Method for detecting a leak in an outdoor natural gas pipeline

Abstract

The application discloses a kind of outdoor natural gas pipeline leakage detection methods, it is related to control technical field, by the overhead view of outdoor natural gas leakage area to be detected as unmanned aerial vehicle search area, and unmanned aerial vehicle search coordinate system is constructed based on unmanned aerial vehicle search area;Then according to unmanned aerial vehicle search coordinate system, determine the upper limit of longitudinal coordinate search, the lower limit of longitudinal coordinate search, the upper limit of horizontal coordinate search and the lower limit of horizontal coordinate search corresponding to unmanned aerial vehicle search area, obtain the first unmanned aerial vehicle search limit value;For any one cooperative search unmanned aerial vehicle, according to the first unmanned aerial vehicle search limit value generates the first position search code of cooperative search unmanned aerial vehicle;Finally, the first position search code of cooperative search unmanned aerial vehicle is optimized and iterated using intelligent algorithm, to find outdoor natural gas pipeline leakage point, control multiple cooperative search unmanned aerial vehicles to carry out cooperative search, not only improve the patrol efficiency, but also can realize the rapid positioning of natural gas leakage point in the case where pipeline distribution is not clear.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of control, in particular to a method for detecting outdoor natural gas pipeline leakage. BACKGROUND

[0002] Natural gas, as a clean energy, plays an important role in urban energy supply. However, its delivery pipeline network is huge and mostly laid outdoors, and is affected by geological changes, corrosion, third-party construction and other factors for a long time, and has a risk of leakage. Natural gas leakage not only causes energy waste and economic loss, but also may cause fire, explosion and other serious safety accidents, which poses a great threat to people's life and property safety. In the case of natural gas leakage, personnel usually carry handheld detectors to walk along the pipeline or drive to patrol, which is simple and direct, but inefficient, labor-intensive, limited in coverage, and difficult to deal with factory areas with more natural gas pipelines. SUMMARY

[0003] The present application provides a method for detecting outdoor natural gas pipeline leakage, aiming to solve the problems of low efficiency, limited coverage and difficulty in dealing with factory areas with more natural gas pipelines caused by manual patrol in the prior art.

[0004] The present application provides a method for detecting outdoor natural gas pipeline leakage, comprising:

[0005] An outdoor natural gas leakage area to be detected is obtained, and the outdoor natural gas leakage area to be detected is taken as a drone search area; wherein the drone search area is a rectangle;

[0006] Any one corner point of the drone search area is taken as an origin, and a drone search coordinate system is constructed based on the origin;

[0007] According to the drone search coordinate system, a longitudinal coordinate search upper limit, a longitudinal coordinate search lower limit, a horizontal coordinate search upper limit and a horizontal coordinate search lower limit corresponding to the drone search area are determined, to obtain first drone search limits;

[0008] For any one cooperative search drone, a first position search code of the cooperative search drone is generated according to the first drone search limits;

[0009] An intelligent algorithm is used to optimize and iterate the first position search code of the cooperative search drone, to find an outdoor natural gas pipeline leakage point and complete detection;

[0010] Wherein, the intelligent algorithm is used to optimize and iterate the first position search code of the cooperative search drone to find an outdoor natural gas pipeline leakage point, comprising:

[0011] The cooperative search unmanned aerial vehicle is controlled to fly to the corresponding first position to search for the coding corresponding to the position, and the natural gas concentration is collected by the natural gas concentration sensor carried on the cooperative search unmanned aerial vehicle, and the natural gas concentration is taken as the fitness of the first position search coding corresponding to the position;

[0012] According to the fitness of all the first position search coding corresponding to the position, a first optimal coding is obtained;

[0013] According to the first optimal coding, the first position search coding is adaptively guided to search, and the first position search coding after adaptive guided search is obtained;

[0014] According to the first position search coding after adaptive guided search, the first optimal coding is re-determined, a first re-determined first optimal coding is obtained, and whether the search end condition is met is judged according to the first re-determined first optimal coding. If yes, the first re-determined first optimal coding is decoded to obtain the coordinates corresponding to the outdoor natural gas pipeline leakage point, otherwise, the step of information exchange search is entered;

[0015] The first position search coding after adaptive guided search is subjected to information exchange search to obtain the first position search coding after information exchange search;

[0016] According to the first position search coding after information exchange search, the first optimal coding is re-determined, a second re-determined first optimal coding is obtained, and whether the search end condition is met is judged according to the second re-determined first optimal coding. If yes, the second re-determined first optimal coding is decoded to obtain the coordinates corresponding to the outdoor natural gas pipeline leakage point, otherwise, the step of jump search is entered;

[0017] The first position search coding after information exchange search is subjected to jump search to obtain the first position search coding after jump search;

[0018] According to the first position search coding after jump search, the first optimal coding is re-determined, a third re-determined first optimal coding is obtained, and whether the search end condition is met is judged according to the third re-determined first optimal coding. If yes, the third re-determined first optimal coding is decoded to obtain the coordinates corresponding to the outdoor natural gas pipeline leakage point, otherwise, the step of determining the fitness of the first position search coding corresponding to the position is returned.

[0019] In some possible implementations, further comprising:

[0020] Obtaining the highest height of the natural gas pipeline in the outdoor natural gas leakage area to be detected input by the staff;

[0021] Based on the aforementioned UAV search coordinate system, a three-dimensional coordinate system is constructed;

[0022] Based on the maximum altitude and the three-dimensional coordinate system, determine the upper limit and lower limit of the vertical coordinate search corresponding to the UAV search area;

[0023] Based on the upper limit of the vertical coordinate search, the lower limit of the vertical coordinate search, the upper limit of the vertical coordinate search, the lower limit of the vertical coordinate search, the upper limit of the horizontal coordinate search, and the lower limit of the horizontal coordinate search, the second UAV search limit is obtained;

[0024] For any cooperative search drone, generate the location search code of the cooperative search drone based on the second drone search limit;

[0025] Intelligent algorithms are used to optimize and iterate the location search encoding of the collaborative search drone to locate outdoor natural gas pipeline leaks and complete the detection.

[0026] In some possible implementations, for any cooperative search drone, a first location search code for the cooperative search drone is generated based on the first drone search limit, including:

[0027] For any cooperative search drone, a first coordinate element is randomly generated between the upper limit and the lower limit of the ordinate search in the first drone search limit.

[0028] A second coordinate element is randomly generated between the upper and lower limits of the horizontal coordinate search in the first UAV search limit;

[0029] The first coordinate element and the second coordinate element are encoded into a vector to obtain the first position search code.

[0030] In some possible implementations, based on the first optimal encoding, an adaptive guided search is performed on the first position search encoding to obtain the first position search encoding after the adaptive guided search:

[0031]

[0032]

[0033] in, Indicates the first t The first optimization process i The first position search code i =1,2,…,NP, where NP represents the total number of search codes for the first position, which is also the total number of cooperative search drones. Indicates the first i The first position search encoding after an adaptive guided search. denotes the search step in the first optimization process, t denotes a first random number between (0, 1), denotes the first optimal encoding, denotes the search step in the first optimization process, denotes the search step in the first optimization process, t denotes the preset maximum number of optimization, denotes the distance between the first position search encoding and other first position search encodings less than the preset distance, denotes the total number of other first position search encodings, denotes the maximum fitness of all first position search encodings, denotes the minimum fitness of all first position search encodings, denotes the fitness corresponding to the first position search encoding i .

[0034] In some possible implementations, the first position search encoding after the adaptive guide search is subjected to information exchange search, and the first position search encoding after the information exchange search is:

[0035]

[0036]

[0037] wherein, denotes the first position search encoding after the adaptive guide search in the first optimization process, t denotes the first position search encoding after the information exchange search in the first optimization process, m denotes the contraction coefficient, denotes other first position search encodings randomly matched with the first position search encoding m , denotes the logarithmic function, denotes a second random number between (0, 1), and cos denotes the cosine function, denotes the circular constant. In some possible implementations, the first position search encoding after the information exchange search is subjected to jump search, and the first position search encoding after the jump search is:

[0038]

[0039]

[0040]

[0041] wherein, denotes the first position search encoding after the adaptive guide search in the first optimization process,​​​t the first position search code after the first information exchange search in the sub-optimization process, k the first position search code after the first information exchange search in the sub-optimization process, the first position search code after the first information exchange search in the sub-optimization process, k the first position search code after the first information exchange search in the sub-optimization process, the jump search control coefficient, the Cauchy variation, the jump range parameter, e the natural constant, the second random number between (0, 1), and sin represents the sine function.

[0042] In some possible implementation manners, the search end condition is set as: when the natural gas concentration corresponding to the first optimal code determined for the first time, the first optimal code determined for the second time, or the first optimal code determined for the third time is greater than a preset concentration threshold, the search end condition is met.

[0043] In some possible implementation manners, the control of the cooperative search unmanned aerial vehicle to fly to the position corresponding to the first position search code corresponding to the cooperative search unmanned aerial vehicle includes:

[0044] the line between the current position of the cooperative search unmanned aerial vehicle and the position corresponding to the first position search code as a flight route;

[0045] determining whether there is another cooperative search unmanned aerial vehicle located on the flight route, if yes, increasing the flight height of the cooperative search unmanned aerial vehicle from a default search height to a preset flight avoidance height, and after reaching the position corresponding to the first position search code, reducing the flight height of the position corresponding to the first position search code to the default search height, or directly controlling the cooperative search unmanned aerial vehicle to fly to the position corresponding to the first position search code.

[0046] In some possible implementation manners, the outdoor natural gas pipeline leakage detection method further includes:

[0047] After the first position search code is changed, the first position search code is processed out of bounds.

[0048] Beneficial effects:

[0049] The application provides a detection method for outdoor natural gas pipeline leakage, which comprises the following steps: taking an overhead view of an outdoor natural gas leakage area to be detected as a UAV search area, taking an arbitrary corner point of the UAV search area as an origin, and constructing a UAV search coordinate system based on the origin; then determining a longitudinal coordinate search upper limit, a longitudinal coordinate search lower limit, a horizontal coordinate search upper limit and a horizontal coordinate search lower limit corresponding to the UAV search area according to the UAV search coordinate system to obtain first UAV search limits; generating a first position search code of a cooperative search UAV according to the first UAV search limits for an arbitrary cooperative search UAV; and finally optimizing and iterating the first position search code of the cooperative search UAV by using an intelligent algorithm to find an outdoor natural gas pipeline leakage point, and controlling multiple cooperative search UAVs to cooperatively search, which not only improves the patrol efficiency, but also realizes rapid positioning of the natural gas leakage point without knowing the pipeline distribution. BRIEF DESCRIPTION OF DRAWINGS

[0050] In order to more clearly illustrate the technical solutions of the embodiments of the application, the following will briefly introduce the drawings needed to be used in the description of the embodiments of the application. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0051] Figure 1 is a flow chart of a detection method for outdoor natural gas pipeline leakage provided by an embodiment of the application.

[0052] Figure 2 is a flow chart of finding an outdoor natural gas pipeline leakage point provided by an embodiment of the application. DETAILED DESCRIPTION

[0053] The technical solutions in the embodiments of the application will be described clearly and completely in the following with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only some embodiments of the application, not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the application.

[0054] As shown in Figure 1 , the application provides a detection method for outdoor natural gas pipeline leakage, which comprises the following steps:

[0055] S101, an outdoor natural gas leakage area to be detected is acquired, and the outdoor natural gas leakage area to be detected is taken as a UAV search area; wherein the UAV search area is a rectangle;

[0056] The outdoor natural gas leakage area to be detected can be a region framed by a staff on an electronic map, and at this time, the outdoor natural gas leakage area to be detected is a planar range, which can be directly used as the search area of the UAV. The search area of the UAV can be limited to a rectangle, so as to facilitate search control.

[0057] S102, taking any one corner point of the search area of the UAV as an origin, and constructing a UAV search coordinate system based on the origin;

[0058] In the embodiment of the application, the search area of the UAV is set to a rectangle, so that a two-dimensional coordinate system can be generated regardless of which corner point is used as the origin, thereby obtaining the UAV search coordinate system. During generation of the UAV search coordinate system, the length ratio between the real world and the electronic map can be set to 100:1, that is, 1m is displayed as 1cm on the electronic map, and the UAV search coordinate system takes 1cm as the basic unit.

[0059] S103, determining the upper limit of the vertical coordinate search, the lower limit of the vertical coordinate search, the upper limit of the horizontal coordinate search, and the lower limit of the horizontal coordinate search corresponding to the search area of the UAV according to the UAV search coordinate system, to obtain first UAV search limit values;

[0060] After the UAV search coordinate system is generated, the search area of the UAV has corresponding coordinates in the UAV search coordinate system, so that the upper limit of the vertical coordinate search, the lower limit of the vertical coordinate search, the upper limit of the horizontal coordinate search, and the lower limit of the horizontal coordinate search corresponding to the search area of the UAV can be determined.

[0061] S104, for any one cooperative search UAV, generating a first position search code of the cooperative search UAV according to the first UAV search limit values;

[0062] The number of cooperative search UAVs can be one or more, but the more the number of cooperative search UAVs, the better the search effect, so the number of cooperative search UAVs is preferably 3, 4 or 5 in the embodiment of the application. Then, an initial coordinate can be randomly generated for the cooperative search UAV, that is, the first position search code. For example, assuming that the UAV search coordinate system is an xy coordinate system, a vertical coordinate (that is, the y-axis coordinate in the xy coordinate system) can be generated between the upper limit of the vertical coordinate search and the lower limit of the vertical coordinate search, and a horizontal coordinate (that is, the x-axis coordinate in the xy coordinate system) can be generated between the upper limit of the horizontal coordinate search and the lower limit of the horizontal coordinate search. The generated vertical coordinate and the generated horizontal coordinate are encoded into a vector, and the first position search code is obtained.

[0063] S105, using an intelligent algorithm to optimize and iterate the first position search code of the cooperative search UAV, to find an outdoor natural gas pipeline leakage point, and complete detection.

[0064] The embodiment of the application optimizes and iterates the first position search code of the cooperative search unmanned aerial vehicle through an intelligent algorithm, thereby realizing linkage control search of multiple cooperative search unmanned aerial vehicles, improving the patrol efficiency, and realizing rapid positioning of a natural gas leakage point in the case that the distribution of a pipeline is not clear.

[0065] In some possible implementation manners, the method further includes:

[0066] acquiring a highest height of a natural gas pipeline in an outdoor natural gas leakage area to be detected input by a staff;

[0067] constructing a three-dimensional coordinate system based on the unmanned aerial vehicle search coordinate system;

[0068] determining a vertical coordinate search upper limit and a vertical coordinate search lower limit corresponding to the unmanned aerial vehicle search area according to the highest height and the three-dimensional coordinate system;

[0069] obtaining a second unmanned aerial vehicle search limit value according to the vertical coordinate search upper limit, the vertical coordinate search lower limit, the longitudinal coordinate search upper limit, the longitudinal coordinate search lower limit, the horizontal coordinate search upper limit and the horizontal coordinate search lower limit;

[0070] generating a position search code of the cooperative search unmanned aerial vehicle according to the second unmanned aerial vehicle search limit value for any one cooperative search unmanned aerial vehicle;

[0071] optimizing and iterating the position search code of the cooperative search unmanned aerial vehicle through an intelligent algorithm, and searching for an outdoor natural gas pipeline leakage point to complete detection.

[0072] For example, assuming that the unmanned aerial vehicle search coordinate system is an xy coordinate system, a z axis can be added to form an xyz coordinate system, and because the z axis is perpendicular to the ground, the vertical coordinate search lower limit is 0, and therefore the highest height can be converted into a coordinate of the xyz coordinate system and then used as the vertical coordinate search upper limit. For example, the highest height of the natural gas pipeline is 10 m, and therefore the vertical coordinate search upper limit can be 10 in the case that 1 cm is used as a basic unit in the xyz coordinate system.

[0073] By constructing a three-dimensional coordinate system and searching in the three-dimensional coordinate system, the method can be effectively applied to various natural gas pipeline factory areas, and the scene adaptability is improved.

[0074] In some possible implementation manners, the method further includes:

[0075] randomly generating a first coordinate element between the longitudinal coordinate search upper limit and the longitudinal coordinate search lower limit in the first unmanned aerial vehicle search limit value for any one cooperative search unmanned aerial vehicle;

[0076] generating a second coordinate element randomly between the upper limit of the horizontal coordinate search and the lower limit of the horizontal coordinate search in the first unmanned aerial vehicle search limit;

[0077] encoding the first coordinate element and the second coordinate element into a vector to obtain a first position search code.

[0078] As shown in Figure 2 optimizing and iterating the first position search code of the cooperative search unmanned aerial vehicle by using an intelligent algorithm to find an outdoor natural gas pipeline leakage point, comprising:

[0079] S201, controlling the cooperative search unmanned aerial vehicle to fly to a position corresponding to the first position search code corresponding to the cooperative search unmanned aerial vehicle, and collecting a natural gas concentration by a natural gas concentration sensor carried on the cooperative search unmanned aerial vehicle, and taking the natural gas concentration as a fitness corresponding to the first position search code;

[0080] S202, obtaining a first optimal code according to the fitness corresponding to all first position search codes;

[0081] S203, adaptively guiding the search of the first position search code according to the first optimal code, to obtain the first position search code after adaptive guided search;

[0082] S204, re-determining the first optimal code according to the first position search code after adaptive guided search, obtaining a first re-determined first optimal code, and determining whether a search end condition is met according to the first re-determined first optimal code, if yes, decoding the first re-determined first optimal code to obtain a coordinate corresponding to an outdoor natural gas pipeline leakage point, otherwise entering the step of information exchange search;

[0083] S205, performing information exchange search on the first position search code after adaptive guided search to obtain the first position search code after information exchange search;

[0084] S206, re-determining the first optimal code according to the first position search code after information exchange search, obtaining a second re-determined first optimal code, and determining whether a search end condition is met according to the second re-determined first optimal code, if yes, decoding the second re-determined first optimal code to obtain a coordinate corresponding to an outdoor natural gas pipeline leakage point, otherwise entering the step of jump search;

[0085] S207, performing jump search on the first position search code after information exchange search to obtain the first position search code after jump search;

[0086] S208. Based on the first position search code after the jump search, the first optimal code is re-determined to obtain the third re-determined first optimal code. Based on the third re-determined first optimal code, it is determined whether the search termination 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 leak point. Otherwise, the process returns to the step of determining the fitness corresponding to the first position search code.

[0087] This application embodiment uses the natural gas concentration as the fitness corresponding to the first location search code, the location of the cooperative search drone as the first location search code, and the outdoor natural gas leak area to be detected as the solution space. It innovatively transforms natural gas leak detection into a coordinated search by multiple cooperative search drones, and transforms the coordinated control search process into a mathematical problem, achieving efficient search. It can quickly detect natural gas leak points without traversing the outdoor natural gas leak area to be detected, and this detection process does not require knowledge of the distribution of natural gas pipelines.

[0088] Optionally, given knowledge of the distribution of natural gas pipelines, any collaborative search drone can be directly controlled to inspect the natural gas pipelines.

[0089] In some possible implementations, based on the first optimal encoding, an adaptive guided search is performed on the first position search encoding to obtain the first position search encoding after the adaptive guided search:

[0090]

[0091]

[0092] in, Indicates the first t The first optimization process i The first position search code i =1,2,…,NP, where NP represents the total number of search codes for the first position, which is also the total number of cooperative search drones. Indicates the first i The first position search encoding after an adaptive guided search. Indicates the first t The search step size during +1 optimization process. Represents the first random number between (0,1). Indicates the first optimal code. Indicates the first t In the optimization process, the search step size can be set to 0.7 during the initial search. This indicates the preset maximum number of optimization attempts. denotes the total number of other first position search encodings whose distances from the first position search encoding are less than a preset distance, the preset distance refers to a fixed distance value, denotes the maximum fitness of all first position search encodings, denotes the minimum fitness of all first position search encodings, denotes the minimum fitness of all first position search encodings, denotes the fitness corresponding to the first position search encoding. i

[0093] The adaptive guidance search provided by the embodiments of the present application can enable the cooperative search unmanned aerial vehicle to search around the position with the maximum known natural gas concentration, and can improve the probability and efficiency of discovering the natural gas leakage point.

[0094] In some possible implementation manners, the first position search encodings after the adaptive guidance search are subjected to information exchange search, and the first position search encodings after the information exchange search are as follows:

[0095]

[0096]

[0097] wherein, denotes the first position search encoding after the adaptive guidance search in the i th optimization process, t denotes the first position search encoding after the information exchange search in the i th optimization process, m denotes the first position search encoding after the adaptive guidance search in the i th optimization process, denotes the first position search encoding after the information exchange search in the i th optimization process, m denotes the contraction coefficient, denotes other first position search encodings randomly matched with the first position search encoding, denotes a logarithmic function, denotes a second random number between (0, 1), and cos denotes a cosine function, denotes a circular constant. The information exchange search provided by the embodiments of the present application can realize the search of the positions between two cooperative search unmanned aerial vehicles, and can quickly detect the areas of the two cooperative search unmanned aerial vehicles.

[0098] In some possible implementation manners, the first position search encodings after the information exchange search are subjected to jump search, and the first position search encodings after the jump search are as follows:

[0099]

[0100]

[0101] ​​​

[0102] wherein, denotes the first position search encoding after the t first information exchange search in the k second optimization process, denotes the first position search encoding after the k first jump search, denotes the jump search control coefficient (e.g., can be set as a constant between (0, 0.2) or (0, 0.5), which can be set according to actual needs), denotes Cauchy variation, denotes the jump range parameter, e denotes a natural constant, denotes a second random number between (0, 1), and sin denotes a sine function.

[0103] The jump search provided by the embodiments of the present application can control the cooperative search unmanned aerial vehicle to have a wider search range, which helps to improve the cooperative search unmanned aerial vehicle to search for a position with the maximum fitness, i.e., to search for a leakage point. Moreover, as the search proceeds, the search accuracy gradually improves, which can improve the positioning accuracy of the leakage point.

[0104] In some possible implementation manners, the search end condition is set as: when the first optimal encoding re-determined for the first time, the first optimal encoding re-determined for the second time, or the first optimal encoding re-determined for the third time corresponds to a natural gas concentration greater than a preset concentration threshold, the search end condition is met.

[0105] In some possible implementation manners, the cooperative search unmanned aerial vehicle is controlled to fly to a position corresponding to the first position search encoding corresponding to the cooperative search unmanned aerial vehicle, including:

[0106] taking a line between the current position of the cooperative search unmanned aerial vehicle and the position corresponding to the first position search encoding as a flight route;

[0107] determining whether there is another cooperative search unmanned aerial vehicle located on the flight route, if yes, increasing the flight height of the cooperative search unmanned aerial vehicle from a default search height to a preset flight avoidance height, and after reaching the position corresponding to the first position search encoding, reducing the flight height of the position corresponding to the first position search encoding to the default search height, otherwise directly controlling the cooperative search unmanned aerial vehicle to fly to the position corresponding to the first position search encoding corresponding to the cooperative search unmanned aerial vehicle.

[0108] It is worth mentioning that the embodiments of the present application do not consider the shelter of the factory house area, and in actual application, the cooperative search unmanned aerial vehicle does not need to search the house area in the process of outdoor search. Therefore, the range corresponding to the house area in the unmanned aerial vehicle search coordinate system can be marked as a no-fly area, and in order to avoid the cooperative search unmanned aerial vehicle from colliding with the wall of the house area in the search process, the no-fly area can be expanded by 1cm. In the case that the first position search code of any one of the cooperative search unmanned aerial vehicles is located in the no-fly area after any change, the first intersection between the line connecting the first position search code before and after the change and the no-fly area can be determined as the first position search code after the change, so as to realize search collision avoidance.

[0109] For any one of the cooperative search unmanned aerial vehicles, the obstacle avoidance function should also be started in the search process of the cooperative search unmanned aerial vehicle, so as to ensure the safe flight of the cooperative search unmanned aerial vehicle.

[0110] In some possible implementations, the method for detecting outdoor natural gas pipeline leakage further includes:

[0111] After the first position search code changes, the first position search code is processed for boundary crossing.

[0112] For example, if an element in the first position search code exceeds the upper limit of the corresponding coordinate search, the element exceeding the limit can be set to the upper limit of the coordinate search; if an element in the first position search code exceeds the lower limit of the corresponding coordinate search, the element exceeding the limit can be set to the lower limit of the coordinate search. The element exceeding the limit can be regenerated between the upper limit and the lower limit of the corresponding coordinate search.

[0113] The present application provides a method for detecting outdoor natural gas pipeline leakage. The method includes the following steps: taking the plan view of an outdoor natural gas pipeline leakage area to be detected as an unmanned aerial vehicle search area, taking any one corner point of the unmanned aerial vehicle search area as an origin, and constructing an unmanned aerial vehicle search coordinate system based on the origin; determining the upper limit of the longitudinal coordinate search, the lower limit of the longitudinal coordinate search, the upper limit of the horizontal coordinate search, and the lower limit of the horizontal coordinate search corresponding to the unmanned aerial vehicle search area according to the unmanned aerial vehicle search coordinate system, to obtain first unmanned aerial vehicle search limits; generating a first position search code of a cooperative search unmanned aerial vehicle according to the first unmanned aerial vehicle search limits for any one of the cooperative search unmanned aerial vehicles; and finally using an intelligent algorithm to optimize and iterate the first position search code of the cooperative search unmanned aerial vehicle, to find an outdoor natural gas pipeline leakage point, and to control multiple cooperative search unmanned aerial vehicles to cooperatively search, thereby improving the patrol efficiency and realizing rapid positioning of the natural gas pipeline leakage point without knowing the distribution of the pipeline.

[0114] The various embodiments in the specification are described in progressive manner, and each embodiment focuses on the difference from other embodiments, and the same or similar parts between the embodiments can be mutually referred to.

[0115] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, device, electronic device and computer program product according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing terminal equipment to produce a machine, so that the instructions executed by the computer or other programmable data processing terminal equipment produce a device implemented in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that implements the functions specified in the flow or flows and / or block or blocks.

[0116] These computer program instructions can also be stored in a computer readable memory that can direct the computer or other programmable data processing terminal equipment to work in a specific manner, so that the instructions stored in the computer readable memory produce a product including instruction apparatus, which implements the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that implements the functions specified in the flow or flows and / or block or blocks.

[0117] These computer program instructions can also be loaded into the computer or other programmable data processing terminal equipment, so that a series of operation steps are performed on the computer or other programmable terminal equipment to produce a computer implemented process, so that the instructions executed on the computer or other programmable terminal equipment provide a process for implementing the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that implements the functions specified in the flow or flows and / or block or blocks.

[0118] Although the preferred embodiments of the present application have been described, those skilled in the art can make additional changes and modifications to the embodiments once they know the basic inventive concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the embodiments of the present application.

[0119] Finally, it needs to be pointed out that in this document, relational terms such as first and second and the like can only be intended to distinguish one entity or operation from another entity or operation without necessarily requiring or implying any actual such relationship or order between such entities or operations. Moreover, the terms "comprising", "comprising" or any other variations thereof are intended to cover non-exclusive inclusions, so that a process, method, article or terminal device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such a process, method, article or terminal device. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or terminal device comprising the element.

[0120] The principles and implementation manners of the present application are described by applying specific examples in this document, and the above example descriptions are only used to help understand the method and its core idea of the present application; meanwhile, for the general technical personnel in the art, according to the idea of the present application, the specific implementation manners and application ranges will have changes, and the above description should not be understood as the limitation of the present application.

Claims

1. A method of detecting a leak in an outdoor natural gas pipeline, the method comprising: The application relates to an outdoor natural gas pipeline leakage detection method based on a cooperative search unmanned aerial vehicle (UAV). The method comprises the following steps: an outdoor natural gas pipeline leakage area is acquired, and the outdoor natural gas pipeline leakage area is taken as a UAV search area; wherein the UAV search area is a rectangle; an arbitrary corner point of the UAV search area is taken as an origin, and a UAV search coordinate system is constructed based on the origin; according to the UAV search coordinate system, a longitudinal coordinate search upper limit, a longitudinal coordinate search lower limit, a horizontal coordinate search upper limit and a horizontal coordinate search lower limit corresponding to the UAV search area are determined, so as to obtain first UAV search limit values; for an arbitrary cooperative search UAV, first position search codes of the cooperative search UAV are generated according to the first UAV search limit values; an intelligent algorithm is adopted to optimize and iterate the first position search codes of the cooperative search UAV, so as to find an outdoor natural gas pipeline leakage point and complete detection; wherein the step of adopting the intelligent algorithm to optimize and iterate the first position search codes of the cooperative search UAV, so as to find the outdoor natural gas pipeline leakage point, comprises the following steps: the cooperative search UAV is controlled to fly to a position corresponding to the first position search code corresponding to the cooperative search UAV, a natural gas concentration is collected through a natural gas concentration sensor carried on the cooperative search UAV, and the natural gas concentration is taken as a fitness corresponding to the first position search code; a first optimal code is acquired according to the fitnesses corresponding to all the first position search codes; the first position search codes are adaptively guided to search according to the first optimal code, so as to obtain the first position search codes after adaptive guided search; the first optimal code is re-determined according to the first position search codes after adaptive guided search, so as to obtain a first optimal code re-determined for the first time, and whether a search end condition is met is judged according to the first optimal code re-determined for the first time; if yes, the first optimal code re-determined for the first time is decoded, so as to obtain a coordinate corresponding to the outdoor natural gas pipeline leakage point; otherwise, the step of information exchange search is entered; information exchange search is performed on the first position search codes after adaptive guided search, so as to obtain the first position search codes after information exchange search; the first optimal code is re-determined according to the first position search codes after information exchange search, so as to obtain a first optimal code re-determined for the second time, and whether the search end condition is met is judged according to the first optimal code re-determined for the second time; if yes, the first optimal code re-determined for the second time is decoded, so as to obtain the coordinate corresponding to the outdoor natural gas pipeline leakage point; otherwise, the step of jump search is entered; jump search is performed on the first position search codes after information exchange search, so as to obtain the first position search codes after jump search; According to the first position search code after the jump search, the first optimal code is re-determined to obtain a third re-determined first optimal code, and whether a search end condition is met is judged according to the third re-determined first optimal code, if yes, 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 of the first position search code is returned.

2. The method of claim 1, wherein, 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; A three-dimensional coordinate system is constructed based on the UAV search coordinate system; According to the highest height and the three-dimensional coordinate system, the vertical coordinate search upper limit and the vertical coordinate search lower limit corresponding to the UAV search area are determined; According to the vertical coordinate search upper limit, the vertical coordinate search lower limit, the longitudinal coordinate search upper limit, the longitudinal coordinate search lower limit, the horizontal coordinate search upper limit and the horizontal coordinate search lower limit, the second UAV search limit value is obtained; For any one cooperative search UAV, the position search code of the cooperative search UAV is generated according to the second UAV search limit value; An intelligent algorithm is used to optimize and iterate the position search code of the cooperative search UAV to find the outdoor natural gas pipeline leakage point and complete the detection.

3. The method of claim 1, wherein, For any one cooperative search UAV, the first position search code of the cooperative search UAV is generated according to the first UAV search limit value, including: For any one cooperative search UAV, a first coordinate element is randomly generated between the longitudinal coordinate search upper limit and the longitudinal coordinate search lower limit in the first UAV search limit value; A second coordinate element is randomly generated between the horizontal coordinate search upper limit and the horizontal coordinate search lower limit in the first UAV search limit value; The first coordinate element and the second coordinate element are encoded into a vector to obtain the first position search code.

4. The method of claim 1, wherein, According to the first optimal code, the first position search code is adaptively guided to search to obtain the first position search code after adaptive guided search as: in, Indicates the first t The first optimization process i The first position search code i =1,2,…,NP, where NP represents the total number of search codes for the first position, which is also the total number of cooperative search drones. Indicates the first i The first position search encoding after an adaptive guided search. Indicates the first t The search step size during +1 optimization process. Represents the first random number between (0,1). Indicates the first optimal code. Indicates the first t The search step size in the next optimization process. This indicates the preset maximum number of optimization attempts. Indicates the search code with the first position. The total number of other first position search codes whose distance is less than a preset distance. This represents the maximum fitness of all first-position search codes. This represents the minimum fitness of all first-position search codes. Indicates the first i The fitness corresponding to the first position search code.

5. The method of claim 4, wherein the step of detecting a leak in the outdoor natural gas pipeline is performed by a leak detection system. The first position search code after adaptive guided search is exchanged for information search to obtain the first position search code after information exchange search as: wherein denotes the first position search code after the t first adaptive guide search in the m first optimization process, denotes the first position search code after the m first information exchange search, denotes the shrinkage factor, denotes the first position search code randomly matched to the other first position search code, denotes the logarithm function, denotes a second random number between (0,1), and cos denotes the cosine function, denotes the circle constant.

6. The method of claim 5, wherein the step of detecting a leak in the outdoor natural gas pipeline is performed by a leak detection system. The first position search code after information exchange search is jump searched to obtain the first position search code after jump search, including: wherein, denotes the first position search code after the t denotes the first position search code after the k denotes the first position search code after the denotes the first position search code after the k denotes the first position search code after the denotes the jump search control coefficient, denotes the Cauchy variation, denotes the jump range parameter, e denotes the natural constant, denotes a second random number between (0,1), and sin denotes the sine function.

7. The method of claim 1, wherein, The search end condition is set as: when the first re-determined first optimal code, the second re-determined first optimal code or the third re-determined first optimal code corresponds to a natural gas concentration greater than a preset concentration threshold, the search end condition is met.

8. The method of claim 1, wherein, The cooperative search UAV is controlled to fly to the position corresponding to the corresponding first position search code, including: The line between the current position of the cooperative search UAV and the position corresponding to the corresponding first position search code is taken as the flight route; If there is another cooperative search UAV on the route, the flight height of the cooperative search UAV is raised from a default search height to a preset flight avoidance height, and after reaching the first position search code corresponding position, the flight height of the first position search code corresponding position is lowered to the default search height, otherwise the cooperative search UAV is directly controlled to fly to the corresponding first position search code corresponding position.

9. The method of claim 1, wherein, Also includes: After the first position search code changes, the first position search code is processed beyond the border.

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