CN109780452B - Gas leakage unmanned aerial vehicle inspection concentration inversion method based on laser remote measurement technology - Google Patents
Gas leakage unmanned aerial vehicle inspection concentration inversion method based on laser remote measurement technology Download PDFInfo
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Abstract
The invention provides a method for inverting the routing inspection concentration of a gas leakage unmanned aerial vehicle based on a laser telemetering technology, which comprises the following steps: obtaining a path integral concentration sample based on an unmanned aerial vehicle scanning curve of the laser methane sensor; obtaining lattice concentration inversion based on a gas pipeline coordinate system; obtaining leakage position and leakage rate estimation based on the maximum likelihood estimation of a gas leakage diffusion model of the lattice concentration and wind direction estimation; the gas leakage diffusion model reconstructs a continuous concentration map, and a dangerous area and an isolation area are divided according to a dangerous threshold; and carrying out intelligent emergency aid decision analysis by adopting a ground terminal or a handheld APP.
Description
Technical Field
The invention belongs to the technical field of gas leakage inspection, and particularly relates to a gas leakage unmanned aerial vehicle inspection concentration inversion method based on a laser remote measurement technology.
Background
With the continuous promotion of urbanization, the influence of gas as green and environment-friendly clean energy on human life is increasing day by day, and the gas business also meets the opportunity of rapid development. However, in the development process, hidden dangers and crises are gradually shown, the damage range caused by gas pipe network leakage is large, and the consequences are serious. According to statistics, the leakage rate in the transportation process is about 10%, so that direct economic loss is caused, and the method also becomes a huge safety threat.
At present, a gas company mainly depends on manual daily inspection for maintenance work of pipelines, workers are provided with corresponding handheld inspection equipment, gas pipeline inspection is carried out in a walking or driving mode, the statistics of inspection results mainly depends on data recorded on a paper inspection recording table by the workers, and more time and thoughts are needed for ensuring the integrity and accuracy of the data. More manpower, material resources and time are needed for completing the routing inspection task at one time. In the manual inspection process, a worker must keep a communication tool smooth to ensure that the communication tool is contacted anytime and anywhere, so that the position and the safety condition of the inspection worker are judged, and under the conditions of severe environment and unknown gas leakage, the worker inspects pipelines and has potential safety hazards to a certain extent.
An unmanned aerial vehicle is used for carrying a laser methane telemeter and a visible light pod to form a remote sensing system. The unmanned aerial vehicle carrying the laser methane telemeter can scan a measurement or leakage area, measure the methane concentration, generate a real-time electronic map of the methane concentration, and timely handle emergency and the like. The unmanned aerial vehicle of the carried optical pod flies above a pipeline to be observed, field observation is carried out through a real-time high-definition image system at an open view angle from top to bottom, an observation form without a dead angle is formed together with ground observation, a picture or a video is shot at the same time, position information is automatically recorded in the picture, and post-processing or archiving can be carried out; therefore, the unmanned aerial vehicle system has unique advantages in gas pipeline inspection: (1) the inspection process is automated; (2) the digital information is rich and accurate; (3) and intelligent software draws an electronic map of the leakage concentration in real time.
However, there is a problem in how to form an effective concentration inversion mechanism in an airborne remote high-sensitivity laser methane telemetry.
Disclosure of Invention
In view of the above, the invention aims to provide a method for inverting the polling concentration of a gas leakage unmanned aerial vehicle based on a laser telemetry technology, and a real-time and reliable solution for inverting the concentration of an airborne gas leakage measuring device of the unmanned aerial vehicle is realized.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a gas leakage unmanned aerial vehicle inspection concentration inversion method based on a laser telemetering technology is characterized by comprising the following steps:
1) obtaining a path integral concentration sample based on a carrying unmanned aerial vehicle scanning curve through a laser methane sensor;
2) obtaining lattice concentration inversion based on a gas pipeline coordinate system;
3) obtaining leakage position and leakage rate estimation based on the maximum likelihood estimation of a gas leakage diffusion model of the lattice concentration and wind direction estimation;
4) the gas leakage diffusion model reconstructs a continuous concentration map, and a dangerous area and an isolation area are divided according to a dangerous threshold;
5) and a ground terminal or a handheld APP is adopted for real-time display and intelligent emergency aid decision analysis.
Further, in step 2, by constructing a coordinate system of the gas pipeline, the path integral concentration of the sampled scanning curve is obtained by coordinate rotation transformation and a difference value, and the integral concentration values at the row-column lattice position under the pipeline coordinate system and the rectangular coordinate system.
Further, the method specifically comprises the following steps:
31) constructing a Gaussian smoke plume model of gas leakage gas diffusion,
32) according to the density of the dot matrix, when the density of more than a plurality of points is greater than a specified threshold value, judging that leakage possibly exists;
33) and obtaining a lattice with the concentration greater than a specified threshold value, constructing a gas leakage diffusion model, and constructing a maximum likelihood estimation of the gas leakage model based on the concentration of the row lattice and the column lattice and the wind direction measurement to complete leakage position estimation and leakage rate estimation.
Further, in step 4, the extended concentration of the gas leakage is redrawn according to the estimation of the leakage position, the estimation of the leakage rate and a Gaussian smoke plume model of the gas leakage gas diffusion, a concentration contour line is constructed according to concentration indexes of a dangerous area and an isolation area, and then the minimum rectangular envelope is calculated and solved for the concentration contour line to form automatic planning of the dangerous area and the isolation area.
Further, in step 5, a methane concentration value of a position corresponding to the routing inspection path is displayed in real time through a terminal or a handheld APP, and leakage detection alarm and concentration map display are carried out; the method can be used for displaying graphical data, intelligently analyzing and planning the methane concentration data, automatically dividing a dangerous range on a map, and uploading the data to the cloud.
Compared with the prior art, the device and the method have the following advantages:
(1) the invention provides a concentration inversion scheme for scanning and measuring a strip target of an airborne laser methane sensor.
(2) The invention provides an automatic planning method for a dangerous area and an isolation area, which provides a basis for emergency treatment auxiliary decision.
(3) The invention provides an electronic map of the site methane concentration distribution situation and the automatic planning capability of the dangerous area isolation region in real time, and provides a direct reference basis for the site command.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural diagram of a gas leakage unmanned aerial vehicle inspection device according to an embodiment of the invention;
FIG. 2 is a schematic flow chart of an inversion method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a measurement of a laser methane sensor;
fig. 4 is a schematic diagram of the unmanned aerial vehicle inspection device.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
The embodiment of the invention provides a gas leakage unmanned aerial vehicle inspection device, which comprises the following parts as shown in figure 1: the system comprises an unmanned aerial vehicle 1, a gas leakage measurement main control board 2, an unmanned aerial vehicle autopilot 3, a three-axis stable platform 5 and a laser methane sensor 6; the laser methane sensor 6 is arranged on the three-axis stable platform 5, and the three-axis stable platform 5 is arranged below the unmanned aerial vehicle 1; the gas leakage measurement main control board 2, the unmanned aerial vehicle automatic pilot 3 are installed inside the unmanned aerial vehicle 1. Gas leakage measures main control board 2 according to built-in route coordinate information and the unmanned aerial vehicle GPS positional information that unmanned aerial vehicle autopilot 3 provided of waiting to patrol and examine gas pipeline 8, carries out unmanned aerial vehicle 1's stage flight path control through unmanned aerial vehicle autopilot 3, realizes the control to the scanning orbit of laser methane sensor 6 through sending control command to triaxial stabilized platform 5. Still include wind direction anemoscope 4, wind direction anemoscope 4 installation and unmanned aerial vehicle 1 top.
The inversion method of the inspection concentration of the gas leakage unmanned aerial vehicle of the inspection device for the gas leakage unmanned aerial vehicle comprises the following steps as shown in figure 2:
step 1, obtaining a path integral concentration sample based on a scanning curve of a laser methane sensor;
step 4, reconstructing a continuous concentration map by using the gas leakage diffusion model, and dividing a dangerous area and an isolation area according to a dangerous threshold;
and 5, carrying out real-time display and intelligent emergency aid decision analysis by adopting a ground terminal or a handheld display APP.
In the step 1, according to the GPS positioning of the unmanned aerial vehicle and the laying position of the gas pipeline, the scanning mode of the triaxial stable platform is set, so that the moving translation spiral line can effectively cover the gas pipeline, and meanwhile, the path integral concentration sampling of the scanning curve (spiral line) is obtained through sampling.
The measurement principle of the laser methane sensor is shown in fig. 3, the natural gas pipeline leakage monitoring method is an optical method, the physical basis is certain interaction of gas molecules and light, specifically, the gas absorbs photons with specific wavelengths, so that the transmitted light intensity is attenuated relative to the incident light intensity, a determined quantitative relation exists between the light intensity attenuation and the gas content, and the content information of the gas can be obtained by measuring the light intensity attenuation through technical means. The quantitative relationship between the amount of light intensity attenuation and the gas content is generally expressed by the Lambert-Beer law:
P＝KSexp[-2α(ν)C] (1)
wherein S represents incident light intensity, P represents light intensity measured after gas absorption, K represents optical collection efficiency of a measurement system, alpha (v) represents optical absorption coefficient when light frequency is v, C represents integral concentration value of gas absorption, and for airborne natural gas pipeline leakage monitoring, the physical meaning of the integral concentration value refers to the product of gas content and path length within the range of round-trip distance from an aircraft platform to pipeline ground, and the unit is generally expressed by ppm-m. It should be noted that the gas refers specifically to a main component methane gas of natural gas, and it is a current international practice to monitor natural gas pipeline leakage by detecting methane gas. The integrated concentration values were calculated by a laser methane sensor using Tunable Diode Laser Absorption Spectroscopy (TDLAS) measurements according to the basic principle of equation 1.
In step 2, by constructing coordinate systems Xg and Yg of the gas pipeline, the path integral concentration of the sampled scanning curve (spiral line) is obtained by coordinate rotation transformation and difference, and the integral concentration values at the row-column lattice position under the pipeline coordinate system and the rectangular coordinate system.
In step 3, the method specifically comprises the following steps:
step 31, constructing a Gaussian smoke plume model of gas leakage gas diffusion,
the Gaussian smoke plume model can be used for mixing gas and air after release, and meanwhile, the concentration of gas at different positions in the downwind direction can be calculated after the mixed gas has certain neutral buoyancy.
If the wind direction is taken as an x axis and the wind speed is stably expressed as u, the calculation formula of the average concentration of the gas at the height H is (Gaussian plume model):
in formula (1):
<C>represents the average concentration of gas, in units: kg/m3(ii) a G denotes leak rate, unit: kg/s; σ represents a deviation criterion value of the concentration in different directions; u represents wind speed, unit: m/s; x is the downwind direction; y represents the distance of the wind direction in the vertical direction, in units: m; z represents the distance from the ground in units: m; h represents the leakage source height, unit: and m is selected.
Determining the leakage rate of the gas pipeline orifice:
the gas pipeline has a certain pressure, and when gas leaks from a crack of a pressure device, a gas flow standard equation is adopted for calculation, so that whether the gas flows at a subsonic speed or at a sonic speed during leakage is judged, wherein the former is called subcritical flow, and the latter is called critical flow. The gas source is natural gas, the main component of the gas source is methane, the critical pressure is 1.837, the adiabatic index is 1.307, and the gas flow standard equation is used for calculation, so that the gas source belongs to sonic flow, namely critical flow. Equation (1) is therefore chosen to calculate the leak rate.
When the gas flows at the speed of sound, the leakage rate G is as follows:
Cd-gas leakage coefficient, 0.90 for a rectangular slit shape, 0.95 for a triangular slit shape, 1.00 for a circular slit shape; r-gas constant, 8.314J/mol. k; g is gas leakage flow rate, kg/s; a-area of breach, m2(ii) a T-gas temperature, K; m-molecular weight of gas, kg/mol; p is the pressure before gas leakage, Pa; γ — adiabatic index, which is the ratio of the isobaric specific heat capacity to the isobaric specific heat capacity (γ ═ Cp/Cv).
Diffusion parameter σ in modely，σzDetermination of (1):
diffusion parameter σy，σzThe method is a function formed by atmospheric stability, downwind distance, ground roughness and the like, and the currently widely applied estimation method is a P-G diffusion curve method, but the method is more suitable for flat ground and has certain limitation on atmospheric stability grading. Briggs in 1973 unified PassQuel, Brukrainwen and several other diffusion curves with interpolation equations based on the concept of formula asymptotes, thus deriving a new diffusion parameter expression. The method fully considers the influence of the underlying surface and is suitable for the range of 102m to 104 m. The method is an effective way to estimate diffusion parameters without providing experimental data measured or simulated on site.
TABLE 1 Briggis diffusion parameters at different atmospheric stabilities
And step 32, judging that leakage exists when the density of more than 3 points is greater than a specified threshold according to the density of the dot matrix, wherein the density of the dot matrix can be adjusted through software parameters.
Step 33, constructing suspected leakage points (i.e. the dot matrix with the concentration greater than the designated threshold), wherein 1 suspected leakage point is formed by the average value of the X-axis coordinates of the gas pipeline with 20 meters on both sides every 1 meter, and the total number is 39
And (4) points. At point 39, a gas leakage diffusion model is constructed, wherein the leakage rate and the size of the pipeline orifice adopt empirical values (obtained from historical fault statistical data), and based on row-column lattice concentration and wind direction measurement, a maximum likelihood estimation of the gas leakage model is constructed, so that leakage position estimation and leakage rate estimation are completed.
In step 4, the extended concentration of the gas leakage is redrawn according to the leakage position estimation and the leakage rate estimation, and a gas leakage model (gaussian plume model).
And (3) according to the concentration indexes of the dangerous area and the isolation area, constructing a concentration contour line, and calculating the concentration contour line to obtain a minimum rectangular envelope, so that automatic planning of the dangerous area and the isolation area can be formed.
In the step 5, the methane concentration value of the position corresponding to the routing inspection path is displayed on a handheld terminal APP or a display screen of a command system terminal in real time; the APP and the terminal display application software are easily obtained through a conventional software development platform according to functional requirements, and are not described again; as long as methane is detected in the routing inspection process, even if the concentration value is very low, such as 5ppm, the detection system can give an alarm immediately, the GPS coordinates of the site are determined, the position of gas leakage can be determined through the positioning of the GPS of the handheld terminal App on the map, and a worker can rapidly arrive at the site and timely process the gas leakage, so that the leakage detection alarm and the concentration map display are completed.
APP displays concentration conditions and intelligently divides dangerous areas. The intelligent emergency decision-making system can support the display of a command control hall and a handheld terminal, and provides all-directional data support and intelligent analysis auxiliary functions for emergency decisions.
This embodiment unmanned aerial vehicle carries on sensitivity 5ppm × m's laser methane telegauge to the scene of an accident is the center and carries out emergency rescue flight mode in certain extent, and the dangerous area can be divided to can automatic display scene of an accident methane concentration and can intelligence among the unmanned aerial vehicle system emergency rescue flight process. The specific working mode is as follows:
firstly, a graphical data display mode:
the APP receives flight data, can display the methane concentration value in real time, and can also adopt a more intuitive color display function, if no methane concentration displays green, the slight methane concentration displays orange, the concentration reaches the explosion value and displays red, and the methane concentration distribution condition of the area can be intuitively displayed in real time.
Intelligent planning data:
the APP carries out intelligent analysis planning on the methane concentration data measured by the laser telemeter, a dangerous range is automatically divided on a map, and field personnel can rapidly plan out an area needing isolation according to the dangerous range.
Data uploading cloud
Data interaction with a gas emergency command control hall is supported, and cloud data sharing and command control cloud coordination of events are supported.
In step 1, the method for realizing the spiral linear scanning track of the strip gas pipeline by the laser methane sensor 6 based on the triaxial stable platform 5 comprises the following steps:
the spiral line may be formed by a plurality of periodic scanning curves, and the pipeline region needs to be periodically and repeatedly scanned, such as a circular wave, an elliptical wave, a triangular wave curve, and the like.
1) The gas leakage measurement main control board 2 calculates a scanning center P along the gas pipeline 8 according to the built-in route coordinate information of the gas pipeline 8 to be patrolled0Scanning center P0Speed of movement V along gas line 89Can be set according to the parameters;
wherein the moving speed V9The gas leakage detection method is an important parameter for gas leakage detection, the scanning efficiency can be improved due to high speed, the scanning can be continued at low speed, the missing detection rate is reduced, and the fixed-point detection is performed when the speed is zero.
2) From a pointing vector
Calculating to obtain the deviation of the three-axis stable platformReference values (psi) of angles of yaw phi, pitch theta, and roll phi0，θ0，φ0) Forming a spiral scanning track, wherein the calculation formula is as follows:
thus:
instructions for yaw psi, pitch theta and roll phi of triaxial stabilized platform
Is composed of
In the formula:
Puavposition coordinates, P, representing the unmanned aerial vehicle 10Coordinates representing the center of the scan, at P0A circular track P is formed on the basis, the circular radius is D/2, and the selection of D needs to meet the requirement of covering a pipeline area; the unit vector of the pointing vector of the optical axis of the laser methane sensor 6 is then P-Puav(ii) a Wherein, ω is 2 pi f, and f is the scanning frequency of the spiral line; t is the scan time.
Due to the existence of wind, if gas leaks, different concentration areas are formed on two sides of a pipeline, as shown in fig. 2, for example, the concentration of gas clusters in the downwind direction may be higher in the downwind direction, so that in order to improve the detection sensitivity and reduce the leak detection rate, the wind direction and wind speed correction needs to be performed on the measurement scanning track, and the method for correcting the scanning track based on the wind direction and the wind speed comprises the following steps:
the current wind direction to be collected by the anemoscope 4
Wind speed VwindData is sent to the main control board 2 for measuring gas leakageThe measurement main control board 2 carries out calculation, and the new circular track scanning radius is calculated to be dD/2 according to the wind speed data, wherein dD is D + Kwind*VwindWherein dD is less than dDMAXThis parameter, KwindThe scanning radius adjusting parameters are similar to other scanning track calculation methods.
Position P of scanning center 90And is offset by dy outwardly. dy ═ Koffset*Vwind. dy is less than dyMAXThis parameter, KoffsetIs an outward shift adjustment parameter. Based on corrected P0In the above manner, the shifted scanning track line can be obtained. The new scan line centerline is offset outward from the gas line centerline by a distance dy. The offset direction is the downwind direction of the wind direction on the pipeline.
As shown in fig. 3, due to the influence of the actual terrain and the obstacle, the scanning track needs to be corrected, and the flight profile and scanning track optimization method based on the terrain correction and the obstacle correction:
the feasible envelope of detection sensitivity who constitutes unmanned aerial vehicle 1's flying height and skew gas pipeline 8 positions, the leakage detection device that unmanned aerial vehicle machine carried will reach the same detection sensitivity with hand-held type leakage detection appearance, has following relation:
in the formula, S1，R1，P1And S2，R2，P2The effective receiving area of the receiving lens of the hand-held leakage detector and the airborne leakage detection device, the distance between the detector and the target and the laser power of the leakage detector are respectively.
If the height of the unmanned aerial vehicle 1 (carrier) from the ground is H and the distance of the carrier from the pipeline is d during actual flight, the formula (1) will be corrected to calculate the same detection sensitivity as the handheld detector by the formula (2):
the smaller the distance of the aircraft from the pipeline, the higher the flying height of the aircraft, within the detectable range of the carried leak detector. Therefore, if the flying height of the vehicle is to be increased due to the influence of terrain or other ground obstacles during actual detection, the unmanned aerial vehicle 1 must be controlled to fly a distance away from the duct. So that the carrier flies as far as possible directly above the pipeline.
Based on an elevation map of a gas pipeline path and obstacles along the pipeline, in a feasible envelope of the flight height and the position deviated from the pipeline of the unmanned aerial vehicle 1 and the maximum measurement distance Rmax of the laser methane sensor 6, R is less than Rmax, and an optimal plan of a pipeline adaptive flight profile closest to the upper part of the gas pipeline 8 is constructed, so that the flight optimization envelope under the laser methane telemetering constraint of the unmanned aerial vehicle 1 meets the following conditions:
1) within an elevation map of a gas pipeline pathway;
2) within the feasible envelope of the flight height of the unmanned aerial vehicle 1 and the detection sensitivity of the position of the deviated pipeline;
3) above the minimum flying height;
4) within the laser energy boundary, the maximum measurement distance Rmax of the laser methane sensor 6 is such that
R<Rmax；
5) Outside the line directly above the pipeline;
6) bypassing the boundaries of the obstacle.
And constructing an optimal plan of the pipeline adaptive flight profile closest to the upper part of the pipeline under the constraint condition:
the flight height of each point is a flight optimization envelope, and the point which is the closest and the highest point and the point which is the side of the line above the pipeline are separated.
Therefore, the pipeline adaptive flight profile is planned to form a flight optimization envelope, a flight trajectory plan is formulated according to factors such as the altitude of a gas pipeline path, a feasible envelope of detection sensitivity, the lowest flight altitude, a laser energy boundary and a boundary bypassing obstacles, and other similar methods can be adopted.
The gas leakage measurement main control board 2 calculates a staged route of the unmanned aerial vehicle 1 and a scanning track of the laser methane sensor 6 according to unmanned aerial vehicle GPS position information provided by the unmanned aerial vehicle autopilot 3, wind direction and wind speed information provided by the wind direction and wind speed instrument 4 and route coordinate information of a gas pipeline 8 to be patrolled and arranged in the gas leakage measurement main control board 2; the staged route of the unmanned aerial vehicle 1 is controlled by the unmanned aerial vehicle autopilot 3, and the scanning track of the laser methane sensor 6 is controlled by the triaxial stabilized platform 5.
Unmanned aerial vehicle autopilot 3 mainly carries out unmanned aerial vehicle 1's trajectory control, and wind direction anemoscope 4 provides current wind direction wind speed data. The triaxial stabilized platform 5 receives the instruction of the gas leakage measurement main control board 2, and controls the laser methane sensor 6 arranged on the triaxial stabilized platform to perform spiral linear scanning under the stable posture and the inertial coordinate, so that the strip-shaped gas pipeline 8 is effectively covered, and efficient and reliable routing inspection is realized.
The laser methane sensor 6 measures the methane concentration and transmits the collected concentration information to the main control panel 2 for gas leakage measurement to perform subsequent data processing and result transmission and display. Through inversion, the methane concentration value of the corresponding position of the routing inspection path can be displayed on a handheld terminal APP or a display screen of a command system terminal in real time, and intelligent emergency aid decision analysis is carried out.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (3)
1. A gas leakage unmanned aerial vehicle inspection concentration inversion method based on a laser telemetering technology is characterized by comprising the following steps:
1) obtaining a path integral concentration sample based on an unmanned aerial vehicle scanning curve carried by a laser methane sensor;
2) obtaining lattice concentration inversion based on a gas pipeline coordinate system;
3) obtaining leakage position and leakage rate estimation based on the maximum likelihood estimation of a gas leakage diffusion model of the lattice concentration and wind direction estimation;
4) the gas leakage diffusion model reconstructs a continuous concentration map, and a dangerous area and an isolation area are divided according to a dangerous threshold;
5) performing real-time display and emergency aid decision analysis by adopting a ground terminal or a handheld APP;
in step 1, a spiral linear scanning track of a laser methane sensor on a strip-shaped gas pipeline is realized based on a three-axis stable platform, and the realization method comprises the following steps:
the spiral line can be formed by various periodic scanning curves, needs to periodically and repeatedly scan a pipeline area and is one of circular wave curves, elliptical wave curves and triangular wave curves;
11) the gas leakage measurement main control board calculates a scanning center P along the gas pipeline according to the built-in route coordinate information of the gas pipeline to be patrolled and examined0Scanning center P0Speed of movement V along a gas line9Can be set according to the parameters;
12) from a pointing vector
Calculating to obtain reference values (psi) of angles of yaw psi, pitch theta and roll phi of the triaxial stable platform0，θ0，φ0) Forming a spiral scanning track, wherein the calculation formula is as follows:
thus:
instructions for yaw psi, pitch theta and roll phi of triaxial stabilized platform
Is composed of
In the formula:
Puavposition coordinates, P, representing unmanned aerial vehicles0Coordinates representing the center of the scan, at P0A circular track P is formed on the basis, the circular radius is D/2, and the selection of D needs to meet the requirement of covering a pipeline area; the unit vector of the pointing vector of the optical axis of the laser methane sensor is then P-Puav(ii) a Wherein, ω is 2 pi f, and f is the scanning frequency of the spiral line; t is the scanning time;
13) the helical scanning track obtained based on wind direction and wind speed correction comprises the following contents:
the method comprises the steps that an anemoscope sends collected current wind direction and wind speed Vwind data to a gas leakage measurement main control board, the gas leakage measurement main control board carries out calculation, a new circular track scanning radius is calculated according to the wind speed data, the gas leakage measurement main control board is dD/2, dD is D + Kwind Vwind, wherein dD is smaller than a parameter dDMAX, and Kwind is a scanning radius adjusting parameter;
position P of the scanning center0The outward offset dy, dy ═ Koffset ═ Vwind, dy is less than the parameter dyMAX, Koffset is the outward offset adjustment parameter; based on corrected P0Offset scanning track lines can be obtained, the distance of the center line of the new scanning line outwards deviating from the center line of the gas pipeline is dy, and the offset direction is the downwind direction of the wind direction in the pipeline;
the step 3 specifically comprises the following steps:
step 31, constructing a Gaussian smoke plume model of gas leakage gas diffusion,
assuming that the wind direction is an x axis and the wind speed is stably expressed as u, the calculation formula of the average concentration of the gas at the H height is as follows:
in formula (1):
<C>represents the average concentration of gas, in units:Kg/m3(ii) a G denotes leak rate, unit: kg/s; σ represents a deviation criterion value of the concentration in different directions; u represents wind speed, unit: m/s; x is the downwind direction; y represents the distance of the wind direction in the vertical direction, in units: m; z represents the distance from the ground in units: m; h represents the leakage source height, unit: m;
wherein, the leakage rate G is:
Cdis the gas leakage coefficient; r is a gas constant; g is leakage rate, kg/s; a is the area of the split, m2(ii) a T is the gas temperature, K; m is the molecular weight of the gas, kg/mol; p is the pressure before gas leakage, Pa; gamma is an adiabatic index which is the ratio of the isobaric specific heat capacity to the isobaric specific heat capacity;
step 32, according to the dot matrix concentration, when the concentration of more than a plurality of points is greater than a specified threshold value, judging that leakage possibly exists;
step 33, obtaining a lattice with the concentration greater than a specified threshold value, constructing a gas leakage diffusion model, constructing a maximum likelihood estimation of the gas leakage model based on the concentration and the wind direction measurement of the row lattice and the column lattice, and finishing the leakage position estimation and the leakage rate estimation;
in step 4, according to the leakage position estimation, the leakage rate estimation and a Gaussian smoke plume model of gas leakage gas diffusion, the expansion concentration of gas leakage is redrawn, then according to concentration indexes of a dangerous area and an isolation area, a concentration contour line is constructed, then the minimum rectangular envelope is calculated and solved for the concentration contour line, and automatic planning of the dangerous area and the isolation area is formed.
2. The method of claim 1, wherein: in step 2, a coordinate system of the gas pipeline is constructed, the path integral concentration of the scanning curve obtained by sampling is obtained through coordinate rotation transformation and a difference value mode, and the integral concentration values at the row-column lattice position under a pipeline coordinate system and a rectangular coordinate system.
3. The method of claim 1, wherein: in the step 5, a methane concentration value of a position corresponding to the routing inspection path is displayed in real time through a terminal or a handheld APP, and leakage detection alarm and concentration map display are carried out; the method can be used for displaying graphical data, intelligently analyzing and planning the methane concentration data, automatically dividing a dangerous range on a map, and uploading the data to the cloud.
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