Oilfield pipeline leakage detection method, device and terminal equipment

Abstract

The application provides a kind of unmanned aerial vehicle detection method, device and terminal equipment for oil field pipeline leakage.The method comprises: obtaining the first concentration information of first gas when terminal equipment flies along the pipeline, and the first gas is the gas transported by the pipeline;When the first concentration information indicates that the concentration of the first gas is abnormal, obtain the flight state information of the terminal equipment corresponding to the first concentration information;Based on the flight state information and the first concentration information, determine the gas detection result of the first gas, and the gas detection result is used to indicate whether the pipeline leaks.In this way, the accuracy of gas detection can be improved.

Description

Technical Field

[0001] This application relates to the field of gas pollution monitoring technology, and in particular to a method, device and terminal equipment for detecting leaks in oilfield pipelines using unmanned aerial vehicles (UAVs). Background Technology

[0002] As an aerial mobile platform, drones equipped with gas sensors can quickly reach areas that are difficult for personnel to access, enabling real-time, large-scale detection of industrial leaks, toxic gases in pipelines, and other similar substances.

[0003] Currently, personnel can observe gas concentration curves and alarm threshold triggering status through the platform interface, and perform manual analysis based on map locations to determine if a leak exists. However, the accuracy of gas detection using these methods is relatively low. Summary of the Invention

[0004] This application provides a method, apparatus, and terminal equipment for detecting leaks in oilfield pipelines using unmanned aerial vehicles (UAVs), which addresses the problem of low accuracy in gas detection.

[0005] In a first aspect, embodiments of this application provide a drone-based method for detecting leaks in oilfield pipelines, the method comprising:

[0006] Obtain the first concentration information of the first gas as the terminal device flies along the pipeline, where the first gas is the gas transported by the pipeline;

[0007] When the first concentration information indicates an abnormal concentration of the first gas, the flight status information of the terminal device corresponding to the first concentration information is obtained;

[0008] Based on flight status information and first concentration information, the gas detection result of the first gas is determined, and the gas detection result is used to indicate whether the pipeline is leaking.

[0009] According to one or more embodiments of this application, determining the gas detection result of a first gas based on flight status information and first concentration information includes:

[0010] Based on flight status information and initial concentration information, the degree of correlation between flight status information and concentration anomalies is determined;

[0011] When the correlation degree is greater than or equal to the first threshold, the gas detection result is determined to be that the pipeline is not leaking;

[0012] If the correlation is less than the first threshold, the gas detection result is determined to be a pipeline leak.

[0013] According to one or more embodiments of this application, determining the degree of correlation between flight status information and concentration anomalies indicated by the first concentration information, based on flight status information and first concentration information, includes:

[0014] Based on the initial concentration information, the anomaly type of the concentration anomaly is determined. The anomaly types include abnormal concentration values ​​and abnormal concentration change trends.

[0015] The degree of correlation is determined based on flight status information and anomaly type.

[0016] According to one or more embodiments of this application, when the anomaly type is an abnormal concentration value, the degree of correlation is determined based on flight status information and the anomaly type, including:

[0017] Based on flight status information, determine the first rate of change of the terminal device's flight altitude;

[0018] In response to a first rate of change being greater than or equal to a second threshold, the degree of correlation is determined to be greater than or equal to the first threshold.

[0019] In response to a first rate of change being less than a second threshold, the correlation is determined to be less than the first threshold.

[0020] According to one or more embodiments of this application, when the anomaly type is an abnormal concentration change trend; the degree of correlation is determined based on flight status information and the anomaly type, including:

[0021] Based on flight status information, determine the second rate of change of the terminal device's flight attitude;

[0022] In response to a second rate of change being greater than or equal to a third threshold, the degree of correlation is determined to be greater than or equal to a first threshold.

[0023] In response to the second rate of change being less than the third threshold, the correlation is determined to be less than the first threshold.

[0024] According to one or more embodiments of this application, obtaining first concentration information of a first gas when a terminal device flies along a pipeline includes:

[0025] Acquire first environmental information, which is the environmental information when the rate of change of environmental information is less than or equal to the fourth threshold within a preset time period;

[0026] Acquiring second concentration information and second environmental information during the acquisition of second concentration information;

[0027] Based on the first environmental information and the second environmental information, the second concentration information is processed to obtain the first concentration information.

[0028] According to one or more embodiments of this application, based on first concentration information, the anomaly type of concentration anomaly is determined, including:

[0029] Obtain third concentration information based on the first environmental information;

[0030] Determine the differences between the first and third concentration information;

[0031] Based on the difference information, the concentration detection result of the first concentration information is determined, and the concentration detection result is either abnormal or normal.

[0032] Secondly, embodiments of this application provide a drone detection device for oilfield pipeline leaks. This gas detection device includes a first acquisition module, a second acquisition module, and a determination module, wherein:

[0033] The first acquisition module is used to acquire the first concentration information of the first gas when the terminal device flies along the pipeline, wherein the first gas is the gas transported by the pipeline;

[0034] The second acquisition module is used to acquire the flight status information of the terminal device corresponding to the first concentration information when the first concentration information indicates that the concentration of the first gas is abnormal.

[0035] The determination module is used to determine the gas detection result of the first gas based on flight status information and first concentration information. The gas detection result is used to indicate whether the pipeline is leaking.

[0036] Thirdly, embodiments of this application provide a terminal device, including:

[0037] At least one processor and memory;

[0038] The memory stores the instructions that the computer executes;

[0039] At least one processor executes computer execution instructions stored in memory, causing at least one processor to perform the first aspect above and various possible unmanned aerial vehicle (UAV) detection methods for oilfield pipeline leaks involved in the first aspect.

[0040] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions. When a processor executes the computer-executable instructions, it implements the first aspect above and various possible methods for detecting oilfield pipeline leaks related to the first aspect using unmanned aerial vehicles.

[0041] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the first aspect above and various possible methods for detecting oilfield pipeline leaks involving the first aspect using unmanned aerial vehicles.

[0042] This application provides a method, apparatus, and terminal device for detecting leaks in oilfield pipelines using a drone. The terminal device can acquire first concentration information of a first gas as it flies along the pipeline, where the first gas is the gas transported in the pipeline. When the first concentration information indicates an abnormal concentration of the first gas, the terminal device can acquire the flight status information of the terminal device corresponding to the first concentration information. Based on the flight status information and the first concentration information, the terminal device can determine the gas detection result of the first gas, whereby the gas detection result indicates whether the pipeline is leaking. In this method, because the terminal device can determine the cause of gas concentration changes in real time and accurately based on the flight status information and the first concentration information, the drone detection device can efficiently detect gases, thus reducing the energy consumption of the drone and improving the accuracy of gas detection. Attached Figure Description

[0043] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0044] Figure 1 This is a schematic diagram of an application scenario provided by an embodiment of this application;

[0045] Figure 2 A flowchart illustrating a method for detecting leaks in oilfield pipelines provided in this application embodiment;

[0046] Figure 3 A flowchart illustrating a method for determining the degree of association provided in an embodiment of this application;

[0047] Figure 4 A flowchart illustrating a method for obtaining first concentration information provided in an embodiment of this application;

[0048] Figure 5 A schematic diagram of the structure of an unmanned aerial vehicle (UAV) detection device for oilfield pipeline leaks provided in this application embodiment;

[0049] Figure 6 This is a schematic diagram of the structure of a terminal device provided in an embodiment of this application.

[0050] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0051] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0052] It should be noted that in the embodiments of this application, certain software, components, models and other existing solutions in the industry may be mentioned. These should be regarded as exemplary and are only intended to illustrate the feasibility of implementing the technical solution of this application. However, it does not mean that the applicant has used or necessarily used the solution.

[0053] In related technologies, terminal equipment can control the gas detection device of a drone to detect the gas concentration in a pipeline. Currently, operators can preset the drone's flight path, altitude, speed, etc., on the terminal equipment. The drone flies along the preset path, and its onboard gas sensor collects gas concentration data at a fixed frequency, thereby achieving gas detection. However, in the above method, the gas sensor is greatly affected by external factors, resulting in low accuracy of gas detection; related technologies mostly rely on single gas concentration threshold detection, which is not adaptable to environmental factors such as temperature and humidity changes and airflow disturbances, resulting in a high false alarm rate; traditional drone inspection uses periodic data uploads, generating a lot of invalid communication, and the drone has high energy consumption, resulting in low efficiency of gas detection.

[0054] To address the technical problems in related technologies, this application provides a UAV method for detecting leaks in oilfield pipelines. The terminal device can acquire first concentration information of a first gas as it flies along the pipeline, where the first gas is the gas transported in the pipeline. When the first concentration information indicates an abnormal concentration of the first gas, the terminal device can acquire flight status information corresponding to the first concentration information. Based on the flight status information and the first concentration information, the terminal device can determine the degree of correlation between the flight status information and the concentration anomaly. If the correlation degree is greater than or equal to a first threshold, the terminal device can determine that the gas detection result is that the pipeline is not leaking; if the correlation degree is less than the first threshold, the terminal device can determine that the gas detection result is that the pipeline is leaking. Thus, since the terminal device can determine the degree of correlation between the flight status information and the concentration anomaly when the gas concentration is abnormal, the influence of the flight status on gas concentration detection can be reduced, thereby improving the accuracy of gas detection.

[0055] Below, in conjunction with Figure 1 The application scenarios of the embodiments of this application will be described.

[0056] Figure 1 This is a schematic diagram illustrating an application scenario provided by an embodiment of this application. Please refer to... Figure 1 The system comprises a microcontroller unit, a drone platform, a multi-sensor acquisition module, a low-power wireless communication module, and a back-end detection platform. The microcontroller unit is electrically connected to the multi-sensor acquisition module, the drone platform, and the low-power wireless communication module, and is used to fuse gas detection data, environmental parameters, and flight status information. The drone platform flies along the pipeline path, outputting status information such as flight altitude, speed, and heading angle. The multi-sensor acquisition module, mounted on the drone platform, collects environmental parameters around the pipeline and includes at least a gas sensor module and an environmental parameter sensor. The back-end detection platform receives the detection data and analyzes and displays the status of the oilfield pipeline.

[0057] It should be noted that, Figure 1 This is an example of an application scenario for the embodiments of this application, and is not intended to limit the application scenario of the embodiments of this application. The terminal device may also use other methods to detect gas, and the embodiments of this application do not limit this.

[0058] Figure 2 For a flowchart illustrating the UAV detection method for oilfield pipeline leaks provided in this application, please refer to [link / reference]. Figure 2 The method may include:

[0059] S201. Obtain the first concentration information of the first gas when the terminal equipment flies along the pipeline.

[0060] The first gas can be a gas transported through a pipeline. For example, for a natural gas pipeline, the first gas can be methane (CH4), and for an oil pipeline, the first gas can be a volatile organic compound or a hydrocarbon gas. This application does not limit the specific gas used in this embodiment.

[0061] The first concentration information can be the concentration information of the first gas. For example, the first concentration information can be the gas concentration of the first gas. For example, when the first gas is methane, the methane gas concentration can be 100 ppm; when the first gas is carbon monoxide (CO), the carbon monoxide gas concentration can be 50 ppm; when the first gas is volatile organic compounds, the volatile organic compound gas concentration can be 200 ppm. The embodiments of this application do not limit this.

[0062] In some embodiments, the terminal device can collect concentration information of a first gas based on a sensor. For example, the sensor can be a single sensor or a combination of multiple gas sensors. For natural gas pipelines, the sensor is typically a methane (CH4) sensor; for oil pipelines, a volatile organic compound sensor can be used to achieve accurate detection. This application does not limit the specific application to this method.

[0063] In some embodiments, the terminal device may be a drone platform flying along a preset pipeline route. This flight may include flying on a route directly above the pipeline or flying on a parallel route a certain distance above and to the side of the pipeline. The flight altitude may be adjusted within a certain range according to the inspection task requirements (such as detailed scanning or rapid survey), for example, it may be 15 meters, 50 meters, or 120 meters, etc., and this embodiment does not limit this.

[0064] S202. When the first concentration information indicates that the concentration of the first gas is abnormal, obtain the flight status information of the terminal device corresponding to the first concentration information.

[0065] In some embodiments, the first concentration information can be used to indicate whether the concentration of the first gas is abnormal. For example, when the first gas is methane, if the gas detection device detects that the methane gas concentration exceeds 12,500 ppm, the methane gas concentration can be determined to be abnormal; or, when the detected methane gas concentration fluctuates frequently, the methane gas concentration can be determined to be abnormal. If the gas detection device detects that the methane gas concentration is below 12,500 ppm, the methane gas concentration can be determined to be normal; or, when the detected methane gas concentration fluctuates slightly, the methane gas concentration can be determined to be normal. This application does not limit this aspect.

[0066] In some embodiments, flight status information can be the motion parameters of the UAV itself. For example, flight status information may include the UAV's attitude, altitude, heading angle, etc., but this application embodiment does not limit this.

[0067] The attitude of the UAV during flight can be indicated by pitch angle, roll angle, and yaw angle. For example, the pitch angle of the UAV during flight can be +5° (when the nose is slightly pitched down, accelerating forward or descending), the altitude can be 15m, and the heading angle can be 30° (for example, the UAV is flying in a direction of 30 degrees north of east). This application does not limit these aspects.

[0068] It should be noted that the heading angle of the drone during flight can be from 0° to 360°, which can indicate the direction of the drone's nose. For example, the yaw angle is approximately 0° when flying due north, and approximately 45° when flying northeast along the pipeline. This application does not limit this aspect.

[0069] In some embodiments, the terminal device can acquire flight status information corresponding to the first concentration information when the first concentration information indicates that the concentration of the first gas is abnormal. For example, when the first gas is methane, if the gas detection device detects that the methane gas concentration exceeds 12,500 ppm, the methane gas concentration can be determined to be abnormal. The terminal device can acquire that at this gas concentration, the drone's roll angle is -4° (slightly tilted to the left, when turning left), the altitude is 50m, and the heading angle is 215° (indicating that the drone is flying in a direction of 35 degrees south of west). This application embodiment does not limit this.

[0070] In some embodiments, when the first concentration information indicates an abnormal concentration of the first gas, the terminal device can obtain the flight status information corresponding to the first concentration information within the corresponding time period. The terminal device can obtain the flight status data for the corresponding time period from the pre-collected flight status data to obtain the terminal device's flight status information. For example, at time t1, the methane concentration is 15 ppm, the drone's flight altitude is 30 m, the pitch angle is +1.0°, and the flight speed is 5.0 m / s; at time t2, the methane concentration is 20 ppm, the drone's flight altitude is 29.5 m, and the pitch angle is +1.2°. This embodiment of the application does not limit this.

[0071] S203. Based on flight status information and first concentration information, determine the gas detection result of the first gas. The gas detection result is used to indicate whether the pipeline is leaking.

[0072] In some embodiments, the terminal device may determine the gas detection result of the first gas based on the following feasible implementation: determining the degree of correlation between the flight status information and the concentration anomaly based on the flight status information and the first concentration information; determining that the gas detection result is that the pipeline is not leaking when the degree of correlation is greater than or equal to a first threshold; and determining that the gas detection result is that the pipeline is leaking when the degree of correlation is less than the first threshold. This can improve the accuracy of gas detection.

[0073] The first threshold can be used to indicate the degree of correlation between flight status information and concentration anomalies. For example, the first threshold can be a value between 0 and 1.

[0074] For example, the first threshold can be 0.6. When the correlation calculated based on historical sampling patterns is greater than or equal to the first threshold, the flight status is considered to be able to explain the concentration anomaly and is judged as "no pipeline leak". When the calculated correlation is less than the first threshold, the flight status is considered to be unable to explain the concentration anomaly and is judged as "pipeline leak". This application embodiment does not limit this.

[0075] The correlation level can be used to indicate whether changes in the initial concentration information are caused by flight status information. For example, a higher correlation level indicates a greater likelihood that the concentration anomaly is caused by changes in flight status; conversely, a lower correlation level indicates a less likely concentration anomaly is caused by changes in flight status, and may originate from a pipeline leak.

[0076] For example, a drone is inspecting a natural gas pipeline and detects a rapid increase in methane concentration from 50 ppm to 600 ppm within 2 seconds, which is judged as an "abnormal concentration change trend." During the same time period, the drone's roll angle (attitude information) changes from 0° to +10° (i.e., a rightward turn), with a change rate of 5° / second. Based on historical sampling data, the terminal device can calculate a correlation of 0.85 (or 85%), indicating that the currently observed rapid increase in concentration (abnormal trend) has a high (85%) probability of being caused by the drone's current rapid turning maneuver (abrupt change in roll angle).

[0077] This embodiment provides a UAV detection method for oilfield pipeline leaks. The terminal device can acquire first concentration information of a first gas as it flies along the pipeline. When the first concentration information indicates an abnormal concentration of the first gas, the terminal device can acquire the corresponding flight status information. Based on the flight status information and the first concentration information, the terminal device can determine the gas detection result. In this way, since the terminal device can trigger the communication module to report data only when an abnormal concentration is detected, and maintain low-frequency communication or sleep mode when no abnormality is detected, invalid data transmission can be reduced, thereby reducing the communication power consumption of the UAV. Furthermore, since the terminal device can analyze the concentration anomaly through flight status information (such as altitude and attitude changes), the accuracy of gas detection can be improved.

[0078] exist Figure 2 Based on the embodiments shown, the following, in conjunction with Figure 3 The method for detecting oilfield pipeline leaks using unmanned aerial vehicles (UAVs) is explained in detail, which involves the terminal equipment determining the correlation between flight status information and concentration anomalies based on flight status information and primary concentration information.

[0079] Figure 3 Please refer to the flowchart illustrating a method for determining the degree of correlation provided in this application. Figure 3 ,include:

[0080] S301. Based on the first concentration information, determine the anomaly type of the concentration anomaly. The anomaly types include concentration value anomalies and concentration change trend anomalies.

[0081] In some embodiments, an abnormal concentration value may be due to an abnormal gas concentration value of the first gas. For example, when the first gas is methane, the sampling period T is 1 second, and the methane gas concentration at time t1 is 15000 ppm. At the current time, the methane gas concentration value is relatively high, and the terminal device can determine that the gas concentration value in the area where the drone is currently located is abnormal. This application embodiment does not limit this.

[0082] In some embodiments, an abnormal concentration change trend may be caused by an abnormal change trend in the concentration of the first gas. For example, when the first gas is methane, the sampling period T is 1 second, the methane concentration is 100 ppm at time t1, 400 ppm at time t2, and 800 ppm at time t3. The average rate of increase of the methane concentration is 350 ppm / s. The terminal system can determine that the gas concentration change trend in the area where the UAV is currently located is abnormal. This application embodiment does not limit this.

[0083] In some embodiments, the terminal device can determine the anomaly type of concentration anomaly based on the following feasible implementation: acquiring third concentration information under first environmental information; determining the difference information between the first concentration information and the third concentration information; and determining the concentration detection result of the first concentration information based on the difference information, wherein the concentration detection result is either an abnormal concentration or a normal concentration. This can improve the accuracy of gas detection.

[0084] The first environmental information can be environmental parameters collected by environmental parameter sensors. For example, the first environmental information can be environmental temperature, environmental humidity, etc., under stable environmental conditions.

[0085] The third concentration information can be the gas concentration of the first gas under the first environmental information. For example, if the first gas is methane, the gas concentration of methane is 210 ppm when the ambient temperature and humidity are stable. This application does not limit this.

[0086] It should be noted that the preset duration is 1 minute. If, within a certain minute, the data collected by the ambient temperature sensor shows a change rate that is always less than or equal to 0.5°C / minute, and the change rate of humidity is always less than or equal to 2%RH / minute, then the environmental state within that minute is determined to be "stable". The temperature and humidity data collected at this time is the "first environmental information". The gas concentration value acquired simultaneously under this state is the reliable "third concentration information".

[0087] In some embodiments, the terminal device can determine the difference between the first concentration information and the third concentration information. For example, when the first gas is methane, the terminal device can compare the actual gas concentration of methane with the gas concentration when the environment is stable. When the difference between the two is large, the concentration detection result is abnormal; when the difference between the two is small or stable, the concentration detection result is normal.

[0088] For example, the preset threshold is 10 ppm. The terminal device collects the gas concentration of methane, i.e., the third concentration information, which has a value of 2.1 ppm. The terminal device can obtain the first concentration information. If the value of the first concentration information is 18.5 ppm, the gas concentration difference between the two is 16.4 ppm, which is greater than the preset threshold, and the concentration detection result is abnormal. If the value of the first concentration information is 3 ppm, the gas concentration difference between the two is 0.9 ppm, which is less than the preset threshold, and the concentration detection result is normal. This application embodiment does not limit this.

[0089] S302. Determine the degree of correlation based on flight status information and anomaly type.

[0090] In some embodiments, when the anomaly type is an abnormal concentration value, the terminal device can determine the degree of correlation based on the following feasible implementation: determining a first rate of change of the terminal device's flight altitude based on flight status information; determining that the degree of correlation is greater than or equal to the first threshold in response to the first rate of change being greater than or equal to a second threshold; and determining that the degree of correlation is less than the first threshold in response to the first rate of change being less than the second threshold. This can improve the accuracy of gas detection.

[0091] In some embodiments, the first rate of change can be the rate of change of flight altitude. For example, if the sampling period T is 1 second, the flight altitude of the UAV is 30m at time t1 and 32m at time t2, then the rate of change of UAV altitude is 2m / s. This application does not limit this.

[0092] In some embodiments, the second threshold can be a preset rate of change in flight altitude. For example, the second threshold can be 2.5 m / s, but this application embodiment does not limit this.

[0093] For example, when the first gas is methane, the sampling period T is 1 second. At time t1, the drone's altitude is 30m, pitch angle is +1.0°, and flight speed is 5.0m / s. The methane concentration at this time is 15ppm. At time t2, the drone's altitude is 29.5m, pitch angle is +1.2°, and flight speed is 5.1m / s. The methane concentration at this time is 850ppm. The terminal device can see that from time t1 to time t2, the altitude changes from 30m to 28.5m, with a change rate of +0.5m / s, which is less than the first threshold of 2.5m / s. However, the gas concentration rises at a slope of 835ppm / s. Based on historical data analysis, the terminal device can conclude that the probability of this altitude-decreasing flight maneuver causing the sensor reading to rise by 835ppm is 10%. That is, the correlation calculated based on historical sampling patterns is 0.1, which is less than the preset first threshold of 0.6. Therefore, the system determines the gas detection result as "pipeline leak".

[0094] For example, when the first gas is methane, the sampling period T is 1 second. At time t1, the drone's altitude is 30m, pitch angle is +1.0°, and flight speed is 20m / s. The methane concentration at this time is 15ppm. At time t2, the drone's altitude is 45m, pitch angle is +1.2°, and flight speed is 200m / s. The methane concentration at this time is 80ppm. The terminal device can see that from time t1 to time t2, the altitude changes from 30m to 45m at a rate of +15m / s, which is greater than the first threshold of 2.5m / s. However, the gas concentration rises at a rate of 65ppm / s. Based on historical data analysis, the terminal device can conclude that the probability of this altitude-decreasing flight maneuver causing the sensor reading to rise by 65ppm is 75%. That is, the correlation calculated based on historical sampling patterns is 0.75, which is greater than the preset first threshold of 0.6. Therefore, the system determines the gas detection result as "no pipeline leak".

[0095] In some embodiments, when the anomaly type is an abnormal concentration change trend, the terminal device can determine the degree of correlation based on the following feasible implementation: determining a second rate of change of the terminal device's flight attitude based on flight status information; determining a degree of correlation greater than or equal to a first threshold in response to the second rate of change being greater than or equal to a third threshold; and determining a degree of correlation less than the first threshold in response to the second rate of change being less than the third threshold. This can improve the accuracy of gas detection.

[0096] In some embodiments, the second rate of change can be the rate of change of the UAV's flight attitude. For example, if the sampling period T is 1 s, the pitch angle of the UAV at time t1 is +1.0°, and the pitch angle of the UAV at time t2 is +1.5°, then the rate of change of the UAV's flight attitude is +0.5° / s. This application does not limit this.

[0097] In some embodiments, the third threshold can be a preset rate of flight attitude. For example, the third threshold can be 5° / s, but this application embodiment does not limit this.

[0098] For example, when the first gas is methane, the sampling period T is 1 second. At time t1, the drone's altitude is 30m, the pitch angle is +1°, and the flight speed is 5m / s. The methane concentration at this time is 15ppm. At time t2, the drone's altitude is 31m, the pitch angle is +1.2°, and the flight speed is 5.1m / s. The methane concentration at this time is 850ppm. The terminal device can see that from time t1 to time t2, the pitch angle changes from +1° to +1.2°, with a change rate of +0.2° / s, which is less than the first threshold of 5° / s. However, the gas concentration rises at a slope of 835ppm / s. Based on historical data analysis, the terminal device can conclude that the probability of this altitude-decreasing flight maneuver causing the sensor reading to rise by 835ppm is 10%. That is, the correlation calculated based on historical sampling patterns is 0.1, which is less than the preset first threshold of 0.6. Therefore, the system determines the gas detection result as "pipeline leak".

[0099] For example, when the first gas is methane, the sampling period T is 1 second. At time t1, the drone's altitude is 30m, pitch angle is +1°, and flight speed is 20m / s. The methane concentration at this time is 15ppm. At time t2, the drone's altitude is 31m, pitch angle is +45°, and flight speed is 20m / s. The methane concentration at this time is 80ppm. The terminal device can see that from time t1 to time t2, the pitch angle changes from +1° to +45°, which is greater than the first threshold of 5° / s. However, the gas concentration rises at a rate of 65ppm / second. Based on historical data analysis, the terminal device can conclude that there is a 70% probability that this altitude-decreasing flight maneuver will cause the sensor reading to rise by 65ppm. That is, the correlation calculated based on historical sampling patterns is 0.7, which is greater than the preset first threshold of 0.6. Therefore, the system determines the gas detection result as "no pipeline leak".

[0100] This embodiment provides a UAV-based method for detecting leaks in oilfield pipelines. The terminal device can determine the anomaly type based on first concentration information, and then determine the correlation degree based on flight status information and the anomaly type. In this way, because the terminal device can distinguish between false signals caused by flight status information and genuine pipeline leak signals, the accuracy of gas detection can be improved.

[0101] Based on any of the above embodiments, the following, in conjunction with Figure 4 The method for obtaining the first concentration information of the first gas when the terminal device flies along the pipeline is described in detail.

[0102] Figure 4 Please refer to the flowchart illustrating a method for obtaining first concentration information provided in this application. Figure 4 The method may include:

[0103] S401. Obtain first environmental information, which is the environmental information when the rate of change of environmental information is less than or equal to the fourth threshold within a preset time period.

[0104] In some embodiments, the terminal device can control the drone's environmental parameter sensors to obtain first environmental information. The terminal device can control the drone's temperature sensor to obtain the ambient temperature, and can also control the drone's humidity sensor to obtain the ambient humidity; however, this application embodiment does not limit this.

[0105] In some embodiments, the fourth threshold may be a preset rate of change. For example, the fourth threshold may be a preset rate of change in ambient temperature and a preset rate of change in ambient humidity.

[0106] For example, the terminal device can operate in an environment where the ambient temperature T0 is 22°C and the ambient humidity RH0 is 45%. The fourth threshold may include the following: the change in ambient temperature is less than or equal to 1.5°C, the rate of temperature change is less than or equal to 0.3°C / 10s, the change in ambient humidity is less than or equal to 8%, and the rate of ambient humidity change is less than or equal to 2% / 10s. This application embodiment does not limit these aspects.

[0107] S402, Acquiring second concentration information and second environmental information during the acquisition of second concentration information.

[0108] The second concentration information can be the gas concentration of the first gas. For example, the second concentration information can be the gas concentration of the first gas that is collected in real time without human intervention.

[0109] The second environmental information can be environmental parameters at the time of the second concentration information. For example, the second environmental information may include environmental temperature, environmental humidity, etc., collected by the environmental parameter sensor. For example, at time t1, the VOCs (volatile organic compounds) gas concentration value directly output by the gas sensor is 158 ppm, and the environmental parameter sensor simultaneously records that the environmental temperature at that time is 38.2°C and the environmental humidity is 85%RH. This application embodiment does not limit this.

[0110] S403. Based on the first environmental information and the second environmental information, the second concentration information is processed to obtain the first concentration information.

[0111] In some embodiments, the terminal device can correct the second concentration information based on the first environmental information and the second environmental information to obtain the first concentration information. For example, the terminal device can determine the difference in environmental parameters (such as temperature difference, humidity difference) and then correct the second concentration information to obtain the first concentration information.

[0112] For example, the drone flew smoothly along the pipeline at a constant altitude of 10 meters and a uniform speed of 3 m / s, without any sudden changes in altitude, attitude, or speed. The synchronous sampling period was T = 10 seconds, the temperature was T0 = 22℃, the relative humidity was RH0 = 45%, the VOC clean concentration was C0 = 0.08 ppm, and the leakage alarm threshold was C. ala ᵣ m =0.5ppm, temperature compensation coefficient is 0.06ppm / ℃ (for every 1℃ increase in temperature, the sensor reading is 0.06ppm higher), humidity compensation coefficient is 0.025ppm / % (for every 1% increase in humidity, the sensor reading is 0.025ppm higher). At time T1, the temperature is 22.1℃, the humidity is 44.7%, and the original VOC concentration is 0.09ppm. At time T2, the temperature is 22.2℃, the humidity is 45.3%, and the original VOC concentration is 0.085ppm. At time T3, the temperature is 22.0℃, the humidity is 44.9%, and the original VOC concentration is 0.08ppm. At time T4, the temperature is 23.2℃, the humidity is 51.0%, and the original VOC concentration is 0.28ppm. At time T5, the temperature is 23.4℃, the humidity is 52... The initial VOC concentration was 0.47 ppm. At time T6, the temperature was 23.3℃ and the humidity was 52.5%, resulting in an initial VOC concentration of 0.48 ppm. At time T7, the temperature was 22.1℃ and the humidity was 45.1%, resulting in an initial VOC concentration of 0.55 ppm. At time T8, the temperature was 22.2℃ and the humidity was 44.9%, resulting in an initial VOC concentration of 0.62 ppm. At time T9, the temperature was 22.0℃ and the humidity was 45.0%, resulting in an initial VOC concentration of 0.70 ppm.

[0113] For example, from time T1 to T3, the temperature deviation of 0.2℃ is less than or equal to 1.5℃, and the humidity deviation of 0.3% is less than or equal to 8%, both less than the fourth threshold. The temperature change of 0.1℃ / 10s is less than or equal to 0.3℃ / 10s, and the humidity change of 0.6% / 10s is less than or equal to 2% / 10s, both less than the fourth threshold. The terminal device can determine that the entire cycle is within a stable environmental range, the corrected concentration is 0.08ppm, there is no pipeline leakage, no alarm is triggered, data is locally cached, and the wireless communication module remains in sleep mode.

[0114] For example, from time T3 to T4, the temperature deviation of 1.2℃ is less than or equal to 1.5℃, and the humidity deviation of 6.0% is less than or equal to 8%, both less than the fourth threshold. The temperature change of 1.2℃ / 10s is greater than 0.3℃ / 10s, and the humidity change of 6.1% / 10s is greater than 2% / 10s, both greater than the fourth threshold. From time T4 to T5, the humidity deviation of 7.8% is less than or equal to 8%, and the humidity change of 1.8% / 10s is less than or equal to 2% / 10s, both less than the fourth threshold. However, the cumulative temperature deviation is 1.4℃, and the instability determination has been triggered within the period from time T3 to T4. The terminal device can determine that the entire period is in an unstable environmental range and initiate compensation correction.

[0115] For example, regarding time T4:

[0116] ΔT = 23.2 - 22 = 1.2℃, ΔRH = 51.0 - 45 = 6.0%, corrected gas concentration = 0.28 - (1.2 × 0.06 + 6.0 × 0.025) = 0.28 - (0.072 + 0.15) = 0.058 ppm ≈ 0.06 ppm;

[0117] For time T5:

[0118] ΔT = 23.4 - 22 = 1.4℃, ΔRH = 52.8 - 45 = 7.8%, corrected gas concentration = 0.47 - (1.4 × 0.06 + 7.8 × 0.025) = 0.47 - (0.084 + 0.195) = 0.191ppm ≈ 0.19ppm;

[0119] For time T6:

[0120] ΔT = 23.3 - 22 = 1.3℃, ΔRH = 52.5 - 45 = 7.5%, corrected gas concentration = 0.48 - (1.3 × 0.06 + 7.5 × 0.025) = 0.48 - (0.078 + 0.1875) = 0.2145ppm ≈ 0.21ppm.

[0121] The corrected gas concentration was only 0.21 ppm, which is below the alarm threshold and there was no continuous upward trend. The drone flew smoothly throughout the entire flight without any changes in flight status. The concentration fluctuations were not related to the flight status. The terminal equipment could determine that the original concentration increase was caused by a sudden change in temperature and humidity, not a real pipeline leak. Therefore, no alarm was triggered, the data was cached locally, and the wireless communication module remained in sleep mode.

[0122] For example, from time T7 to T9, the fluctuations and rates of change in temperature and humidity throughout the entire cycle are all less than the fourth threshold. The terminal device performs a basic zero-point calibration, and the corrected concentration is not significantly different from the original value. The corrected gas concentration is 0.54 ppm at time T7, 0.61 ppm at time T8, and 0.69 ppm at time T9. The corrected gas concentration continues to rise and exceeds the alarm threshold of 0.5 ppm. The drone flies smoothly throughout the entire process without any changes in flight status. The increase in concentration is not correlated with the flight status. The terminal device can determine that there is a real leak in the pipeline, immediately triggering an alarm and waking up the low-power wireless communication module to upload the leak data and location information to the backend detection platform in real time, enabling timely response to the leak event.

[0123] This embodiment provides a UAV-based method for detecting leaks in oilfield pipelines. The terminal device can acquire first environmental information, which is the environmental information where the rate of change within a preset time period is less than or equal to a fourth threshold. The terminal device can also acquire second concentration information and the second environmental information at the time of acquisition. Based on the first and second environmental information, the terminal device can process the second concentration information to obtain the first concentration information. In this method, because the terminal device can perform these operations, the cost of manual operation can be reduced, thereby improving the efficiency of gas detection.

[0124] Figure 5 This is a schematic diagram of a drone-based detection device for oilfield pipeline leaks provided in this application. Please refer to... Figure 5 The unmanned aerial vehicle (UAV) detection device 500 for oilfield pipeline leaks includes a first acquisition module 501, a second acquisition module 502, and a determination module 503, wherein:

[0125] The first acquisition module 501 is used to acquire the first concentration information of the first gas when the terminal device flies along the pipeline, wherein the first gas is the gas transported by the pipeline.

[0126] The second acquisition module 502 is used to acquire the flight status information of the terminal device corresponding to the first concentration information when the first concentration information indicates that the concentration of the first gas is abnormal.

[0127] The determination module 503 is used to determine the gas detection result of the first gas based on the flight status information and the first concentration information. The gas detection result is used to indicate whether the pipeline is leaking.

[0128] According to one or more embodiments of this application, the determining module 503 is specifically used for:

[0129] Based on flight status information and initial concentration information, the degree of correlation between flight status information and concentration anomalies is determined;

[0130] When the correlation degree is greater than or equal to the first threshold, the gas detection result is determined to be that the pipeline is not leaking;

[0131] If the correlation is less than the first threshold, the gas detection result is determined to be a pipeline leak.

[0132] According to one or more embodiments of this application, the determining module 503 is specifically used for:

[0133] Based on the initial concentration information, the anomaly type of the concentration anomaly is determined. The anomaly types include abnormal concentration values ​​and abnormal concentration change trends.

[0134] The degree of correlation is determined based on flight status information and anomaly type.

[0135] According to one or more embodiments of this application, the determining module 503 is specifically used for:

[0136] Based on flight status information, determine the first rate of change of the terminal device's flight altitude;

[0137] In response to a first rate of change being greater than or equal to a second threshold, the degree of correlation is determined to be greater than or equal to the first threshold.

[0138] In response to a first rate of change being less than a second threshold, the correlation is determined to be less than the first threshold.

[0139] According to one or more embodiments of this application, the determining module 503 is specifically used for:

[0140] Based on flight status information, determine the second rate of change of the terminal device's flight attitude;

[0141] In response to a second rate of change being greater than or equal to a third threshold, the degree of correlation is determined to be greater than or equal to a first threshold.

[0142] In response to the second rate of change being less than the third threshold, the correlation is determined to be less than the first threshold.

[0143] According to one or more embodiments of this application, the first acquisition module 501 is specifically used for:

[0144] Acquire first environmental information, which is the environmental information when the rate of change of environmental information is less than or equal to the fourth threshold within a preset time period;

[0145] Acquiring second concentration information and second environmental information during the acquisition of second concentration information;

[0146] Based on the first environmental information and the second environmental information, the second concentration information is processed to obtain the first concentration information.

[0147] According to one or more embodiments of this application, the determining module 503 is specifically used for:

[0148] Obtain third concentration information based on the first environmental information;

[0149] Determine the differences between the first and third concentration information;

[0150] Based on the difference information, the concentration detection result of the first concentration information is determined, and the concentration detection result is either abnormal or normal.

[0151] This embodiment provides a drone detection device for oilfield pipeline leaks, which can perform the method provided in the above-described method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0152] Figure 6 This is a schematic diagram of the structure of a terminal device provided in this embodiment. Please refer to [link / reference]. Figure 6 The diagram illustrates a structural schematic of a terminal device 600 suitable for implementing this embodiment. The terminal device may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, personal digital assistants (PDAs), portable Android devices (PADs), portable media players (PMPs), and in-vehicle terminals (e.g., in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. Figure 6 The terminal device shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0153] like Figure 6 As shown, the terminal device 600 may include a processing unit (e.g., a central processing unit, a graphics processing unit, etc.) 601, which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 602 or a program loaded from storage device 608 into random access memory (RAM) 603. The RAM 603 also stores various programs and data required for the operation of the terminal device 600. The processing unit 601, ROM 602, and RAM 603 are interconnected via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0154] Typically, the following devices can be connected to I / O interface 605: input devices 606 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 607 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 608 including, for example, magnetic tapes, hard disks, etc.; and communication devices 609. Communication device 609 allows terminal device 600 to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 6 A terminal device 600 with various devices is shown; however, it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed alternatively.

[0155] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 609, or installed from a storage device 608, or installed from a ROM 602. When the computer program is executed by the processing device 601, it performs the functions defined in the methods of the embodiments of this application.

[0156] It should be noted that the computer-readable medium described above in this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0157] The aforementioned computer-readable medium may be included in the aforementioned terminal device; or it may exist independently and not assembled into the terminal device.

[0158] The aforementioned computer-readable medium carries one or more programs, which, when executed by the terminal device, cause the terminal device to perform the method shown in the above embodiments.

[0159] This application provides a computer-readable storage medium storing computer-executable instructions. When a processor executes the computer-executable instructions, it implements various methods that may be involved in the above embodiments.

[0160] This application provides a computer program product, including a computer program that, when executed by a processor, implements various methods that may be involved in the above embodiments.

[0161] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0162] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0163] The units described in the embodiments of this application can be implemented in software or in hardware. The name of a unit does not necessarily limit the unit itself; for example, the first acquisition unit can also be described as "a unit that acquires at least two Internet Protocol addresses".

[0164] The functions described above in this document can be performed at least in part by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip (SoCs), complex programmable logic devices (CPLDs), and so on.

[0165] In the context of this application, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0166] It should be noted that the terms "a" and "a plurality of" used in this application are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0167] The names of the messages or information exchanged between multiple devices in the embodiments of this application are for illustrative purposes only and are not intended to limit the scope of these messages or information.

[0168] It is understood that the data involved in this technical solution (including but not limited to the data itself, the acquisition or use of the data) shall comply with the requirements of relevant laws, regulations and provisions. The data may include information, parameters and messages, such as flow switching indication information.

[0169] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

[0170] Furthermore, while the operations are described in a specific order, this should not be construed as requiring these operations to be performed in the specific order shown or in a sequential order. Multitasking and parallel processing may be advantageous in certain contexts. Similarly, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of this application. Certain features described in the context of individual embodiments may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented individually or in any suitable sub-combination in multiple embodiments. Although the subject matter has been described using language specific to structural features and / or methodological logic, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are merely exemplary forms of implementing the claims.

Claims

1. A method for detecting leaks in oilfield pipelines using unmanned aerial vehicles (UAVs), characterized in that, include: Obtain the first concentration information of the first gas as the terminal device flies along the pipeline, wherein the first gas is the gas transported by the pipeline; When the first concentration information indicates that the concentration of the first gas is abnormal, the flight status information of the terminal device corresponding to the first concentration information is obtained; Based on the flight status information and the first concentration information, the gas detection result of the first gas is determined, and the gas detection result is used to indicate whether the pipeline is leaking.

2. The method according to claim 1, characterized in that, Based on the flight status information and the first concentration information, the gas detection result of the first gas is determined, including: Based on the flight status information and the first concentration information, determine the degree of correlation between the flight status information and the concentration anomaly; When the correlation degree is greater than or equal to the first threshold, the gas detection result is determined to be that the pipeline is not leaking; When the correlation is less than the first threshold, the gas detection result is determined to be a pipeline leak.

3. The method according to claim 2, characterized in that, Based on the flight status information and the first concentration information, determining the degree of correlation between the flight status information and the concentration anomaly indicated by the first concentration information includes: Based on the first concentration information, the anomaly type of the concentration anomaly is determined, and the anomaly type includes concentration value anomaly and concentration change trend anomaly; The degree of correlation is determined based on the flight status information and the anomaly type.

4. The method according to claim 3, characterized in that, When the anomaly type is an abnormal concentration value; based on the flight status information and the anomaly type, determine the degree of correlation, including: Based on the flight status information, a first rate of change of the flight altitude of the terminal device is determined; In response to the first rate of change being greater than or equal to a second threshold, it is determined that the degree of correlation is greater than or equal to the first threshold; In response to the first rate of change being less than the second threshold, it is determined that the degree of correlation is less than the first threshold.

5. The method according to claim 3, characterized in that, When the anomaly type is an abnormal concentration change trend; based on the flight status information and the anomaly type, the correlation degree is determined, including: Based on the flight status information, a second rate of change of the flight attitude of the terminal device is determined; In response to the second rate of change being greater than or equal to a third threshold, it is determined that the degree of correlation is greater than or equal to the first threshold; In response to the second rate of change being less than the third threshold, it is determined that the degree of correlation is less than the first threshold.

6. The method according to any one of claims 1-5, characterized in that, Obtain the first concentration information of the first gas as the terminal device travels along the pipeline, including: Acquire first environmental information, which is environmental information when the rate of change of environmental information is less than or equal to a fourth threshold within a preset time period; Acquire second concentration information and second environmental information when collecting the second concentration information; Based on the first environmental information and the second environmental information, the second concentration information is processed to obtain the first concentration information.

7. The method according to claim 3, characterized in that, Based on the first concentration information, the anomaly type of the concentration anomaly is determined, including: Obtain third concentration information based on the first environmental information; Determine the difference between the first concentration information and the third concentration information; Based on the difference information, the concentration detection result of the first concentration information is determined, and the concentration detection result is either abnormal or normal.

8. A drone-based detection device for oilfield pipeline leaks, characterized in that, It includes a first acquisition module, a second acquisition module, and a determination module, wherein: The first acquisition module is used to acquire first concentration information of a first gas when the terminal device flies along the pipeline, wherein the first gas is the gas transported by the pipeline; The second acquisition module is used to acquire the flight status information of the terminal device corresponding to the first concentration information when the first concentration information indicates that the concentration of the first gas is abnormal. The determining module is used to determine the gas detection result of the first gas based on the flight status information and the first concentration information, and the gas detection result is used to indicate whether the pipeline is leaking.

9. A terminal device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1 to 7.

11. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method of any one of claims 1 to 7.

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