CN116658830A - Residential area gas pipe network leakage inspection system based on unmanned aerial vehicle group cooperation - Google Patents

Residential area gas pipe network leakage inspection system based on unmanned aerial vehicle group cooperation Download PDF

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CN116658830A
CN116658830A CN202310534946.5A CN202310534946A CN116658830A CN 116658830 A CN116658830 A CN 116658830A CN 202310534946 A CN202310534946 A CN 202310534946A CN 116658830 A CN116658830 A CN 116658830A
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unmanned aerial
aerial vehicle
module
flight path
pipe network
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王凯
王志静
邵昊
黄露露
刘超杰
井佩玉
刘子豪
王利辉
陈远德
费桢
范卓颖
李以恒
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China University of Mining and Technology CUMT
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    • 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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M3/00—Investigating fluid-tightness of structures
    • G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
    • G01M3/04—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
    • G—PHYSICS
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    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
    • G07C1/20—Checking timed patrols, e.g. of watchman
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18502—Airborne stations
    • H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service

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Abstract

The invention discloses a residential area gas pipe network leakage inspection system based on unmanned aerial vehicle group cooperation, which belongs to the field of unmanned aerial vehicle inspection, and comprises an unmanned aerial vehicle group inspection unit, a loading vehicle processing unit and an unmanned aerial vehicle landing platform; the unmanned aerial vehicle landing platform is used for realizing flying and recycling of the unmanned aerial vehicle; the loading vehicle processing unit can plan the flight path of the unmanned aerial vehicle group to generate a flight path and output a flight path signal to the unmanned aerial vehicle inspection unit; the unmanned aerial vehicle inspection unit realizes accurate navigation through a flight path, real-time avoidance of obstacles, correction of the flight path after obstacle avoidance, and monitoring of gas pipeline leakage; the loading vehicle processing unit can also process the received gas leakage data to realize the accurate positioning of the gas leakage position, and the residential area gas pipe network leakage inspection system with the unmanned aerial vehicle group can realize the rapid and accurate inspection of the residential area gas pipe network and accurately judge the specific position where the gas leakage occurs.

Description

Residential area gas pipe network leakage inspection system based on unmanned aerial vehicle group cooperation
Technical Field
The invention relates to the field of unmanned aerial vehicle inspection, in particular to a residential area gas pipe network leakage inspection system based on unmanned aerial vehicle group cooperation.
Background
With the rapid development and maturity of sensor technology, signal transmission, information interaction, binocular vision and other technologies in recent years, the unmanned aerial vehicle can accurately and reliably acquire data and interact information of a patrol target without being limited by complex terrains only by carrying various sensors and cameras. Unmanned aerial vehicle's application in various inspection fields is increasingly extensive, for example electric wire netting inspection, gas pipeline inspection, petrochemical inspection patrol, railway inspection patrol and bridge patrol etc. unmanned aerial vehicle inspection is usually applied in the inconvenient geographical area of patrolling by people or car, so utilize unmanned aerial vehicle to carry out inspection can overcome the difficulty on the topography. The multi-unmanned aerial vehicle cooperative application refers to a group system consisting of intelligent individuals with independent control capability, and a novel application mode of jointly completing tasks through information sharing, task allocation, route planning and other modes.
At present, unmanned aerial vehicles and related technologies tend to be mature, and the unmanned aerial vehicle inspection method is widely applied to various industries, most of related unmanned aerial vehicle inspection existing researches are inspection of the unmanned aerial vehicle on power and other aspects, and few unmanned aerial vehicle groups are utilized to cooperate to inspect a gas pipe network. Because unmanned aerial vehicle duration's restriction, its furthest flight distance is very limited, so to the gas pipe network of great scope inspection efficiency very low, unmanned aerial vehicle's communication distance also has certain distance simultaneously. Therefore, an unmanned aerial vehicle group collaborative inspection system is urgently needed, a loading vehicle is matched to serve as a data processing center of the unmanned aerial vehicle group to conduct information interaction, and the unmanned aerial vehicle group can conduct fast inspection on a residential community building gas pipe network automatically through path planning and autonomous navigation, and meanwhile accurate positioning of gas pipeline leakage is achieved.
Disclosure of Invention
The invention aims to solve the problems that the current gas pipe network inspection efficiency is low, and the accuracy of unmanned aerial vehicle in the inspection process for monitoring a gas pipe is still difficult to meet actual requirements.
In order to achieve the above purpose, the present invention provides the following technical solutions:
residential community gas pipe network leakage inspection system based on unmanned aerial vehicle crowd cooperation includes:
the unmanned aerial vehicle landing platform is used for realizing flying and recycling of the unmanned aerial vehicle;
the loading vehicle processing unit is used for planning a flight path of the unmanned aerial vehicle group, generating a flight path, outputting a flight path signal to the unmanned aerial vehicle inspection unit, and processing the received gas leakage data to realize the accurate positioning of the gas leakage position;
the unmanned aerial vehicle group inspection unit is used for realizing accurate navigation through a flight path, real-time avoidance of obstacles, correction of flight paths after obstacle avoidance, and monitoring of gas pipeline leakage;
Wherein, the loading vehicle processing unit includes:
the loading vehicle is used for carrying the unmanned aerial vehicle landing platform and is placed at the landing position of the unmanned aerial vehicle according to the flight path of the unmanned aerial vehicle group so as to realize the autonomous take-off and landing of the unmanned aerial vehicle;
the flight path planning module is used for generating a flight path of the unmanned aerial vehicle group;
the information interaction module is used for accurately positioning the gas leakage position;
wherein, unmanned aerial vehicle crowd inspection unit includes:
the accurate navigation module is used for accurately navigating along the pipeline according to the flight path;
the cluster cooperative obstacle avoidance module is used for realizing real-time obstacle avoidance;
the track correction module is used for correcting the track of the unmanned aerial vehicle;
the laser monitoring module is used for carrying out leakage inspection on the pipeline;
the unmanned aerial vehicle group inspection unit further comprises a data transmission module, a signal receiving module and a flight control module;
the information interaction module comprises a data receiving module, a data processing module and a signal transmission module.
As a further technical solution of the present invention, the flight path planning module is connected to the signal transmission module, and outputs a command to the accurate navigation module through an output signal, so that the unmanned aerial vehicle group can accurately patrol the gas pipe network along the flight path, and the flight path planning module includes:
The base line solution operator module establishes a three-dimensional network model through the geographic information position of the area to be inspected, divides key inspection grids, plans the path of the unmanned aerial vehicle group after the inspection in the shortest time and reasonably allocates the quantity of inspection unmanned aerial vehicles in the cell;
and the self-adaptive control sub-module is used for setting recovery points according to the flight sequence and the flight path according to the cruising ability and the planned route of the grid of the key area, so that the accurate inspection of the key grid of the unmanned aerial vehicle is realized.
As a further technical solution of the present invention, the precise navigation module includes:
the GPS navigation module is used for realizing the inspection of the unmanned aerial vehicle along the flight path by receiving the command of the flight path planning module;
the RTK/INS positioning module is connected with the GPS navigation module and used for realizing the accurate positioning of the unmanned aerial vehicle;
wherein, the RTK/INS positioning module includes:
the RTK positioning sub-module is used for acquiring accurate position data of the unmanned aerial vehicle;
the INS inertial navigation sub-module comprises a gyroscope and an accelerometer and is used for acquiring pose information of the unmanned aerial vehicle;
the RTK/INS filter processor is used for fusing the unmanned aerial vehicle pose data obtained by the INS inertial navigation sub-module and the unmanned aerial vehicle position data obtained by the RTK positioning sub-module to obtain high-precision position pose information, and the RTK/INS filter processor is connected with the flight control module and is used for accurately controlling the unmanned aerial vehicle to patrol and examine the gas pipeline along the flight path without deviation.
According to the invention, as a further technical scheme, the INS inertial navigation sub-module processes data acquired by the gyroscope and the accelerator to acquire speed and attitude angle information, so that the pose information of the unmanned aerial vehicle is acquired, the position information of the unmanned aerial vehicle and the pose information of the unmanned aerial vehicle are combined through the RTK/INS filter, INS navigation parameters can be corrected while high-precision position information is acquired, high-precision pose information is acquired, and the position and the attitude of the unmanned aerial vehicle are continuously adjusted through the flight control module, so that accurate inspection of the unmanned aerial vehicle along a gas pipeline is realized.
As a further technical scheme of the present invention, the unmanned aerial vehicle is embedded into a cluster cooperative obstacle avoidance module, and the cluster cooperative obstacle avoidance module includes:
the ultrasonic obstacle sensing module is used for receiving ultrasonic reflection signals when an obstacle is sensed by transmitting ultrasonic waves in the flight process of the unmanned aerial vehicle;
the binocular vision accurate measurement module is used for acquiring image data through a binocular camera;
the fusion obstacle avoidance processing module is used for receiving the ultrasonic reflection signals acquired by the ultrasonic obstacle sensing module and the image data acquired by the binocular vision accurate measurement module, processing the two data through data fusion, and reconstructing feedback control information to the flight obstacle avoidance controller through the three-dimensional obstacle.
As a further technical scheme of the invention, the cluster cooperative obstacle avoidance module takes a binocular vision accurate measurement module as a main sensing module and is assisted with an ultrasonic obstacle sensing module, the binocular vision accurate measurement module comprises a binocular camera and a binocular vision processor, the ultrasonic obstacle sensing module comprises an ultrasonic sensor and an ultrasonic processor, the binocular camera is directly connected with the binocular vision processor, the ultrasonic sensor is directly connected with the ultrasonic processor, the binocular vision processor and the ultrasonic processor are connected with a fusion obstacle avoidance processing module, and the automatic obstacle avoidance of the unmanned aerial vehicle is realized through the decision and data conversion of the obstacle avoidance fusion processing module.
As a further technical scheme of the invention, the unmanned aerial vehicle collects image information through binocular cameras in the flight process and transmits the collected information to a binocular vision processor in real time; the ultrasonic sensor receives the reflected ultrasonic signals and transmits the information to the ultrasonic processor to obtain ultrasonic data information.
As a further technical scheme of the invention, the obstacle avoidance processing module based on data fusion processes two data, namely an ultrasonic reflection signal and image data, through an obstacle perception algorithm.
According to the technical scheme, the fusion obstacle avoidance processing module is used for realizing accurate matching of characteristic points by extracting characteristic information of the obstacle when two kinds of data are fused, obtaining the center position and the outline dimension of the obstacle according to the characteristic point information, establishing an unmanned plane and a ground coordinate system, and converting the coordinate position of the obstacle in the unmanned plane into the position of the ground coordinate system through conversion before the two coordinate systems according to the geographic position information of the unmanned plane.
According to the further technical scheme, whether the obstacle is a movable obstacle is judged according to the flying speed of the unmanned aerial vehicle and the position vector change range of the obstacle and the unmanned aerial vehicle, a movable obstacle movement model is built according to the continuous moment of the position change of the obstacle, and the position change condition of the obstacle is predicted.
According to the technical scheme, a three-dimensional obstacle model is built by utilizing the obstacle information obtained by binocular vision and ultrasonic waves, when the preset flight path of the unmanned aerial vehicle collides with an obstacle, control information is output, so that the obstacle can be avoided in advance, and the unmanned aerial vehicle can be continuously patrolled and examined along the preset flight path through track correction after the obstacle is avoided.
As a further technical scheme of the invention, the flight obstacle avoidance controller receives feedback control information output by the fusion obstacle avoidance processing module, and then controls the unmanned aerial vehicle to realize obstacle avoidance through the flight control module, so that the unmanned aerial vehicle can realize the advanced perception and real-time avoidance of the obstacle.
As a further technical scheme of the invention, the track correction module simultaneously fuses the pose information of the unmanned aerial vehicle, which is acquired by the INS inertial navigation submodule, and the image data acquired by the binocular vision accurate measurement module, corrects the track of the unmanned aerial vehicle through the deviation of the obstacle avoidance position change, and realizes that the unmanned aerial vehicle continues to patrol and examine the gas pipeline along the original path after obstacle avoidance.
According to the technical scheme, the unmanned aerial vehicle integrates image data acquired by the binocular vision accurate measurement module into the INS inertial navigation sub-module during track correction, and if the unmanned aerial vehicle deviates in order to avoid obstacle flight attitude position during navigation, the binocular vision accurate measurement module obtains position change deviation according to the change of coordinates of an object in two lens pictures by using the principle of left and right parallax of eyes through a binocular camera, and the position change deviation is integrated into the INS inertial navigation sub-module to timely rectify the unmanned aerial vehicle movement attitude.
As a further technical solution of the present invention, the laser monitoring module includes:
the laser remote sensing detector is used for collecting emitted laser signals and reflected laser signals when the unmanned aerial vehicle is patrolled and examined along a pipeline;
the image collector is connected with the camera and is used for collecting image information of the gas pipeline through the camera;
the laser remote sensing detector, the camera and the image collector are mounted on the holder, the holder is embedded into the side of the unmanned aerial vehicle and can rotate 180 degrees, and the holder transmits laser signal data collected by the laser remote sensing detector and image information data collected by the image collector to the data receiving module through the data transmission module.
According to the further technical scheme, when the unmanned aerial vehicle is patrolled and examined along a pipeline, the information interaction module inverts the methane concentration change condition by receiving laser signal data of the data transmission module, when the gas pipeline is judged to leak, the camera and the image collector are awakened and a command is issued, image information data acquisition is carried out on the gas pipeline, the data are transmitted to the data processing module, the leaking position of the gas pipeline is marked through a machine vision technology, and the data processing module further has the functions of recording the concentration of the leaked methane gas and capturing a leaking scene.
As a further technical scheme of the invention, when the gas pipeline leaks, a laser remote sensing detector on the unmanned aerial vehicle scans CH formed around the leakage point 4 The gas cloud can absorb a part of laser energy, and CH can be inverted according to the initial power and the echo power of the laser 4 Meanwhile, the gas pipeline leakage range is marked by a camera in a machine vision-assisted mode, and the accurate position of gas leakage is accurately judged according to the geographical position information of the unmanned aerial vehicle.
As a further technical scheme of the invention, the laser remote sensing detector and the camera are arranged on the unmanned aerial vehicle in parallel, the laser remote sensing detector is used for receiving and transmitting laser signals, the camera can acquire image information during gas inspection, the real-time state of a gas pipeline can be observed, the same cradle head is used for ensuring that a laser light path is parallel to a camera light path, and the cradle head can be adjusted to change laser direction when the unmanned aerial vehicle automatically avoids obstacle and turns to act so as to inspect the gas pipeline.
As a further technical scheme of the invention, the flight control module enables the unmanned aerial vehicle to carry out inspection along a pipeline according to a planned route by continuously adjusting the flight attitude by receiving control commands of the accurate navigation module, the cluster collaborative obstacle avoidance module and the track correction module.
As a further technical scheme of the invention, the unmanned aerial vehicle adopts a mode of taking off and landing in different places to carry out inspection, and meanwhile, the number of unmanned aerial vehicles to be flown, the position of the landing point of each unmanned aerial vehicle and the flight path are reasonably planned according to the path planning result and the orderly recovery of the unmanned aerial vehicles.
As a further technical scheme of the invention, redundancy is set on the basis of reasonably configuring the number of unmanned aerial vehicles by the flight path planning module, and when the unmanned aerial vehicle fails to execute a task, the redundant unmanned aerial vehicle is used for replacing the original unmanned aerial vehicle to continue executing the patrol task, and patrol relay is realized.
According to the further technical scheme, the loading vehicle is used as a mobile base station and is communicated with the unmanned aerial vehicle, the loading vehicle receives and processes data collected by the unmanned aerial vehicle, the unmanned aerial vehicle landing platform is recovered in the unmanned aerial vehicle inspection process, and the unmanned aerial vehicle is recovered by pre-placing the landing platform at the unmanned aerial vehicle landing position in sequence according to the landing time of the unmanned aerial vehicle group.
Compared with the prior art, the invention has the beneficial effects that: the invention designs a residential area gas pipe network leakage inspection system based on unmanned aerial vehicle group cooperation, which integrates binocular vision and ultrasonic data information and controls unmanned aerial vehicle obstacle avoidance flight through obstacle model reconstruction; each routing inspection route of the unmanned aerial vehicle group is determined through flight path planning, redundancy is set according to the maximum cruising distance of the unmanned aerial vehicle, and when the unmanned aerial vehicle cannot continue to execute the routing inspection task, a new unmanned aerial vehicle is dispatched to carry out routing inspection relay, so that routing inspection progress is ensured; the navigation is performed through the RTK/INS technology, the error of the INS navigation is compensated for correcting the track by using the binocular vision measurement result, and the unmanned aerial vehicle is inspected along the pipeline without deviation; the change of the fuel gas is monitored by laser remote sensing to judge whether the fuel gas leaks or not, and the position of the fuel gas leakage is marked by machine vision, so that the accurate positioning of the leakage position is realized.
Drawings
Fig. 1 is a diagram of an overall framework for collaborative inspection of a group of unmanned aerial vehicles according to an embodiment of the present invention.
Fig. 2 is a flow chart of an accurate flight of a group of unmanned aerial vehicles according to an embodiment of the present invention.
Fig. 3 is a flowchart of gas leakage identification and positioning according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As an embodiment of the present invention, referring to fig. 1, a residential area gas pipe network leakage inspection system based on unmanned aerial vehicle group cooperation includes:
the unmanned aerial vehicle landing platform is used for realizing flying and recycling of the unmanned aerial vehicle;
the loading vehicle processing unit is used for planning a flight path of the unmanned aerial vehicle group, generating a flight path, outputting a flight path signal to the unmanned aerial vehicle inspection unit, and processing the received gas leakage data to realize the accurate positioning of the gas leakage position;
the unmanned aerial vehicle group inspection unit is used for realizing accurate navigation through a flight path, real-time avoidance of obstacles, correction of flight paths after obstacle avoidance, and monitoring of gas pipeline leakage;
Wherein, the loading vehicle processing unit includes:
the loading vehicle is used for carrying the unmanned aerial vehicle landing platform and is placed at the landing position of the unmanned aerial vehicle according to the flight path of the unmanned aerial vehicle group so as to realize the autonomous take-off and landing of the unmanned aerial vehicle;
the flight path planning module is used for generating a flight path of the unmanned aerial vehicle group;
the information interaction module is used for accurately positioning the gas leakage position;
wherein, unmanned aerial vehicle crowd inspection unit includes:
the accurate navigation module is used for accurately navigating along the pipeline according to the flight path;
the cluster cooperative obstacle avoidance module is used for realizing real-time obstacle avoidance;
the track correction module is used for correcting the track of the unmanned aerial vehicle;
the laser monitoring module is used for carrying out leakage inspection on the pipeline;
the unmanned aerial vehicle group inspection unit further comprises a data transmission module, a signal receiving module and a flight control module;
the information interaction module comprises a data receiving module, a data processing module and a signal transmission module.
As an embodiment of the present invention, referring to fig. 2, the flight path planning module includes:
the base line solution operator module establishes a three-dimensional network model through the geographic information position of the area to be inspected, divides key inspection grids, plans the path of the unmanned aerial vehicle group after the inspection in the shortest time and reasonably allocates the quantity of inspection unmanned aerial vehicles in the cell;
And the self-adaptive control sub-module is used for setting recovery points according to the flight sequence and the flight path according to the cruising ability and the planned route of the grid of the key area, so that the accurate inspection of the key grid of the unmanned aerial vehicle is realized. The flight path planning module is connected with the signal transmission module, and a command is sent to the accurate navigation module through an output signal, so that the unmanned aerial vehicle group can accurately patrol the gas pipe network along the flight path.
The flight path planning module realizes the steps of the unmanned aerial vehicle group complete path inspection as follows:
step 1: establishing a coordinate system in a three-dimensional network modeling layer through a baseline solution operator module, inputting coordinates x, y and z of each node of a gas pipe network of a region to be inspected in a residential area into the modeling layer to sequentially establish nodes, and connecting the nodes according to the length and the diameter of each section of pipeline to realize three-dimensional network modeling of the gas pipeline of the whole inspection region; the gas pipeline at the kitchen entrance section is used as an important area for unmanned aerial vehicle inspection monitoring, and four-corner coordinates of the windowsill are input into a modeling layer to form an important inspection grid.
Step 2: the ground end of the gas pipeline entering the residential community is used as a flying spot and a recovery point, so that the flying unmanned aerial vehicle and the recovery unmanned aerial vehicle can be guaranteed, namely, the bottom end of the gas pipeline of each building can be the flying spot or the recovery point, and the flying spot is set to be m i Recovery point n j The first flying spot is m 1 The first recovery point is n 1 And determining the number of the reasonably configured unmanned aerial vehicles according to the total length of the gas pipeline and the time required by the inspection key grids.
Step 3: let v be the average speed of unmanned aerial vehicle when patrolling and examining, L be unmanned aerial vehicle's the distance of the furthest journey, the required time of patrolling and examining of every building is T, the required time of patrolling and examining of n buildings is nT, every unmanned aerial vehicle should guaranteeIn order to ensure the smooth recovery of the unmanned aerial vehicle, after the unmanned aerial vehicle patrols and examines a plurality of buildings, the unmanned aerial vehicle needs to be recovered at a recovery point, namely the cruising ability of the unmanned aerial vehicle is insufficient to complete the patrol and examine the next building and return to the next recovery point n k+1 When it is needed to be m k+1 And the other unmanned plane is put away to execute the inspection task.
Step 4: when the unmanned aerial vehicle patrols and examines the kitchen section pipeline of registering one's residence, send the order to accurate navigation module according to self-adaptation control submodule to carry out the scanning to kitchen section pipeline of registering one's residence outdoor and patrol and examine, the back of finishing patrolling and examining continues to carry out the inspection along the pipeline until next resident, repeatedly operation before the completion patrol and examine the task and get back to the recovery point.
Step 5: according to step 3, step 4 expansion layer by layer can confirm the required unmanned aerial vehicle quantity in region of patrolling and examining, each puts flying spot according to the region of patrolling and puts unmanned aerial vehicle in proper order at unmanned aerial vehicle landing platform to predetermine landing platform in advance according to the order of putting flying and retrieve unmanned aerial vehicle in proper order at the recovery point, realize that all pipelines, all important target points can all be patrolled and examined in the minimum time, and can guarantee in unmanned aerial vehicle's the biggest duration scope.
In an embodiment of the present invention, the precise navigation module includes:
the GPS navigation module is used for realizing the inspection of the unmanned aerial vehicle along the flight path by receiving the command of the flight path planning module;
the RTK/INS positioning module is connected with the GPS navigation module and used for realizing the accurate positioning of the unmanned aerial vehicle;
wherein, the RTK/INS positioning module includes:
the RTK positioning sub-module is used for acquiring accurate position data of the unmanned aerial vehicle;
the INS inertial navigation sub-module comprises a gyroscope and an accelerometer and is used for acquiring pose information of the unmanned aerial vehicle;
the RTK/INS filter processor is used for fusing the unmanned aerial vehicle pose data obtained by the INS inertial navigation sub-module and the unmanned aerial vehicle position data obtained by the RTK positioning sub-module to obtain high-precision position pose information, and the RTK/INS filter processor is connected with the flight control module and is used for accurately controlling the unmanned aerial vehicle to patrol and examine the gas pipeline along the flight path without deviation.
In the embodiment of the invention, the INS inertial navigation sub-module processes the data acquired by the gyroscope and the accelerator to acquire speed and attitude angle information, so that the pose information of the unmanned aerial vehicle is acquired, the position information of the unmanned aerial vehicle and the pose information of the unmanned aerial vehicle are combined through the RTK/INS filter, the INS navigation parameters can be corrected while the high-precision position information is acquired, the high-precision pose information is acquired, and the position and the attitude of the unmanned aerial vehicle are continuously adjusted through the flight control module, so that the accurate inspection of the unmanned aerial vehicle along a gas pipeline is realized.
In an embodiment of the present invention, the unmanned aerial vehicle is embedded in a cluster cooperative obstacle avoidance module, and the cluster cooperative obstacle avoidance module includes:
the ultrasonic obstacle sensing module is used for receiving ultrasonic reflection signals when an obstacle is sensed by transmitting ultrasonic waves in the flight process of the unmanned aerial vehicle;
the binocular vision accurate measurement module is used for acquiring image data through a binocular camera;
the fusion obstacle avoidance processing module is used for receiving the ultrasonic reflection signals acquired by the ultrasonic obstacle sensing module and the image data acquired by the binocular vision accurate measurement module, processing the two data through data fusion, and reconstructing feedback control information to the flight obstacle avoidance controller through the three-dimensional obstacle.
In the embodiment of the invention, the cluster cooperative obstacle avoidance module takes a binocular vision accurate measurement module as a main sensing module and is assisted by an ultrasonic obstacle sensing module, the binocular vision accurate measurement module comprises a binocular camera and a binocular vision processor, the ultrasonic obstacle sensing module comprises an ultrasonic sensor and an ultrasonic processor, the binocular camera is directly connected with the binocular vision processor, the ultrasonic sensor is directly connected with the ultrasonic processor, the binocular vision processor and the ultrasonic processor are connected with a fusion obstacle avoidance processing module, and the automatic obstacle avoidance of the unmanned aerial vehicle is realized through the decision and data conversion of the obstacle avoidance fusion processing module. The binocular camera is formed by combining two USB cameras and CMOS type photosensitive elements; the binocular vision processor adopts a Intel computer stick BOXSTK1AW32SCL integrated processor, supports double USB interfaces and can be directly connected with a camera; the ultrasonic sensor adopts KS103 type ranging sensor, so that high-precision ranging can be realized; the ultrasonic processor selects STM32F407VGT type chips for processing, and obstacle avoidance is realized through the following steps:
Step 1: the unmanned aerial vehicle acquires image information through binocular vision in the flight process and transmits the acquired information to a binocular vision processor in real time; the ultrasonic sensor receives the reflected ultrasonic signals and transmits the information to the ultrasonic processor to obtain ultrasonic data information;
step 2: the obstacle avoidance processing module based on data fusion processes two kinds of data through an obstacle perception algorithm:
and (3) data filtering:
let the system be linear, the measurement noise be Gaussian white noise, the state equation be
T(k+1)＝F(k)T(k)+D(k)U(k)+C(k)V(k)
Where T (k+1) represents a state vector at time k+1, F (k) represents a state transition matrix at time k m×m, D (k) represents an m×n-order input matrix, U (k) represents an n-dimensional input vector, C (k) represents an m×n-order driving matrix, and V (k) represents an n-dimensional disturbance gaussian white noise.
The measurement equation is a linear function, which satisfies
O(k)＝H(k)T(k)+W(k)
Wherein O (k) represents a q-dimensional vector at k time, H (k) represents a q×n order measurement matrix, W (k) represents q-dimensional measurement noise, and satisfies that there is Gaussian white noise
EW(k)＝0EW(k)W T (j)＝R(k)δ kj
Wherein delta kj Is a dirichlet function.
And (3) data fusion:
assuming that V (k) and W (k) are independent of each other, the EW (k) W is satisfied T (k)＝0
Assuming that the filtered value of the k-time state T (k) is knownAnd covariance matrix P (k|k), resulting in state prediction values:
The fusion formula is:
T(k)＝φ(k-1)+Ev(k-1)
Y(k)＝CT(k)+Z(k)
wherein T is a state vector, phi is a state transition matrix, E is a driving matrix, V is a target Gaussian white noise, V (k) obeys Gaussian distribution with variance w, Y is an observation vector, C is an observation matrix, Z is an observation Gaussian white noise, and Z (k) obeys Gaussian distribution with variance w;
step 3: the fusion obstacle avoidance processing module is used for realizing accurate matching of characteristic points by extracting characteristic information of the obstacle when fusing two kinds of data, obtaining the center position and the outline dimension of the obstacle according to the characteristic point information, establishing an unmanned plane and a geodetic coordinate system, and converting the coordinate position of the obstacle in the unmanned plane into the position of the geodetic coordinate system through conversion before the two coordinate systems according to the geographic position information of the unmanned plane;
step 4: judging whether the obstacle is a movable obstacle or not according to the flying speed of the unmanned aerial vehicle and the position vector change range of the obstacle and the unmanned aerial vehicle, establishing a movable obstacle movement model aiming at the movable obstacle through continuous moment obstacle position change, and predicting the position change condition of the obstacle;
step 5: the method comprises the steps that a three-dimensional obstacle model is built by utilizing obstacle information obtained by binocular vision and ultrasonic waves, when a preset flight path of an unmanned aerial vehicle collides with an obstacle, control information is output, so that the obstacle can be avoided in advance, and the unmanned aerial vehicle can continue to carry out inspection along the preset flight path through track correction after the obstacle is avoided;
Step 6: and finally, the flight obstacle avoidance controller receives feedback control information output by the fusion obstacle avoidance processing module, and then controls the unmanned aerial vehicle to realize obstacle avoidance through the flight control module, so that the unmanned aerial vehicle can realize the advanced perception and real-time avoidance of the obstacle.
In the embodiment of the invention, the track correction module simultaneously fuses the pose information of the unmanned aerial vehicle, which is acquired by the INS inertial navigation submodule, and the image data acquired by the binocular vision accurate measurement module, corrects the track of the unmanned aerial vehicle through the deviation of the obstacle avoidance position change, and realizes that the unmanned aerial vehicle continues to patrol the gas pipeline along the original path after obstacle avoidance.
In the embodiment of the invention, the unmanned aerial vehicle fuses the image data acquired by the binocular vision accurate measurement module into the INS inertial navigation sub-module during track correction, and if the unmanned aerial vehicle deviates in order to avoid obstacle flight attitude position during navigation, the binocular vision accurate measurement module obtains position change deviation according to the change of coordinates of an object in two lens pictures by using the principle of left and right parallax of human eyes through a binocular camera, fuses into the INS inertial navigation sub-module, and corrects the unmanned aerial vehicle movement attitude in time.
In an embodiment of the present invention, the laser monitoring module includes:
The laser remote sensing detector is used for collecting emitted laser signals and reflected laser signals when the unmanned aerial vehicle is patrolled and examined along a pipeline;
the image collector is connected with the camera and is used for collecting image information of the gas pipeline through the camera;
the laser remote sensing detector, the camera and the image collector are mounted on the holder, the holder is embedded into the side of the unmanned aerial vehicle and can rotate 180 degrees, and the holder transmits laser signal data collected by the laser remote sensing detector and image information data collected by the image collector to the data receiving module through the data transmission module.
The laser remote sensing detector is formed by combining a DFB laser and a PIN photoelectric detector; the image collector adopts PCIE1181/1182 network card, can realize the high-efficient collection to the image data.
As an embodiment of the present invention, referring to fig. 3, when the unmanned aerial vehicle is patrolled and examined along a pipeline, the information interaction module inverts the change condition of methane concentration by receiving the laser signal data of the data transmission module, wakes up the camera and the image collector and issues a command when judging that the gas pipeline leaks, performs image information data acquisition on the gas pipeline, transmits the data to the data processing module, marks the leaking position of the gas pipeline by using a machine vision technology, and the data processing module also has the functions of recording the concentration of the leaked methane gas and capturing the leaking scene.
In the embodiment of the invention, when the gas pipeline leaks, a laser remote sensing detector on the unmanned aerial vehicle scans CH formed around the leakage point 4 The gas cloud can absorb a part of laser energy, and CH can be inverted according to the initial power and the echo power of the laser 4 Meanwhile, the gas pipeline leakage range is marked by a camera in a machine vision-assisted mode, and the accurate position of gas leakage is accurately judged according to the geographical position information of the unmanned aerial vehicle. The method comprises the following specific steps:
step 1: when the gas pipeline or key inspection grid leaks and the laser remote sensing detector scans the inspection area, the central frequency of the output light of the laser remote sensing detector is increasedAnd CH (CH) 4 Is expressed as a Lorentz function to express CH 4 The absorption line of the gas, and the absorption coefficient L (v) of the gas to light is developed into a Fourier series, and the method comprises the following steps:
L(v)＝L 0 [W 0 -W 2 cos(2ωt)+……]
wherein L (v) is CH at frequency v 4 An absorption coefficient for light; l (L) 0 Peak absorption coefficient of the gas absorption spectrum; delta v Modulating amplitude for frequency; gamma is the half width of the absorption line.
Since the absorption coefficient of near-infrared band gas for light is small, the relationship between output light and input light can be expressed as:
Q(v)＝sQ 0 (v)[1+δ I cos(ωt)][1-L(v)CR]
wherein Q (v) is the optical power received by the photodetector; s is the light collection efficiency; q (Q) 0 (v) The optical power output by the semiconductor laser; delta I The ratio of the light power received by the laser remote sensing detector to the light power output by the laser remote sensing detector when no gas is absorbed; c is the volume concentration of the measured gas; r is the length of the gas absorption optical path.
According to the above formula, it can be obtained that the first harmonic and the second harmonic are respectively:
Q 1f ＝sQ 0 (v)δ I
Q 2f ＝sQ 0 (v)L 0 A 02 CR
it can be seen that the second harmonic contains CH 4 Concentration information of (2);and the first harmonic wave is CH 4 Is independent of the concentration of (c).
CH which can be monitored by combining the above formula 4 Gas concentration value:
step 2: the data processing module can obtain the concentration change condition of the gas through the calculation, and the highest concentration point is the position of gas leakage;
step 3: in order to eliminate the influence of factors such as wind speed on the concentration of the monitored gas, the gas leakage position is marked by machine vision, and the positioning accuracy of the leakage point is improved.
Firstly, image space information acquired by a frequency domain drawing image acquisition card is:
wherein: f is Fourier transform; gamma is the average Fourier amplitude of the image collection acquired by the image acquisition card;is a rule of image statistics.
According to the image transformation rule shown in the above formula, the log spectrum of the image can be obtained, and then the log spectrum is subjected to mean filtering treatment, and the method comprises the following steps:
W＝V·h m
Wherein: w is the log spectrum of V after mean value filtering treatment; v is the original log spectrum which is not subjected to mean value filtering treatment; h is a m Is a filtering operator.
From V and W calculated as described above, a spectral residual r=w-V can be obtained. Under the condition, the obtained R contains the significant information of the gas pipeline image, and for this reason, the significant image of the space domain is set as S; the phase after the fourier transform operation isSaliency map of gas pipeline image
Wherein: f (F) -1 Is an inverse fourier transform; i is an imaginary unit. At this time, a significant map of the gas pipe image is obtained from the above equation, thereby determining the exact location of the gas pipe leakage.
In the embodiment of the invention, the laser remote sensing detector and the camera are arranged on the unmanned aerial vehicle in parallel, the laser remote sensing detector is used for receiving and transmitting laser signals, the camera can acquire image information during gas inspection, the real-time state of a gas pipeline can be observed, the same cradle head is used for ensuring that a laser light path is parallel to a camera light path, and the cradle head can be adjusted to change laser direction when the unmanned aerial vehicle automatically avoids obstacle and turns to, so that the gas pipeline is inspected.
In the embodiment of the invention, the flight control module enables the unmanned aerial vehicle to carry out inspection along the pipeline according to the planned route by continuously adjusting the flight attitude by receiving the control commands of the accurate navigation module, the cluster collaborative obstacle avoidance module and the track correction module.
In the embodiment of the invention, the unmanned aerial vehicle is patrolled and examined in a mode of taking off and landing in different places, and the number of unmanned aerial vehicles to be flown, the position of the landing point of each unmanned aerial vehicle and the flight path are reasonably planned according to the path planning result and the orderly recovery of the unmanned aerial vehicles.
In the embodiment of the invention, redundancy is set on the basis of reasonably configuring the number of unmanned aerial vehicles by the flight path planning module, and when the unmanned aerial vehicle fails to execute the task, the redundant unmanned aerial vehicle is used for replacing the original unmanned aerial vehicle to continue executing the patrol task, and patrol 'relay' is realized.
In the embodiment of the invention, the loading vehicle is used as a mobile base station to communicate with the unmanned aerial vehicle, the loading vehicle receives and processes data collected by the unmanned aerial vehicle, the unmanned aerial vehicle landing platform is recovered in the unmanned aerial vehicle inspection process, and the unmanned aerial vehicle is recovered by pre-placing the landing platform at the unmanned aerial vehicle landing position in sequence according to the landing time of the unmanned aerial vehicle group.
It should be understood that, although the steps in the flowcharts of the embodiments of the present invention are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in various embodiments may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of the sub-steps or stages of other steps or other steps.
Those skilled in the art will appreciate that all or part of the processes in the methods of the above embodiments may be implemented by a computer program for instructing relevant hardware, where the program may be stored in a non-volatile computer readable storage medium, and where the program, when executed, may include processes in the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.

Claims (18)

1. Residential community gas pipe network leakage inspection system based on unmanned aerial vehicle crowd cooperation, characterized by comprising:
The unmanned aerial vehicle landing platform is used for realizing flying and recycling of the unmanned aerial vehicle;
the loading vehicle processing unit is used for planning a flight path of the unmanned aerial vehicle group, generating a flight path, outputting a flight path signal to the unmanned aerial vehicle inspection unit, and processing the received gas leakage data to realize the accurate positioning of the gas leakage position;
and the unmanned aerial vehicle group inspection unit is used for realizing accurate navigation through a flight path, real-time avoidance of obstacles, correction of the flight path after obstacle avoidance and monitoring of gas pipeline leakage.
2. The residential community gas pipe network leakage inspection system based on unmanned aerial vehicle group cooperation according to claim 1, wherein the loading vehicle processing unit comprises:
the loading vehicle is used for carrying the unmanned aerial vehicle landing platform and is placed at the landing position of the unmanned aerial vehicle according to the flight path of the unmanned aerial vehicle group so as to realize the autonomous take-off and landing of the unmanned aerial vehicle;
the flight path planning module is used for generating a flight path of the unmanned aerial vehicle group;
the information interaction module is used for accurately positioning the gas leakage position;
the information interaction module comprises a data receiving module, a data processing module and a signal transmission module.
3. The residential community gas pipe network leakage inspection system based on unmanned aerial vehicle group cooperation according to claim 2, wherein the unmanned aerial vehicle group inspection unit comprises:
The accurate navigation module is used for accurately navigating along the pipeline according to the flight path;
the cluster cooperative obstacle avoidance module is used for realizing real-time obstacle avoidance;
the track correction module is used for correcting the track of the unmanned aerial vehicle;
the laser monitoring module is used for carrying out leakage inspection on the pipeline;
the unmanned aerial vehicle crowd inspection unit further comprises a data transmission module, a signal receiving module and a flight control module.
4. The residential community gas pipe network leakage inspection system based on unmanned aerial vehicle group cooperation according to claim 3, wherein the flight path planning module is connected with the signal transmission module, and sends a command to the accurate navigation module through an output signal, so that the unmanned aerial vehicle group can accurately inspect the gas pipe network along the flight path, and the flight path planning module comprises:
the base line solution operator module establishes a three-dimensional network model through the geographic information position of the area to be inspected, divides key inspection grids, plans the path of the unmanned aerial vehicle group after the inspection in the shortest time and reasonably allocates the quantity of inspection unmanned aerial vehicles in the cell;
and the self-adaptive control sub-module is used for setting recovery points according to the flight sequence and the flight path according to the cruising ability and the planned route of the grid of the key area, so that the accurate inspection of the key grid of the unmanned aerial vehicle is realized.
5. The residential community gas pipe network leakage inspection system based on unmanned aerial vehicle group cooperation according to claim 3, wherein the accurate navigation module comprises:
the GPS navigation module is used for realizing the inspection of the unmanned aerial vehicle along the flight path by receiving the command of the flight path planning module;
the RTK/INS positioning module is connected with the GPS navigation module and used for realizing the accurate positioning of the unmanned aerial vehicle;
wherein, the RTK/INS positioning module includes:
the RTK positioning sub-module is used for acquiring accurate position data of the unmanned aerial vehicle;
the INS inertial navigation sub-module comprises a gyroscope and an accelerometer and is used for acquiring pose information of the unmanned aerial vehicle;
the RTK/INS filter processor is used for fusing the unmanned aerial vehicle pose data obtained by the INS inertial navigation sub-module and the unmanned aerial vehicle position data obtained by the RTK positioning sub-module to obtain high-precision position pose information, and the RTK/INS filter processor is connected with the flight control module and is used for accurately controlling the unmanned aerial vehicle to patrol and examine the gas pipeline along the flight path without deviation.
6. The residential community gas pipe network leakage inspection system based on unmanned aerial vehicle group cooperation according to claim 5, wherein the INS inertial navigation sub-module processes data acquired by a gyroscope and an accelerator to obtain speed and attitude angle information, so that attitude information of an unmanned aerial vehicle is obtained, the unmanned aerial vehicle position information and the attitude information of the unmanned aerial vehicle are combined through an RTK/INS filter, INS navigation parameters are corrected while high-precision position information is obtained, high-precision attitude information is obtained, and the unmanned aerial vehicle position and attitude are continuously adjusted through a flight control module, so that accurate inspection of the unmanned aerial vehicle along a gas pipeline is achieved.
7. The residential community gas pipe network leakage inspection system based on unmanned aerial vehicle group cooperation according to claim 5, wherein the unmanned aerial vehicle is embedded into a group cooperation obstacle avoidance module, and the group cooperation obstacle avoidance module comprises:
the ultrasonic obstacle sensing module is used for receiving ultrasonic reflection signals when an obstacle is sensed by transmitting ultrasonic waves in the flight process of the unmanned aerial vehicle;
the binocular vision accurate measurement module is used for acquiring image data through a binocular camera;
the fusion obstacle avoidance processing module is used for receiving the ultrasonic reflection signals acquired by the ultrasonic obstacle sensing module and the image data acquired by the binocular vision accurate measurement module, processing the two data through data fusion, and reconstructing feedback control information to the flight obstacle avoidance controller through the three-dimensional obstacle.
8. The residential community gas pipe network leakage inspection system based on unmanned aerial vehicle group cooperation according to claim 7, wherein the group cooperation obstacle avoidance module takes a binocular vision accurate measurement module as a main sensing module and is assisted by an ultrasonic obstacle sensing module, the binocular vision accurate measurement module comprises a binocular camera and a binocular vision processor, the ultrasonic obstacle sensing module comprises an ultrasonic sensor and an ultrasonic processor, the binocular camera is directly connected with the binocular vision processor, the ultrasonic sensor is directly connected with the ultrasonic processor, the binocular vision processor and the ultrasonic processor are connected with a fusion obstacle avoidance processing module, and automatic obstacle avoidance of the unmanned aerial vehicle is realized through decision and data conversion of the obstacle avoidance fusion processing module.
9. The residential community gas pipe network leakage inspection system based on unmanned aerial vehicle group coordination according to claim 7, wherein the track correction module is used for simultaneously fusing pose information of the unmanned aerial vehicle acquired by the INS inertial navigation submodule and image data acquired by the binocular vision accurate measurement module, correcting the track of the unmanned aerial vehicle through deviation of obstacle avoidance position change, and realizing that the unmanned aerial vehicle continues to inspect a gas pipeline along an original path after obstacle avoidance.
10. The residential community gas pipe network leakage inspection system based on unmanned aerial vehicle group coordination according to claim 9, wherein the unmanned aerial vehicle blends image data acquired by the binocular vision accurate measurement module into the INS inertial navigation sub-module during flight path correction, and if the unmanned aerial vehicle deviates in order to avoid obstacle flight attitude position during navigation, the binocular vision accurate measurement module obtains position change deviation according to the change of coordinates of an object in two lens pictures by using a principle of left-right parallax of eyes through a binocular camera, blends the position change deviation into the INS inertial navigation sub-module, and timely corrects the unmanned aerial vehicle movement attitude.
11. The residential community gas pipe network leakage inspection system based on unmanned aerial vehicle group cooperation according to claim 3, wherein the laser monitoring module comprises:
The laser remote sensing detector is used for collecting emitted laser signals and reflected laser signals when the unmanned aerial vehicle is patrolled and examined along a pipeline;
the image collector is connected with the camera and is used for collecting image information of the gas pipeline through the camera;
the laser remote sensing detector, the camera and the image collector are mounted on the holder, the holder is embedded into the side of the unmanned aerial vehicle, and the holder transmits laser signal data collected by the laser remote sensing detector and image information data collected by the image collector to the data receiving module through the data transmission module.
12. The residential community gas pipe network leakage inspection system based on unmanned aerial vehicle group cooperation according to claim 11, wherein when the unmanned aerial vehicle is inspected along a pipeline, the information interaction module inverts the methane concentration change condition by receiving laser signal data of the data transmission module, when the gas pipeline is judged to be leaked, the camera and the image collector are awakened and a command is issued, the image information data of the gas pipeline is collected, the data is transmitted to the data processing module, the leakage position of the gas pipeline is marked through a machine vision technology, and the data processing module further has the functions of recording the concentration of leaked methane gas and capturing leakage scenes.
13. The residential community gas pipe network leakage inspection system based on unmanned aerial vehicle group cooperation according to claim 11, wherein when the gas pipe leaks, a laser remote sensing detector on the unmanned aerial vehicle scans CH formed around a leakage point 4 The gas cloud can absorb a part of laser energy, and CH can be inverted according to the initial power and the echo power of the laser 4 Meanwhile, the gas pipeline leakage range is marked by a camera in a machine vision-assisted mode, and the accurate position of gas leakage is accurately judged according to the geographical position information of the unmanned aerial vehicle.
14. The residential community gas pipe network leakage inspection system based on unmanned aerial vehicle group cooperation according to claim 11, wherein the unmanned aerial vehicle is provided with a laser remote sensing detector and a camera which are installed in parallel, the laser remote sensing detector is used for receiving and transmitting laser signals, the camera collects image information during gas inspection, the real-time state of a gas pipeline is observed, the same holder is used for ensuring that a laser light path is parallel to a camera light path, and the holder can be adjusted to change laser direction when the unmanned aerial vehicle automatically avoids obstacle and turns to, so that the gas pipeline is inspected.
15. The residential community gas pipe network leakage inspection system based on unmanned aerial vehicle group cooperation according to claim 3, wherein the flight control module enables unmanned aerial vehicle to inspect along a pipeline according to a planned route by receiving control commands of the accurate navigation module, the unmanned aerial vehicle group cooperation obstacle avoidance module and the track correction module.
16. The residential community gas pipe network leakage inspection system based on unmanned aerial vehicle group cooperation according to claim 3, wherein unmanned aerial vehicles adopt a mode of taking off and landing in different places to carry out inspection, and meanwhile the number of unmanned aerial vehicles to be flown and the position and the flight path of the take-off and landing points of each unmanned aerial vehicle are reasonably planned according to the result of path planning and the orderly recycling of the unmanned aerial vehicles.
17. The residential community gas pipe network leakage inspection system based on unmanned aerial vehicle group cooperation according to claim 16, wherein redundancy is set on the basis of reasonable configuration of the number of unmanned aerial vehicles by the flight path planning module, and when the unmanned aerial vehicles fail to execute tasks, the redundant unmanned aerial vehicles replace the original unmanned aerial vehicles to continue to execute inspection tasks, and inspection relay is realized.
18. The residential community gas pipe network leakage inspection system based on unmanned aerial vehicle group cooperation according to claim 3, wherein the loading vehicle is used as a mobile base station to communicate with the unmanned aerial vehicle, the loading vehicle receives and processes data collected by the unmanned aerial vehicle, the unmanned aerial vehicle landing platform is recovered in the unmanned aerial vehicle inspection process, and the unmanned aerial vehicle is recovered by the landing platform in turn at the unmanned aerial vehicle landing position according to the landing time of the unmanned aerial vehicle group.
CN202310534946.5A 2023-05-12 2023-05-12 Residential area gas pipe network leakage inspection system based on unmanned aerial vehicle group cooperation Pending CN116658830A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117893643B (en) * 2024-03-18 2024-06-11 四川弘和数智集团有限公司 Method, device, equipment and medium for generating gas leakage image of oil and gas station compressor

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117893643B (en) * 2024-03-18 2024-06-11 四川弘和数智集团有限公司 Method, device, equipment and medium for generating gas leakage image of oil and gas station compressor

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