CN106090622A - A kind of airflight Artificial Olfactory gas premature leak monitoring and positioning system and method - Google Patents
A kind of airflight Artificial Olfactory gas premature leak monitoring and positioning system and method Download PDFInfo
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- CN106090622A CN106090622A CN201610479042.7A CN201610479042A CN106090622A CN 106090622 A CN106090622 A CN 106090622A CN 201610479042 A CN201610479042 A CN 201610479042A CN 106090622 A CN106090622 A CN 106090622A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
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Abstract
The invention discloses a kind of airflight Artificial Olfactory gas premature leak monitoring and positioning system and method, high accuracy gas sensor array and algorithm for pattern recognition is utilized to build Artificial Olfactory, in flight course, monitoring identifies leakage trace vestige gas microcomponent in early days, the parameter such as the wind direction in monitoring objective spatial dimension, wind speed simultaneously, the source of leaks inverting transporting Diffusion Law design based on gas leakage space is traced to the source localization method, in conjunction with unmanned flight's control method, it is achieved the identification of premature leak gas-monitoring and location in spatial dimension.Native system mainly includes that unmanned flight controls calculating center, gesture stability and GPS locating module, Artificial Olfactory module, atmosphere environment supervision module, leak position module, automatic obstacle avoidance module, wherein devises Artificial Olfactory and leak position algorithm.The present invention has the monitoring features such as space is wide, monitoring accuracy is high, leakage early warning accurate positioning is timely.
Description
[technical field]
The present invention relates to gas detecting monitoring technical field, let out in early days particularly to a kind of airflight Artificial Olfactory gas
Leakage monitoring and positioning system.
[background technology]
Pressure vessels for the chemical industry pipeline is the important component part in the middle of industrial flow, and container conduit leakage not only results in production
Process losses, the leakage of carrying medium simultaneously can bring potential huge harm.The hazardous gas caused due to leakage spreads very
To blast, it it is the one of the main reasons of accident of creating greater casualties at present.So, pipe container leakage is monitored particularly
Premature leak is monitored identifying, and is accurately positioned, and contributes to the risk reducing or avoiding to bring due to leakage, reduce by
In the harm that leakage brings.
Several main leakage monitoring method used on pressure vessels for the chemical industry pipeline at present mainly has:
(1) sensing cable, optical fiber leak detection: utilize detection cable and optic fibre characteristic, according to leaking medium to sensing cable electricity
Learn characteristic and the change of optical fiber optical characteristics, thus respond accurately, leakage can also be obtained according to related algorithm and occur
Position, is mainly used in long-distance transport pipes leakage monitoring.Although sensing cable and optical fiber leak hunting technology can detect more accurately
To leakage signal, but it main problem is that needs, along pipeline embedment cable or optical fiber, are constructed more complicated, and cost compares
Height, and container class leakage monitoring cannot be suitable for.
(2) leakage field, ultrasound wave, acoustic emission: by between container material defect and field signal, acoustic signals
Dependency relation, can detect chamber wall defect, particularly crack defect.This several method current is mainly used in pressure vessel and lets out
In the middle of leakage monitoring, but this several method is suitable for material local defect, and is typically only capable to after equipment stops overhaul,
It is difficulty with on-line monitoring, thus relatively difficult for large-scale leakage monitoring.
(3) infrared imagery technique: utilize the difference in leakage region temperature field and temperature field, neighboring area, pass through image procossing
Algorithm obtains the infrared sensing image of leakage region, thus judges that leakage occurs.This technology can be right in the range of larger space
Monitored area carries out leakage monitoring, but the shortcoming of maximum is that only just can obtain comparing after there is obviously leakage can
The infrared image leaned on, leakage early warning is the most delayed.
(4) gas leakage medium single-point monitoring and warning: presently used gas leakage monitoring, is all by mean of based on light
The one point sensing device of the principles such as, electrochemistry, although these sensors can detect the concentration signal after there is substantially leakage,
Report to the police, but due to premature leak produce gas compare trace, it is easy to be interfered, and these traditional detection means by
In having the shortcomings such as detection range physical property limited, single selects sensor poor anti jamming capability, early warning delayed, micro-for premature leak
Amount vestige gas is difficult to be accurately detected.
And for leak position, current correlation technique is mainly in terms of long-distance transport pipes to be applied, mainly there is detection electricity
Cable, optical fiber, also have pipeline leakage testing localization method based on barometric gradient time series analysis, the side of fault model wave filter
Method, kalman filter method, gas based on dynamic quantity balance and the statistical method of fluid pipeline, pipe based on suction wave
Road leakage detection and localization method, residual based on the pipeline leakage detection and location method of sonic detection, nonlinear observer in pipe
Difference location, oscillatory flow exciting signal frequency response method, pipeline leakage detection method based on statistical analysis etc..And for container
The location in the storage tank region means that major part uses at present are all made by leakage detecting instrument and are positioned manually, and efficiency and risk are higher.
In sum, owing to current container conduit leakage monitoring and localization method still come with some shortcomings, in leakage in early days
Monitor location aspect in the range of trace vestige gas identification and large space and also have the space of research and development further.
[summary of the invention]
For solving the problem that prior art exists, the present invention proposes a kind of airflight Artificial Olfactory gas premature leak prison
Surveying alignment system, can be effectively realized in space on a large scale, the monitoring automatically of dangerous matter sources gas premature leak identifies and fast
Speed location.
For reaching above-mentioned purpose, the technological means that the present invention uses is:
A kind of airflight Artificial Olfactory gas premature leak monitoring and positioning system, including: during unmanned flight controls to calculate
The heart, Artificial Olfactory module, atmosphere environment supervision module, leak position module and gesture stability and GPS locating module；
Described unmanned flight controls calculating center and is used for receiving enabling signal, starts execution leakage monitoring task of taking off, and
Collect and calculate the information from other module；
Described Artificial Olfactory module is used for gathering the adjoint vestige volatile component concentration data of monitoring objective gas leakage, and
Pass to unmanned flight and control calculating center；
Described atmosphere environment supervision module is used for gathering environmental monitoring data and passing to unmanned flight controlling calculating center；
Described gesture stability and GPS locating module are for adjusting system and device flight attitude so that it is fill according to system
Put and require that track flies, and determine its locus；
Described leak position module calculates, according to unmanned flight, concentration data, the environmental monitoring number that control centre obtains
According to, the attitude of control system device and change in location, control gesture stability and GPS locating module, adjust system and device space and fly
Line position, carries out leak position.
Further, described Artificial Olfactory module includes sampling enrichment facility and pattern recognition module, in sampling enrichment facility
Portion is enrichment air chamber, and the port of enrichment air chamber is provided with filter membrane, and the bottom of enrichment air chamber is provided with gas sensor array；
Artificial Olfactory module gathers monitored area gaseous sample automatically, after gas is enriched with by sampling enrichment facility, and gas
Specific gas component signal is responded by dependent sensor array, and inputs unmanned flight and calculate control centre；
Pattern recognition module carries out quantitative analysis to input concentration data, obtains gas leakage component to be measured in gas component
Concentration value.
Further, gas sensor array is made up of the sensor of multiple different response performances；In described sensor array
Multiple sensors trace vestige gas component is produced different response signal, the specific gas set up by pattern recognition module
The quantitative judge model output monitoring gas component quantifiable signal of body component.
Further, the quantity of described sampling enrichment facility is four, and four sampling enrichment facilities are distributed with rectangular in form
In the corner symmetric position of system and device mounting structure, its normal direction constituting mounting structure is put down with system and device heading
OK.
Further, described gesture stability and GPS locating module include horizontal level control module, upright position control module
And position coordinates locating module, be respectively used to realize system and device in the horizontal direction, the position of vertical direction moves and determines
System and device place spatial coordinate location.
Further, atmosphere environment supervision module includes air monitoring module and wind direction monitoring modular, is respectively used to automatically supervise
Survey ambient wind velocity and wind vector, and send relevant monitoring signal data to unmanned flight and calculate control centre.
Further, also including automatic obstacle avoidance module, it includes obstacle detection sensor and self adaptation obstacle avoidance
Module,
Described obstacle detection sensor is used for automatic sensing obstacle information, and is transferred to calculate in control
The heart；
Self adaptation obstacle avoidance module, for the information according to obstacle detection sensor feedback, calls gesture stability automatically
And the data of GPS locating module, system and device position is adjusted, avoiding barrier.
A kind of airflight Artificial Olfactory gas leakage monitoring localization method, comprises the following steps:
After being enriched with gas sample to be measured, trace vestige gas component is produced by the sensor in gas sensor array
Raw different response signal, the quantitative judge model of the specific gas component of foundation obtains trace trace constituent concentration data；
Gather atmosphere environment supervision data, including wind speed and direction；
When monitoring leakage vestige gas component exceeds standard, start source of leaks and be automatically positioned program, in conjunction with gas leakage trace trace
Mark concentration of component data, atmosphere environment supervision data, according to leak position algorithm, continuous control system position is done attitude and is adjusted
Whole, and determined locus residing for unmanned flight's system by GPS module, simultaneously by automatic obstacle avoidance mould in flight course
Block realizes self adaptation Obstacle avoidance in flight course；Leakage source of release position, final location.
As a further improvement on the present invention, leak position algorithm refers to: according to wind direction add up, adjust heading with
Current wind direction direction is parallel, and next step finds the gas leakage plume center line at present level；Whole system is with distributed rectangular shape
Formula is installed and is organized sensor array more, to detect the concentration data of various location, according to many group sensor array concentration difference, sentences
Disconnected midline position, thus adjust alliance, after finding current plume starting point further, then begin look for next level
Plume center line and starting point, until finding near source of leaks position plume starting point.
As a further improvement on the present invention, leak position algorithm comprises the following steps:
1) abnormal concentrations signal determining: trace constituent quantitative concentrations information is processed by system, it is judged that concentration is the most different
Often, if it is not, then enter desired trajectory and patrol and examine；If so, next step is entered；
2) heading and wind direction judge: according to wind direction statistical data, it is judged that current flight direction whether with the working as of statistics
Front wind direction is parallel, if heading is parallel with current wind direction direction, continues flight according to current flight direction, if differed
Cause, then adjust heading parallel with current wind direction direction；
3) compare according to the sensor array concentration information of different azimuth, carry out alliance with source of leaks relative to wind direction position
The judgement put: if along hot nose array concentration average X of system and device heading1With tail sensor array concentration
Average X2Size, if X1＞ X2, then flight is continued along current direction, if X1＜ X2, then the rightabout along current direction flies；
4) plume midline position judges: according to the sensor array concentration difference of diverse location, it is judged that fly along system and device
Left wing's sensor array concentration average Y of line direction1With right flank sensor array concentration average Y2Size, if Y1＞ Y2, then edge
Left wing flies, if Y1＜ Y2, then fly along right flank；If the concentration average difference of both sides is less than the 10% of the two difference, it is determined that
Flight position is in the plume midline position of this layer of leakage concentration；
5) finding the start position of present level plume: if under current flight direction, hot nose array is monitored
Concentration and value less than the concentration of tail sensor array and value, and both wings sensor array concentration difference exceedes concentration and value
Less side 10% when, it is determined that flight system has reached the start position of present level plume.
6) source of leaks position judgment: flight system starts to adjust attitude and flies to next level, height declines L every time, opens
Begin to find plume center line and the starting point of next level；The gas concentration that constantly statistics sensor array obtains in flight course
The sum of value, if the overall concentration value of system arrival gas tracking component reaches maximum region, it is possible to judge source of leaks position
Setting in this region, location completes, and stores positional information.
Compared with prior art, the present invention has a following useful technique effect:
Native system mainly includes that unmanned flight controls calculating center, gesture stability and GPS locating module, Artificial Olfactory
Module, atmosphere environment supervision module, leak position module, automatic obstacle avoidance module, wherein devise Artificial Olfactory
With leak position algorithm, the monitoring and positioning system of the present invention utilizes high accuracy gas sensor array and intelligent mode identification to calculate
Method, builds Artificial Olfactory, it is achieved the monitoring identification function to leakage vestige gas microcomponent in early days；Meanwhile, based on letting out
Gas leakage body space transports Diffusion Law, devises source of leaks inverting and traces to the source localization method, in conjunction with unmanned flight's control method, proposes
A kind of airflight Artificial Olfactory for premature gas leakage leaks monitoring and positioning system automatically.The present invention has monitoring space
The features such as extensively, monitoring accuracy is high, leakage early warning accurate positioning is timely.
(1) gas leakage identification of the present invention is based on Artificial Olfactory, it is possible to realize leakage micro-gas leakage in early days
The identification of component and monitoring；
(2) present invention has monitored gas concentration, atmospheric environment signal simultaneously, former according to gas leakage diffusion Trajectory Inversion
Reason, designs leak position algorithm, it is achieved the quick location of source of leaks.
(3) present invention combines leak position algorithm, gesture stability and GPS location, automatic dodging barrier function, it is possible to
Realize in the case of pilotless, from aerial automatic tracing source of leaks position；
(4) what the present invention can be used in volatile hazardous gas source, chemical industry plant area monitors location in the air, it is also possible to be used in
In the middle of line gas leakage monitoring location, may be also used in the dangerous matter sources gas early monitorings such as large-scale dangerous materials storage region simultaneously
In the middle of early warning.
The gas leakage monitoring localization method of the present invention, utilizes high accuracy gas sensor array and algorithm for pattern recognition structure
Building Artificial Olfactory, in flight course, monitoring identifies leakage trace vestige gas microcomponent in early days, monitoring objective simultaneously
The parameters such as wind direction in spatial dimension, wind speed, the source of leaks inverting transporting Diffusion Law design based on gas leakage space is traced to the source
Localization method, in conjunction with unmanned flight's control method, it is achieved the identification of premature leak gas-monitoring and location in spatial dimension.The present invention
Method has the monitoring features such as space is wide, monitoring accuracy is high, leakage early warning accurate positioning is timely.
[accompanying drawing explanation]
Fig. 1 airflight Artificial Olfactory gas premature leak monitoring and positioning method system structure schematic diagram；Wherein, 1 is nothing
People flies and controls calculating center；2 is Artificial Olfactory module；3 is atmosphere environment supervision module；4 is leak position module；
5 is gesture stability and GPS locating module；6 is automatic obstacle avoidance module；200 is sampling enrichment facility；300 is air monitoring
Module；301 is wind direction monitoring modular；600 is obstacle detection sensor；601 is self adaptation obstacle avoidance module；
Fig. 2 gas filtration enriching apparatus and sensor array structure, wherein, 201 be filter membrane, 202 for enrichment air chamber,
203 is sensor array structure, and 204 is single sensor, and often group sensor array is by 4 different sensors structures of a, b, c, d
Become；
Fig. 3 sensor array scheme of installation, wherein S1, S2, S3, S4 are 4 groups of identical sensor arraies
Fig. 4 leak position principle 401 is wherein horizontal plume line, 402 be vertical plume line, 403 for sensor array
Group；
Fig. 5 leak position algorithm basic flow sheet.
[detailed description of the invention]
Below in conjunction with concrete example and accompanying drawing, the present invention is described in further detail, described in be the solution to the present invention
Release rather than limit.
As it is shown in figure 1, airflight Artificial Olfactory gas premature leak monitoring and positioning system of the present invention is mainly by six
Part is constituted: unmanned flight controls calculating center 1；Artificial Olfactory module 2；Atmosphere environment supervision module 3；Leak position
Module 4；Gesture stability and GPS locating module 5；Automatically obstacle avoidance module 6.
Each several part major function is: unmanned flight controls calculating center 1 and receives enabling signal, and starting to take off carries out performing nothing
People's automatic leakage monitoring task, and collect and calculate from the information of other module and analyze and process, and with modules it
Between communicate.Gesture stability and GPS locating module 5 are to system flight pose adjustment so that it is fly according to system requirements track, and really
Its locus fixed；Atmosphere environment supervision module 3 gathers wind direction, wind velocity signal and passes to unmanned flight and calculate control centre；
Artificial Olfactory module 2 gathers the adjoint vestige volatile component signal of monitoring objective gas leakage, and passes to unmanned flight's calculating
Control centre.Leak position module 4, based on leak position algorithm routine, calculates control centre's instruction according to unmanned flight,
Control gesture stability and GPS locating module, adjust system space flight position, until having positioned；Automatically obstacle avoidance module 6
Realize in flight course, it is achieved the system and device automatic dodging to barrier.
Gesture stability and GPS locating module 5 are mainly controlled 501, upright position control 502 and position coordinates by horizontal level
Location 503 composition.Utilize this module can realize system and device in the horizontal direction, the position of vertical direction moves, and determines
System and device place spatial coordinate location.
Artificial Olfactory module 2, by sampling enrichment facility 200, in high precision gas sensor array 204 and pattern recognition
Algorithm 205 is constituted.This module can gather monitored area gaseous sample automatically, is enriched with by sampling enrichment facility 200 by gas
After, specific gas component signal is responded by gas sensor array 204 in high precision, and inputs unmanned flight and calculate control centre.
Algorithm for pattern recognition 205 carries out quantitative analysis to input concentration data, obtains the dense of gas leakage component to be measured in gas component
Angle value.
Atmosphere environment supervision module 3 mainly includes air monitoring 300 and wind direction monitoring 301, in system start-up running
Can monitoring of environmental wind speed and direction change automatically, and send relevant monitoring signal data to unmanned flight and calculate in control
The heart, for leak position.
Leak position module 4, utilizes leak position algorithm, according to calculating concentration data, the ring that control centre obtains
Border Monitoring Data, control system attitude and change in location, leakage source of release position, final location.
Automatically obstacle avoidance module 6 mainly includes obstacle detection sensor 300 and self adaptation obstacle avoidance algorithm 601,
During system is automatically positioned, obstacle detection sensor with automatic sensing obstacle information, and can be transferred to
Calculating control centre, self adaptation obstacle avoidance algorithm, according to the information of obstacle detection sensor, calls gesture stability mould automatically
Block, is adjusted alliance, avoiding barrier.
The principle of the present invention is: gas sensor array is made up of the sensor of 4 different response performances in high precision, passes through
After being enriched with gas sample to be measured, 4 sensors in sensor array produce different responses to trace vestige gas component
Signal, monitoring signal identification is exported by the quantitative judge model of the specific gas component set up by algorithm for pattern recognition.Whole
System installs 4 groups of sensor arraies with distributed rectangular form, to detect the concentration signal of various location.Environment monitoring module is supervised
Survey ambient air wind speed and direction, provide related data for leak position algorithm.Once monitoring leakage vestige gas component surpasses
Mark, is started source of leaks by unmanned flight system-computed control centre and is automatically positioned program, in conjunction with gas leakage trace trace constituent
Concentration data, atmosphere environment supervision data, according to leak position algorithm, continuous control system pose adjustment, and by GPS module
Determine locus residing for unmanned flight's system, in flight course, realize flight course by automatic obstacle avoidance module simultaneously
Middle self adaptation Obstacle avoidance.During leak position, flight system, according to location algorithm, is first depending on wind direction statistics,
Adjusting heading parallel with current wind direction direction, next step finds the gas leakage plume center line at present level, according to 4 groups
Sensor array concentration difference, it is judged that midline position, thus adjust alliance, after finding current plume starting point further,
Then plume center line and the starting point of next level are begun look for, until finding near source of leaks position plume starting point, i.e.
Concentration signal is that the region of global statistics maximum is leak position.
The general flow of monitoring and positioning system of the present invention work is:
Receiving execution mission requirements when flight calculates control centre 1, system starts to take off and fly according to desired trajectory
OK, in flight course, gathered flight range gaseous sample by the Artificial Olfactory 2 carried, and carry out quantitative analysis.Manually
Olfactory system is constituted by sampling enrichment facility 200, in high precision gas sensor array 203 and algorithm for pattern recognition.
Wherein, sampling enrichment facility 200 realizes filtration and the enrichment of gaseous sample, and its structure is as in figure 2 it is shown, mainly include
Filter membrane 201 and enrichment air chamber 202.Sensor array 203 is positioned at bottom sampling enrichment facility 200, by 4 different response performances
Sensor 204 constitute, as shown in Fig. 2 203.Often group sensor array is had different response characteristic by a, b, c, d 4
Gas sensor forms, it is possible to respond the gas component to be measured of below 1ppm, and composition structure is such as Fig. 2-203, shown in 204.Logical
Crossing after being enriched with gas sample to be measured, trace vestige gas component is produced different by 4 sensors in sensor array 203
Response signal, the quantitative judge model output monitoring gas component of the specific gas component set up by algorithm for pattern recognition is quantitative
Signal.
As it is shown on figure 3, whole system installs 4 groups of sensor arraies with distributed rectangular form, to detect various location
Concentration signal, sampling enrichment facility 200 and high accuracy gas sensor 204 totally 4 groups, be arranged on 4 of system and device not coordinatioies
Putting, sampling enrichment facility 200 and gas sensor array 204 combination S 1, S2, S3, S4 are distributed in system with rectangular in form and install
The corner symmetric position of structure, it is parallel with system and device heading that it constitutes mounting structure normal direction, and it installs composition such as
Shown in Fig. 3, S1, S2, S3, S4 are 4 groups of different sampling enrichment facilities and sensor array, wherein S1, S3 installation site line
Parallel with system flight direction with S2, S3 position line.
During system flight, carry the atmosphere environment supervision module wind speed and direction with monitoring of environmental air, for letting out
Drain-source location algorithm provides relevant wind speed and direction data.Just it is in if Artificial Olfactory analysis obtains leaking trace constituent
Ordinary water is put down, and flight system carries out flight monitoring according to desired trajectory, and once Artificial Olfactory analysis obtains leaking vestige gas
Body component exceeds standard, unmanned flight system-computed control centre start source of leaks and be automatically positioned program, in conjunction with gas leakage trace
Trace constituent concentration data, atmosphere environment supervision data, according to leak position algorithm, continuous control system pose adjustment, and
Determined locus residing for unmanned flight's system by GPS module, realized by automatic obstacle avoidance module in flight course simultaneously
Self adaptation Obstacle avoidance in flight course.
The ultimate principle of leak position as shown in Figure 4, trace to the source and position according to gas leakage at big compression ring by source of leaks track
Horizontal and vertical Diffusion Law in border, its horizontal proliferation plume concentration value increases with relative leakage source downwind distance X and reduces,
Symmetrical with the center line parallel with cross-wind direction Y-axis by source of leaks, cross-wind direction concentration increases with distance center line distance and reduces,
As shown in Fig. 4 401；And vertically plume concentration is gradually reduced, as shown in Fig. 4 402 with the increase of height.Fixed at source of leaks
During Wei, flight system carries four groups of sensor arraies of Artificial Olfactory and samples enrichment facility in different spatial
Place gathers gas concentration signal, as shown in Fig. 4 403.
Location algorithm basic procedure is as it is shown in figure 5, mainly include that abnormal concentrations signal determining, heading are sentenced with wind direction
Fixed, alliance judges with source of leaks wind direction position judgment, the judgement of plume midline position, horizontal plume start position, source of leaks
A few part such as position judgment.
System is first according to wind direction statistical data, it is judged that current flight direction is the most parallel with the current wind direction of statistics, as
Really heading is parallel with current wind direction direction, continues flight according to current flight direction, if it is inconsistent, adjust flight side
To parallel with current wind direction direction.
Next step finds the gas leakage horizontal plume center line at present level, according to 4 groups of sensor array concentration difference,
Judge midline position, if the concentration average difference of S1, S3 group and S2, S4 group little to the two difference 10% when, it is determined that
It is positioned near plume center line.
Find the start position of present level plume, if under current flight direction, head two sensors further
The concentration of array monitoring and value are less than concentration and the value of afterbody two sensors array, and concentration difference exceedes concentration with value relatively
Little side 10% when, it is determined that flight system has reached the start position of present level plume.
Flight system starts to adjust attitude and flies to next level, and height declines 0.5m every time, begins look for next level
Plume center line and starting point.The sum of the gas concentration value that four groups of sensor arraies obtain constantly is added up in flight course, as
Really system arrives and reaches maximum district near the overall concentration value of source of leaks position plume starting point, i.e. gas tracking component
Territory, it is possible to judging that source of leaks position is positioned at this region, location completes, and stores positional information.
The above, be only presently preferred embodiments of the present invention, not impose any restrictions the present invention, every according to the present invention
Any simple modification, change and the equivalent structure change that above example is made by technical spirit, all still falls within skill of the present invention
In the protection domain of art scheme.
Claims (10)
1. an airflight Artificial Olfactory gas premature leak monitoring and positioning system, it is characterised in that including: unmanned flight is controlled
Calculating center (1) processed, Artificial Olfactory module (2), atmosphere environment supervision module (3), leak position module (4) and attitude
Control and GPS locating module (5)；
Described unmanned flight controls calculating center (1) and is used for receiving enabling signal, starts execution leakage monitoring task of taking off, and receives
Collection calculates the information from other module；
Described Artificial Olfactory module (2) is used for gathering the adjoint vestige volatile component concentration data of monitoring objective gas leakage, and
Pass to unmanned flight and control calculating center (1)；
Described atmosphere environment supervision module (3) is used for gathering environmental monitoring data and passing to unmanned flight controlling calculating center
(1)；
Described gesture stability and GPS locating module (5) are for adjusting system and device flight attitude so that it is according to system and device
Requirement track flies, and determines its locus；
Described leak position module (4) calculates, according to unmanned flight, concentration data, the environmental monitoring number that control centre (1) obtains
According to, the attitude of control system device and change in location, control gesture stability and GPS locating module (5), adjust system and device space
Flight position, carries out leak position.
Airflight Artificial Olfactory gas premature leak monitoring and positioning system the most according to claim 1, it is characterised in that
Described Artificial Olfactory module (2) includes sampling enrichment facility (200) and pattern recognition module (205), sampling enrichment facility (200)
Internal for being enriched with air chamber (202), the port of enrichment air chamber (202) is provided with filter membrane (201), the end of enrichment air chamber (202)
Portion is provided with gas sensor array (203)；
Artificial Olfactory module (2) gathers monitored area gaseous sample automatically, is enriched with by sampling enrichment facility (200) by gas
After, specific gas component signal is responded by gas sensor array (203), and inputs unmanned flight and calculate control centre (1)；
Pattern recognition module (205) carries out quantitative analysis to input concentration data, obtains gas leakage group to be measured in gas component
The concentration value divided.
Airflight Artificial Olfactory gas premature leak monitoring and positioning system the most according to claim 2, it is characterised in that
Gas sensor array (203) is made up of the sensor of multiple different response performances；Multiple in described sensor array (203)
Sensor produces different response signals, the specific gas set up by pattern recognition module (205) to trace vestige gas component
The quantitative judge model output monitoring gas component quantifiable signal of body component.
Airflight Artificial Olfactory gas premature leak monitoring and positioning system the most according to claim 1, it is characterised in that
The quantity of described sampling enrichment facility (200) is four, and four sampling enrichment facilities (200) are distributed in system with rectangular in form
The corner symmetric position of device mounting structure, its normal direction constituting mounting structure is parallel with system and device heading.
Airflight Artificial Olfactory gas premature leak monitoring and positioning system the most according to claim 1, it is characterised in that
Described gesture stability and GPS locating module (5) include horizontal level control module (500), upright position control module (501) and
Position coordinates locating module (502), be respectively used to realize system and device in the horizontal direction, the position of vertical direction moves and really
Determine system and device place spatial coordinate location.
Airflight Artificial Olfactory gas premature leak monitoring and positioning system the most according to claim 1, it is characterised in that
Described atmosphere environment supervision module (3) includes air monitoring module (300) and wind direction monitoring modular (301), is respectively used to automatically
Monitoring of environmental wind speed and direction change, and send relevant monitoring signal data to unmanned flight and calculate control centre (1).
Airflight Artificial Olfactory gas premature leak monitoring and positioning system the most according to claim 1, it is characterised in that
Also including automatic obstacle avoidance module (6), it includes obstacle detection sensor (600) and self adaptation obstacle avoidance module
(601)；
Described obstacle detection sensor (600) is used for automatic sensing obstacle information, and is transferred to calculate in control
The heart (1)；
Self adaptation obstacle avoidance module (601), for according to obstacle detection sensor (600) feedack, calls appearance automatically
State controls and the data of GPS locating module (5), is adjusted system and device position, avoiding barrier.
8. an airflight Artificial Olfactory gas leakage monitoring localization method, it is characterised in that comprise the following steps:
After being enriched with gas sample to be measured, trace vestige gas component is produced not by the sensor in gas sensor array
Same response signal, the quantitative judge model of the specific gas component of foundation obtains trace trace constituent concentration data；
Gather atmosphere environment supervision data, including wind speed and direction；
When monitoring leakage vestige gas component exceeds standard, start source of leaks and be automatically positioned program, in conjunction with gas leakage trace vestige group
Dividing concentration data, atmosphere environment supervision data, according to leak position algorithm, pose adjustment is done in continuous control system position, and
Locus residing for unmanned flight's system is determined by GPS module, simultaneously real by automatic obstacle avoidance module in flight course
Self adaptation Obstacle avoidance in existing flight course；Leakage source of release position, final location.
Airflight Artificial Olfactory gas leakage monitoring localization method the most according to claim 8, it is characterised in that leakage
Source location algorithm refers to: add up according to wind direction, adjusts heading parallel with current wind direction direction, and next step finds gas leakage
Plume center line at present level；Whole system is installed with distributed rectangular form and is organized sensor array, to detect diverse location more
The concentration data at place, according to many group sensor array concentration difference, it is judged that midline position, thus adjusts alliance, further
After finding current plume starting point, then begin look for plume center line and the starting point of next level, until finding near letting out
Drain-source position plume starting point.
Airflight Artificial Olfactory gas leakage monitoring localization method the most according to claim 9, it is characterised in that let out
Drain-source location algorithm comprises the following steps:
1) abnormal concentrations signal determining: trace constituent quantitative concentrations information is processed by system, it is judged that concentration is the most abnormal, if
No, then enter desired trajectory and patrol and examine；If so, next step is entered；
2) heading and wind direction judge: according to wind direction statistical data, it is judged that current flight direction whether with the current wind of statistics
To parallel, if heading is parallel with current wind direction direction, continue flight according to current flight direction, if it is inconsistent,
Adjust heading parallel with current wind direction direction；
3) compare according to the sensor array concentration information of different azimuth, carry out alliance with source of leaks relative to wind direction position
Judge: if along hot nose array concentration average X of system and device heading1With tail sensor array concentration average
X2Size, if X1＞ X2, then flight is continued along current direction, if X1＜ X2, then the rightabout along current direction flies；
4) plume midline position judges: according to the sensor array concentration difference of diverse location, it is judged that along system and device flight side
To left wing's sensor array concentration average Y1With right flank sensor array concentration average Y2Size, if Y1＞ Y2, then along left wing
Flight, if Y1＜ Y2, then fly along right flank；If the concentration average difference of both sides is less than the 10% of the two difference, it is determined that flight
Position is in the plume midline position of this layer of gas leakage；
5) finding the start position of present level plume: if under current flight direction, it is dense that hot nose array is monitored
Degree and value are less than concentration and the value of tail sensor array, and both wings sensor array concentration difference exceedes concentration and value is less
Side 10% when, it is determined that flight system has reached the start position of present level plume；
6) source of leaks position judgment: flight system starts to adjust attitude and flies to next level, height declines L every time, starts to seek
Look for plume center line and the starting point of next level；The gas concentration value that constantly statistics sensor array obtains in flight course
With, if the overall concentration value of system arrival gas tracking component reaches maximum region, it is possible to judge position, source of leaks position
In this region, location completes, and stores positional information.
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