A gas leak source detection device

Abstract

This application provides a gas leak source detection device, including a multi-rotor aircraft and an olfactory detection module, a visual detection module, and an environmental monitoring module mounted on the multi-rotor aircraft. The olfactory detection module is used to scan the gas concentration in the area to be detected, the visual detection module is used to identify the leaking gas cloud and determine the location of the leak point, and the environmental monitoring module is used to collect atmospheric data. By constructing a collaborative mechanism of remote olfactory guidance and near-end visual positioning through the olfactory detection module and the visual detection module, a detection closed loop of initial odor screening, detailed visual inspection, and infrared evidence is formed, controlling the leak point location accuracy to ≤10cm, far exceeding the positioning level of traditional single detection methods. It can adapt to overhead pipelines, complex terrain, and large-scale industrial areas, with comprehensive detection coverage and no blind spots.

Description

Technical Field

[0001] This application belongs to the field of gas leak detection technology, specifically relating to a gas leak source detection device. Background Technology

[0002] In the field of industrial gas transportation and storage, gas leakage is one of the main sources of safety risks. Currently, the detection of gas leakage sources mainly relies on fixed or mobile detection devices based on ground equipment.

[0003] However, ground-based detection devices are limited by their mobility and deployment methods, making it difficult to cover overhead pipelines, complex terrain, and large industrial areas, resulting in significant blind spots. Utility Model Content

[0004] Therefore, the purpose of this application is to provide a gas leak source detection device that at least solves one of the technical problems mentioned in the background art.

[0005] To address the aforementioned issues, this application provides a gas leak source detection device, comprising a multi-rotor aircraft and an olfactory detection module, a visual detection module, and an environmental monitoring module mounted on the multi-rotor aircraft; the olfactory detection module is used to scan the gas concentration in the area to be detected, the visual detection module is used to identify leaking gas clouds and determine the location of the leak point, and the environmental monitoring module is used to collect atmospheric data.

[0006] Optionally, the multi-rotor aircraft includes a control module and a wireless communication module. The olfactory detection module, the visual detection module, the environmental monitoring module, and the wireless communication module are connected to the control module. The wireless communication module is used to establish two-way communication with the ground monitoring center.

[0007] Optionally, the olfactory detection module is located inside the fuselage of the multirotor aircraft, and the olfactory detection module is an array of gas-sensitive sensors.

[0008] Optionally, the gas sensor array consists of at least eight specific gas sensors with a detection range of 1ppm-50ppm.

[0009] Optionally, the gas sensor array is used to detect one or more of methane, hydrogen sulfide, carbon monoxide, and VOCs gases, and the gas sensor response time is less than 10 seconds.

[0010] Optionally, the visual inspection module includes a visible light camera and an infrared thermal imaging camera. The multi-rotor aircraft includes a two-axis stabilized gimbal. The visible light camera and the infrared thermal imaging camera are mounted on the two-axis stabilized gimbal. The two-axis stabilized gimbal is used to adjust the field of view of the visible light camera and the infrared thermal imaging camera. The data output terminals of the visible light camera and the infrared thermal imaging camera are connected to the control module.

[0011] Optionally, the visual inspection module further includes an image preprocessing module for real-time noise reduction, enhancement, and stitching of the acquired images; both the visible light camera and the infrared thermal imaging camera are connected to the image preprocessing module, and the image preprocessing module is connected to the control module.

[0012] Optionally, the environmental monitoring module includes a wind speed sensor, a wind direction sensor, a temperature sensor, and a humidity sensor. The wind speed sensor, the wind direction sensor, the temperature sensor, and the humidity sensor are installed on the top of the multi-rotor aircraft fuselage and are used to collect wind direction, wind speed, temperature, and humidity parameters in real time. The data output terminals of the wind direction sensor, the temperature sensor, and the humidity sensor are connected to the control module.

[0013] Optionally, the wireless communication module adopts a dual-mode communication method, including 4G communication and a data transmission radio. The 4G communication and the data transmission radio are integrated on the top of the multi-rotor aircraft fuselage. The data input terminals of the 4G communication and the data transmission radio are connected to the control module, and the data output terminals of the 4G communication and the data transmission radio are connected to the ground monitoring center. The system automatically switches between the 4G communication and the data transmission radio according to the signal strength of the inspection environment.

[0014] Optionally, the multi-rotor aircraft adopts a six-rotor structure, with a maximum payload of ≥5kg and an endurance of ≥30min.

[0015] By employing the above technical solution, this utility model application has at least the following beneficial effects:

[0016] This application provides a gas leak source detection device. Through the collaborative mechanism of olfactory detection module and visual detection module, which integrates remote olfactory guidance and near-end visual positioning, a detection closed loop of odor screening, visual inspection and infrared evidence is formed. The accuracy of leak point location is controlled to ≤10cm, which is far superior to the positioning level of traditional single detection methods. It can adapt to overhead pipelines, complex terrain and large-scale industrial plants. The detection range is comprehensive and there are no blind spots. Attached Figure Description

[0017] Figure 1 This is a top view of the gas leak source detection device according to an embodiment of this application;

[0018] Figure 2 This is a first-view schematic diagram of the gas leak source detection device according to an embodiment of this application;

[0019] Figure 3 This is a second-view schematic diagram of the gas leak source detection device according to an embodiment of this application.

[0020] The reference numerals in the attached figures are as follows:

[0021] 1. Multi-rotor aircraft; 2. Visual inspection module; 3. Environmental monitoring module; 4. Wireless communication module; 5. Olfactory detection module. Detailed Implementation

[0022] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0023] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0024] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0025] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0026] See also Figures 1 to 3As shown, according to an embodiment of this application, a gas leak source detection device is provided, including a multi-rotor aircraft 1 and an olfactory detection module 5, a visual detection module 2, and an environmental monitoring module 3 mounted on the multi-rotor aircraft 1; the olfactory detection module 5 is used to scan the gas concentration in the area to be detected, the visual detection module 2 is used to identify the leaking gas cloud and determine the location of the leak point; the environmental monitoring module 3 is used to collect atmospheric data.

[0027] By constructing a collaborative mechanism of remote olfactory guidance and near-end visual positioning through olfactory detection module 5 and visual detection module 2, a detection closed loop of initial odor screening, detailed visual inspection and infrared evidence is formed, which controls the positioning accuracy of the leak point to ≤10cm, far exceeding the positioning level of traditional single detection methods. It can adapt to overhead pipelines, complex terrain and large-scale industrial plants, and the detection range is comprehensive with no blind spots.

[0028] The system includes an olfactory detection module 5, a visual detection module 2, and an environmental monitoring module 3 mounted on the multi-rotor aircraft 1. The olfactory detection module 5 is located inside the multi-rotor aircraft 1, and its data acquisition end is fixed to the top surface of the fuselage of the multi-rotor aircraft 1 to ensure that the data acquisition end can directly contact the gas, thus ensuring the reliability and authenticity of the detection accuracy. The visual detection module 2 is located on the belly of the multi-rotor aircraft 1, allowing it to intuitively acquire images of the area to be detected, avoiding blind spots. The environmental monitoring module 4 is located on the top of the fuselage of the multi-rotor aircraft 1, that is, on the opposite side of the area to be detected, and is used to capture atmospheric data in real time, providing a basis for correcting the leakage gas concentration data collected by the olfactory detection module 5.

[0029] The multi-rotor aircraft 1 includes a power module located inside the fuselage. The power module uses a 22.2V lithium battery to power all modules and has low battery alarm and autonomous return-to-home functions.

[0030] In another embodiment, the multi-rotor aircraft 1 includes a wireless communication module 4 and a control module located inside the fuselage. The olfactory detection module 5, the visual detection module 2, the environmental monitoring module 3, and the wireless communication module 4 are connected to the control module. The wireless communication module 4 is used to establish two-way communication with the ground monitoring center.

[0031] The control module reads the gas concentration value collected by the olfactory detection module 5 in real time through a concentration gradient calculation algorithm, filters the read data to remove outliers, and combines the atmospheric data collected by the environmental monitoring module 3 to perform preliminary diffusion compensation on the gas concentration value.

[0032] When the gas concentration exceeds the preset threshold, the control module automatically initiates the image recognition task.

[0033] The control module can also generate a flight strategy for the multi-rotor aircraft 1 based on the concentration gradient calculation or image recognition results, so as to achieve stable and precise flight attitude control.

[0034] The control module also integrates a memory, where all raw sensor data, processed intermediate data, final identification results, and corresponding environmental parameters, time, and location information can be stored in real time. Data can be transmitted back to the ground monitoring center via the wireless communication module 4.

[0035] Specifically, the control module is built on an embedded processor and interacts with the olfactory detection module 5, the visual detection module 2, and the environmental monitoring module 3 through an internal bus.

[0036] Specifically, the concentration gradient calculation algorithm employs either the concentration gradient method or the particle swarm optimization algorithm. When using the concentration gradient method, at the current position, the rate of change of gas concentration at several adjacent sampling points is calculated. The control module generates control commands based on the gradient direction, guiding the multi-rotor aircraft 1 to fly in the direction of the largest concentration gradient.

[0037] When using the particle swarm optimization algorithm, the multi-rotor aircraft 1 is regarded as a particle. Its flight direction and speed are updated based on the historical highest gas concentration position and the historical highest gas concentration position of the group (multiple historical position points), and gradually converge to the leakage source.

[0038] In another embodiment, the olfactory detection module 5 is disposed inside the fuselage of the multi-rotor aircraft 1, and the olfactory detection module 5 is an array of gas-sensitive sensors.

[0039] The gas sensor array's acquisition end is fixed to the top surface of the multi-rotor aircraft 1, directly contacting the gas in the area to be detected to ensure the accuracy of gas leak detection. The entire gas sensor array is installed inside the fuselage of the multi-rotor aircraft 1 to prevent collisions during detection, thus protecting the gas sensor array.

[0040] In another embodiment, the gas sensor array consists of at least eight specific gas sensors with a detection range of 1 ppm to 50 ppm. Target detection is confirmed only when the response patterns of at least eight specific gas sensors are highly matched with the leaking gas, rather than relying solely on a single gas sensor reading exceeding its limit, significantly reducing the false alarm rate. The detection range of 1 ppm to 50 ppm allows for the measurement of high-concentration gases near the leak source even under unsaturated conditions, providing reliable concentration gradient guidance for "near-end visual localization" and preventing gas sensors from saturating and failing due to excessively high concentrations.

[0041] In another embodiment, the gas sensor array is used to detect one or more of methane, hydrogen sulfide, carbon monoxide, and VOCs gases, and the gas sensor response time is less than 10 seconds.

[0042] By configuring a gas-sensitive sensor array, a system covering multiple gas detection scenarios, including flammable, toxic, and polluting gases, has been achieved, offering a wide range of applications and high cost-effectiveness. It can also perform comprehensive risk assessments while simultaneously monitoring multiple hazard sources, providing more comprehensive safety warnings and assisting in accident cause analysis. With a gas-sensitive sensor response time of less than 10 seconds, rapid response and real-time tracking ensure the spatiotemporal synchronization of the multi-rotor aircraft's flight and gas detection, achieving efficient "olfactory guidance" and precise source tracing.

[0043] In another embodiment, the visual inspection module 2 includes a visible light camera and an infrared thermal imaging camera, and the multi-rotor aircraft 1 includes a two-axis stabilized gimbal. The visible light camera and the infrared thermal imaging camera are mounted on the two-axis stabilized gimbal, which is used to adjust the field of view of the visible light camera and the infrared thermal imaging camera.

[0044] The visible light camera has a resolution of no less than 1920×1080 and a frame rate of ≥30fps, enabling it to capture fine textures and details (such as minute corrosion spots, cracks, and oil stains) on the surfaces of pipes, valves, flanges, and other equipment. The high frame rate ensures smoothness and clarity of the footage during the hovering or movement of the multi-rotor aircraft, providing high-quality input for subsequent image recognition.

[0045] The infrared thermal imaging camera has a resolution of 640×512 and a temperature measurement range of -20℃ to 150℃. Gas leaks cause temperature anomalies, and the infrared thermal imaging camera can directly capture the temperature field distribution, thus visualizing the gas leak point. The infrared thermal imaging camera does not rely on visible light, making it particularly suitable for nighttime emergency response or areas with poor lighting conditions.

[0046] The visible light camera and the infrared thermal imaging camera are mounted on a two-axis stabilized gimbal. The two-axis stabilized gimbal is used to adjust the field of view of the visible light camera and the infrared thermal imaging camera. In other words, the two-axis stabilized gimbal is controlled to rotate by the control module, thereby realizing the adjustment of the field of view of the visible light camera and the infrared thermal imaging camera.

[0047] In another embodiment, the visual inspection module 2 further includes an image preprocessing module for real-time noise reduction, enhancement, and stitching of the acquired images; both the visible light camera and the infrared thermal imaging camera are connected to the image preprocessing module, which is connected to the control module.

[0048] In another embodiment, the environmental monitoring module 3 includes a wind speed sensor, a wind direction sensor, a temperature sensor, and a humidity sensor. The wind speed sensor, wind direction sensor, temperature sensor, and humidity sensor are located on the top of the fuselage of the multi-rotor aircraft 1 and are used to collect wind direction, wind speed, temperature, and humidity parameters in real time. The data output terminals of the wind direction sensor, temperature sensor, and humidity sensor are connected to the control module.

[0049] Among them, the wind speed sensor is used to quantify the gas diffusion rate, correct the leakage gas concentration reading and guide the source tracing direction. The control module uses the wind speed data detected by the wind speed sensor in combination with the gas diffusion model (such as the Gaussian plume model) to perform inversion estimation of the detected leakage gas concentration, and more accurately infer the true release intensity of the leakage source. The real-time data provided by the wind speed sensor is the basis for the control module to control the multi-rotor aircraft to fly in the direction of increasing concentration gradient.

[0050] Among them, the wind direction sensor is mainly used for the source tracing and navigation of the multi-rotor aircraft 1. The control module determines the upstream direction of the leakage source through wind direction data, thereby planning the tracking path of the multi-rotor aircraft 1.

[0051] The temperature sensor is used to compensate for the temperature of the gas sensor and correct its reading deviation; the control module can compensate for the ambient temperature data based on the real-time ambient temperature collected by the temperature sensor to obtain a more accurate value of the leaked gas concentration.

[0052] The humidity sensor is used to supplement the humidity of the gas sensor and correct its reading deviation; the control module can perform environmental humidity data compensation based on the real-time environmental humidity collected by the humidity sensor to obtain a more accurate value of the leaked gas concentration.

[0053] In another embodiment, the wireless communication module 4 adopts a dual-mode communication method, including 4G communication and data transmission radio. The 4G communication and data transmission radio are integrated on the top of the fuselage of the multi-rotor aircraft 1. The data input terminals of the 4G communication and data transmission radio are connected to the control module, and the data output terminals of the 4G communication and data transmission radio are connected to the ground monitoring center. The system automatically switches between 4G communication and data transmission radio according to the signal strength of the inspection environment.

[0054] Among them, the high bandwidth of 4G communication can ensure the rapid transmission of large amounts of data; in areas covered by 4G base stations, it can realize a stable long-distance connection between the multi-rotor aircraft 1 and the ground monitoring center, and support the remote command interaction between the ground monitoring center and the multi-rotor aircraft 1.

[0055] Data radios are point-to-point wireless communication devices based on dedicated wireless frequency bands. They do not rely on base stations and achieve communication through direct signal transmission between radios, featuring strong anti-interference capabilities and stable transmission.

[0056] The 4G communication and data transmission radio coordination logic is as follows: when the multi-rotor aircraft 1 is in an area with strong 4G communication signals, it prioritizes 4G communication to utilize its high bandwidth advantage to transmit large amounts of data; when the multi-rotor aircraft 1 flies into an area with weak or no 4G signals, the wireless communication module 4 automatically switches to data transmission radio mode to ensure remote command interaction and avoid communication interruption; through the coordination of 4G communication and data transmission radio, the full-scenario communication needs of industrial inspection in urban peripheries, suburbs and remote areas can be covered, ensuring that the multi-rotor aircraft 1 can maintain two-way communication with the ground monitoring center in any environment, ensuring that the detection data is not lost and that it can respond to the control commands of the ground monitoring center.

[0057] In another embodiment, the multi-rotor aircraft 1 adopts a six-rotor structure, with a maximum payload of ≥5kg and an endurance of ≥30min. It has altitude hold and hovering capabilities, providing a flight platform for the entire device.

[0058] Employing a combined olfactory and visual-olfactory mechanism—combining remote olfactory guidance with near-end visual positioning—and integrating with a multi-rotor aircraft 1 for three-dimensional spatial inspection, this overcomes the limitations of single-detection methods. Leveraging the payload, endurance, and hovering capabilities of the multi-rotor aircraft 1, the olfactory detection module 5 and the visual detection module 2 are spatially aligned without interference and offer complementary coverage. A closed loop is formed through initial odor screening, detailed visual examination, and infrared verification. Data linkage is achieved through a control module that synchronously adjusts the detection range, field of view, and flight attitude. Ultimately, a collaborative mode—using gas signals to guide visual focusing and visual details to verify the odor source—efficiently completes the UAV environmental detection mission.

[0059] The following section uses pipeline patrol as an example to explain in detail the specific implementation process of the gas leak source detection device:

[0060] Multirotor aircraft 1 cruises along the pipeline at a height of 5m along a preset route. The control module drives the olfactory detection module 5 to collect gas concentration data in real time. When the olfactory detection module 5 detects a gas concentration of 8ppm (>5ppm threshold) three times consecutively, the control module calculates the gas concentration gradient and controls multirotor aircraft 1 to fly in the direction of increasing gradient, achieving remote olfactory guidance. When the detected concentration rises to 25ppm (>20ppm threshold), the control module controls the visual detection module 2 to start. The infrared thermal imaging camera identifies a leaking gas cloud with a diameter of approximately 50cm (based on temperature field difference). The system guides the multi-rotor aircraft 1 towards the center of the leaking gas cloud. The multi-rotor aircraft 1 hovers directly above the pipeline, within a distance of 1m-3m from the pipeline. The visible light camera captures images of the pipeline surface, and the control module uses an image recognition algorithm to locate the corrosion leak point at the bend of the DN200 pipeline with a positioning accuracy of ≤10cm. The wireless communication module 4 switches to 4G communication mode and sends a report containing GPS coordinates, leak point images, and concentration data to the ground monitoring center. At the same time, the ground monitoring center can control the multi-rotor aircraft 1 to adjust its angle for verification and capture, forming a complete leak point detection report.

[0061] Combining a multi-rotor aircraft 1 enables three-dimensional spatial inspection, increasing the coverage area by 80% compared to ground-based devices and solving the problem of blind spots in areas such as overhead pipelines; through a collaborative mechanism of coarse olfactory guidance and precise visual positioning, the leak point location error is ≤10cm, which is superior to traditional single-sensor detection methods; remote operation of the multi-rotor aircraft 1 avoids personnel entering hazardous areas of chemical gas leaks, meeting the safety operation requirements of chemical industrial parks and other scenarios; dual-mode communication ensures real-time data transmission, and fully automated detection reduces manual intervention and improves inspection efficiency.

[0062] It will be readily understood by those skilled in the art that the aforementioned advantageous methods can be freely combined and superimposed without conflict.

[0063] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application. The above are merely preferred embodiments of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of this application, and these improvements and modifications should also be considered within the protection scope of this application.

Claims

1. A gas leak source detection device, characterized in that, It includes a multi-rotor aircraft (1) and an olfactory detection module (5), a visual detection module (2), and an environmental monitoring module (3) mounted on the multi-rotor aircraft (1); the olfactory detection module (5) is used to scan the gas concentration in the area to be detected, the visual detection module (2) is used to identify the leaking gas cloud and determine the location of the leak point; the environmental monitoring module (3) is used to collect atmospheric data; The multi-rotor aircraft (1) includes a control module; The olfactory detection module (5) is located inside the fuselage of the multi-rotor aircraft (1), and the olfactory detection module (5) is an array of gas-sensitive sensors; The visual inspection module (2) includes a visible light camera and an infrared thermal imaging camera. The multi-rotor aircraft (1) includes a two-axis stabilized gimbal. The visible light camera and the infrared thermal imaging camera are mounted on the two-axis stabilized gimbal. The two-axis stabilized gimbal is used to adjust the field of view of the visible light camera and the infrared thermal imaging camera. The data output terminals of the visible light camera and the infrared thermal imaging camera are connected to the control module. The visual detection module (2) also includes an image preprocessing module, which is used to perform real-time noise reduction, enhancement and stitching processing on the acquired images; the visible light camera and the infrared thermal imaging camera are both connected to the image preprocessing module, and the image preprocessing module is connected to the control module; The environmental monitoring module (3) includes a wind speed sensor, a wind direction sensor, a temperature sensor and a humidity sensor. The wind speed sensor, the wind direction sensor, the temperature sensor and the humidity sensor are installed on the top of the fuselage of the multi-rotor aircraft (1) to collect wind direction, wind speed, temperature and humidity parameters in real time. The data output terminals of the wind direction sensor, the temperature sensor and the humidity sensor are connected to the control module.

2. The gas leak source detection device according to claim 1, characterized in that, The multi-rotor aircraft also includes a wireless communication module (4), which is connected to the control module; the wireless communication module (4) is used to establish two-way communication with the ground monitoring center.

3. The gas leak source detection device according to claim 1, characterized in that, The gas sensor array consists of at least 8 specific gas sensors with a detection range of 1ppm-50ppm.

4. The gas leak source detection device according to claim 1, characterized in that, The gas sensor array is used to detect one or more of methane, hydrogen sulfide, carbon monoxide, and VOCs gases, and the gas sensor response time is less than 10 seconds.

5. The gas leak source detection device according to claim 2, characterized in that, The wireless communication module (4) adopts a dual-mode communication method, including 4G communication and data transmission radio. The 4G communication and the data transmission radio are integrated on the top of the fuselage of the multi-rotor aircraft (1). The data input terminals of the 4G communication and the data transmission radio are connected to the control module, and the data output terminals of the 4G communication and the data transmission radio are connected to the ground monitoring center. The system automatically switches between the 4G communication and the data transmission radio based on the signal strength of the inspection environment.

6. The gas leak source detection device according to claim 1, characterized in that, The multi-rotor aircraft (1) adopts a six-rotor structure, with a maximum load of ≥5kg and an endurance of ≥30min.

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