System and method for routing inspection of coal gas dangerous area

Abstract

The invention belongs to the technical field of metallurgy safety monitoring, and particularly discloses a system and method for routing inspection of a gas dangerous area, and the system comprises an anti-explosion unmanned aerial vehicle body, an environment sensing module, a positioning navigation module, a data processing module and a ground terminal module. The environment sensing module, the positioning navigation module and the data processing module are all interlocked with the ground terminal module; an inspection task is planned and safety parameters are set through the ground terminal, the explosion-proof unmanned aerial vehicle autonomously executes flight inspection, collects environment gas, images and position data in real time and returns and analyzes the environment gas, images and position data, the system judges abnormity in real time according to a preset threshold value and triggers emergency response, and a digital inspection report is automatically generated after the task is completed. According to the invention, unmanned and automatic inspection of a high-risk area is realized, personnel safety is fundamentally guaranteed, meanwhile, through accurate data acquisition and real-time analysis, the leakage detection efficiency and the emergency response speed are remarkably improved, and an objective and traceable decision basis is provided for safety management.

Description

Technical Field

[0001] This invention relates to the field of metallurgical safety monitoring technology, specifically to a system and method for inspecting hazardous areas of coal gas. Background Technology

[0002] Gas hazard areas encompass areas prone to gas leaks, such as the blast furnace tuyeres and above, hot blast stoves, pulverized coal heating furnaces, converter furnaces and above, the upper part of the gas holder piston, sintering igniters, pelletizing lime rotary kilns, and areas near burners in gas-fired power generation boilers. These areas are quite extensive due to the involvement of various electrical, mechanical, and hydraulic equipment and facilities.

[0003] Chinese patent CN115762051A discloses a “Comprehensive Prevention and Control System for Personnel and Equipment in a Coke Oven Gas-to-Ammonia Synthesis Area”, which adopts computer information edge technology and integrates multiple strategies such as video surveillance, personnel identification and positioning, smart IoT, and back-end analysis. It can realize real-time monitoring and early warning of the activity trajectory of various personnel and the operating status of various equipment in the area of ​​the coke oven gas-to-LNG co-production ammonia unit.

[0004] However, current technology still requires on-site personnel to conduct inspections and safety checks in hazardous gas areas. Due to the large area and complex equipment in hazardous gas areas, on-site workers face significant safety risks, including potential carbon monoxide poisoning from gas leaks, or explosions and fires when gas levels reach their explosive limits, seriously threatening their safety. Furthermore, the vast area requires substantial manpower and time for inspections and safety checks, resulting in lower overall operational efficiency. Summary of the Invention

[0005] The purpose of this invention is to provide a system and method for inspecting hazardous areas of coal gas, in order to solve the problem that workers face significant safety risks when conducting inspections in high-risk coal gas areas, including the possibility of coal gas poisoning due to coal gas leakage, explosions when the coal gas leakage reaches the explosion limit, and the risk of combustion and explosion accidents, which threaten the personal safety of workers.

[0006] To achieve the above objectives, the basic solution provided by this invention is: a system for inspecting hazardous areas of coal gas, comprising an explosion-proof drone body, an environmental perception module, a positioning and navigation module, a data processing module, and a ground terminal module. The environmental perception module is mounted on the explosion-proof drone body, and the positioning and navigation module and the data processing module are integrated inside the explosion-proof drone body. The environmental perception module, the positioning and navigation module, and the data processing module are all interlocked with the ground terminal module.

[0007] The working principle of this invention is as follows: When the system is running, the ground terminal module first plans the inspection route and issues the task command. Under the guidance of the positioning and navigation module, the explosion-proof UAV flies autonomously along the preset route. During the flight, the environmental perception module continuously collects multi-dimensional data such as gas concentration, infrared thermal image and visible light image of the target area. The data processing module fuses, encodes and temporarily stores the above information in real time, and transmits it to the ground terminal module through a wireless link. The ground terminal module interprets, analyzes and visualizes the returned data. Once a risk such as gas leakage or equipment thermal anomaly is identified, control commands such as adjusting the route, hovering for detailed inspection or emergency evacuation can be sent to the UAV through the interlocking link, forming a closed-loop operation process from perception, decision-making to control.

[0008] The beneficial effects of this invention are as follows: This invention avoids personnel entering dangerous areas, fundamentally ensuring personal safety; at the same time, the use of the explosion-proof drone itself ensures the safety and reliability of the operating equipment; the system integrates multi-dimensional sensing and real-time data transmission, significantly improving the efficiency and coverage of inspections, enabling rapid detection of hidden leaks that are difficult for humans to reach, and achieving minute-level response and location of abnormal situations; the full-process digitalization and automation generates traceable and analyzable accurate inspection reports, providing strong data decision support for predictive maintenance and safety risk management of gas facilities, effectively improving the inherent safety level of the area.

[0009] Option 2, the preferred option of the basic scheme, includes an environmental sensing module comprising a gas concentration sensor, a high-definition camera, an infrared thermal imager, and a temperature sensor. The gas concentration sensor is a catalytic combustion sensor with a detection range of 0-100% LEL; The high-definition camera has a 4K resolution and a frame rate of 30fps; The infrared thermal imager has a temperature detection range of -20℃ to 500℃, a resolution of 320×256, an image ratio of 5:4, and a field of view (FOV) of 24°. The temperature sensor is a PT100 platinum resistance sensor with a detection accuracy of ±0.1℃.

[0010] Option 3, the preferred option of the basic scheme, includes a GPS / BeiDou dual-mode positioning module, an IMU inertial measurement unit, and an electronic compass. The GPS / BeiDou dual-mode positioning module has a positioning accuracy of ±1m and an update frequency of 10Hz. The IMU (Inertial Measurement Unit) includes a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer. The electronic compass has a pointing accuracy of ±0.5°.

[0011] Option 4, the preferred option of the basic solution, includes an embedded industrial computer, a data acquisition card, and a data transmission unit in its data processing module. The embedded industrial computer is the main controller, running the inspection task logic; The sensors of the environmental sensing module of the data acquisition card are electrically connected to synchronously acquire multiple signals; The data transmission unit uses a 5G communication module, a Wi-Fi module, and a backup LoRa module.

[0012] Option 5, the preferred option of the basic scheme, includes an industrial control computer, a touch screen display, an audible and visual alarm, and a data interface unit in the ground terminal module. The industrial control computer is equipped with the Windows 10 IoT operating system; The touchscreen display is 15.6 inches in size and has a resolution of 1920×1080; The data interface unit includes a USB 3.0 interface, an Ethernet interface, and an HDMI interface.

[0013] Option Six, a method for inspecting hazardous areas caused by coal gas, with the following specific steps: S1: Configure the boundary coordinates of the inspection area, inspection route nodes, preset flight altitude range, preset flight speed range, and gas concentration alarm threshold through the ground terminal module. S2: The explosion-proof drone receives the inspection parameters sent by the ground terminal module, completes the positioning calibration through the positioning and navigation module, and then takes off from the preset flight point; S3: After takeoff, the UAV flies to the first inspection node according to the preset inspection route. The environmental perception module collects gas concentration, environmental images and environmental temperature data in the inspection area in real time. The positioning and navigation module collects the current position coordinates and flight attitude data of the UAV in real time. The data collected by each module is transmitted to the data processing module. S4: The data processing module analyzes the received data in real time to determine whether the gas concentration exceeds the alarm threshold, whether the drone deviates from the preset inspection route, and whether the drone's flight attitude is stable. If no abnormality is found, the drone continues to fly along the inspection route at the preset flight altitude and speed, and completes the inspection work of each inspection node in sequence. If an abnormality is found, the emergency control module is triggered to execute the corresponding emergency action, and an abnormal alarm information is sent to the ground terminal module through the data transmission module. S5: After the inspection is completed, the UAV will fly back to the preset takeoff point at the preset return altitude and speed, following the return route planned by the positioning and navigation module, to complete the inspection. S6: The ground terminal module automatically integrates all flight path data, gas concentration spatiotemporal distribution data, anomaly data, and image data to generate a standardized inspection report that includes a concentration distribution cloud map, anomaly location markings, and risk level assessment.

[0014] By planning inspection tasks and setting safety parameters through a ground terminal, explosion-proof drones autonomously perform flight inspections, collecting and analyzing environmental gas, image, and location data in real time. The system identifies anomalies and triggers emergency responses based on preset thresholds, automatically generating a digital inspection report upon completion of the task. Its benefits include achieving unmanned and automated inspections in high-risk areas, fundamentally ensuring personnel safety. Simultaneously, through precise data collection and real-time analysis, it significantly improves the efficiency of leak detection and emergency response speed, and provides objective and traceable decision-making basis for safety management.

[0015] Option 7, which is a preferred option of Option 6, involves setting the initial altitude of the UAV at takeoff to 1.5m-2m and the initial flight speed to 1m / s-1.5m / s in step S2. When the UAV reaches a distance of 50m from the takeoff point, the flight altitude is increased to the minimum value of the preset flight altitude range and the flight speed is increased to the minimum value of the preset flight speed range.

[0016] Option 8, which is the preferred option of Option 6, involves the UAV performing a hovering action at the inspection node in step S3. The hovering time is 3s-5s. During the hovering process, the high-definition camera completes 360° panoramic shooting. The camera's pitch angle can be adjusted from -30° to 60° during shooting. The infrared thermal imager simultaneously completes the thermal imaging data acquisition of the node area.

[0017] Option 9, which is the preferred option of Option 7, has the following steps: In step S2, the preset flight altitude range is 20m-22m, the flight altitude in open areas is 25±1m, the preset flight speed range is 2m / s-5m / s, the speed in the straight flight segment is 4m / s-5m / s, the speed in the turning flight segment is 2m / s-3m / s, and the tilt angle of the UAV during the turn is ≤15°.

[0018] Option 10, which is the preferred option of Option 6, includes the following main emergency actions in step S4: When the gas concentration exceeds the alarm threshold, the drone immediately hovers and descends to a flight altitude of 2m-3m to continuously collect gas concentration data in the area, generate an alarm and record the coordinates of the abnormal point. The infrared thermal imager takes pictures of the equipment below to obtain temperature abnormality image data, and at the same time sends an alarm containing real-time location, concentration data and image data to the ground terminal module. When the drone deviates more than 3m from the preset inspection route, the flight controller controls the drone to stop moving forward and return to the preset inspection route according to the corrected route calculated by the positioning and navigation module. When the flight attitude is unstable, the UAV reduces its flight speed to below 1 m / s and adjusts its attitude to a stable state through the IMU inertial measurement unit. Attached Figure Description

[0019] Figure 1 This is a system composition diagram of a system and method for inspecting hazardous areas of coal gas according to the present invention; Figure 2 This is a flowchart illustrating a system and method for inspecting hazardous areas caused by coal gas, as described in this invention. Detailed Implementation

[0020] The present invention will be further described in detail below through specific embodiments: The reference numerals in the accompanying drawings of this instruction manual include: 1. Explosion-proof UAV body; 2. Environmental perception module; 201. Gas concentration sensor; 202. High-definition camera; 203. Infrared thermal imager; 204. Temperature sensor; 3. Positioning and navigation module; 301. GPS / BeiDou dual-mode positioning module; 302. IMU inertial measurement unit; 303. Electronic compass; 4. Data processing module; 401. Embedded industrial computer; 402. Data acquisition card; 403. Data transmission unit; 5. Ground terminal module; 501. Industrial control computer; 502. Touch screen; 503. Audible and visual alarm; 504. Data interface unit.

[0021] Example like Figure 1 As shown: A system for inspecting hazardous areas of coal gas includes an explosion-proof drone body 1, an environmental perception module 2, a positioning and navigation module 3, a data processing module 4, and a ground terminal module 5. The environmental perception module 2 is mounted on the explosion-proof drone body 1. The positioning and navigation module 3 and the data processing module 4 are integrated inside the explosion-proof drone body 1. The environmental perception module 2, the positioning and navigation module 3, and the data processing module 4 are all interlocked with the ground terminal module 5.

[0022] The environmental perception module 2 includes a gas concentration sensor 201, a high-definition camera 202, an infrared thermal imager 203, and a temperature sensor 204. The gas concentration sensor 201 is a catalytic combustion sensor with a detection range of 0-100% LEL. The high-definition camera 202 has a resolution of 4K and a frame rate of 30fps. The infrared thermal imager 203 has a temperature detection range of -20℃ to 500℃, a resolution of 320×256, an image aspect ratio of 5:4, and a field of view (FOV) of 24°. The temperature sensor 204 is a PT100 platinum resistance sensor with a detection accuracy of ±0.1℃.

[0023] The positioning and navigation module 3 includes a GPS / BeiDou dual-mode positioning module 301, an IMU inertial measurement unit 302, and an electronic compass 303. The GPS / BeiDou dual-mode positioning module 301 has a positioning accuracy of ±1m and an update frequency of 10Hz. The IMU inertial measurement unit 302 includes a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer. The electronic compass 303 has a heading accuracy of ±0.5°.

[0024] The data processing module 4 includes an embedded industrial computer 401, a data acquisition card 402, and a data transmission unit 403: the embedded industrial computer 401 is the main controller and runs the inspection task logic; the data acquisition card 402 is electrically connected to each sensor of the environmental perception module 2 and synchronously collects multiple signals; the data transmission unit 403 adopts a 5G communication module, a Wi-Fi module, and a backup LoRa module.

[0025] The ground terminal module 5 includes an industrial control computer 501, a touch screen 502, an audible and visual alarm 503, and a data interface unit 504. The industrial control computer 501 is equipped with a Windows 10 IoT operating system; the touch screen 502 is 15.6 inches in size and has a resolution of 1920×1080; the data interface unit 504 includes a USB 3.0 interface, an Ethernet interface, and an HDMI interface.

[0026] The implementation method of this embodiment is as follows: Before the inspection, the industrial control computer 501 of the ground terminal module 5 configures parameters such as the boundary of the inspection area and route nodes to complete the system initialization; the explosion-proof UAV body 1 takes off with the environmental perception module 2, the GPS / Beidou dual-mode positioning module 301 in the positioning and navigation module 3 quickly completes the positioning calibration, and the IMU inertial measurement unit 302 and the electronic compass 303 work together to ensure the stability of the flight attitude and guide the UAV to fly along the preset route.

[0027] During flight, the gas concentration sensor 201 and temperature sensor 204 of the environmental perception module 2 collect real-time data on gas concentration and ambient temperature. The high-definition camera 202 captures environmental images at 4K resolution, and the infrared thermal imager 203 collects thermal imaging data in the range of -20℃ to 500℃ at a 24° field of view. After these data are collected synchronously by the data acquisition card 402 of the data processing module 4, they are analyzed in real time by the embedded industrial control computer 401 and then transmitted to the ground terminal module 5 through the 5G or Wi-Fi module of the data transmission unit 403. If any abnormality such as excessive gas concentration occurs, the audible and visual alarm 503 of the ground terminal will immediately trigger an alarm. At the same time, the system can coordinate with the UAV to perform emergency actions such as hovering and returning to home.

[0028] Example 2 like Figure 1 and Figure 2The following is a method for inspecting hazardous areas caused by coal gas. The specific steps are as follows: S1: Configure the boundary coordinates of the inspection area, inspection route nodes, preset flight altitude range, preset flight speed range, and gas concentration alarm threshold through the ground terminal module 5. S2: The explosion-proof UAV body 1 receives the inspection parameters sent by the ground terminal module 5, completes the positioning calibration through the positioning and navigation module 3, and takes off from the preset flight point. The preset flight altitude range of the UAV is 20m-22m, the flight altitude in open areas is 25±1m, the preset flight speed range is 2m / s-5m / s, the speed in the straight flight section is 4m / s-5m / s, the speed in the turning flight section is 2m / s-3m / s, the tilt angle of the UAV during the turn is ≤15°, the initial altitude of the UAV when taking off is set to 1.5m-2m, the initial flight speed is 1m / s-1.5m / s, when flying to within 50m of the take-off point, the flight altitude increases to the minimum value of the preset flight altitude range, and the flight speed increases to the minimum value of the preset flight speed range. S3: After takeoff, the UAV flies to the first inspection node according to the preset inspection route. It performs a hovering action at the inspection node for 3-5 seconds. During the hovering, the high-definition camera 202 completes 360° panoramic shooting. The pitch angle adjustment range of the high-definition camera 202 during shooting is -30°~60°. The infrared thermal imager 203 simultaneously completes thermal imaging data of the node area. The environmental perception module 2 collects gas concentration, environmental image and environmental temperature data in the inspection area in real time. The positioning and navigation module 3 collects the current position coordinates and flight attitude data of the UAV in real time. The data collected by each module is transmitted to the data processing module 4. S4: The UAV continuous data acquisition and processing module 4 analyzes the received data in real time to determine whether the gas concentration exceeds the alarm threshold, whether the UAV deviates from the preset inspection route, and whether the UAV's flight attitude is stable. If no abnormality is found, the UAV continues to fly along the inspection route at the preset flight altitude and speed, completing the inspection work of each inspection node in sequence. If an abnormality is found, the corresponding emergency action is triggered, and an abnormality alarm information is sent to the ground terminal module 5 through the data transmission unit 403. The main contents of the emergency action are as follows: When the gas concentration exceeds the alarm threshold, the drone immediately hovers and descends to a flight altitude of 2m-3m to continuously collect gas concentration data in the area, generate an alarm and record the coordinates of the abnormal point. The infrared thermal imager 203 takes pictures of the equipment below to obtain temperature abnormality image data, and at the same time sends an alarm containing real-time location, concentration data and image data to the ground terminal module 5. When the drone deviates more than 3m from the preset inspection route, the flight controller controls the drone to stop moving forward and return to the preset inspection route according to the corrected route calculated by the positioning and navigation module 3. When the flight attitude is unstable, the UAV reduces its flight speed to below 1 m / s and adjusts its attitude to a stable state through the IMU inertial measurement unit 302.

[0029] S5: After the inspection operation is completed, the UAV will fly back to the preset take-off point at the preset return altitude and speed, following the return route planned by the positioning and navigation module 3, to complete the inspection operation; S6: Ground terminal module 5 automatically integrates all flight path data, gas concentration spatiotemporal distribution data, anomaly data, and image data to generate a standardized inspection report that includes a concentration distribution cloud map, anomaly location markings, and risk level assessment.

[0030] The implementation method of this embodiment is as follows: During a routine inspection of a Class II explosion-proof area, this system was used for automated operations. First, the safety engineer imported a high-precision map of the plant area into the industrial computer at the ground control station. Around the approximately 800m-long gas main corridor, 12 key inspection points were set at valve groups, flange connections, and compensator locations. The flight altitude was set at 20m, increasing to 25m above the tank area, with a cruising speed of 4m / s and a turning speed reduced to 2.5m / s. The gas concentration and alarm threshold were set to 25% LEL.

[0031] The drone automatically ascends to 1.8m from the designated takeoff point and flies away at a speed of 1.2m / s. After flying 50m, it automatically climbs to an altitude of 20m and accelerates to 4m / s, beginning its cruise along a preset "bow"-shaped path. The positioning and navigation module 3 and the IMU inertial measurement unit 302 provide real-time position and attitude data to ensure accurate flight path. After arriving at inspection node 3, the drone automatically hovers for 4 seconds. The onboard 4K high-definition camera 202 completes 360° panoramic shooting at 30fps, while the infrared thermal imager 203 scans simultaneously, detecting a flange surface temperature of 65℃, which is within the normal range of temperature difference from the environment. The PT100 temperature sensor 204 displays an ambient temperature of 22.1℃, and the catalytic combustion gas sensor's real-time reading is <5%LEL. All data is transmitted back to the ground station in real time via a 5G link.

[0032] While flying near node 7, the system's real-time data stream showed that the gas concentration suddenly increased from 8% LEL to 28.5% LEL within 2 seconds, exceeding the alarm threshold. The system immediately triggered an interlocked emergency response: hovering and descending to 2.5m for close-up observation; infrared thermal imager 203 aimed at the pipeline below, capturing the temperature distribution image of the suspected leak point; high-definition camera 202 zoomed to capture local details; and the ground-based audible and visual alarm 503 immediately activated, with a red alarm window popping up on the screen displaying "Concentration Exceedance Alarm: 28.5% LEL @ Location (X=235.7, Y=176.5)". The system automatically marked this point as a Level 1 anomaly and continuously recorded high-frequency concentration data and images for 10 seconds.

[0033] After completing the inspection of all 12 nodes, the drone automatically returned and landed. The ground control software automatically integrated the inspection data from the approximately 25-minute inspection and generated a standardized report. The core contents of the report included: a cloud map showing the spatiotemporal distribution of gas concentration, clearly displaying the background concentration of the entire pipeline. Based on the concentration value and diffusion situation, the system initially assessed the risk as "medium risk, and recommends immediate manual review and maintenance."

[0034] The above descriptions are merely embodiments of the present invention, and common knowledge regarding specific structures and characteristics is not elaborated upon here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the structure of the present invention, and these should also be considered within the scope of protection of the present invention. These modifications and improvements will not affect the effectiveness of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A system for inspecting hazardous areas caused by coal gas, characterized in that, The device includes an explosion-proof drone body (1), an environmental perception module (2), a positioning and navigation module (3), a data processing module (4), and a ground terminal module (5). The environmental perception module (2) is mounted on the explosion-proof drone body (1), and the positioning and navigation module (3) and the data processing module (4) are integrated inside the explosion-proof drone body (1). The environmental perception module (2), the positioning and navigation module (3), and the data processing module (4) are all interlocked with the ground terminal module (5).

2. The system for inspecting hazardous areas of coal gas according to claim 1, characterized in that, The environmental sensing module (2) includes a gas concentration sensor (201), a high-definition camera (202), an infrared thermal imager (203), and a temperature sensor (204): The gas concentration sensor (201) is a catalytic combustion sensor with a detection range of 0-100% LEL; The high-definition camera (202) has a resolution of 4K and a frame rate of 30fps; The infrared thermal imager (203) has a temperature range of -20℃ to 500℃, a resolution of 320×256, an image ratio of 5:4, and a field of view (FOV) of 24°. The temperature sensor (204) is a PT100 platinum resistance sensor with a detection accuracy of ±0.1℃.

3. The system for inspecting hazardous areas of coal gas according to claim 1, characterized in that, The positioning and navigation module (3) includes a GPS / BeiDou dual-mode positioning module (301), an IMU inertial measurement unit (302), and an electronic compass (303). The GPS / BeiDou dual-mode positioning module (301) has a positioning accuracy of ±1m and an update frequency of 10Hz; The IMU (Inertial Measurement Unit) (302) includes a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer; The electronic compass (303) has a heading accuracy of ±0.5°.

4. The system for inspecting hazardous areas of coal gas according to claim 1, characterized in that, The data processing module (4) includes an embedded industrial computer (401), a data acquisition card (402), and a data transmission unit (403): The embedded industrial control computer (401) is the main controller and runs the inspection task logic; The data acquisition card (402) is electrically connected to each sensor of the environmental sensing module (2) to synchronously acquire multiple signals; The data transmission unit (403) employs a 5G communication module, a Wi-Fi module, and a backup LoRa module.

5. A system for inspecting hazardous areas of coal gas according to claim 1, characterized in that, The ground terminal module (5) includes an industrial control computer (501), a touch screen (502), an audible and visual alarm (503), and a data interface unit (504). The industrial control computer (501) is equipped with the Windows 10 IoT operating system; The touch display screen (502) is 15.6 inches in size and has a resolution of 1920×1080; The data interface unit (504) includes a USB 3.0 interface, an Ethernet interface, and an HDMI interface.

6. A method for inspecting hazardous areas caused by coal gas is characterized by, The specific steps are as follows: S1: Configure the boundary coordinates of the inspection area, the nodes of the inspection route, the preset flight altitude range, the preset flight speed range and the gas concentration alarm threshold through the ground terminal module (5); S2: The explosion-proof UAV receives the inspection parameters sent by the ground terminal module (5), completes the positioning calibration through the positioning and navigation module (3), and takes off from the preset flight point; S3: After the drone takes off, it flies to the first inspection node according to the preset inspection route. The environmental perception module (2) collects gas concentration, environmental image and environmental temperature data in the inspection area in real time. The positioning and navigation module (3) collects the current position coordinates and flight attitude data of the drone in real time. The data collected by each module is transmitted to the data processing module (4). S4: The data processing module (4) analyzes the received data in real time to determine whether the gas concentration exceeds the alarm threshold, whether the drone deviates from the preset inspection route, and whether the drone's flight attitude is stable. If no abnormality is found, the drone continues to fly along the inspection route at the preset flight altitude and speed, and completes the inspection work of each inspection node in sequence. If an abnormality is found, the corresponding emergency action is triggered, and abnormal alarm information is sent to the ground terminal module (5) through the data transmission module (4). S5: After the inspection operation is completed, the UAV will fly back to the preset take-off point at the preset return altitude and return speed, according to the return route planned by the positioning and navigation module (3), and complete the inspection operation. S6: The ground terminal module (5) automatically integrates all route data, gas concentration spatiotemporal distribution data, anomaly data and image data to generate a standardized inspection report that includes a concentration distribution cloud map, anomaly location markings and risk level assessment.

7. A method for inspecting hazardous areas of coal gas according to claim 6, characterized in that, In step S2, the initial altitude of the drone when it takes off is set to 1.5m-2m, and the initial flight speed is 1m / s-1.5m / s. When the drone flies to within 50m of the takeoff point, the flight altitude is increased to the minimum value of the preset flight altitude range, and the flight speed is increased to the minimum value of the preset flight speed range.

8. A method for inspecting hazardous areas of coal gas according to claim 6, characterized in that, In step S3, the UAV performs a hovering action at the inspection node for 3-5 seconds. During the hovering process, the high-definition camera (202) completes 360° panoramic shooting. During the shooting, the pitch angle adjustment range of the high-definition camera (202) is -30° to 60°. The infrared thermal imager (203) simultaneously completes the thermal imaging data acquisition of the node area.

9. A method for inspecting hazardous areas of coal gas according to claim 7, characterized in that, In step S2, the preset flight altitude range is 20m-22m, the flight altitude in open areas is 25±1m, the preset flight speed range is 2m / s-5m / s, the speed in the straight flight segment is 4m / s-5m / s, the speed in the turning flight segment is 2m / s-3m / s, and the tilt angle of the UAV when turning is ≤15°.

10. A method for inspecting hazardous areas of coal gas according to claim 6, characterized in that, In step S4, the main contents of the emergency actions are as follows: When the gas concentration exceeds the alarm threshold, the UAV immediately hovers and descends to a flight altitude of 2m-3m, continuously collects gas concentration data in the area, generates an alarm and records the coordinates of the abnormal point, and the infrared thermal imager (203) takes pictures of the equipment below to obtain temperature abnormal image data, and at the same time sends an alarm containing real-time location, concentration data and image data to the ground terminal module (5). When the UAV deviates from the preset inspection route by more than 3m, the flight controller controls the UAV to stop moving forward and return to the preset inspection route according to the corrected route calculated by the positioning and navigation module (3); When the flight attitude is unstable, the UAV reduces its flight speed to below 1 m / s and adjusts its attitude to a stable state through the IMU inertial measurement unit (302).

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