the unmanned aerial vehicle flies along the natural gas pipeline to be detected at a preset speed.

[0022] In one embodiment, the method further includes:

[0023] Judge whether the natural gas pipeline to be detected has a leak according to the leak analysis data;

[0024] If the natural gas pipeline to be detected has a leak, determine the address information corresponding to the building in the target community according to the leak location and the basic base map;

[0025] Perform emergency treatment according to the address information.

[0026] In a second aspect, an embodiment of the present invention further provides a gas leak detection system based on unmanned flight, and the device includes:

[0027] A preliminary module for pre-setting a flight planning path of an unmanned aerial vehicle based on a natural gas pipeline to be detected in a building of a target community, and installing a leakage detection device on the unmanned aerial vehicle;

[0028] A start module for starting the unmanned aerial vehicle according to the flight planning path, and bringing the leakage detection device to the vicinity of the natural gas pipeline to be detected through the unmanned aerial vehicle;

[0029] An analysis module for obtaining the acquisition data of the leakage detection device and the captured images of the unmanned aerial vehicle, and generating leakage analysis data of the natural gas pipeline to be detected according to the acquisition data and the captured images.

[0030] In a third aspect, an embodiment of the present invention further provides a terminal, where the terminal includes a memory and more than one processor; the memory stores more than one program; the program includes instructions for executing the gas leakage detection method based on unmanned flight as described in any one of the above; the processor is used for executing the program.

[0031] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which multiple instructions are stored, and the instructions are suitable for being loaded and executed by a processor to implement the steps of the gas leakage detection method based on unmanned flight as described in any one of the above.

[0032] Advantages of the present invention: In the embodiment of the present invention, a flight planning path of an unmanned aerial vehicle is pre-set based on a natural gas pipeline to be detected in a building of a target community, and a leakage detection device is installed on the unmanned aerial vehicle; the unmanned aerial vehicle is started according to the flight planning path, and the leakage detection device is brought to the vicinity of the natural gas pipeline to be detected through the unmanned aerial vehicle; the acquisition data of the leakage detection device and the captured images of the unmanned aerial vehicle are obtained, and leakage analysis data of the natural gas pipeline to be detected is generated according to the acquisition data and the captured images. By pre-planning the flight path, the unmanned aerial vehicle can systematically cover the natural gas pipelines in the buildings of the target community according to the preset route, especially the rising vertical pipes that are difficult to be inspected manually. The problem of missed inspection in manual inspection is avoided, and the comprehensiveness of the detection range is ensured. Through the real-time acquisition data of the leakage detection device carried by the unmanned aerial vehicle, combined with the external pipeline images (such as visual features like cracks and corrosion) captured by the unmanned aerial vehicle, multi-dimensional data fusion analysis can be realized, the accuracy of leakage positioning can be improved, and the leakage area can be photographed and saved as a basis for subsequent leakage risk judgment. Thereby enabling gas enterprises to real-time control the safety status of the entire gas scenario, which is of great significance for ensuring the safe operation of gas and improving economic benefits. Description of the Drawings

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments recorded in the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0034] Figure 1 It is a schematic flowchart of the gas leakage detection method based on unmanned flight provided by the embodiment of the present invention.

[0035] Figure 2 It is a schematic logical diagram of the preliminary preparation work provided by the embodiment of the present invention.

[0036] Figure 3 It is a schematic module diagram of the gas leakage detection system based on unmanned flight provided by the embodiment of the present invention.

[0037] Figure 4 It is a schematic block diagram of the principle of the terminal provided by the embodiment of the present invention. Detailed implementation manners

[0038] The present invention discloses a gas leakage detection method and system based on unmanned flight. To make the purpose, technical solutions and effects of the present invention clearer and more definite, the following further elaborates on the present invention by way of examples with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0039] Those skilled in the art of this technology can understand that unless specifically stated, the singular forms "a", "an", "the" and "said" used herein may also include the plural forms. It should be further understood that the term "comprising" used in the description of the present invention means the presence of the described 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 their groups. It should be understood that when we say that an element is "connected" or "coupled" to another element, it can be directly connected or coupled to other elements, or there may also be intermediate elements. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The phrase "and / or" used herein includes all or any unit and all combinations of one or more related listed items.

[0040] Those skilled in the art can understand that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as the general understanding of those of ordinary skill in the art to which the present invention pertains. It should also be understood that terms such as those defined in a general dictionary should be understood to have a meaning consistent with their meaning in the context of the prior art, and will not be interpreted with an idealized or overly formal meaning unless specifically defined as herein.

[0041] In view of the above-mentioned defects of the prior art, the present invention provides a gas leakage detection method based on unmanned flight. The method includes: presetting a flight planning path of an unmanned aerial vehicle based on the natural gas pipeline to be detected in a target community building, and installing a leakage detection device on the unmanned aerial vehicle; starting the unmanned aerial vehicle according to the flight planning path, and bringing the leakage detection device to the vicinity of the natural gas pipeline to be detected through the unmanned aerial vehicle; acquiring the acquisition data of the leakage detection device and the captured images of the unmanned aerial vehicle, and generating leakage analysis data of the natural gas pipeline to be detected according to the acquisition data and the captured images. By presetting the flight path in advance, the unmanned aerial vehicle can systematically cover the natural gas pipelines of the target community building according to the preset route, especially the rising vertical pipes that are difficult to be inspected manually. The problem of missed inspection in manual inspection is avoided, and the comprehensiveness of the detection range is ensured. Through the real-time acquisition data of the leakage detection device carried by the unmanned aerial vehicle, combined with the external pipeline images (such as visual features like cracks and corrosion) captured by the unmanned aerial vehicle, multi-dimensional data fusion analysis can be realized, the accuracy of leakage positioning can be improved, and the leakage area can be photographed and saved as the basis for subsequent leakage risk judgment. Thereby enabling gas enterprises to real-time control the safety status of the entire gas scenario, which is of great significance for ensuring the safe operation of gas and improving economic benefits.

[0042] As Figure 1 shown, the method specifically includes the following steps:

[0043] Step S100, presetting a flight planning path of an unmanned aerial vehicle based on the natural gas pipeline to be detected in a target community building, and installing a leakage detection device on the unmanned aerial vehicle.

[0044] Specifically, the target community building can be any community building that needs to conduct gas leakage detection. In this embodiment, a leakage detection device with a certain accuracy needs to be installed on the unmanned aerial vehicle on the ground so that the leakage detection device can be linked with the unmanned aerial vehicle. And by analyzing the spatial position of the natural gas pipeline to be detected in the target community building, the flight planning path of the unmanned aerial vehicle is preset in advance to ensure that the unmanned aerial vehicle can fly according to the actual trend of the natural gas pipeline to be detected, avoiding blind scanning or missed inspection blind spots.

[0045] In one implementation, the natural gas pipeline to be inspected includes: a rising riser.

[0046] Specifically, the natural gas pipelines to be detected in this embodiment include but are not limited to the risers of the target community buildings. Riser refers to the pipeline in the natural gas pipeline system that extends vertically upward from the bottom layer (such as the ground or basement) to each floor. It is usually laid along the building facade, stairwell or dedicated pipeline well, and is used to connect the horizontal branches of each floor (such as household pipelines). Since most of the risers are located on the facade of the building, they are affected by the sun and rain, temperature changes (thermal expansion and contraction), and human scratches (such as exterior wall construction) for a long time, and the surface anti-corrosion layer may be damaged, resulting in pipeline rust and perforation. Therefore, it is necessary to use pipelines with higher leakage risks such as risers as natural gas pipelines to be detected. However, it is usually difficult to carry out manual inspections on risers. Therefore, this embodiment uses an unmanned aerial vehicle combined with a leak detection device to establish a set of community riser leakage detection methods that can be applied and promoted, thereby further improving the leakage detection effect of the riser and filling the gap in the leakage detection of the riser. Reduce the possibility of safety accidents caused by gas leakage and diffusion into confined spaces.

[0047] In one implementation, the flight planning path of the unmanned aerial vehicle is set based on the natural gas pipeline to be inspected in the target community building, including:

[0048] Obtaining basic area information of the target community building, and generating a marking information set according to the basic area information; the marking information set includes coordinate markings of the building, floor, and portal;

[0049] A basic base map is constructed according to the marking information set, and the flight planning path is set according to the basic base map and the natural gas pipeline to be inspected.

[0050] Specifically, the basic area information of the target community buildings can be obtained through existing data or on-site surveys. The basic area information can reflect the building attribute information and pipeline related information of the target community, where the building attribute information includes but is not limited to: building coordinates (latitude and longitude / plane coordinates), number of floors, floor height, facade structure; pipeline related information includes but is not limited to: the actual direction of the natural gas pipeline and the interface location. Figure 2As shown, the path and routing for implementing the leakage detection of the unmanned aerial vehicle can be constructed through the basic area information, that is, the flight planning path is obtained and applied to the leakage detection scenario: the building area to be detected is marked with coordinates through the basic area information, and marked according to information such as building, floor, and portal to obtain the marked information set. The marked information set is composed into a basic base map according to a certain logical relationship, and finally the basic base map is associated with the unmanned aerial vehicle, so that when implementing leakage detection, it can be accurately located to the specific floor. Thus, the problem of difficult detection of the community riser by relying on manual inspection is solved, and the risk level of the community riser leakage is judged by the detection data and the magnitude of the leakage volume.

[0051] Step S200: Start the unmanned aerial vehicle according to the flight planning path, and use the unmanned aerial vehicle to bring the leakage detection device to the vicinity of the natural gas pipeline to be detected.

[0052] Specifically, based on the natural gas pipeline to be detected in the buildings of the target community in the early stage, a flight planning path has been set in combination with relevant basic area information (such as building, floor, and portal coordinate markings). When detection is required, the operator starts the unmanned aerial vehicle according to the pre-set flight planning path. The startup process includes setting various parameters of the unmanned aerial vehicle (such as flight speed, altitude, hovering time, etc.) to meet the requirements of the flight planning path. After the unmanned aerial vehicle is started, it will accurately carry the leakage detection device to the vicinity of the natural gas pipeline to be detected for data collection work.

[0053] In one implementation, using the unmanned aerial vehicle to bring the leakage detection device to the vicinity of the natural gas pipeline to be detected includes:

[0054] Use the unmanned aerial vehicle to lift the leakage detection device into the air and bring it to a horizontal plane at the same height as the natural gas pipeline to be detected for hovering.

[0055] Specifically, the unmanned aerial vehicle has the ability of vertical takeoff and landing and flexible flight in the air, and can take off from the ground and carry the device to rise to the commanded altitude according to the preset command. In the actual application scenario, the unmanned aerial vehicle is used as a transportation tool to lift the original leakage detection device on the ground to a horizontal plane at the same height as the natural gas pipeline to be detected for hovering. Hovering means that after the unmanned aerial vehicle reaches a horizontal plane at the same height as the natural gas pipeline to be detected, it maintains a relatively static state, so as to provide a stable working platform for the leakage detection device, so that the leakage detection device can more accurately capture the leakage information and ensure the reliability and comparability of the collected data.

[0056] In one implementation, after hovering, it further includes:

[0057] Adjust the hovering direction of the unmanned aerial vehicle, and align the suction port direction of the leak detection device with the natural gas pipeline to be detected.

[0058] Specifically, in order for the leak detection device to accurately collect gas samples around the natural gas pipeline to be detected for detecting whether there is natural gas leakage, when the unmanned aerial vehicle is in a hovering state, it is necessary to adjust its own direction according to the position and attitude of the natural gas pipeline to be detected. In an actual application scenario, when the natural gas pipeline to be detected is a rising riser, adjust the hovering direction of the unmanned aerial vehicle and align the suction port direction of the leak detection device with the rising riser to be detected. Through the operation of aligning the suction port direction, the natural gas that may leak out around the pipeline can be collected to the greatest extent. Because if the suction port direction is not aligned, it may cause the natural gas concentration in the collected gas sample to be inaccurate, thus affecting the accuracy of the detection result.

[0059] In one implementation manner, after the suction port direction is aligned, it further includes:

[0060] Control the flight direction and flight speed of the unmanned aerial vehicle, so that the unmanned aerial vehicle flies along the natural gas pipeline to be detected at a preset speed.

[0061] After the suction port is aligned, the unmanned aerial vehicle needs to adjust its actual flight trajectory according to the pipeline's orientation. Specifically, it is necessary to control the flight direction of the unmanned aerial vehicle so that it flies along the natural gas pipeline to be detected. By precisely controlling the flight direction, the unmanned aerial vehicle can ensure that the leak detection device is always in a position where it can effectively detect the pipeline. At the same time, it is also necessary to make the unmanned aerial vehicle fly along the natural gas pipeline at a certain speed. The preset speed can be determined comprehensively based on factors such as the performance of the leak detection device, the detection accuracy requirements, and the actual situation of the pipeline. If the flight speed is too fast, the detection device may not be able to fully collect the gas samples around the pipeline, resulting in inaccurate detection results and easily missing some small leak points; while if the flight speed is too slow, it will prolong the detection time and reduce the detection efficiency. In this embodiment, by controlling the flight direction and flight speed of the unmanned aerial vehicle to make it fly along the natural gas pipeline to be detected at a preset speed, the leak detection device can continuously and comprehensively detect the entire pipeline. Ensure that during the detection process, every part of the pipeline can be covered by the detection device, thereby improving the accuracy and reliability of the detection, promptly discovering possible leakage problems in the natural gas pipeline, and providing strong support for the maintenance and safe operation of the pipeline.

[0062] Step S300: Obtain the acquisition data of the leak detection device and the captured images of the unmanned aerial vehicle, and generate leak analysis data of the natural gas pipeline to be detected based on the acquisition data and the captured images.

[0063] During the process of an unmanned aerial vehicle (UAV) carrying a leak detection device flying along a natural gas pipeline to be detected, the system will collect two types of important information in real time: the acquisition data received through the ground receiving terminal of the leak detection device, and the captured images of the UAV camera. From these two data dimensions, it is jointly verified whether there is a leak and the location where the leak occurs. Specifically, the acquisition data of the leak detection device can directly reflect information such as whether there is a natural gas leak around the pipeline and the degree of the leak. The captured images of the UAV can reflect the appearance details of the pipeline, such as whether there are physical damages like cracks, corrosion, and loose connections on the pipeline surface.

[0064] On the one hand, by combining the acquisition data of the leak detection device with the captured images of the UAV, the location of the leak point can be accurately determined. For example, when it is detected that the natural gas concentration at a certain location increases abnormally, and at the same time, cracks or loose connections are found in the pipeline at that location in the corresponding captured image, it can be more accurately judged that this location is the leak point.

[0065] On the other hand, through the comprehensive analysis of the acquisition data of the leak detection device and the captured images of the UAV, the severity of the leak can also be evaluated. For example, based on factors such as the level of gas concentration, the number and distribution of leak points, and the damage condition of the pipeline, a comprehensive leak analysis data is generated, including information such as the possibility of leakage, the approximate leakage rate, and the degree of impact on pipeline safety. These leak analysis data are of great guiding significance for subsequent pipeline maintenance, repair decision-making, and safety assessment work.

[0066] For example, for the captured images, the super-resolution reconstruction and feature enhancement technology based on the generative adversarial network (GAN) can be used to obtain optimized captured images: First, the generator network is used to generate a high-resolution image corresponding to the original low-resolution image. At the same time, the discriminator network continuously judges the authenticity of the generated image. Through the adversarial training of the two, the resolution and clarity of the captured images of the UAV are improved to obtain optimized captured images. Then, the graph neural network (GNN) is used to model the pipeline structure in the optimized captured images: Each pixel or important partial pixels in the optimized captured images are regarded as nodes in the graph, and edges are constructed according to the spatial relationship and gray similarity between pixels to obtain a structure graph. Utilizing the powerful graph structure processing ability of the graph neural network, topological features, edge features, and relationship features with the surrounding environment of the pipeline are extracted based on the structure graph. And based on the topological features, edge features, and relationship features of the pipeline, combined with the data features of the acquisition data, fusion features are jointly generated. Through in-depth analysis of the fusion features, leak analysis data are obtained.

[0067] On the other hand, considering that natural gas pipeline leakage may vary over time, for different parts of the natural gas pipeline to be detected, the leakage detection device can continuously collect acquisition data at multiple time points, and the unmanned aerial vehicle will correspondingly collect shooting data at multiple time points. Therefore, a spatio-temporal attention mechanism can also be introduced to analyze the fused features. Specifically, a spatio-temporal attention network is constructed. The time attention module in the spatio-temporal attention network focuses on the feature change trend of the fused features generated based on the acquisition data and shooting images at different times, and the spatial attention module focuses on the feature differences at different positions of the pipeline. Through the spatio-temporal attention mechanism, the key spatio-temporal features related to leakage can be highlighted, and noise and irrelevant information can be suppressed: according to the feature change trend of the fused features output by the time attention module and the feature differences at different positions of the pipeline output by the spatial attention module, the key spatio-temporal features are determined, and the key spatio-temporal features are input into a pre-trained leakage analysis model, and leakage analysis data is output through the leakage analysis model.

[0068] For example, when the gas concentration at a certain position continues to rise over a period of time, and at the same time, the surface temperature of the pipeline shows an abnormal increase in the image, the spatio-temporal attention mechanism will assign higher weights to these related features, providing more valuable information for subsequent leakage analysis.

[0069] In one implementation, the method further includes:

[0070] Judging whether there is leakage in the natural gas pipeline to be detected according to the leakage analysis data;

[0071] If there is leakage in the natural gas pipeline to be detected, determining the address information corresponding to the building in the target community according to the leakage position and the base map;

[0072] Performing emergency treatment according to the address information.

[0073] Specifically, based on the detection results in the leakage analysis data, the location of the leakage area can be combined with information such as buildings, floors, and doorways to guide the emergency treatment of the leakage area, so that the inspection personnel can quickly reach the scene for emergency disposal according to the associated leakage information immediately after the leakage occurs, and eliminate potential major hazards in the initial stage.

[0074] Based on the above embodiments, the present invention also provides a gas leakage detection system based on an unmanned flight, as Figure 3 shown, the device includes:

[0075] A preparation module 01, configured to preset a flight planning path of an unmanned aerial vehicle based on the natural gas pipeline to be detected in the building of the target community, and install a leakage detection device on the unmanned aerial vehicle;

[0076] The startup module 02 is used to start the unmanned aerial vehicle according to the flight planning path, and carry the leak detection device to the vicinity of the natural gas pipeline to be detected through the unmanned aerial vehicle;

[0077] The analysis module 03 is used to obtain the acquisition data of the leak detection device and the captured images of the unmanned aerial vehicle, and generate leak analysis data of the natural gas pipeline to be detected according to the acquisition data and the captured images.

[0078] Based on the above embodiments, the present invention also provides a terminal, and its principle block diagram can be as Figure 4 shown. The terminal includes a processor, a memory, a network interface, and a display screen connected through a system bus. Among them, the processor of the terminal is used to provide computing and control capabilities. The memory of the terminal includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the terminal is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it is used to implement a gas leak detection method based on unmanned flight. The display screen of the terminal can be a liquid crystal display screen or an electronic ink display screen.

[0079] Those skilled in the art can understand that Figure 4 the principle block diagram shown in

[0080] merely represents the block diagram of some structures related to the solution of the present invention, and does not constitute a limitation on the terminal to which the solution of the present invention is applied. The specific terminal may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0081] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium used in the embodiments provided by the present invention can include non-volatile and / or volatile memories. Non-volatile memories can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memories can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.

[0082] In summary, the present invention discloses a gas leakage detection method and system based on unmanned flight, which relates to the field of gas safety technology. The method includes: presetting a flight planning path for an unmanned aerial vehicle based on the natural gas pipeline to be detected in a target community building, and installing a leakage detection device on the unmanned aerial vehicle; starting the unmanned aerial vehicle according to the flight planning path, and bringing the leakage detection device to the vicinity of the natural gas pipeline to be detected by the unmanned aerial vehicle; acquiring the collected data of the leakage detection device and the captured images of the unmanned aerial vehicle, and generating leakage analysis data of the natural gas pipeline to be detected according to the collected data and the captured images. By pre-planning the flight path, the unmanned aerial vehicle can systematically cover the natural gas pipelines of the target community building according to the preset route, especially the rising risers that are difficult to be inspected manually. It avoids the problem of missed inspection in manual inspection and ensures the comprehensiveness of the detection range. Through the real-time collected data of the leakage detection device carried by the unmanned aerial vehicle, combined with the visual features of the pipeline appearance (such as cracks, corrosion, etc.) captured by the unmanned aerial vehicle, multi-dimensional data fusion analysis can be realized, the accuracy of leakage positioning can be improved, and the leakage area can be photographed and saved as the basis for subsequent leakage risk judgment. Thus, the gas enterprise can real-time control the safety status of the entire gas scenario, which is of great significance for ensuring the safe operation of gas and improving economic benefits.

[0083] It should be understood that the application of the present invention is not limited to the above examples. For those of ordinary skill in the art, improvements or transformations can be made according to the above description, and all such improvements and transformations shall fall within the protection scope of the appended claims of the present invention.

Claims

1. A gas leakage detection method based on unmanned flight, characterized in that The method includes: Pre-setting a flight planning path of an unmanned aerial vehicle based on the natural gas pipeline to be detected in the building of the target community, and installing a leakage detection device on the unmanned aerial vehicle; Starting the unmanned aerial vehicle according to the flight planning path, and bringing the leakage detection device to the surrounding of the natural gas pipeline to be detected through the unmanned aerial vehicle; Obtaining the acquisition data of the leakage detection device and the captured images of the unmanned aerial vehicle, and generating leakage analysis data of the natural gas pipeline to be detected according to the acquisition data and the captured images.

2. The gas leakage detection method based on unmanned flight according to claim 1, wherein The natural gas pipeline to be detected includes: a rising riser.

3. The gas leakage detection method based on unmanned flight according to claim 1, wherein, Setting a flight planning path of an unmanned aerial vehicle based on the natural gas pipeline to be detected in the building of the target community includes: Obtaining the basic area information of the building of the target community, and generating a set of marking information according to the basic area information; the set of marking information includes the coordinate markings of the building, floor, and door; Constructing a basic base map according to the set of marking information, and setting the flight planning path according to the basic base map and the natural gas pipeline to be detected.

4. The gas leakage detection method based on unmanned flight according to claim 1, characterized in that Bringing the leakage detection device to the surrounding of the natural gas pipeline to be detected through the unmanned aerial vehicle includes: Lifting the leakage detection device into the air through the unmanned aerial vehicle and bringing it to a horizontal plane at the same height corresponding to the natural gas pipeline to be detected for hovering.

5. The gas leakage detection method based on unmanned flight according to claim 4, wherein After hovering, it further includes: Adjusting the hovering direction of the unmanned aerial vehicle, and aligning the suction port direction of the leakage detection device with the natural gas pipeline to be detected.

6. The gas leakage detection method based on unmanned flight according to claim 5, wherein After the suction port direction is aligned, it further includes: Controlling the flight direction and flight speed of the unmanned aerial vehicle, so that the unmanned aerial vehicle flies along the natural gas pipeline to be detected at a preset speed.

7. The gas leakage detection method based on unmanned flight according to claim 3, wherein The method further includes: Judging whether the natural gas pipeline to be detected has a leakage according to the leakage analysis data; If the natural gas pipeline to be detected has a leakage, determining the address information corresponding to the building of the target community according to the leakage location and the basic base map; Performing emergency treatment according to the address information.

8. A gas leakage detection system based on unmanned flight, characterized in that, The device includes: A preparation module, configured to pre-set a flight planning path of an unmanned aerial vehicle based on the natural gas pipeline to be detected in the building of the target community, and install a leakage detection device on the unmanned aerial vehicle; A start module, configured to start the unmanned aerial vehicle according to the flight planning path, and bring the leakage detection device to the surrounding of the natural gas pipeline to be detected through the unmanned aerial vehicle; An analysis module, configured to obtain the acquisition data of the leakage detection device and the captured images of the unmanned aerial vehicle, and generate leakage analysis data of the natural gas pipeline to be detected according to the acquisition data and the captured images.

9. A terminal, characterized in that, The terminal includes a memory and more than one processor; the memory stores more than one program; the program includes instructions for executing the unmanned flight-based gas leakage detection method as described in any one of claims 1-7; the processor is configured to execute the program.

10. A computer-readable storage medium storing a plurality of instructions, characterized in that, The instructions are suitable for being loaded and executed by the processor to implement the steps of the unmanned flight-based gas leakage detection method as described in any one of claims 1-7.

Images