CN108051402A - Drawing system and method are built in natural gas leaking gas distribution based on rotor wing unmanned aerial vehicle - Google Patents
Drawing system and method are built in natural gas leaking gas distribution based on rotor wing unmanned aerial vehicle Download PDFInfo
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- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 title claims abstract description 122
- 239000007789 gas Substances 0.000 title claims abstract description 104
- 238000009826 distribution Methods 0.000 title claims abstract description 40
- 239000003345 natural gas Substances 0.000 title claims abstract description 24
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000005259 measurement Methods 0.000 claims abstract description 50
- 238000000041 tunable diode laser absorption spectroscopy Methods 0.000 claims abstract description 34
- 230000010354 integration Effects 0.000 claims abstract description 25
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical group C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 22
- 238000004891 communication Methods 0.000 claims abstract description 15
- 238000007689 inspection Methods 0.000 claims abstract description 14
- 238000000354 decomposition reaction Methods 0.000 claims abstract description 7
- 238000005516 engineering process Methods 0.000 claims abstract description 6
- 238000013213 extrapolation Methods 0.000 claims abstract description 5
- 238000003325 tomography Methods 0.000 claims abstract description 5
- 230000009471 action Effects 0.000 claims abstract description 3
- 230000003287 optical effect Effects 0.000 claims description 15
- 239000011159 matrix material Substances 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 238000005457 optimization Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 abstract 1
- 230000006870 function Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 231100000206 health hazard Toxicity 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000000505 pernicious effect Effects 0.000 description 1
- 230000008786 sensory perception of smell Effects 0.000 description 1
- 231100000331 toxic Toxicity 0.000 description 1
- 230000002588 toxic effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
- G01N21/31—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
- G01N21/39—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using tunable lasers
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/005—Protection or supervision of installations of gas pipelines, e.g. alarm
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
- G01N21/31—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
- G01N21/39—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using tunable lasers
- G01N2021/396—Type of laser source
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Spectroscopy & Molecular Physics (AREA)
- Aviation & Aerospace Engineering (AREA)
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- Automation & Control Theory (AREA)
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- Investigating Or Analysing Materials By Optical Means (AREA)
Abstract
The invention discloses a kind of natural gas leaking gas distributions based on rotor wing unmanned aerial vehicle to build drawing system：Unmanned plane internal body sets grillage, flight control units, holder, TDLAS methane laser sensor and wireless data sending communication module；Flight control units measure unmanned plane position and perform earth station's instruction with posture；TDLAS methane laser sensor realizes scanning survey action with holder with the fixed cycle；Wireless data sending communication module realizes flight control units and earth station's data communication；Build drawing method：Design unmanned plane inspection flow；Measurement point position acquisition gas concentration integration data and recording beam path information, transmission ground PC end；Spacial domain decomposition three-dimensional grid carries out three-dimensional spatial area using computed assisted tomography technology gas distribution and builds figure；Using core extrapolation technique, blind spot gas concentration information to be measured is filled.The present invention not only can remote detection gas concentration information, also three-dimensional environment gas distribution can be carried out to build figure.
Description
Technical field
The present invention relates to a kind of system and method, more specifically, being to be related to a kind of natural gas based on rotor wing unmanned aerial vehicle
Drawing system and method are built in gas leakage distribution.
Background technology
As natural gas pipeline projects construction moves forward steadily, pipe network is persistently perfect, and burst natural gas leaking triggers pernicious
Accident occurs again and again, causes great casualties and property loss, and ecological environment is made seriously to be destroyed or even also triggers society
The problems such as panic.Therefore the detection of natural gas leaking data has great significance.
Gas distribution is built figure (Gas Distribution Mapping) and important is ground as one of robot active olfaction
Study carefully direction, it is significant in environmental monitoring, gas leakage source positioning and disaster assistance etc..It is sent out in natural gas leaking accident
When raw, unmanned plane can independently shuttle according to the air route planned in advance in leakage region, and gas distribution is carried out to danger zone and builds figure.
Figure is built according to gas distribution as a result, relevant information the potential site of source of leaks and remotely can be passed to peace by unmanned plane according to a preliminary estimate
The emergency personnel of the whole district helps emergency personnel to formulate plans of Emergency.
Lilienthal team carries laser gas sensor using ground robot and remotely measures gas concentration and to gas
Bulk concentration build figure M.A.Arain, M.Trincavelli, M.Cirillo, E.Schaffernicht,
A.J.Lilienthal.Global Coverage Measurement Planning Strategies for Mobile
Robots Equipped with a Remote Gas Sensor[J].Sensors,2015,15(3):6845.}.But ground
There are motion range and the limitation of gait of march, search environments to be generally limited to the environment of structuring, not be suitable for for robot
Three-dimensional environment and complicated landform.
A kind of natural gas line cruising inspection systems (CN 201611021818.7) based on unmanned plane of Taiwan Straits Jiang Faming.Nothing
Man-machine carrying high definition moving camera is carried out inspection by unmanned plane, is used as with the real-time capture of image information and gas information
Inspection result.Guo Naifei etc. has invented a kind of unmanned plane pipeline inspection device (CN for carrying laser methane gas leakdetector
201620063184.0).UAV flight's laser methane gas leakdetector receives the pipeline inspection that the detector is sent
Image and the pipeline methane concentration value are simultaneously shown.Wu Tao etc. has invented a kind of natural gas line based on unmanned plane and has let out
Missing inspection examining system (CN 201610122739.9).Unmanned plane makes an inspection tour natural gas line, and finds pipe leakage point and expansion in time
Scattered scope.These patents devise device and platform only for the initial patrol task of natural gas leaking, but for after inspection
Continuous work is to find that the gas on-site diffusion concentration distribution detection after leakage does not provide specific method.
In conclusion existing natural gas line inspection device is difficult to obtain leakage environment Gas concentration distribution at present, and
Lack the ability that figure is built in three dimensions completion gas distribution.
The content of the invention
The purpose of the invention is to overcome deficiency of the prior art, provide a kind of based on the natural of rotor wing unmanned aerial vehicle
Drawing system and method are built in the distribution of gas leakage gas, not only can be with remote detection gas concentration information, and can be to three-dimensional environment
Gas distribution carries out building figure.
The purpose of the present invention can be achieved through the following technical solutions.
It is a kind of based on rotor wing unmanned aerial vehicle natural gas leaking gas distribution builds drawing system, including by body, horn, blade,
The unmanned plane that motor, undercarriage are formed, the internal body are provided with grillage, flight control units, holder, TDLAS methane and swash
Optical sensor and wireless data sending communication module；The flight control units are arranged at grillage center upper portion position, for measuring nothing
Man-machine position performs ground station control instruction simultaneously with posture；The TDLAS methane laser sensor is arranged at plate by holder
Below frame, the scanning survey action that swings is realized with the fixed cycle with holder；The wireless data sending communication module is used to implement
Data communication between flight control units and earth station, flight control units ground station send real-time position, posture with
TDLAS methane laser sensor metrical informations, earth station send UAV Flight Control instruction to flight control units.
The TDLAS methane laser sensor measurement frequency is 10Hz, and the wireless data sending communication module frequency is
900MHz。
The purpose of the present invention can be also achieved through the following technical solutions.
Drawing method is built in a kind of natural gas leaking gas distribution based on rotor wing unmanned aerial vehicle, is comprised the following steps：
Step 1 designs unmanned plane inspection flow, including flight path, measurement point position, acquisition light path (the holder anglec of rotation
Degree)；
Step 2, unmanned plane installation holder simultaneously carry TDLAS methane laser sensors, fly according to set flight path,
Using ground return acquisition gas concentration integration data and recording beam path information in a measurement point position, conversion angle repeat into
Row acquisition reaches next measurement point position acquisition gas concentration integration data and recording beam path information, until completing acquisition afterwards
After task, all gas concentration integration data and optical path information that collect are sent to ground PC end；
Step 3 builds the Spacial domain decomposition three-dimensional grid of figure for gas distribution, using being transmitted back to the gas concentration product come
Divided data and optical path information carry out three-dimensional spatial area gas distribution using computed assisted tomography technology and build figure；
Step 4 using core extrapolation technique, is filled the gas concentration information of the blind spot to be measured around measurement point.
The flight path planning of unmanned plane and the sweep time of TDLAS methane laser sensors need to consider simultaneously in step 1
The expectation quality of gas distributed model and the cruising ability of unmanned plane；The setting of measurement point position and light path angle transformation range needs
Map space region is built in covering.
The three-dimensional grid of Spacial domain decomposition M × N × K of figure, TDLAS methane lasers are built in step 3 for gas distribution
When sensor measures gas concentration integration data, light path can pass through grid, and the gas concentration integration data in single light path is expressed as：
Wherein, y is TDLAS methane laser sensor readings, i.e., the gas concentration integration data in light path, n is grid number
Amount, liThe optical path length of i-th of grid, x are passed through for optical pathiIt is the gas concentration value in grid i (it is assumed that each grid
Gas distribution is uniform), ε is the measurement noise for meeting Gaussian Profile.
Measurement task is altogether comprising m measurement, then it represents that is：
Y=LX+ ε 1
Wherein, Y represents the vector of m measurement result, and X represents the gas concentration value vector of n grid, and L represents n × m dimensions
Optical path length matrix, 1 represent element be 1 vector.
The gas concentration integration data asked for according to measurement data in each grid is converted into following optimization problem：
min||LX-Y||2+λ||X||2
s.t.x≥0,x∈X
Wherein, | | X | |2For regularization term, λ is regularization parameter, and x is the element in vector X.
The process being filled in step 4 to the gas concentration information of the blind spot to be measured around measurement point is：
First by TDLAS methane laser sensor readings RtIt is standardized as rt：
Wherein, Rmax、RminThe respectively maximum and most of TDLAS methane laser sensor measurement gas concentration integration data
Small value；
If blind spot to be measuredWith measurement pointFor the center of circle, by radius RcoIn the circumference of delimitation, by radially right
The three-dimensional Gaussian function of title updates contribution weight of the measurement point for blind spot gas concentration to be measured
Wherein, Σ is covariance matrix,Then the gas concentration information of blind spot to be measured is expressed as：
Compared with prior art, advantageous effect caused by technical scheme is：
(1) present invention carries TDLAS (tunable diode laser absorption spectroscopy) methane laser sensors to natural gas master
The concentration distribution of components methane is wanted to carry out accurate three-dimensional and builds figure；
(2) present invention can avoid operating personnel from diving caused by entering Polluted area in toxic and harmful gas environment work
In health hazard；
(3) present invention can not only provide the gas concentration information remotely measured, and be capable of providing entire three-dimensional environment
Gas distributed intelligence, help emergency personnel formulate plans of Emergency.
Description of the drawings
Fig. 1 is the top view of unmanned plane in the present invention；
Fig. 2 is the front view of unmanned plane in the present invention.
Reference numeral:1 body；2 horns；3 blades；4 motors；5 undercarriages.
Specific embodiment
The present invention is described in detail with reference to embodiment and its attached drawing.Embodiment be using technical solution of the present invention before
The specific implementation of progress is proposed, gives detailed embodiment and process.But claims hereof protection domain is unrestricted
In the description of following embodiments.
Drawing system is built in the distribution of the natural gas leaking gas based on rotor wing unmanned aerial vehicle of the present invention, including unmanned plane, such as Fig. 1 and
Shown in Fig. 2, unmanned plane is mainly made of body 1, horn 2, blade 3, motor 4, undercarriage 5.The body 1 is internally provided with plate
Frame, flight control units, holder, TDLAS methane laser sensor and wireless data sending communication module.The flight control units water
It is flat to be arranged at grillage center upper portion position, ground station control instruction is performed simultaneously for measuring unmanned plane position and posture.It is described
TDLAS methane laser sensor is installed on by holder below grillage, realizes that the scanning that swings is surveyed with holder with the fixed cycle
Amount acts.The wireless data sending communication module is used to implement the data communication between flight control units and earth station, flight control
Unit ground station processed sends real-time position, posture and TDLAS methane laser sensor metrical informations, and earth station is controlled to flight
Unit processed sends UAV Flight Control instruction.
Preferably, the TDLAS methane laser sensor measurement frequencies that the present invention uses is 10Hz, the wireless data sending communication
Module frequency is 900MHz, and the present invention is of less demanding to the flight control units used, and general flight control can be used in practice
Unit.
Drawing method is built in the distribution of the natural gas leaking gas based on rotor wing unmanned aerial vehicle of the present invention, is comprised the following steps：
Step 1 designs unmanned plane inspection flow, including flight path, measurement point position, acquisition light path (the holder anglec of rotation
Degree).The flight path planning of unmanned plane and the sweep time of TDLAS methane laser sensors need to consider gas distributed model simultaneously
Expectation quality and unmanned plane cruising ability.The setting of measurement point position and light path angle transformation range covering need to build figure as far as possible
Area of space.
Step 2, unmanned plane installation holder simultaneously carry TDLAS methane laser sensors, fly according to set flight path,
Using ground return acquisition gas concentration integration data and recording beam path information in a measurement point position, conversion angle is to the survey
Amount point position repeats multi collect (generally 10~20 times), reaches next measurement point position acquisition gas concentration integration afterwards
Until after completing acquisition tasks, all gas concentration integration data and light path that collect are believed for data and recording beam path information
Breath sends ground PC end to.
Step 3 builds the Spacial domain decomposition three-dimensional grid of figure for gas distribution, using being transmitted back to the gas concentration product come
Divided data and optical path information carry out three-dimensional spatial area gas distribution using computed assisted tomography technology and build figure.
The three-dimensional grid of Spacial domain decomposition M × N × K of figure, the measurement of TDLAS methane laser sensor are built for gas distribution
During gas concentration integration data, light path can pass through several grids, and the gas concentration integration data in single light path is expressed as：
Wherein, y is TDLAS methane laser sensor readings, i.e., the gas concentration integration data in light path, n is grid number
Amount, liThe optical path length of i-th of grid, x are passed through for optical pathiIt is the gas concentration value in grid i (it is assumed that each grid
Gas distribution is uniform), ε is the measurement noise for meeting Gaussian Profile.
Measurement task comprising m measurement, can be expressed as altogether：
Y=LX+ ε 1 (2)
Wherein, Y represents the vector of m measurement result, and X represents the gas concentration value vector of n grid, and L represents n × m dimensions
Optical path length matrix, 1 represent element be 1 vector.
The gas concentration integration data asked for according to measurement data in each grid is converted into following optimization problem：
Wherein, | | X | |2For regularization term, λ is regularization parameter, and x is the element in vector X.Calculating can be used in this problem
Machine aided tomography technology solves.
Step 4, in order to improve spatial resolution, using core extrapolation technique, to the gas of the blind spot to be measured around measurement point
Concentration information is filled.
Inspection area of space scope is usually larger and considers the cruising ability of unmanned plane, and actual spot of measurement can not possibly be intensive
Covering entirely monitor area of space, therefore the gas concentration around measurement point can be released by core extrapolation algorithm, that is, be measured
Point ambient gas concentration meets three-dimensional Gaussian distribution, therefore draws the gas concentration letter of other unmeasured positions (blind spot i.e. to be measured)
Breath.First by TDLAS methane laser sensor readings RtIt is standardized as rt：
Wherein, Rmax、RminThe respectively maximum and most of TDLAS methane laser sensor measurement gas concentration integration data
Small value.If blind spot to be measuredWith measurement pointFor the center of circle, by radius RcIn the circumference that o delimited, pass through radial symmetric
Three-dimensional Gaussian function update contribution weight of the measurement point for blind spot gas concentration to be measured
Wherein, Σ is covariance matrix,Then the gas concentration information of blind spot to be measured is expressed as：
Last basis builds the blind spot size of mesh opening to be measured of figure resolution requirement and the setting of equipment computing capability suitably, finally may be used
Obtain the Gas concentration distribution figure of high spatial resolution.
Although the function and the course of work of the present invention are described above in conjunction with attached drawing, the invention is not limited in
Above-mentioned concrete function and the course of work, above-mentioned specific embodiment is only schematical rather than restricted, ability
The those of ordinary skill in domain is not departing from present inventive concept and scope of the claimed protection situation under the enlightenment of the present invention
Under, many forms can also be made, these are belonged within the protection of the present invention.
Claims (6)
1. drawing system is built in a kind of natural gas leaking gas distribution based on rotor wing unmanned aerial vehicle, including by body (1), horn (2), paddle
The unmanned plane that leaf (3), motor (4), undercarriage (5) are formed, which is characterized in that the body (1) is internally provided with grillage, flight
Control unit, holder, TDLAS methane laser sensor and wireless data sending communication module；The flight control units are arranged at plate
Frame center upper portion position performs ground station control instruction simultaneously for measuring unmanned plane position and posture；The TDLAS methane swashs
Optical sensor is arranged at by holder below grillage, and the scanning survey action that swings is realized with the fixed cycle with holder；It is described
Wireless data sending communication module is used to implement the data communication between flight control units and earth station, and flight control units are earthward
It stands and sends real-time position, posture and TDLAS methane laser sensor metrical informations, earth station sends nothing to flight control units
Man-machine flight control instruction.
2. drawing system is built in the natural gas leaking gas distribution according to claim 1 based on rotor wing unmanned aerial vehicle, feature exists
In the TDLAS methane laser sensor measurement frequency is 10Hz, and the wireless data sending communication module frequency is 900MHz.
3. building for drawing system is built in a kind of natural gas leaking gas distribution according to claim 1 and 2 based on rotor wing unmanned aerial vehicle
Drawing method, which is characterized in that comprise the following steps：
Step 1 designs unmanned plane inspection flow, including flight path, measurement point position, acquisition light path (holder rotation angle)；
Step 2, unmanned plane installation holder simultaneously carry TDLAS methane laser sensors, fly according to set flight path, one
Repeat to adopt using ground return acquisition gas concentration integration data and recording beam path information, conversion angle in a measurement point position
Collection reaches next measurement point position acquisition gas concentration integration data and recording beam path information, until completing acquisition tasks afterwards
Afterwards, all gas concentration integration data and optical path information that collect are sent to ground PC end；
Step 3 builds the Spacial domain decomposition three-dimensional grid of figure for gas distribution, using be transmitted back to come gas concentration fraction
According to and optical path information using computed assisted tomography technology to three-dimensional spatial area carry out gas distribution build figure；
Step 4 using core extrapolation technique, is filled the gas concentration information of the blind spot to be measured around measurement point.
4. drawing method is built in the natural gas leaking gas distribution based on rotor wing unmanned aerial vehicle according to claim 3, which is characterized in that
The flight path planning of unmanned plane and the sweep time of TDLAS methane laser sensors need to consider that gas is distributed simultaneously in step 1
The expectation quality of model and the cruising ability of unmanned plane；The setting of measurement point position and light path angle transformation range need to cover and build figure
Area of space.
5. drawing method is built in the natural gas leaking gas distribution based on rotor wing unmanned aerial vehicle according to claim 3, which is characterized in that
The three-dimensional grid of Spacial domain decomposition M × N × K of figure, the measurement of TDLAS methane laser sensor are built in step 3 for gas distribution
During gas concentration integration data, light path can pass through grid, and the gas concentration integration data in single light path is expressed as：
<mrow>
<mi>y</mi>
<mo>=</mo>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mi>n</mi>
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<mrow>
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<mi>l</mi>
<mi>i</mi>
</msub>
<msub>
<mi>x</mi>
<mi>i</mi>
</msub>
</mrow>
<mo>+</mo>
<mi>&epsiv;</mi>
</mrow>
Wherein, y is TDLAS methane laser sensor readings, i.e., the gas concentration integration data in light path, n is number of grid, li
The optical path length of i-th of grid, x are passed through for optical pathiIt is the gas concentration value in grid i (it is assumed that the gas of each grid
Distribution is uniform), ε is the measurement noise for meeting Gaussian Profile.
Measurement task is altogether comprising m measurement, then it represents that is：
Y=LX+ ε 1
Wherein, Y represents the vector of m measurement result, and X represents the gas concentration value vector of n grid, and L represents the light of n × m dimensions
Road length matrix, 1 represents the vector that element is 1.
The gas concentration integration data asked for according to measurement data in each grid is converted into following optimization problem：
min||LX-Y||2+λ||X||2
s.t.x≥0,x∈X
Wherein, | | X | |2For regularization term, λ is regularization parameter, and x is the element in vector X.
6. drawing method is built in the natural gas leaking gas distribution based on rotor wing unmanned aerial vehicle according to claim 3, which is characterized in that
The process being filled in step 4 to the gas concentration information of the blind spot to be measured around measurement point is：First by TDLAS methane
Laser sensor reading RtIt is standardized as rt：
<mrow>
<msub>
<mi>r</mi>
<mi>t</mi>
</msub>
<mo>=</mo>
<mfrac>
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</mrow>
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Wherein, Rmax、RminThe respectively maximum and minimum of TDLAS methane laser sensor measurement gas concentration integration data
Value；
If blind spot to be measuredWith measurement pointFor the center of circle, by radius RcoIn the circumference of delimitation, pass through radial symmetric
Three-dimensional Gaussian function updates contribution weight of the measurement point for blind spot gas concentration to be measured
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<mi>&delta;</mi>
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</mrow>
</msup>
</mrow>
Wherein, Σ is covariance matrix,Then the gas concentration information of blind spot to be measured is expressed as：
<mrow>
<msubsup>
<mi>c</mi>
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| CN109739261A (en) * | 2019-01-24 | 2019-05-10 | 天津中科飞航技术有限公司 | A kind of gas leakage unmanned plane inspection device and its flight control method |
| CN109780452A (en) * | 2019-01-24 | 2019-05-21 | 天津中科飞航技术有限公司 | Gas based on laser telemetry technology leaks unmanned plane inspection retrieving concentration method |
| CN111257280A (en) * | 2020-02-11 | 2020-06-09 | 南京工业大学 | Three-dimensional space gas concentration distribution measuring device and method |
| CN112215950A (en) * | 2020-10-19 | 2021-01-12 | 陈雨轩 | Three-dimensional reconstruction method for indoor toxic and harmful gas concentration |
| CN113008832A (en) * | 2021-03-04 | 2021-06-22 | 安徽理工大学 | Detection device for detecting methane gas in coal mine |
| CN113029989A (en) * | 2021-04-29 | 2021-06-25 | 深圳市利拓光电有限公司 | Gas detection method, device and equipment based on laser sensor and storage medium |
| CN113050671A (en) * | 2021-03-18 | 2021-06-29 | 西安万飞控制科技有限公司 | Unmanned aerial vehicle system for detecting natural gas leakage and detection method |
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| CN109739261A (en) * | 2019-01-24 | 2019-05-10 | 天津中科飞航技术有限公司 | A kind of gas leakage unmanned plane inspection device and its flight control method |
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| CN112215950A (en) * | 2020-10-19 | 2021-01-12 | 陈雨轩 | Three-dimensional reconstruction method for indoor toxic and harmful gas concentration |
| CN112215950B (en) * | 2020-10-19 | 2024-02-06 | 陈雨轩 | Three-dimensional reconstruction method for indoor toxic and harmful gas concentration |
| CN113008832A (en) * | 2021-03-04 | 2021-06-22 | 安徽理工大学 | Detection device for detecting methane gas in coal mine |
| CN113008832B (en) * | 2021-03-04 | 2022-09-02 | 安徽理工大学 | Detection device for detecting methane gas in coal mine |
| CN113050671A (en) * | 2021-03-18 | 2021-06-29 | 西安万飞控制科技有限公司 | Unmanned aerial vehicle system for detecting natural gas leakage and detection method |
| CN113029989B (en) * | 2021-04-29 | 2022-10-04 | 深圳市利拓光电有限公司 | Gas detection method, device and equipment based on laser sensor and storage medium |
| CN113029989A (en) * | 2021-04-29 | 2021-06-25 | 深圳市利拓光电有限公司 | Gas detection method, device and equipment based on laser sensor and storage medium |
| CN113418564A (en) * | 2021-07-06 | 2021-09-21 | 安徽森通建设工程有限公司 | Remote mapping method for security engineering |
| CN114241724A (en) * | 2021-12-31 | 2022-03-25 | 天津中科飞航技术有限公司 | Automatic inspection method for unmanned aerial vehicle gas leakage inspection device |
| CN114241724B (en) * | 2021-12-31 | 2024-05-31 | 天津中科飞航技术有限公司 | Automatic inspection method for unmanned aerial vehicle gas leakage inspection device |
| CN115862273A (en) * | 2022-11-23 | 2023-03-28 | 中国十七冶集团有限公司 | Intelligent toxic gas monitoring method |
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| CN115628852A (en) * | 2022-12-19 | 2023-01-20 | 山西讯潮科技有限公司 | Multi-end centralized control linkage accurate leakage detection method and system based on TDLAS and holder |
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