Outdoor natural gas pipeline leakage detection method

Abstract

The invention discloses an outdoor natural gas pipeline leakage detection method, and relates to the technical field of control, and the method comprises the steps: taking a top view of an outdoor to-be-detected natural gas leakage region as an unmanned aerial vehicle search region, and constructing an unmanned aerial vehicle search coordinate system based on the unmanned aerial vehicle search region; then according to the unmanned aerial vehicle search coordinate system, determining a vertical coordinate search upper limit, a vertical coordinate search lower limit, a horizontal coordinate search upper limit and a horizontal coordinate search lower limit corresponding to the unmanned aerial vehicle search area to obtain a first unmanned aerial vehicle search limit value; for any cooperative search unmanned aerial vehicle, generating a first position search code of the cooperative search unmanned aerial vehicle according to the first unmanned aerial vehicle search limit value; and finally, performing optimization iteration on the first position search codes of the cooperative search unmanned aerial vehicles by adopting an intelligent algorithm, searching an outdoor natural gas pipeline leakage point, and controlling a plurality of cooperative search unmanned aerial vehicles to perform cooperative search, so that the patrol efficiency is improved, and rapid positioning of the natural gas leakage point can be realized under the condition that the pipeline distribution is not clear.

Description

Technical Field

[0001] The present application relates to the field of control technology, and in particular to a method for detecting leakage of an outdoor natural gas pipeline. Background Art

[0002] As a clean energy source, natural gas plays a vital role in urban energy supply. However, its transmission pipeline network is vast and mostly laid outdoors, subject to long-term impacts from factors such as geological changes, corrosion, and third-party construction, posing a risk of leakage. Natural gas leaks not only waste energy and cause economic losses, but can also cause serious safety incidents such as fires and explosions, posing a significant threat to people's lives and property. In the event of a natural gas leak, workers typically patrol the pipelines on foot or by car, carrying handheld detectors. This method is simple and direct, but inefficient, labor-intensive, and has limited coverage. It also struggles to address plant areas with numerous natural gas pipelines. Summary of the Invention

[0003] The present application provides a method for detecting outdoor natural gas pipeline leaks, aiming to solve the problems of low efficiency, limited coverage and difficulty in dealing with factory areas with a large number of natural gas pipelines caused by manual inspections in the existing technology.

[0004] The present application provides a method for detecting outdoor natural gas pipeline leakage, comprising: Obtain an outdoor natural gas leakage area to be detected, and use the outdoor natural gas leakage area to be detected as a drone search area; wherein the drone search area is rectangular; Taking any corner point of the drone search area as the origin, and building a drone search coordinate system based on the origin; Determining, according to the drone search coordinate system, a ordinate search upper limit, a ordinate search lower limit, a horizontal coordinate search upper limit, and a horizontal coordinate search lower limit corresponding to the drone search area to obtain a first drone search limit value; For any cooperative search UAV, generating a first position search code of the cooperative search UAV according to the first UAV search limit; An intelligent algorithm is used to iteratively optimize the first position search code of the collaborative search drone to find the outdoor natural gas pipeline leakage point and complete the detection; The intelligent algorithm is used to optimize and iterate the first position search code of the collaborative search drone to find the outdoor natural gas pipeline leakage point, including: Controlling the cooperative search UAV to fly to a position corresponding to its corresponding first position search code, collecting natural gas concentration using a natural gas concentration sensor carried by the cooperative search UAV, and using the natural gas concentration as the fitness corresponding to the first position search code; Obtaining a first optimal code according to the fitness corresponding to all first position search codes; performing an adaptive guided search on the first position search code according to the first optimal code to obtain a first position search code after the adaptive guided search; re-determining the first optimal code based on the first position search code after the adaptive guided search to obtain the first re-determined first optimal code, and judging whether the search end condition is satisfied based on the first re-determined first optimal code; if so, decoding the first re-determined first optimal code to obtain the coordinates corresponding to the outdoor natural gas pipeline leakage point; otherwise, entering the information exchange search step; performing an information exchange search on the first position search code after the adaptive guided search to obtain the first position search code after the information exchange search; re-determining the first optimal code according to the first position search code after the information exchange search to obtain a second re-determined first optimal code, and judging whether a search end condition is satisfied according to the second re-determined first optimal code; if so, decoding the second re-determined first optimal code to obtain the coordinates corresponding to the outdoor natural gas pipeline leakage point; otherwise, entering a jump search step; Performing a jump search on the first position search code after the information exchange search to obtain the first position search code after the jump search; The first optimal code is re-determined according to the first position search code after the jump search to obtain the third re-determined first optimal code, and based on the third re-determined first optimal code, it is judged whether the search end condition is met. If so, the third re-determined first optimal code is decoded to obtain the coordinates corresponding to the outdoor natural gas pipeline leakage point. Otherwise, the step of determining the fitness corresponding to the first position search code is returned.

[0005] Some possible implementations also include: Obtain the highest height of the natural gas pipeline in the outdoor natural gas leakage area to be detected input by the staff; Constructing a three-dimensional coordinate system based on the UAV search coordinate system; Determine, based on the maximum altitude and the three-dimensional coordinate system, an upper limit for a vertical coordinate search and a lower limit for a vertical coordinate search corresponding to the drone search area; Obtaining a second drone search limit value according to the vertical coordinate search upper limit, the vertical coordinate search lower limit, the vertical coordinate search upper limit, the vertical coordinate search lower limit, the horizontal coordinate search upper limit, and the horizontal coordinate search lower limit; For any cooperative search UAV, generating a position search code for the cooperative search UAV according to the second UAV search limit; An intelligent algorithm is used to optimize and iterate the location search code of the collaborative search drone to find the leakage point of the outdoor natural gas pipeline and complete the detection.

[0006] In some possible implementations, for any cooperative search drone, generating a first position search code for the cooperative search drone according to the first drone search limit includes: For any cooperative search drone, randomly generate a first coordinate element between the upper ordinate search limit and the lower ordinate search limit in the first drone search limit; randomly generating a second coordinate element between an upper horizontal coordinate search limit and a lower horizontal coordinate search limit in the first drone search limit; The first coordinate element and the second coordinate element are encoded into a vector to obtain a first position search code.

[0007] In some possible implementations, an adaptive guided search is performed on the first position search code according to the first optimal code, and the first position search code after the adaptive guided search is obtained as follows:

[0008]

[0009] in, Indicates the t The first step in the optimization process i A first position search code, i =1,2,…,NP, NP represents the total number of first position search codes, which is also the total number of collaborative search drones. Indicates the i The first position search code after the adaptive guided search, Indicates the t +1 search step during the optimization process, represents the first random number between (0,1), represents the first optimal encoding, Indicates the t The search step size during the sub-optimization process, Indicates the preset maximum number of optimizations. Indicates the first position search code The total number of other first position search codes whose distances are less than the preset distance, represents the maximum fitness of all first position search codes, represents the minimum fitness of all first position search codes, Indicates the i The fitness corresponding to the first position search code.

[0010] In some possible implementations, an information exchange search is performed on the first position search code after the adaptive guided search, and the first position search code after the information exchange search is obtained as:

[0011]

[0012] in, Indicates the t The first step in the optimization process m The first position search code after the adaptive guided search, Indicates the m The first position search code after the information exchange search, represents the shrinkage coefficient, Indicates the first position search code Other first position search codes for random matches, represents the logarithmic function, represents the second random number between (0,1), cos represents the cosine function, Represents pi.

[0013] In some possible implementations, performing a jump search on the first position search code after the information exchange search to obtain the first position search code after the jump search includes:

[0014]

[0015] in, Indicates the t The first step in the optimization process k The first position search code after the information exchange search, Indicates the k The first position search code after a jump search, represents the jump search control coefficient, represents the Cauchy variation, Indicates the jump range parameter, e represents a natural constant, Represents the second random number between (0,1), and sin represents the sine function.

[0016] In some possible implementations, the search end condition is set to: when the natural gas concentration corresponding to the first optimal code re-determined for the first time, the first optimal code re-determined for the second time, or the first optimal code re-determined for the third time is greater than a preset concentration threshold, the search end condition is met.

[0017] In some possible implementations, controlling the collaborative search drone to fly to a location corresponding to its corresponding first location search code includes: The line between the current position of the collaborative search drone and the position corresponding to the first position search code is used as a route; Determine whether there are other collaborative search drones on the route. If so, increase the flight altitude of the collaborative search drone from the default search altitude to a preset flight avoidance altitude, and after reaching the position corresponding to the first position search code, lower the flight altitude of the position corresponding to the first position search code to the default search altitude. Otherwise, directly control the collaborative search drone to fly to the position corresponding to its corresponding first position search code.

[0018] In some possible implementations, the method for detecting an outdoor natural gas pipeline leak further includes: After the first position search code is changed, cross-border processing is performed on the first position search code.

[0019] Beneficial effects: The present application provides a method for detecting outdoor natural gas pipeline leakage, which uses a top view of an outdoor natural gas leakage area to be detected as a drone search area, and any corner point of the drone search area as the origin, and constructs a drone search coordinate system based on the origin; then, according to the drone search coordinate system, the ordinate search upper limit, the ordinate search lower limit, the abscissa search upper limit and the abscissa search lower limit corresponding to the drone search area are determined to obtain a first drone search limit; for any collaborative search drone, a first position search code of the collaborative search drone is generated according to the first drone search limit; finally, an intelligent algorithm is used to optimize and iterate the first position search code of the collaborative search drone to find the outdoor natural gas pipeline leakage point, and control multiple collaborative search drones to perform collaborative search, which not only improves the inspection efficiency, but also can realize rapid positioning of the natural gas leakage point when the pipeline distribution is unclear. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments of the present application. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0021] Figure 1 This is a flow chart of a method for detecting outdoor natural gas pipeline leakage proposed in one embodiment of the present application.

[0022] Figure 2 This is a flow chart for finding leakage points in outdoor natural gas pipelines proposed in one embodiment of the present application. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0024] like Figure 1 As shown, the embodiment of the present application provides a method for detecting leakage of an outdoor natural gas pipeline, comprising: S101, obtaining an outdoor natural gas leakage area to be detected, and using the outdoor natural gas leakage area to be detected as a drone search area; wherein the drone search area is rectangular; The outdoor natural gas leak detection area can be selected by the staff on the electronic map. In this case, the outdoor natural gas leak detection area is a flat area that can be directly used as the drone search area. The drone search area can be limited to a rectangle to facilitate search control.

[0025] S102: Using any corner point of the drone search area as an origin, and constructing a drone search coordinate system based on the origin; In this embodiment, the drone search area is set to a rectangle. Therefore, no matter which corner point is used as the origin, a two-dimensional coordinate system can be generated to obtain the drone search coordinate system. In the process of generating the drone search coordinate system, the length ratio between the real world and the electronic map can be set to 100:1. That is, 1 meter is displayed as 1 cm on the electronic map, and the drone search coordinate system uses 1 cm as the basic unit.

[0026] S103. Determine, based on the drone search coordinate system, an upper ordinate search limit, a lower ordinate search limit, an upper ordinate search limit, and a lower ordinate search limit corresponding to the drone search area to obtain a first drone search limit value. After the drone search coordinate system is generated, the drone search area has corresponding coordinates in the drone search coordinate system. Therefore, the upper ordinate search limit, lower ordinate search limit, upper ordinate search limit, and lower ordinate search limit of the drone search area can be determined.

[0027] S104: For any cooperative search UAV, generate a first position search code for the cooperative search UAV according to the first UAV search limit; There can be multiple or one collaborative search drone, but the greater the number of collaborative search drones, the better the search effect. Therefore, in the embodiments of the present application, the preferred number of collaborative search drones is 3, 4, or 5. Then, an initial coordinate can be randomly generated for the collaborative search drone, which is the first position search code. For example, assuming the drone search coordinate system is an xy coordinate system, a ordinate (i.e., the y-axis coordinate in the xy coordinate system) can be generated between the ordinate search upper limit and the ordinate search lower limit, and abscissa (i.e., the x-axis coordinate in the xy coordinate system) can be generated between the abscissa search upper limit and the abscissa search lower limit. The generated ordinate and abscissa are encoded as vectors to obtain the first position search code.

[0028] S105. Using an intelligent algorithm to iterate and optimize the first position search code of the collaborative search drone to find the outdoor natural gas pipeline leakage point and complete the detection.

[0029] The embodiment of the present application optimizes and iterates the first position search code of the collaborative search drone through an intelligent algorithm, thereby realizing the linked control search of multiple collaborative search drones, which not only improves the inspection efficiency, but also can realize the rapid positioning of natural gas leakage points when the pipeline distribution is unclear.

[0030] Some possible implementations also include: Obtain the highest height of the natural gas pipeline in the outdoor natural gas leakage area to be detected input by the staff; Constructing a three-dimensional coordinate system based on the UAV search coordinate system; Determine, based on the maximum altitude and the three-dimensional coordinate system, an upper limit for a vertical coordinate search and a lower limit for a vertical coordinate search corresponding to the drone search area; Obtaining a second drone search limit value according to the vertical coordinate search upper limit, the vertical coordinate search lower limit, the vertical coordinate search upper limit, the vertical coordinate search lower limit, the horizontal coordinate search upper limit, and the horizontal coordinate search lower limit; For any cooperative search UAV, generating a position search code for the cooperative search UAV according to the second UAV search limit; An intelligent algorithm is used to optimize and iterate the location search code of the collaborative search drone to find the leakage point of the outdoor natural gas pipeline and complete the detection.

[0031] For example, if the drone's search coordinate system is an xy coordinate system, the z axis can be added to form an xyz coordinate system. Since the z axis is perpendicular to the ground, the lower limit of the vertical coordinate search is 0. Therefore, the highest altitude can be converted into coordinates in the xyz coordinate system and used as the upper limit of the vertical coordinate search. For example, if the highest altitude of a natural gas pipeline is 10 meters, then if the xyz coordinate system uses 1 cm as the base unit, the upper limit of the vertical coordinate search can be 10.

[0032] By constructing a three-dimensional coordinate system and searching in the three-dimensional coordinate system, it can be effectively applied to various natural gas pipeline plant areas and improve scene adaptability.

[0033] In some possible implementations, for any cooperative search drone, generating a first position search code for the cooperative search drone according to the first drone search limit includes: For any cooperative search drone, randomly generate a first coordinate element between the upper ordinate search limit and the lower ordinate search limit in the first drone search limit; randomly generating a second coordinate element between an upper horizontal coordinate search limit and a lower horizontal coordinate search limit in the first drone search limit; The first coordinate element and the second coordinate element are encoded into a vector to obtain a first position search code.

[0034] like Figure 2 As shown, an intelligent algorithm is used to optimize and iterate the first position search code of the collaborative search drone to find the outdoor natural gas pipeline leakage point, including: S201: Control the cooperative search UAV to fly to a position corresponding to its corresponding first position search code, collect natural gas concentration using a natural gas concentration sensor carried by the cooperative search UAV, and use the natural gas concentration as the fitness corresponding to the first position search code; S202, obtaining a first optimal code according to fitness corresponding to all first position search codes; S203. Perform an adaptive guided search on the first position search code according to the first optimal code to obtain a first position search code after the adaptive guided search. S204: re-determine the first optimal code based on the first position search code after the adaptive guided search to obtain the first re-determined first optimal code, and determine whether the search end condition is met based on the first re-determined first optimal code. If so, decode the first re-determined first optimal code to obtain the coordinates corresponding to the outdoor natural gas pipeline leakage point; otherwise, enter the information exchange search step; S205: Perform information exchange search on the first position search code after the adaptive guided search to obtain the first position search code after the information exchange search; S206: re-determine the first optimal code based on the first position search code after the information exchange search to obtain a second re-determined first optimal code, and determine whether the search end condition is met based on the second re-determined first optimal code. If so, decode the second re-determined first optimal code to obtain the coordinates corresponding to the outdoor natural gas pipeline leakage point; otherwise, enter a skip search step; S207, performing a jump search on the first position search code after the information exchange search to obtain the first position search code after the jump search; S208. Re-determine the first optimal code based on the first position search code after the jump search to obtain the third re-determined first optimal code, and judge whether the search end condition is met based on the third re-determined first optimal code. If so, decode the third re-determined first optimal code to obtain the coordinates corresponding to the outdoor natural gas pipeline leakage point. Otherwise, return to the step of determining the fitness corresponding to the first position search code.

[0035] In the embodiment of the present application, the natural gas concentration is used as the fitness corresponding to the first position search code, the location of the collaborative search drone is used as the first position search code, and the outdoor natural gas leakage area to be detected is used as the solution space. The natural gas leak detection is innovatively converted into a linkage control search of multiple collaborative search drones, and the linkage control search process is converted into a mathematical problem to solve, thereby achieving efficient search. It can realize rapid detection of natural gas leakage points without traversing the outdoor natural gas leakage area to be detected, and this detection process does not require knowledge of the distribution of natural gas pipelines.

[0036] Optionally, if the distribution of natural gas pipelines is known, any collaborative search drone can be directly controlled to inspect the natural gas pipelines.

[0037] In some possible implementations, an adaptive guided search is performed on the first position search code according to the first optimal code, and the first position search code after the adaptive guided search is obtained as follows:

[0038]

[0039] in, Indicates the t The first step in the optimization process i A first position search code, i=1,2,…,NP, NP represents the total number of first position search codes, which is also the total number of collaborative search drones. Indicates the i The first position search code after the adaptive guided search, Indicates the t +1 search step during the optimization process, represents the first random number between (0,1), represents the first optimal encoding, Indicates the t The search step size in the secondary optimization process can be set to 0.7 during the initial search. Indicates the preset maximum number of optimizations. Indicates the first position search code The total number of other first position search codes whose distance between them is less than a preset distance, the preset distance refers to a fixed distance value, represents the maximum fitness of all first position search codes, represents the minimum fitness of all first position search codes, Indicates the i The fitness corresponding to the first position search code.

[0040] The adaptive guided search provided in the embodiment of the present application can enable the collaborative search drone to search around the location with the highest currently known natural gas concentration, thereby improving the probability and efficiency of discovering natural gas leak points.

[0041] In some possible implementations, an information exchange search is performed on the first position search code after the adaptive guided search, and the first position search code after the information exchange search is obtained as:

[0042]

[0043] in, Indicates the t The first step in the optimization process m The first position search code after the adaptive guided search, Indicates the m The first position search code after the information exchange search, represents the shrinkage coefficient, Indicates the first position search code Other first position search codes for random matches, represents the logarithmic function, represents the second random number between (0,1), cos represents the cosine function, Represents pi.

[0044] The information exchange search provided in the embodiment of the present application can realize the search of the position between two collaborative search drones and can quickly detect the area of ​​the two collaborative search drones.

[0045] In some possible implementations, performing a jump search on the first position search code after the information exchange search to obtain the first position search code after the jump search includes:

[0046]

[0047] in, Indicates the t The first step in the optimization process k The first position search code after the information exchange search, Indicates the k The first position search code after a jump search, Indicates the jump search control coefficient (for example, it can be set to a constant between (0, 0.2) or (0, 0.5), which can be set according to actual needs). represents the Cauchy variation, Indicates the jump range parameter, e represents a natural constant, Represents the second random number between (0,1), and sin represents the sine function.

[0048] The jump search provided by the embodiments of this application can control the collaborative search drone to have a wider search range, helping to improve the collaborative search drone's search accuracy to the location with the highest adaptability, that is, the leak point. Furthermore, as the search progresses, the search accuracy gradually increases, which can improve the accuracy of leak point positioning.

[0049] In some possible implementations, the search end condition is set to: when the natural gas concentration corresponding to the first optimal code re-determined for the first time, the first optimal code re-determined for the second time, or the first optimal code re-determined for the third time is greater than a preset concentration threshold, the search end condition is met.

[0050] In some possible implementations, controlling the collaborative search drone to fly to a location corresponding to its corresponding first location search code includes: The line between the current position of the collaborative search drone and the position corresponding to the first position search code is used as a route; Determine whether there are other collaborative search drones on the route. If so, increase the flight altitude of the collaborative search drone from the default search altitude to a preset flight avoidance altitude, and after reaching the position corresponding to the first position search code, lower the flight altitude of the position corresponding to the first position search code to the default search altitude. Otherwise, directly control the collaborative search drone to fly to the position corresponding to its corresponding first position search code.

[0051] It is worth noting that the embodiment of the present application does not take into account the occlusion of the factory building area. In actual application, the collaborative search drone does not need to search the building area during the outdoor search. Therefore, the range corresponding to the winning building area in the drone search coordinate system can be marked as a no-fly zone, and in order to prevent the collaborative search drone from hitting the wall of the building area during the search process, the no-fly zone can be expanded by 1 cm. When the first position search code is located in the no-fly zone after any change, the first intersection between the line before and after the change of the first position search code and the no-fly zone can be determined as the first position search code after the change, thereby achieving search collision avoidance.

[0052] For any collaborative search drone, the obstacle avoidance function should also be turned on during the search process of the collaborative search drone to ensure the safe flight of the collaborative search drone.

[0053] In some possible implementations, the method for detecting an outdoor natural gas pipeline leak further includes: After the first position search code is changed, cross-border processing is performed on the first position search code.

[0054] For example, if an element in the first position search code exceeds its corresponding coordinate search upper limit, the exceeding element can be set as the coordinate search upper limit; if an element in the first position search code exceeds its corresponding coordinate search lower limit, the exceeding element can be set as the coordinate search lower limit. The exceeding element can be regenerated between its corresponding coordinate search upper and lower limits.

[0055] The present application provides a method for detecting outdoor natural gas pipeline leakage, which uses a top view of an outdoor natural gas leakage area to be detected as a drone search area, and any corner point of the drone search area as the origin, and constructs a drone search coordinate system based on the origin; then, according to the drone search coordinate system, the ordinate search upper limit, the ordinate search lower limit, the abscissa search upper limit and the abscissa search lower limit corresponding to the drone search area are determined to obtain a first drone search limit; for any collaborative search drone, a first position search code of the collaborative search drone is generated according to the first drone search limit; finally, an intelligent algorithm is used to optimize and iterate the first position search code of the collaborative search drone to find the outdoor natural gas pipeline leakage point, and control multiple collaborative search drones to perform collaborative search, which not only improves the inspection efficiency, but also can realize rapid positioning of the natural gas leakage point when the pipeline distribution is unclear.

[0056] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0057] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, apparatuses, electronic devices, and computer program products according to the embodiments of the present application. 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 terminal device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal 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.

[0058] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0059] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0060] Although preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they become aware of the basic inventive concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0061] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "includes," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or terminal device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or elements that are inherent to such process, method, article, or terminal device. In the absence of further restrictions, an element defined by the phrase "comprises a ..." does not exclude the presence of additional identical elements in the process, method, article, or terminal device that includes the element.

[0062] This document uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A method for detecting leakage of an outdoor natural gas pipeline, characterized in that: include: Obtain an outdoor natural gas leakage area to be detected, and use the outdoor natural gas leakage area to be detected as a drone search area; wherein the drone search area is rectangular; Taking any corner point of the drone search area as the origin, and building a drone search coordinate system based on the origin; Determining, according to the drone search coordinate system, a ordinate search upper limit, a ordinate search lower limit, a horizontal coordinate search upper limit, and a horizontal coordinate search lower limit corresponding to the drone search area to obtain a first drone search limit value; For any cooperative search UAV, generating a first position search code of the cooperative search UAV according to the first UAV search limit; An intelligent algorithm is used to iteratively optimize the first position search code of the collaborative search drone to find the outdoor natural gas pipeline leakage point and complete the detection; The intelligent algorithm is used to optimize and iterate the first position search code of the collaborative search drone to find the outdoor natural gas pipeline leakage point, including: Controlling the cooperative search UAV to fly to a position corresponding to its corresponding first position search code, collecting natural gas concentration using a natural gas concentration sensor carried by the cooperative search UAV, and using the natural gas concentration as the fitness corresponding to the first position search code; Obtaining a first optimal code according to the fitness corresponding to all first position search codes; performing an adaptive guided search on the first position search code according to the first optimal code to obtain a first position search code after the adaptive guided search; re-determining the first optimal code based on the first position search code after the adaptive guided search to obtain the first re-determined first optimal code, and judging whether the search end condition is satisfied based on the first re-determined first optimal code; if so, decoding the first re-determined first optimal code to obtain the coordinates corresponding to the outdoor natural gas pipeline leakage point; otherwise, entering the information exchange search step; performing an information exchange search on the first position search code after the adaptive guided search to obtain the first position search code after the information exchange search; re-determining the first optimal code according to the first position search code after the information exchange search to obtain a second re-determined first optimal code, and judging whether a search end condition is satisfied according to the second re-determined first optimal code; if so, decoding the second re-determined first optimal code to obtain the coordinates corresponding to the outdoor natural gas pipeline leakage point; otherwise, entering a jump search step; Performing a jump search on the first position search code after the information exchange search to obtain the first position search code after the jump search; The first optimal code is re-determined according to the first position search code after the jump search to obtain the third re-determined first optimal code, and based on the third re-determined first optimal code, it is judged whether the search end condition is met. If so, the third re-determined first optimal code is decoded to obtain the coordinates corresponding to the outdoor natural gas pipeline leakage point. Otherwise, the step of determining the fitness corresponding to the first position search code is returned.

2. The method for detecting outdoor natural gas pipeline leakage according to claim 1, characterized in that: Also includes: Obtain the highest height of the natural gas pipeline in the outdoor natural gas leakage area to be detected input by the staff; Constructing a three-dimensional coordinate system based on the UAV search coordinate system; Determine, based on the maximum altitude and the three-dimensional coordinate system, an upper limit for a vertical coordinate search and a lower limit for a vertical coordinate search corresponding to the drone search area; Obtaining a second drone search limit value according to the vertical coordinate search upper limit, the vertical coordinate search lower limit, the vertical coordinate search upper limit, the vertical coordinate search lower limit, the horizontal coordinate search upper limit, and the horizontal coordinate search lower limit; For any cooperative search UAV, generating a position search code for the cooperative search UAV according to the second UAV search limit; An intelligent algorithm is used to optimize and iterate the location search code of the collaborative search drone to find the leakage point of the outdoor natural gas pipeline and complete the detection.

3. The method for detecting outdoor natural gas pipeline leakage according to claim 1, characterized in that: For any cooperative search UAV, generating a first position search code of the cooperative search UAV according to the first UAV search limit includes: For any cooperative search drone, randomly generate a first coordinate element between the upper ordinate search limit and the lower ordinate search limit in the first drone search limit; randomly generating a second coordinate element between an upper horizontal coordinate search limit and a lower horizontal coordinate search limit in the first drone search limit; The first coordinate element and the second coordinate element are encoded into a vector to obtain a first position search code.

4. The method for detecting outdoor natural gas pipeline leakage according to claim 1, characterized in that: According to the first optimal code, an adaptive guided search is performed on the first position search code, and the first position search code after the adaptive guided search is obtained as: in, Indicates the t The first step in the optimization process i A first position search code, i =1,2,…,NP, NP represents the total number of first position search codes, which is also the total number of collaborative search drones. Indicates the i The first position search code after the adaptive guided search, Indicates the t +1 search step during the optimization process, represents the first random number between (0,1), represents the first optimal encoding, Indicates the t The search step size during the sub-optimization process, Indicates the preset maximum number of optimizations. Indicates the first position search code The total number of other first position search codes whose distances are less than the preset distance, represents the maximum fitness of all first position search codes, represents the minimum fitness of all first position search codes, Indicates the i The fitness corresponding to the first position search code.

5. The method for detecting outdoor natural gas pipeline leakage according to claim 4, characterized in that: An information exchange search is performed on the first position search code after the adaptive guided search, and the first position search code after the information exchange search is obtained as: in, Indicates the t The first step in the optimization process m The first position search code after the adaptive guided search, Indicates the m The first position search code after the information exchange search, represents the shrinkage coefficient, Indicates the first position search code Other first position search codes for random matches, represents the logarithmic function, represents the second random number between (0,1), cos represents the cosine function, Represents pi.

6. The method for detecting outdoor natural gas pipeline leakage according to claim 5, characterized in that: Performing a jump search on the first position search code after the information exchange search to obtain the first position search code after the jump search includes: in, Indicates the t The first step in the optimization process k The first position search code after the information exchange search, Indicates the k The first position search code after a jump search, represents the jump search control coefficient, represents the Cauchy variation, Indicates the jump range parameter, e represents a natural constant, Represents the second random number between (0,1), and sin represents the sine function.

7. The method for detecting outdoor natural gas pipeline leakage according to claim 1, characterized in that: The search end condition is set to: when the natural gas concentration corresponding to the first re-determined first optimal code, the second re-determined first optimal code or the third re-determined first optimal code is greater than a preset concentration threshold, the search end condition is met.

8. The method for detecting outdoor natural gas pipeline leakage according to claim 1, characterized in that: Controlling the cooperative search drone to fly to a position corresponding to its corresponding first position search code includes: The line between the current position of the collaborative search drone and the position corresponding to the first position search code is used as a route; Determine whether there are other collaborative search drones on the route. If so, increase the flight altitude of the collaborative search drone from the default search altitude to a preset flight avoidance altitude, and after reaching the position corresponding to the first position search code, lower the flight altitude of the position corresponding to the first position search code to the default search altitude. Otherwise, directly control the collaborative search drone to fly to the position corresponding to its corresponding first position search code.

9. The method for detecting outdoor natural gas pipeline leakage according to claim 1, characterized in that: Also includes: After the first position search code is changed, cross-border processing is performed on the first position search code.

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