Automatic repair methods, apparatus, equipment and storage media for volatile substance leaks

Abstract

This application discloses an automatic repair method, apparatus, equipment, and storage medium for volatile substance leaks, relating to the field of environmental remediation technology, aiming to solve the problems of low timeliness and safety in volatile substance leak repair. The method includes: acquiring gas distribution data and environmental parameters of the leak area through a drone swarm, the leak area being a region within a preset range around the leak point; identifying the chemical characteristics of the leaked substance based on the gas distribution data, and generating a sealing colloid with rheological and curing properties based on the environmental parameters; controlling a target drone to fly to the leak point and spraying the sealing colloid onto the leak point according to dynamic spraying parameters to form a dynamically adapted sealing layer on the surface of the leak point. The dynamic spraying parameters are obtained based on the configuration parameters of the sealing colloid and the environmental parameters, and the dynamically adapted sealing layer is a polymer composite structure whose curing rate is negatively correlated with the volatility of the leaked substance.

Description

Technical Field

[0001] This application relates to the field of environmental remediation technology, and in particular to an automatic remediation method, apparatus, equipment and storage medium for volatile substance leaks. Background Technology

[0002] Currently, for volatile substance leaks occurring in chemical production, oil and gas transportation, and storage facilities, traditional remediation methods mainly rely on manual plugging operations or chemical absorbent spraying. Manual plugging typically requires operators to directly contact the leak source and prevent the leak from spreading through physical isolation methods (such as installing plugging clamps and filling sealing materials); chemical absorption methods use spraying devices to cover the leak area with absorbents (such as activated carbon adsorption liquid and surfactant solutions), reducing the concentration of volatile substances through chemical adsorption or dissolution.

[0003] However, manual containment operations can cause injury to personnel and are inefficient; chemical absorption may generate secondary pollutants. Therefore, existing remediation methods offer limited timeliness and safety for volatile substance leak repair. Summary of the Invention

[0004] The purpose of this application is to provide an automatic repair method, apparatus, equipment and storage medium for volatile substance leaks, aiming to solve the problems of low timeliness and safety in volatile substance leak repair.

[0005] To achieve the above objectives, this application adopts the following technical solution:

[0006] This application provides an automatic repair method for volatile substance leaks. The method includes: acquiring gas distribution data and environmental parameters of the leak area through a drone swarm, wherein the leak area is a region within a preset range around the leak point; identifying the chemical characteristics of the leaked substance based on the gas distribution data and generating a sealing colloid with rheological and curing properties based on the environmental parameters; controlling a target drone to fly to the leak point and spraying the sealing colloid onto the leak point according to dynamic spraying parameters to form a dynamically adapted sealing layer on the surface of the leak point. The dynamic spraying parameters are obtained based on the configuration parameters of the sealing colloid and the environmental parameters. The dynamically adapted sealing layer is a polymer composite structure whose curing rate is negatively correlated with the volatility of the leaked substance.

[0007] The automated repair method for volatile substance leaks provided in this application utilizes a swarm of drones to rapidly collect data on the leak area, enabling precise location of the leak point and real-time acquisition of environmental parameters, providing dynamic decision-making support for subsequent repairs. A customized sealing colloid is generated based on chemical characteristics and environmental parameters, ensuring that the colloid's rheological properties are adapted to the irregular morphology of the leak point. The curing characteristics and environmental factors work synergistically to improve the efficiency and stability of the sealing layer formation. Precise colloid coverage is achieved through dynamic spray parameter control. The negative correlation between the curing rate and the volatility of the leaked substance allows the sealing layer to cure rapidly during periods of intense volatilization, effectively blocking the spread of the leak. The automated process eliminates the need for manual intervention in the leak area, shortening the response cycle and reducing personnel exposure risks, thereby improving the timeliness and safety of volatile substance leak repairs.

[0008] Furthermore, the aforementioned drone swarm includes a master drone and slave drones, and the aforementioned environmental parameters include terrain information and meteorological information; the acquisition of gas distribution data and environmental parameters of the leak area through the drone swarm includes: scanning the leak area with a lidar mounted on the master drone to generate terrain information; collecting meteorological information of the leak area, including wind direction, wind speed, temperature and humidity, through meteorological sensors mounted on the slave drones; and collecting gas distribution data of the leak area through a gas sensor array mounted on the slave drones.

[0009] Based on this, this application achieves data acquisition decoupling through the division of labor and cooperation between master and slave UAVs. The master UAV performs terrain modeling, while the slave UAVs acquire meteorological parameters and gas distribution in parallel, thereby improving the efficiency and accuracy of data acquisition in complex environments, providing multi-dimensional decision-making basis for subsequent colloidal formulation design, and helping to shorten the leakage response cycle.

[0010] Furthermore, the aforementioned chemical characteristics include material composition and volatility parameters. The process of identifying the chemical characteristics of the leaked substance based on gas distribution data and generating a sealing colloid in combination with environmental parameters includes: using near-infrared spectroscopy to analyze the molecular structure characteristics of the leaked substance in the gas distribution data to obtain the material composition and volatility parameters of the leaked substance; adjusting the mixing ratio of the two-component colloid according to the material composition and volatility parameters to obtain an initial colloid; and adjusting the configuration parameters of the initial colloid according to terrain information and meteorological information to obtain a sealing colloid. The configuration parameters include colloid viscosity and curing rate.

[0011] Based on this, this application achieves molecular-level characterization of leaked substances using near-infrared spectroscopy, dynamically adjusts the ratio of the two-component colloid to ensure precise matching of the initial colloid composition with the chemical properties of the leaked substances, and optimizes the colloid viscosity and curing rate by combining environmental parameters, thereby ensuring a deep fit between the sealing layer and the physicochemical properties of the leak scenario and enhancing sealing reliability.

[0012] Furthermore, the above configuration parameters also include the coefficient of thermal expansion. The automatic repair method for volatile substance leakage provided in this application embodiment further includes: constructing a three-dimensional model based on terrain information to display the shape, volume, and size of the leak point; determining the injection amount of the sealant based on the shape, volume, and size of the leak point; determining the injection speed and injection angle of the sealant based on the sealant viscosity, curing rate, coefficient of thermal expansion, wind direction, wind speed, and temperature and humidity; and generating dynamic injection parameters based on the injection amount, injection speed, and injection angle.

[0013] Based on this, this application achieves precise quantification of the injection volume by constructing a three-dimensional model of the leak point, compensates for the change in colloid volume by the expansion coefficient, and dynamically corrects the injection angle and speed in combination with meteorological conditions to avoid colloid drift and waste. This allows the dynamically adaptable sealing layer to maintain structural integrity under complex terrain and climate conditions, thereby improving the success rate of repair.

[0014] Furthermore, the aforementioned control of the target drone to fly to the leak point and spray sealant to the leak point according to dynamic spraying parameters includes: controlling the target drone to fly to a target position at a preset distance from the leak point, the preset distance being determined according to dynamic spraying parameters; at the target position, adjusting the spraying speed and spraying angle of multiple nozzles carried by the drone according to the dynamic spraying parameters; and controlling the multiple nozzles to spray sealant to the leak point according to the adjusted spraying speed and spraying angle until the spraying volume is reached.

[0015] Based on this, this application sets a safe spraying distance and configures a multi-nozzle collaborative control system. By dynamically adjusting the nozzle attitude in real time through spraying parameters, it ensures the safety of UAV operations while achieving precise coupling between the colloid coverage area and the morphology of the leakage point, reducing the need for manual intervention and enhancing the feasibility of construction in extreme environments.

[0016] Furthermore, the automatic repair method for volatile substance leakage provided in this application embodiment may also include: obtaining the integrity of the dynamically adapted sealing layer; monitoring the gas concentration of the leaked substance in the leak area when the integrity is greater than or equal to a preset safety threshold; and sending a manual repair command when the gas concentration is lower than the preset safety threshold.

[0017] Based on this, this application establishes a closed-loop feedback mechanism for sealing layer integrity assessment and gas concentration monitoring, which automatically triggers manual fine-tuning after automatic repair, thus avoiding monitoring blind spots that may occur during automatic repair and further ensuring the success rate of repair.

[0018] Furthermore, the automatic repair method for volatile substance leakage provided in this application embodiment may also include: when the integrity is less than a preset safety threshold, determining the supplementary spraying amount of sealant based on the integrity and the preset safety threshold; controlling multiple nozzles mounted on the target drone to spray sealant onto the dynamically adaptable sealing layer until the supplementary spraying amount is reached.

[0019] Based on this, even when the integrity of the dynamically adapted sealing layer is insufficient, this application can accurately calculate the amount of additional spraying to avoid wasting resources; at the same time, additional spraying can prevent leakage recurrence caused by local failure of the sealing layer, further improving safety.

[0020] This application provides an automatic repair device for volatile substance leaks. The device includes: an acquisition unit for acquiring gas distribution data and environmental parameters of the leak area via a drone swarm, the leak area being a region within a preset range around the leak point; a generation unit for identifying the chemical characteristics of the leaked substance based on the gas distribution data and generating a sealing colloid based on the environmental parameters, the sealing colloid having rheological and curing properties; and a control unit for controlling a target drone to fly to the leak point and spraying the sealing colloid onto the leak point according to dynamic spraying parameters to form a dynamically adapted sealing layer on the surface of the leak point, the dynamic spraying parameters being obtained based on the configuration parameters of the sealing colloid and the environmental parameters, the dynamically adapted sealing layer being a polymer composite structure whose curing rate is negatively correlated with the volatility of the leaked substance.

[0021] Furthermore, the aforementioned drone cluster includes a master drone and slave drones, and the aforementioned environmental parameters include terrain information and meteorological information; the aforementioned acquisition unit is specifically used to: scan the leak area using a lidar mounted on the master drone to generate terrain information; collect meteorological information of the leak area using meteorological sensors mounted on the slave drones, including wind direction, wind speed, temperature and humidity; and collect gas distribution data of the leak area using a gas sensor array mounted on the slave drones.

[0022] Furthermore, the aforementioned chemical characteristics include material composition and volatility parameters; the aforementioned generating unit is specifically used for: analyzing the molecular structure characteristics of the leaked substance in the gas distribution data using near-infrared spectroscopy to obtain the material composition and volatility parameters of the leaked substance; adjusting the mixing ratio of the two-component colloid according to the material composition and volatility parameters to obtain the initial colloid; and adjusting the configuration parameters of the initial colloid, including colloid viscosity and curing rate, according to terrain information and meteorological information to obtain the sealing colloid.

[0023] Furthermore, the above configuration parameters also include the coefficient of thermal expansion; the automatic repair device for volatile substance leakage provided in this application embodiment further includes: a processing unit, used to: construct a three-dimensional model of the leakage point based on terrain information, the three-dimensional model being used to display the shape, volume, and size of the leakage point; determine the injection amount of the sealing adhesive based on the shape, volume, and size of the leakage point; determine the injection speed and injection angle of the sealing adhesive based on the adhesive viscosity, curing rate, coefficient of thermal expansion, as well as wind direction, wind speed, and temperature and humidity; and generate dynamic injection parameters based on the injection amount, injection speed, and injection angle.

[0024] Furthermore, the aforementioned control unit is specifically used to: control the target drone to fly to a target position at a preset distance from the leak point, the preset distance being determined based on dynamic injection parameters; at the target position, adjust the injection speed and injection angle of multiple nozzles mounted on the drone according to the dynamic injection parameters; and control the multiple nozzles to spray sealing colloid onto the leak point according to the adjusted injection speed and injection angle until the required injection volume is reached.

[0025] Furthermore, the aforementioned acquisition unit is also used to acquire the integrity of the dynamically adaptable sealing layer; the aforementioned processing unit is also used to: monitor the gas concentration of the leaked substance in the leak area when the integrity is greater than or equal to a preset safety threshold; and send a manual repair command when the gas concentration is lower than a preset safety threshold.

[0026] Furthermore, the aforementioned processing unit is also used to determine the supplementary spraying amount of sealant based on the integrity and the preset safety threshold when the integrity is less than the preset safety threshold; the aforementioned control unit is also used to control multiple nozzles mounted on the UAV to spray sealant onto the dynamically adaptable sealing layer until the supplementary spraying amount is reached.

[0027] This application provides an electronic device, including: a processor; and a memory for storing processor-executable instructions; wherein the processor is configured to execute instructions to implement the automatic repair method for volatile substance leakage described above.

[0028] This application provides a computer-readable storage medium storing instructions that, when executed on a terminal, cause the terminal to perform the automatic repair method for volatile substance leakage described above.

[0029] This application provides a computer program product containing instructions that, when executed by a computer, cause the computer to perform the automatic repair method for volatile substance leakage described above.

[0030] This application provides a chip including a processor and a communication interface, the communication interface and the processor being coupled together. The processor is used to run computer programs or instructions to implement the automatic repair method for volatile substance leakage described above.

[0031] Specifically, the chip provided in this application embodiment also includes a memory for storing computer programs or instructions. Attached Figure Description

[0032] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 A flowchart of an automatic repair method for volatile substance leaks provided in this application;

[0034] Figure 2 A schematic diagram illustrating the application scenario of the automatic repair method for volatile substance leaks provided in this application;

[0035] Figure 3 A top view of a multi-nozzle drone used in an automated repair method for volatile substance leaks provided by this application;

[0036] Figure 4 A structural diagram of an automatic repair device for volatile substance leaks provided in this application;

[0037] Figure 5 This is a structural diagram of an electronic device provided in this application. Detailed Implementation

[0038] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0039] In the description of this application, it should be understood that the terms "upper," "lower," "left," "right," "front," "rear," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or relative positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and for simplification, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Unless otherwise specified, the above-mentioned orientational descriptions can be flexibly set in practical applications, provided that the relative positional relationships shown in the accompanying drawings are satisfied.

[0040] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0041] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "communication" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a direct connection or an indirect connection through an intermediate medium, or a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0042] In some embodiments, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, article, or apparatus that includes that element.

[0043] In some embodiments, the words "exemplary" or "for example" are used to indicate that something is an example, illustration, or illustration. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the words "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0044] In the description of this specification, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0045] Currently, for leaks occurring in chemical production, oil and gas transportation and storage facilities, traditional repair methods mainly rely on manual sealing operations or chemical absorbent spraying.

[0046] Traditional manual containment operations have stringent environmental requirements. In high-risk environments with high temperatures, high pressures, and excessive concentrations of toxic and harmful gases, direct personnel intervention may pose a risk of secondary injury. Furthermore, response time is limited by the on-site preparation period, making it difficult to meet the needs of rapid response. In addition, the effectiveness of chemical absorbents is greatly affected by the type of leaked substance, ambient temperature and humidity, and airflow conditions. They are not efficient at capturing complex components or highly volatile substances, and the absorbents themselves may generate secondary pollutants.

[0047] Therefore, traditional methods lack the ability to monitor and adaptively adjust the dynamic process of leakage in real time, and the repair effect is highly dependent on human experience, resulting in problems such as low repair safety and poor timeliness in complex leakage scenarios.

[0048] Against this backdrop, to address the issues of low timeliness and safety in the repair of volatile substance leaks in related technologies, this application provides an automated repair method, apparatus, equipment, and storage medium for volatile substance leaks. By replacing manual operation with unmanned aerial vehicles (UAVs), the risk of exposure to on-site personnel is reduced; by dynamically adjusting the repair strategy based on real-time monitoring data, the adaptability to different leak scenarios is improved; and by employing a synergistic physical and chemical repair mechanism, which considers both leak path sealing and pollutant degradation, repair efficiency and safety are significantly enhanced.

[0049] This application addresses the shortcomings of existing technologies by proposing the following design:

[0050] (1) Multi-dimensional data fusion and acquisition: Through the collaborative work of the main control UAV lidar and the subordinate UAV multi-sensor array, the three-dimensional modeling of the terrain in the leak area, real-time monitoring of meteorological parameters, and analysis of gas distribution are completed simultaneously, providing multi-dimensional dynamic data support of "terrain-meteorology-chemistry" for subsequent remediation decisions, and solving the problem of single dimension of traditional data acquisition.

[0051] (2) Sealant generation: A three-level customization mechanism of "near-infrared spectral analysis - two-component ratio adjustment - environmental parameter optimization" is adopted. Through the design of "curing rate is negatively correlated with the volatility of leaked substances", the sealant is accelerated to cure when high volatile substances leak and delayed to cure when low volatile substances leak, so as to ensure full filling.

[0052] (3) Dynamic injection parameter optimization: Based on the three-dimensional model of the leakage point and the multi-parameter coupling algorithm, the injection volume, injection speed and injection angle are calculated, and the complex morphology is fully covered by independent adjustment of multiple nozzles, which solves the problems of colloid waste and incomplete coverage caused by traditional fixed parameter injection.

[0053] (4) Sealing layer repair: Construct a closed-loop system of "spraying-monitoring-repairing-manual intervention". After the initial spraying is completed, conduct detection (identify 0.05mm level defects) and quantitative repair to reduce the leakage recurrence rate to below 0.5% and ensure the integrity of the sealing layer.

[0054] Thus, through the above-mentioned innovative design, this application has achieved a leap from "experience-driven" to "data-driven", from "fixed formula" to "dynamic adaptation", and from "open-loop operation" to "closed-loop control" in the repair of volatile substance leaks, improving the timeliness and safety of repairs and providing a brand-new technical solution for emergency response in high-risk leak scenarios.

[0055] The following is a reference. Figures 1 to 3 The automatic repair method for volatile substance leakage provided in the embodiments of this application is described.

[0056] Figure 1 This is a flowchart of an automatic repair method for volatile substance leaks provided in an embodiment of this application. The subject executing this method can be an electronic device or various devices / modules in the electronic device, such as integrated circuits or chips. This embodiment of the application does not specifically limit this.

[0057] For example, such as Figure 1 As shown, the automatic repair method for volatile substance leaks provided in this application embodiment may include the following steps S101 to S103:

[0058] S101. Obtain gas distribution data and environmental parameters of the leak area through a cluster of drones.

[0059] The leak area is defined as the area within a pre-defined range surrounding the leak point. Environmental parameters include topographic and meteorological information.

[0060] In some embodiments, the preset range can be a value set manually, which can be flexibly adjusted according to the actual situation.

[0061] For example, the preset range can be determined based on the nature of the leaked substance, the amount of leakage, and environmental factors. For instance, the preset range could be 5 meters.

[0062] For example, such as Figure 2 As shown, taking a preset range of 5 meters as an example, the leakage area can be region A corresponding to a circle with the leakage point X as the center and a radius of 5 meters.

[0063] In this embodiment, the drone swarm includes a master drone and slave drones. The master drone is the core of the drone swarm, responsible for coordinating and managing the work of the slave drones. The master drone is equipped with a high-performance processor and a lidar system, enabling it to perform complex calculation and navigation tasks. The slave drones are responsible for the specific data collection work. The slave drones can fly to designated areas to collect data according to the instructions of the master drone.

[0064] For example, during the data acquisition process, the master drone and the slave drone work together. The lidar carried by the master drone is responsible for scanning the leak area and generating detailed terrain information. Lidar is a sensor that uses lasers for ranging and imaging. It can acquire terrain information with high accuracy and resolution. The slave drone is equipped with a weather sensor and a gas sensor array, which is responsible for collecting weather information and gas distribution data in the leak area.

[0065] Furthermore, meteorological sensors can collect meteorological information such as wind direction, wind speed, temperature, and humidity in the leak area. Meteorological information can affect the diffusion and distribution of leaked substances. The gas sensor array consists of multiple gas sensors, each of which selectively responds to specific gas components. Through the gas sensor array, gas distribution data in the leak area can be collected, providing a basis for identifying the chemical characteristics of the leaked substances.

[0066] In one alternative implementation, terrain information can be generated by scanning the leak area using a lidar mounted on the main control drone.

[0067] For example, the lidar carried by the main control drone measures distance and azimuth by emitting laser pulses and receiving reflected signals from the leak area, generates detailed terrain information, and constructs a three-dimensional terrain model of the leak area.

[0068] In another alternative implementation, meteorological information about the leak area can be collected by meteorological sensors carried by a subordinate drone.

[0069] The meteorological information includes wind direction, wind speed, temperature, and humidity.

[0070] For example, after the subordinate drone arrives at the data collection area, it begins to collect data. The meteorological sensor collects meteorological information such as wind direction, wind speed, temperature, and humidity in real time, and transmits this information to the master drone via a wireless communication network.

[0071] In another alternative implementation, gas distribution data of the leak area can be collected by a gas sensor array carried by a subordinate drone.

[0072] For example, the gas sensor array carried by the subordinate drone collects gas distribution data. Each gas sensor has a selective response to a specific gas component. Through array design, multiple gas components can be detected simultaneously. The data collected by the gas sensor array is preprocessed (such as filtering and amplification) and then sent to the master drone through a wireless communication network.

[0073] In this embodiment of the application, after the drone swarm takes off, the master drone sends a mission command to the slave drones through a wireless communication network, specifying the data acquisition area and mission parameters for the slave drones. After receiving the mission command, the slave drones fly to the designated data acquisition area according to the command. During the flight, they use the onboard navigation system (such as an inertial navigation system) to perform autonomous navigation and positioning.

[0074] Thus, this application achieves data acquisition decoupling through the division of labor and cooperation between master and slave UAVs. The master UAV is dedicated to terrain modeling, while the slave UAVs acquire meteorological parameters and gas distribution in parallel, thereby improving the efficiency and accuracy of data acquisition in complex environments, providing multi-dimensional decision-making basis for subsequent colloidal formulation design, and helping to shorten the leakage response cycle.

[0075] S102. Identify the chemical characteristics of the leaked substance based on gas distribution data, and generate a sealing colloid in combination with environmental parameters.

[0076] Among them, the sealing colloid has rheological properties and curing properties; its chemical characteristics include material composition and volatility parameters.

[0077] In some embodiments, near-infrared spectroscopy can be used to analyze the molecular structure characteristics of the leaked substance in the gas distribution data to obtain the material composition and volatility parameters of the leaked substance, and the mixing ratio of the two-component colloid can be adjusted according to the material composition and volatility parameters to obtain the initial colloid.

[0078] In the embodiments of this application, near-infrared spectroscopy is a material composition analysis technique that can identify the composition of a substance by utilizing its absorption characteristics in the near-infrared band.

[0079] For example, the gas distribution data can be scanned using a near-infrared spectrometer to obtain the near-infrared spectrum of the leaked substance. Then, the near-infrared spectrum can be analyzed using chemometric methods to extract the material composition and volatility parameters of the leaked substance.

[0080] It should be noted that near-infrared spectrometers can distinguish and identify organic compounds with different absorption peaks. For example, a mixture of benzene (absorption peaks at approximately 900 nm and 1100 nm) and methanol (absorption peaks at approximately 970 nm and 1150 nm) can be identified by the spectral peak shifts.

[0081] Specifically, taking toluene as an example, a near-infrared spectrometer can be used to scan the leaked gas and obtain its near-infrared spectrum. Assuming a scanning time of 1 second and a spectral resolution of 1 nm, characteristic absorption peaks are extracted from the near-infrared spectrum. Assuming there are two obvious absorption peaks at 900 nm and 1100 nm, the spectrum is then compared with a standard spectral library to confirm that the leaked gas is toluene.

[0082] In the embodiments of this application, the two-component colloid is typically composed of two or more chemical substances that react chemically to form a colloid with specific properties.

[0083] For example, taking toluene as an identified substance. After identifying the toluene component and its corresponding volatility parameters, since toluene is a volatile organic compound, a two-component colloid containing components with strong adsorption properties (such as activated carbon and diatomaceous earth) can be selected first. Then, the mixing ratio of the two-component colloid can be adjusted according to the volatility parameters to ensure that the colloid can effectively adsorb or fix the leaked toluene.

[0084] Specifically, taking a two-component colloid of activated carbon and diatomaceous earth as an example. The default mixing ratio of the two-component colloid is 1:1. Since toluene is highly volatile and will spread rapidly after leakage, the colloid needs to have a faster adsorption rate and a stronger adsorption capacity. To this end, the proportion of activated carbon can be increased to improve the speed and efficiency of physical adsorption, such as adjusting it to activated carbon:diatomaceous earth = 2:1 (mass ratio).

[0085] Optionally, since environmental parameters (such as terrain and meteorological information) can also affect the performance of the sealant, the initial sealant configuration parameters need to be adjusted in conjunction with these environmental parameters when generating the sealant.

[0086] Furthermore, the configuration parameters of the initial colloid can be adjusted based on terrain and meteorological information to obtain a sealing colloid.

[0087] The configuration parameters include colloidal viscosity, curing rate, and coefficient of expansion.

[0088] In the embodiments of this application, the viscosity of the colloid refers to the flow resistance of the colloid, which affects the spray performance and coverage of the colloid; the curing rate refers to the speed at which the colloid changes from a liquid to a solid state, which affects the curing time and sealing effect of the colloid; the coefficient of expansion refers to the proportion of volume expansion of the colloid during the curing process, which affects the sealing performance and compatibility with the leakage point of the colloid.

[0089] For example, the viscosity and coefficient of expansion of the colloid can be adjusted based on terrain information. For instance, in areas with complex terrain, the viscosity and coefficient of expansion of the colloid can be increased to improve its anti-sagging and sealing properties.

[0090] Furthermore, the curing rate of the colloid can be adjusted based on meteorological information. For example, in low-temperature and high-humidity environments, the curing rate of the colloid can be appropriately accelerated to shorten the curing time and improve the sealing effect.

[0091] Thus, this application achieves molecular-level characterization of leaked substances based on near-infrared spectroscopy, dynamically adjusts the ratio of the two-component colloid to ensure precise matching of the initial colloid composition with the chemical properties of the leaked substances, and optimizes the colloid viscosity and curing rate by combining environmental parameters, thereby ensuring a deep fit between the sealing layer and the physicochemical properties of the leak scenario and enhancing sealing reliability.

[0092] S103. Control the target drone to fly to the leak point and spray the sealing compound onto the leak point according to the dynamic spraying parameters to form a dynamically adaptable sealing layer on the surface of the leak point.

[0093] In this embodiment, the dynamic spraying parameters are obtained based on the configuration parameters of the sealant and environmental parameters.

[0094] In some embodiments, a three-dimensional model showing the shape, volume, and size of the leak point can be constructed based on terrain information, and the amount of sealant sprayed can be determined based on the shape, volume, and size of the leak point; and the spraying speed and spraying angle of the sealant can be determined based on the sealant viscosity, curing rate, expansion coefficient, wind direction, wind speed, and temperature and humidity.

[0095] For example, terrain information obtained by scanning with a master-controlled UAV can be used to construct an initial 3D model of the leak point through a 3D reconstruction algorithm. Then, the initial 3D model can be smoothed and noise points removed to improve the accuracy and reliability of the model, so as to reflect information such as the shape, volume and size of the leak point.

[0096] Furthermore, the theoretical spray volume of the sealant is calculated based on its shape, volume, and size, so that the spray volume can ensure that the sealant can completely cover the surface of the leak point after curing.

[0097] In addition, due to factors such as possible losses and errors during the actual spraying process, the redundancy of the spray volume can be appropriately increased to ensure that the leak point is fully sealed.

[0098] For example, the optimal spraying speed and spraying angle of the sealant can be determined by fluid dynamics calculations based on physical property parameters such as viscosity and curing rate of the colloid, as well as environmental parameters such as wind direction and wind speed, so that the sealant can be accurately sprayed onto the surface of the leak point and form a uniform sealing layer.

[0099] Furthermore, during the actual spraying process, the spraying speed and spraying angle can be dynamically adjusted and optimized based on real-time monitoring of the sealing colloid spraying situation and the sealing effect at the leakage point.

[0100] Furthermore, dynamic injection parameters are generated based on the injection volume, injection speed, and injection angle.

[0101] Thus, this application achieves precise quantification of the injection volume by constructing a three-dimensional model of the leak point, compensates for the volume change of the colloid by the expansion coefficient, and dynamically corrects the injection angle and speed in combination with meteorological conditions to avoid the colloid drifting and waste. This allows the dynamically adaptable sealing layer to maintain structural integrity under complex terrain and climate conditions, thereby improving the success rate of repair.

[0102] In this embodiment, the dynamically adaptable sealing layer is a polymer composite structure whose curing rate is negatively correlated with the volatility of the leaked substance. For example, the dynamically adaptable sealing layer can accelerate curing when the leaked substance is highly volatile.

[0103] In this embodiment of the application, the target drone is a drone outside the drone swarm, and the target drone is equipped with multiple nozzles and a storage tank for storing sealing colloid.

[0104] In some embodiments, the flight path of the target drone can be determined first based on the location of the target drone and the location of the leak point.

[0105] For example, the target drone can be controlled to fly to a target location at a preset distance from the leak point.

[0106] The preset distance is determined based on dynamic spraying parameters. This preset distance ensures the colloid is accurately sprayed onto the leak point surface and prevents the target drone from colliding with the leak point or other obstacles.

[0107] Furthermore, after the drone flies to the target location, the spray speed and spray angle of the multiple nozzles carried by the drone can be adjusted at the target location according to the dynamic spray parameters.

[0108] For example, such as Figure 3 As shown, taking multiple nozzles, including four nozzles (nozzle 1, nozzle 2, nozzle 3, and nozzle 4), with each nozzle's spray angle defaulting to vertically downwards, as an example, based on dynamic spray parameters, if nozzle 1 is located east of leak point X, nozzle 2 is located south of leak point X, nozzle 3 is located west of leak point X, and nozzle 4 is located north of leak point X, then the spray angle of nozzle 1 can be adjusted westwards to face leak point X, the spray angle of nozzle 2 can be adjusted northwards to face leak point X, the spray angle of nozzle 3 can be adjusted eastwards to face leak point X, and the spray angle of nozzle 4 can be adjusted southwards to face leak point X.

[0109] For example, after the adjustment is completed, multiple nozzles are controlled to spray sealing colloid onto the leak point according to the adjusted spray speed and spray angle until the spray volume is reached.

[0110] In the automated repair method for volatile substance leaks provided in this application, a drone swarm rapidly collects data on the leak area, enabling precise location of the leak point and real-time acquisition of environmental parameters, providing dynamic decision-making support for subsequent repairs. A customized sealing colloid is generated based on chemical characteristics and environmental parameters, ensuring that the colloid's rheological properties match the irregular morphology of the leak point. The curing properties and environmental factors work synergistically to improve the efficiency and stability of the sealing layer formation. Precise colloid coverage is achieved through dynamic spray parameter control. The negative correlation between the curing rate and the volatility of the leaked substance allows the sealing layer to cure rapidly during periods of intense volatilization, effectively blocking the spread of the leak. This automated approach eliminates the need for manual intervention in the leak area, shortening the response cycle and reducing personnel exposure risks, thereby improving the timeliness and safety of volatile substance leak repairs.

[0111] Optionally, after the dynamic adapting sealing layer is formed by spraying, the automatic repair of volatile substance leakage provided in this application embodiment may further include: obtaining the integrity of the dynamic adapting sealing layer.

[0112] For example, the sealing layer can be dynamically adapted using an infrared thermal imaging array and a lidar scanner to construct a three-dimensional thermo-morphological coupled detection model. Then, the surface temperature distribution characteristics of the dynamically adapted sealing layer can be analyzed using a spectrum analysis algorithm. Combined with point cloud data reconstruction technology, microcracks of 0.05 mm and pores with a diameter greater than 0.3 mm can be detected simultaneously.

[0113] Furthermore, the integrity of the dynamic adapting sealing layer can be determined based on the ratio of the total area of ​​microcracks and pores to the surface area of ​​the dynamic adapting sealing layer.

[0114] In one optional implementation, if the integrity is greater than or equal to a preset safety threshold, the gas concentration of the leaked substance in the leak area is monitored, and if the gas concentration is lower than the preset safety threshold, a manual repair instruction is sent.

[0115] Both the preset safety threshold and the preset safety threshold can be manually set values, which can be flexibly adjusted according to actual conditions. For example, the preset safety threshold can be 98%; the preset safety threshold can be 5%.

[0116] For example, taking a preset safety threshold of 98% and a preset safety threshold of 5% as examples. If the calculated integrity of the dynamically adaptable sealing layer is 99%, the gas concentration of the leaked substance can be collected by a gas concentration sensor. If the gas concentration is 3%, a repair command can be sent to the maintenance personnel's terminal device so that the maintenance personnel can repair the leak point after receiving the repair command.

[0117] Thus, by establishing a closed-loop feedback mechanism for assessing the integrity of the sealing layer and monitoring gas concentration, this application automatically triggers manual fine-tuning after automatic repair, which not only avoids monitoring blind spots that may occur during automatic repair, but also further ensures the success rate of repair.

[0118] In another alternative implementation, if the integrity is less than a preset safety threshold, the amount of additional sealant sprayed is determined based on the integrity and the preset safety threshold, and multiple nozzles mounted on the target UAV are controlled to spray sealant onto the dynamically adaptable sealing layer until the additional spray amount is reached.

[0119] For example, taking a preset safety threshold of 98% as an example. If the calculated integrity of the dynamically adaptable sealing layer is 90%, the supplementary spray amount of the sealing colloid can be calculated based on the difference of 8% between the integrity and the preset safety threshold. Then, the target drone is controlled to fly to the target position, and multiple nozzles are used to spray the sealing colloid corresponding to the supplementary spray amount onto the dynamically adaptable sealing layer.

[0120] Thus, even when the integrity of the dynamically adaptable sealing layer is insufficient, this application can still perform precise calculations of the supplementary spray volume, avoiding resource waste; at the same time, supplementary spraying can prevent leakage recurrence caused by local failure of the sealing layer, further improving safety.

[0121] Optionally, the electronic devices and physical components involved in the embodiments of this application (such as drones, sensors carried by drones, nozzles, near-infrared spectrometers, etc.) are all anti-static and explosion-proof devices, and will not generate static electricity, open flames, electric sparks or other ignition sources during actual operation.

[0122] Thus, by using anti-static and explosion-proof equipment, this application avoids the occurrence of fires, explosions, and other hazards caused by static electricity or other ignition sources generated during operation, thereby improving production safety.

[0123] To further verify the practical advantages of this application, the following two specific application scenarios will be used as examples:

[0124] Scenario 1: Repair of benzene series leakage in chemical storage tank.

[0125] When a benzene-related substance leaks from a chemical storage tank, the drone swarm responds immediately: the main drone can complete a terrain scan of the leak area (e.g., a radius of 5 meters) within 3 minutes using lidar, and construct a 3D model of the leak point on the outer wall of the storage tank (e.g., an irregular crack with a depth of 2 mm and an area of ​​15 cm²); the three subordinate drones simultaneously collect meteorological data (e.g., wind speed of 3 m / s, wind direction of northeast, temperature of 25℃, and humidity of 60%) and gas distribution data, and determine the leaked substance as benzene through near-infrared spectral analysis, with a volatility parameter of 0.92.

[0126] Then, based on the test results, the custom colloid process was initiated: due to the high volatility of benzene, the mixing ratio of the two-component colloid (such as component A epoxy resin and component B amine curing agent) was adjusted to A:B=1.2:1 (default ratio 1:1) to accelerate curing; combined with the characteristics of terrain cracks and meteorological parameters, the viscosity of the colloid was adjusted to 8000mPa·s (default 6000mPa·s) to prevent sagging, the coefficient of expansion was set to 1.2 (default 1.0) to ensure crack filling, and the curing rate was optimized to surface dry in 3 minutes (conventional colloids require 8 minutes), achieving a dynamic adaptation of "high volatility - fast curing".

[0127] Finally, the target drone is driven to a safe distance calculated based on the spraying parameters (e.g., 1.5 meters above the leak point). The four nozzles adjust their angles according to the 3D model data (e.g., the east nozzle tilts 15° west and the north nozzle tilts 10° south), precisely spraying a 120ml volume of sealing compound at a spraying speed of 5m / s. After spraying, infrared thermal imaging shows a 99.8% integrity of the sealing layer. 30 minutes later, the gas sensor detects a decrease in benzene concentration from the initial 2000ppm to 50ppm (the safety threshold is 100ppm). The system automatically sends a manual re-inspection command, completing the entire repair process.

[0128] Scenario 2: Methanol leak repair under low temperature and high humidity conditions.

[0129] In a low-temperature (5℃) and high-humidity (85%) winter environment, a pipeline leaked methanol with a volatility parameter of 0.75. Data collected by a drone swarm showed that the leak point was a 3mm diameter circular hole at the pipeline interface, with a wind speed of 1m / s and flat terrain.

[0130] In the colloid generation stage, to address the low-temperature and high-humidity characteristics, the mixing ratio of the two-component colloid is adjusted to A:B = 0.9:1 to delay curing and prevent cracking caused by excessively rapid curing at low temperatures. The viscosity is increased to 10000 mPa·s to enhance adhesion, and the coefficient of thermal expansion of 1.1 is suitable for filling round holes. Dynamic spraying parameters are calculated as follows: spray volume 80 ml, spray speed 3 m / s, and due to the flat terrain, the nozzle is positioned vertically downwards, with a safe spraying distance of 1.2 meters.

[0131] Integrity testing after spraying revealed a 0.1mm microcrack at the edge of the sealing layer (integrity 97%, less than the preset safety threshold of 98%). An additional 5ml of spray was immediately calculated, and after a second spray from the drone, the integrity improved to 99.5%. Two hours later, the methanol concentration dropped from 1500ppm to 30ppm, meeting safety requirements.

[0132] Thus, this application achieves accurate modeling of leakage scenarios through multi-dimensional collaborative data collection by a drone swarm. The dynamic colloid customization technology based on chemical characteristics and environmental parameters solves the adaptation problem of traditional fixed formulas. The dynamic injection parameter optimization and closed-loop monitoring mechanism ensure repair efficiency and safety.

[0133] The above primarily describes the solutions provided by the embodiments of this application from a methodological perspective. To achieve the above functions, the automatic repair device or electronic device for volatile substance leaks includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should readily recognize that, based on the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0134] 1. Specific relationships between various parameters and injection speed

[0135] Colloidal viscosity (μ): The higher the viscosity, the stronger the flow resistance of the colloidal substance, and the spraying speed needs to be reduced to avoid splashing or clogging. It is negatively correlated.

[0136] Curing rate (vs): The faster the curing, the more likely the coating needs to be completed before the colloid cures, and the spraying speed needs to be increased accordingly. They are positively correlated.

[0137] Expansion coefficient (k): The larger the expansion coefficient, the more obvious the volume expansion after the colloid is cured. It can reduce the spraying speed and reduce the initial dosage, showing a negative correlation.

[0138] Wind direction (θw) and wind speed (vw): When facing a headwind, the colloid is easily dispersed, so the injection speed needs to be increased to counteract wind resistance; when facing a tailwind, the speed can be reduced, and the greater the wind speed, the greater the correction range.

[0139] Temperature and humidity (T, H): Low temperature (low T) will increase viscosity and slow down curing, so the spraying speed needs to be reduced; high humidity (high H) will reduce the adhesion of the colloid, so the speed needs to be increased appropriately. Temperature and humidity indirectly affect the spraying speed by modifying viscosity and curing rate.

[0140] 2. Specific relationships between various parameters and injection angle

[0141] Colloidal viscosity (μ): The higher the viscosity, the less likely the colloid will flow, and the spray angle can be closer to vertical; the lower the viscosity, the greater the spray angle needs to be (tilted towards the leak point) to avoid loss.

[0142] Curing rate (vs): The faster the curing, the smaller the spray angle needs to be to shorten the colloid flight time and avoid mid-curing; when the curing is slower, the angle can be increased to expand the coverage area.

[0143] Expansion coefficient (k): When the expansion coefficient is large, the injection angle can be slightly larger to fill the gaps with expansion; when the coefficient is small, the angle needs to be reduced to accurately focus on the leak point.

[0144] Wind direction (θw) and wind speed (vw): Adjust the angle according to the wind direction, and deflect to the side of the leak point when facing the wind (the angle correction is positively correlated with the wind speed) to prevent the colloid from being blown away from the target area.

[0145] Temperature and humidity (T, H): Low temperature and high humidity will reduce the fluidity and adhesion of the colloid, so the spray angle needs to be reduced to enhance the adhesion; at high temperature and low humidity, the angle can be appropriately increased.

[0146] 3. Parameter Coupling Formula

[0147]

[0148] 3.1 Formula for calculating injection speed (vj)

[0149] Symbol explanation:

[0150] vj0: Baseline injection speed (default value, preset according to the scenario, such as 5m / s);

[0151] kμ: Viscosity correction factor (constant, default 8000 mPa·s);

[0152] μ: Actual colloidal viscosity (unit: mPa·s);

[0153] vs: Curing rate (unit: mm / min, surface drying rate);

[0154] k: Expansion coefficient (dimensionless, default 1.0).

[0155] kw: Wind speed correction factor (constant, default 0.1 s / m);

[0156] vw: Wind speed (unit: m / s);

[0157] θw: The angle between the wind direction and the jet direction (unit: °, θw=180°, cosθw=−1 when facing the wind; θw=0°, cosθw=1 when facing the wind).

[0158] Temperature and humidity correction function =1+0.01×(25−T)−0.005×(H−60) (T unit: ℃, H unit: % RH, default baseline: 25℃, 60% RH).

[0159] 3.2 Formula for calculating injection angle ( )

[0160]

[0161] Symbol explanation:

[0162] : Baseline spray angle (default 90°, vertical spray);

[0163] Viscosity angle correction factor (constant, default 5°);

[0164] : Curing rate angle correction factor (constant, default 10 mm·min / °);

[0165] : Expansion coefficient angle correction factor (constant, default 8°);

[0166] : Wind speed angle correction factor (constant, default 2°·s / m);

[0167] The angle result must be limited to between 30° and 120° (to ensure that the colloid covers the leak point).

[0168] This application embodiment can, based on the above method, exemplarily divide an automatic repair device or electronic device for volatile substance leaks into functional modules. For example, the automatic repair device or electronic device for volatile substance leaks may include functional modules corresponding to each functional division, or two or more functions may be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. It should be noted that the module division in this application embodiment is illustrative and only represents one logical functional division; in actual implementation, there may be other division methods.

[0169] Figure 4 This is a structural diagram of an automatic repair device for volatile substance leaks provided in an embodiment of this application. The automatic repair device 400 for volatile substance leaks includes: an acquisition unit 401, a generation unit 402, and a control unit 403.

[0170] The system comprises: an acquisition unit 401, used to acquire gas distribution data and environmental parameters of the leak area through a cluster of drones, the leak area being a region within a preset range around the leak point; a generation unit 402, used to identify the chemical characteristics of the leaked substance based on the gas distribution data and generate a sealing colloid based on the environmental parameters, the sealing colloid having rheological and curing properties; and a control unit 403, used to control the target drone to fly to the leak point and spray the sealing colloid onto the leak point according to dynamic spraying parameters to form a dynamically adapted sealing layer on the surface of the leak point, the dynamic spraying parameters being obtained based on the configuration parameters of the sealing colloid and environmental parameters, the dynamically adapted sealing layer being a polymer composite structure whose curing rate is negatively correlated with the volatility of the leaked substance.

[0171] In some embodiments, the aforementioned drone cluster includes a master drone and slave drones, and the aforementioned environmental parameters include terrain information and meteorological information; the aforementioned acquisition unit 401 is specifically used to: scan the leak area using a lidar mounted on the master drone to generate terrain information; collect meteorological information of the leak area using a meteorological sensor mounted on the slave drone, the meteorological information including wind direction, wind speed, temperature and humidity; and collect gas distribution data of the leak area using a gas sensor array mounted on the slave drone.

[0172] In some embodiments, the aforementioned chemical characteristics include material composition and volatility parameters; the aforementioned generating unit 402 is specifically used to: analyze the molecular structure characteristics of the leaked substance in the gas distribution data using near-infrared spectroscopy to obtain the material composition and volatility parameters of the leaked substance; adjust the mixing ratio of the two-component colloid according to the material composition and volatility parameters to obtain an initial colloid; adjust the configuration parameters of the initial colloid according to terrain information and meteorological information to obtain a sealing colloid, wherein the configuration parameters include colloid viscosity and curing rate.

[0173] In some embodiments, the above configuration parameters further include the coefficient of thermal expansion; the automatic repair device for volatile substance leakage provided in this application embodiment further includes: a processing unit, configured to: construct a three-dimensional model based on terrain information to display the shape, volume, and size of the leak point; determine the injection amount of the sealant based on the shape, volume, and size of the leak point; determine the injection speed and injection angle of the sealant based on the sealant viscosity, curing rate, coefficient of thermal expansion, wind direction, wind speed, and temperature and humidity; and generate dynamic injection parameters based on the injection amount, injection speed, and injection angle.

[0174] In some embodiments, the control unit 403 is specifically used to: control the target drone to fly to a target position at a preset distance from the leak point, the preset distance being determined according to dynamic injection parameters; at the target position, adjust the injection speed and injection angle of multiple nozzles carried by the drone according to the dynamic injection parameters; and control the multiple nozzles to spray sealing colloid onto the leak point according to the adjusted injection speed and injection angle until the injection volume is reached.

[0175] In some embodiments, the acquisition unit 401 is further configured to acquire the integrity of the dynamically adaptable sealing layer; the processing unit is further configured to: monitor the gas concentration of the leaked substance in the leak area when the integrity is greater than or equal to a preset safety threshold; and send a manual repair instruction when the gas concentration is lower than the preset safety threshold.

[0176] In some embodiments, the processing unit is further configured to determine the supplementary spraying amount of sealant based on the integrity and the preset safety threshold when the integrity is less than the preset safety threshold; the control unit 403 is further configured to control multiple nozzles mounted on the target UAV to spray sealant onto the dynamically adaptable sealing layer until the supplementary spraying amount is reached.

[0177] In the automatic volatile substance leakage repair device provided in this application embodiment, a drone swarm rapidly collects data on the leakage area, achieving precise location of the leak point and real-time acquisition of environmental parameters, providing dynamic decision-making basis for subsequent repairs. A customized sealing colloid is generated based on chemical characteristics and environmental parameters, ensuring that the colloid's rheological properties match the irregular morphology of the leak point. The curing characteristics and environmental factors work synergistically to improve the efficiency and stability of the sealing layer formation. Precise colloid coverage is achieved through dynamic spray parameter control. The negative correlation between the curing rate and the volatility of the leaked substance allows the sealing layer to cure rapidly during periods of intense volatilization, effectively blocking the leakage spread. This automated approach eliminates the need for manual intervention in the leak area, shortening the response cycle and reducing personnel exposure risks, thereby improving the timeliness and safety of volatile substance leakage repair.

[0178] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0179] Figure 5 This is a structural diagram of an electronic device provided in an embodiment of this application. Figure 5 As shown, the electronic device 500 includes, but is not limited to, a processor 501 and a memory 502.

[0180] The memory 502 described above is used to store the executable instructions of the processor 501. It is understood that the processor 501 is configured to execute instructions to implement the automatic repair method for volatile substance leaks in the above embodiments.

[0181] It should be noted that those skilled in the art will understand that Figure 5 The electronic device structure shown does not constitute a limitation on the electronic device; the electronic device may include, but is not limited to, other electronic devices. Figure 5 This may indicate more or fewer components, or a combination of certain components, or a different arrangement of components.

[0182] Processor 501 is the control center of the electronic device. It connects various parts of the electronic device via various interfaces and lines. By running or executing software programs and / or modules stored in memory 502, and by calling data stored in memory 502, it performs various functions and processes data, thereby providing overall monitoring of the electronic device. Processor 501 may include one or more processing units. Optionally, processor 501 may integrate an application processor and a modem processor. The application processor mainly handles the operating system, user interface, and applications, while the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into processor 501.

[0183] The memory 502 can be used to store software programs and various data. The memory 502 may primarily include a program storage area and a data storage area. The program storage area may store the operating system, application programs required by at least one functional module (such as a determination unit, processing unit, etc.), etc. Furthermore, the memory 502 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0184] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 502 including instructions, which can be executed by a processor 501 of an electronic device 500 to implement the automatic repair method for volatile substance leakage in the above embodiments.

[0185] In actual implementation, Figure 4 The steps performed by the acquisition unit 401, generation unit 402, and control unit 403 can all be performed by... Figure 5 The processor 501 calls the computer program stored in the memory 502 to implement the process. The specific execution process can be found in the method section of the previous embodiment, and will not be repeated here.

[0186] Optionally, the computer-readable storage medium may be a non-transitory computer-readable storage medium, such as a read-only memory (ROM), random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device.

[0187] In an exemplary embodiment, this application also provides a computer program product including one or more instructions, which can be executed by the processor 501 of an electronic device to complete the automatic repair method for volatile substance leakage in the above embodiments.

[0188] It should be noted that when one or more instructions in the computer-readable storage medium or computer program product are executed by the processor of an electronic device, they implement the various processes of the above method embodiments and achieve the same technical effect as the above method. To avoid repetition, they will not be described again here.

[0189] Through the above description of the embodiments, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0190] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another apparatus, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0191] The units described as separate components may or may not be physically separate. A component shown as a unit can be one or more physical units; that is, it can be located in one place or distributed in multiple different locations. Some or all of the classified units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0192] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0193] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiments of this application, essentially, or the part that contributes to the prior art, or a complete or partial classification of the technical solution, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0194] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An automatic repair method for volatile substance leaks, characterized in that, The method includes: Gas distribution data and environmental parameters of the leak area are obtained by a drone swarm, where the leak area is the area within a preset range around the leak point. Based on the gas distribution data, the chemical characteristics of the leaked substance are identified, and a sealing colloid is generated in combination with the environmental parameters. The sealing colloid has rheological and curing properties. The target drone is controlled to fly to the leak point and spray the sealant onto the leak point according to dynamic spraying parameters to form a dynamically adapted sealing layer on the surface of the leak point. The dynamic spraying parameters are obtained based on the configuration parameters of the sealant and the environmental parameters. The dynamically adapted sealing layer is a polymer composite structure whose curing rate is positively correlated with the volatility of the leaked substance. The chemical characteristics include material composition and volatility parameters. The process of identifying the chemical characteristics of the leaked substance based on the gas distribution data and generating a sealing colloid in conjunction with the environmental parameters includes: Near-infrared spectroscopy was used to analyze the molecular structure characteristics of the leaked substance in the gas distribution data to obtain the substance composition and volatility parameters of the leaked substance. The mixing ratio of the two-component colloid is adjusted according to the substance composition and the volatility parameter to obtain the initial colloid; The initial colloid configuration parameters are adjusted according to the terrain information and the meteorological information to obtain the sealing colloid. The configuration parameters include colloid viscosity and curing rate. The configuration parameters also include the expansion coefficient, and further include: A three-dimensional model is constructed based on the terrain information to show the shape, volume, and size of the leak point; The injection volume of the sealing colloid is determined based on the shape, volume, and size of the leak point; The spraying speed and spraying angle of the sealing colloid are determined based on the colloid viscosity, the curing rate, the expansion coefficient, the wind direction, the wind speed, and the temperature and humidity. The dynamic injection parameters are generated based on the injection volume, the injection speed, and the injection angle. The environmental parameters include terrain information and meteorological information; the meteorological information includes wind direction, wind speed, temperature and humidity.

2. The automatic repair method for volatile substance leaks according to claim 1, characterized in that, The drone swarm includes a master drone and slave drones; the acquisition of gas distribution data and environmental parameters of the leak area through the drone swarm includes: The leak area is scanned by the lidar mounted on the main control drone to generate the terrain information; The meteorological information of the leak area is collected by the meteorological sensors carried by the subordinate drone; Gas distribution data of the leak area are collected by a gas sensor array carried by the subordinate UAV.

3. The automatic repair method for volatile substance leaks according to claim 1, characterized in that, The controlled target drone flies to the leak point and sprays the sealant to the leak point according to dynamic spraying parameters, including: The target drone is controlled to fly to a target location at a preset distance from the leak point, the preset distance being determined based on the dynamic injection parameters; At the target location, the spray speed and spray angle of the multiple nozzles mounted on the UAV are adjusted according to the dynamic spray parameters; According to the adjusted spray speed and spray angle, the multiple nozzles are controlled to spray the sealing colloid towards the leak point until the spray volume is reached.

4. The automatic repair method for volatile substance leaks according to any one of claims 1 to 3, characterized in that, The method further includes: Obtain the integrity of the dynamically adapted sealing layer; If the integrity level is greater than or equal to a preset safety threshold, monitor the gas concentration of the leaked substance in the leak area; If the gas concentration is lower than the preset safety threshold, a manual repair command is sent.

5. The automatic repair method for volatile substance leaks according to claim 4, characterized in that, The method further includes: If the integrity is less than the preset safety threshold, the amount of additional sealant sprayed is determined based on the integrity and the preset safety threshold. The target drone is controlled to spray the sealing colloid onto the dynamically adaptable sealing layer through multiple nozzles until the additional spray volume is reached.

6. An automatic repair device for volatile substance leaks, wherein the automatic repair device for volatile substance leaks is used to implement the automatic repair method for volatile substance leaks according to any one of claims 1 to 5, characterized in that, include: The acquisition unit is used to acquire gas distribution data and environmental parameters in the leak area through a cluster of drones. The generation unit is used to identify the chemical characteristics of the leaked substance based on the gas distribution data and generate a sealing colloid in combination with the environmental parameters; The control unit is used to control the target drone to fly to the leak point and spray the sealant onto the leak point according to dynamic spraying parameters to form a dynamically adaptable sealing layer on the surface of the leak point.

7. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to execute the instructions to implement the automatic repair method for volatile substance leakage as described in any one of claims 1 to 5.

8. A computer-readable storage medium storing instructions, characterized in that, When the computer executes the instruction, the computer performs the automatic repair method for volatile substance leakage as described in any one of claims 1 to 5.

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