CN106090622B - 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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- CN106090622B CN106090622B CN201610479042.7A CN201610479042A CN106090622B CN 106090622 B CN106090622 B CN 106090622B CN 201610479042 A CN201610479042 A CN 201610479042A CN 106090622 B CN106090622 B CN 106090622B
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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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- F17D5/02—Preventing, monitoring, or locating loss
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Abstract
The invention discloses a kind of airflight Artificial Olfactory gas premature leak monitoring and positioning system and method, utilize high-precision gas sensor array and algorithm for pattern recognition structure Artificial Olfactory, the monitoring identification leakage early stage micro trace gas microcomponent in flight course, the parameter such as the wind direction in monitoring objective spatial dimension, wind speed at the same time, the source of leaks inverting that Diffusion Law design is transported based on gas leakage space is traced to the source localization method, with reference to unmanned flight's control method, the identification of premature leak gas-monitoring and positioning in spatial dimension are realized.The system mainly includes unmanned flight and controls calculating center, gesture stability and GPS positioning module, Artificial Olfactory module, atmosphere environment supervision module, leak position module, automatic obstacle avoidance module, wherein devising Artificial Olfactory and leak position algorithm.The present invention has the characteristics that monitoring space is wide, monitoring accuracy is high, leakage early warning accurate positioning is timely.
Description
【Technical field】
The present invention relates to gas to detect monitoring technical field, and more particularly to a kind of airflight Artificial Olfactory gas early stage lets out
Leak monitoring and positioning system.
【Background technology】
Pressure vessels for the chemical industry pipeline is the important component among industrial flow, and container conduit leakage not only results in production
Process losses, while the leakage of carrying medium can bring potential huge harm.The hazardous gas diffusion caused by leakage is very
It is one of the main reason for creating greater casualties accident at present to explosion.So pipe container leakage is monitored particularly
Premature leak is monitored identification, and is accurately positioned, and helps to reduce or avoids due to leaking the risk brought, reduce by
In the harm that leakage is brought.
Several main leakage monitoring methods used at present on pressure vessels for the chemical industry pipeline mainly have：
(1) sensing cable, optical fiber leak detection：Using detection cable and optic fibre characteristic, according to leaking medium to sensing cable electricity
The change of characteristic and optical fiber optical characteristics is learned, so as to accurately be responded, leakage can also be obtained according to related algorithm
Position, is mainly used in long-distance transport pipes leakage monitoring.Although sensing cable and optical fiber leak hunting technology can be detected more accurately
To leakage signal, but it main problem is that needs are embedded to cable or optical fiber along pipeline, construction is more complicated, and cost compares
Height, and container class leakage monitoring can not be applicable in.
(2) leakage field, ultrasonic wave, acoustic emission：By between container material defect and magnetic field signal, acoustic signals
Dependency relation, can detect chamber wall defect, particularly crack defect.Current these types method is mainly used in pressure vessel and lets out
Among leakage monitoring, but these types of method is suitable for material local defect, and is typically only capable to overhaul after equipment parking,
On-line monitoring difficult to realize, so relatively difficult for large-scale leakage monitoring.
(3) infrared imagery technique：Using the difference in leakage region temperature field and neighboring area temperature field, pass through image procossing
Algorithm obtains the infrared sensing image of leakage region, so as to judge leakage.The technology can be right in the range of larger space
Monitor region and carry out leakage monitoring, but it is maximum the shortcomings that be that only can just obtain comparing after occurring obviously to leak can
The infrared image leaned on, leakage early warning extremely lag.
(4) gas leakage medium single-point monitoring and warning：Presently used gas leakage monitoring, is all by means of based on light
The one point sensing device of the principles such as, electrochemistry, although these sensors can detect the concentration signal after obvious leakage occurs,
Alarm, but due to premature leak produce gas it is more micro, it is easy to be interfered, and these traditional detection means by
In have the shortcomings that detection range be limited, single physical property selection sensor poor anti jamming capability, early warning hysteresis, it is micro- for premature leak
It is difficult to be accurately detected to measure trace gas.
And mainly applied for leak position, current correlation technique in terms of long-distance transport pipes, mainly there is detection electricity
The side of cable, optical fiber, also the pipeline leakage testing localization method based on barometric gradient time series analysis, fault model wave filter
Method, kalman filter method, statistical method, the pipe based on suction wave of the gas based on dynamic quantity balance and fluid pipeline
It is road leakage detection and localization method, residual based on the pipeline leakage detection and location method of sonic detection, nonlinear observer in pipe
Poor positioning, oscillatory flow exciting signal frequency response method, pipeline leakage detection method based on statistical analysis etc..And for container
The means that the positioning in storage tank region largely uses at present are positioned manually by leakage detecting instrument, and efficiency and risk are higher.
In conclusion since current container conduit leakage monitoring and localization method still have some shortcomings, in leakage early stage
The space also further researched and developed in terms of monitoring positioning in the range of micro trace gas identification and large space.
【The content of the invention】
Existing in the prior art to solve the problems, such as, the present invention proposes a kind of airflight Artificial Olfactory gas premature leak prison
Alignment system is surveyed, can be effectively realized in a wide range of space, the automatic monitoring identification of dangerous matter sources gas premature leak and fast
Speed positioning.
To reach 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：Unmanned flight is controlled in calculating
The heart, Artificial Olfactory module, atmosphere environment supervision module, leak position module and gesture stability and GPS positioning module；
The unmanned flight controls calculating center to be used to receive enabling signal, and starting to take off performs leakage monitoring task, and
Collect and calculate the information from other modules；
The Artificial Olfactory module is used to gather the leakage of monitoring objective gas with trace volatile component concentration data, and
Pass to unmanned flight and control calculating center；
The atmosphere environment supervision module is used to gather environmental monitoring data and pass to unmanned flight to control calculating center；
The gesture stability and GPS positioning module are used to adjust system and device flight attitude, it is filled according to system
Put and require track to fly, and determine its locus；
Concentration data, the environmental monitoring number that the leak position module is obtained according to unmanned flight's calculating control centre
According to the posture and change in location of control system device control gesture stability and GPS positioning module, and adjustment system and device space flies
Row position, carries out leak position.
Further, the Artificial Olfactory module includes sampling enrichment facility and pattern recognition module, samples in enrichment facility
Portion is enrichment gas chamber, is enriched with the port of gas chamber and is provided with filter membrane, the bottom for being enriched with gas chamber is provided with gas sensor array；
Artificial Olfactory module automatic collection monitor region gaseous sample, by gas by sample enrichment facility enrichment after, gas
Dependent sensor array responds specific gas component signal, 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 of the sensor of multiple and different response performances；In the sensor array
Multiple sensors different response signal is produced to micro trace gas component, pass through the specific gas that pattern recognition module is established
The quantitative judge model output monitoring gas component quantifiable signal of body component.
Further, the quantity of the 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, it forms the normal direction of mounting structure and is put down with system and device heading
OK.
Further, the gesture stability and GPS positioning 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 it is mobile and definite
Spatial coordinate location where system and device.
Further, atmosphere environment supervision module includes air monitoring module and wind direction monitoring modular, is respectively used to supervise automatically
Ambient wind velocity and wind vector are surveyed, and sends related monitoring signals data to unmanned flight and calculates control centre.
Further, automatic obstacle avoidance module is further included, it includes obstacle detection sensor and adaptive obstacle avoidance
Module,
The obstacle detection sensor is used for automatic sensing obstacle information, and is transferred to and calculates in control
The heart；
Adaptive obstacle avoidance module is used for the information according to obstacle detection sensor feedback, calls gesture stability automatically
And the data of GPS positioning 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 to gas sample to be measured, the sensor in gas sensor array produces micro trace gas component
Raw different response signal, the quantitative judge model of the specific gas component of foundation obtain micro trace constituent concentration data；
Gather atmosphere environment supervision data, including wind speed and direction；
When monitoring leakage trace gas component is exceeded, start source of leaks automatic positioning program, with reference to the micro trace of gas leakage
Mark concentration of component data, atmosphere environment supervision data, according to leak position algorithm, posture tune is done in continuous control system position
It is whole, and the locus as residing for GPS module determines unmanned flight's system, while pass through automatic obstacle avoidance mould in flight course
Block realizes adaptive Obstacle avoidance in flight course；Final positioning leakage release source position.
As a further improvement on the present invention, leak position algorithm refers to：According to wind direction count, adjustment heading with
Current wind direction is parallel, finds plume center line of the gas leakage in present level in next step；Whole system is with distributed rectangular shape
Formula installs multigroup sensor array, to detect the concentration data at diverse location, according to multigroup sensor array concentration difference, sentences
Disconnected midline position, so as to adjust system position, after further finding current plume starting point, then begins look for next level
Plume center line and starting point, until finding the plume starting point at leakage source position.
As a further improvement on the present invention, leak position algorithm comprises the following steps：
1) abnormal concentrations signal determining：System handles trace constituent quantitative concentrations information, judges whether concentration is different
Often, if it is not, then entering desired trajectory inspection；If so, enter in next step；
2) heading judges with wind direction：According to wind direction statistics, judge whether current flight direction works as with statistics
Preceding wind direction is parallel, if heading is parallel with current wind direction, continues to fly according to current flight direction, if differed
Cause, then it is parallel with current wind direction to adjust heading；
3) compared according to the sensor array concentration information of different azimuth, carry out system position wind direction position opposite with source of leaks
The judgement put：If along the hot nose array concentration average X of system and device heading1With tail sensor array concentration
Average X2Size, if X1＞ X2, then continue to fly along when front direction, if X1＜ X2, then fly along the opposite direction when front direction；
4) plume midline position judges：According to the sensor array concentration difference of diverse location, judge to fly along system and device
The left wing 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, judge
Flight position is in the plume midline position of this layer leakage concentration；
5) start position of present level plume is found：If under current flight direction, the monitoring of hot nose array
Concentration and value less than the concentration and value of tail sensor array, and both wings sensor array concentration difference exceedes concentration and value
Smaller side 10% when, judge that flight system has reached the start position of present level plume.
6) source of leaks position judgment：Flight system starts adjustment posture and flies to next level, and height declines L every time, opens
The plume center line and starting point for the next level of searching that begins；The gas concentration that constantly statistics sensor array obtains in flight course
The sum of value, if the global concentration value that system reaches gas tracking component reaches maximum region, it is possible to judge source of leaks position
Setting in the region, positioning is completed, storage location information.
Compared with prior art, the present invention has technique effect beneficial below：
The system mainly includes unmanned flight and controls calculating center, gesture stability and GPS positioning module, Artificial Olfactory
Module, atmosphere environment supervision module, leak position module, automatic obstacle avoidance module, wherein devising Artificial Olfactory
With leak position algorithm, monitoring and positioning system of the invention is calculated using high-precision gas sensor array and intelligent mode identification
Method, builds Artificial Olfactory, realizes the monitoring identification function to leaking early stage trace gas microcomponent；Meanwhile based on letting out
The leakage gas compartment transports Diffusion Law, devises source of leaks inverting and traces to the source localization method, with reference to 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
Extensively, the features such as monitoring accuracy is high, leakage early warning accurate positioning is timely.
(1) gas leakage identification of the present invention is based on Artificial Olfactory, can realize to leaking early stage micro-gas leakage
The identification and monitoring of component；
(2) present invention has monitored gas concentration, atmospheric environment signal at the same time, and it is former to spread Trajectory Inversion according to gas leakage
Reason, designs leak position algorithm, realizes the fast positioning of source of leaks.
(3) present invention combines leak position algorithm, gesture stability and GPS positioning, automatic dodging barrier function, can
Realize in the case of pilotless, source position is leaked from aerial automatic tracing；
(4) present invention can be used in the aerial monitoring positioning in chemical industry plant area volatile hazardous gas source, may be also used in
Among the positioning of line gas leakage monitoring, while it may be also used in the dangerous matter sources gas early monitorings such as large-scale dangerous material storage region
Among early warning.
The gas leakage monitoring localization method of the present invention, utilizes high-precision gas sensor array and algorithm for pattern recognition structure
Artificial Olfactory is built, the monitoring identification leakage early stage micro trace gas microcomponent in flight course, while monitoring objective
The parameters such as wind direction, wind speed in spatial dimension, the source of leaks inverting that Diffusion Law design is transported based on gas leakage space are traced to the source
Localization method, with reference to unmanned flight's control method, realizes the identification of premature leak gas-monitoring and positioning in spatial dimension.The present invention
Method has the characteristics that monitoring space is wide, monitoring accuracy is high, leakage early warning accurate positioning is timely.
【Brief description of the drawings】
Fig. 1 airflight Artificial Olfactory gas premature leak monitoring and positioning method system structure diagrams；Wherein, 1 is nothing
People, which flies, controls calculating center；2 be Artificial Olfactory module；3 be atmosphere environment supervision module；4 be leak position module；
5 be gesture stability and GPS positioning module；6 be automatic obstacle avoidance module；200 be sampling enrichment facility；300 be air monitoring
Module；301 be wind direction monitoring modular；600 be obstacle detection sensor；601 be adaptive obstacle avoidance module；
Fig. 2 gas filtrations enriching apparatus and sensor array structure, wherein, 201 be filter membrane, 202 be enrichment gas chamber,
203 be sensor array structure, and 204 be single sensor, and every group of sensor array is by 4 different sensors structures of a, b, c, d
Into；
Fig. 3 sensor array scheme of installation, wherein S1, S2, S3, S4 are 4 groups of identical sensor arrays
Fig. 4 leak position principles, wherein 401 be horizontal plume line, 402 be vertical plume line, 403 is sensor array
Group；
Fig. 5 leak position algorithm basic flow charts.
【Embodiment】
With reference to specific example and attached drawing, the present invention is described in further detail, and described is the solution to the present invention
Release rather than limit.
As shown in Figure 1, airflight Artificial Olfactory gas premature leak monitoring and positioning system of the present invention is mainly by six
Part is formed：Unmanned flight controls calculating center 1；Artificial Olfactory module 2；Atmosphere environment supervision module 3；Leak position
Module 4；Gesture stability and GPS positioning module 5；Automatic obstacle avoidance module 6.
Each several part major function is：Unmanned flight controls calculating center 1 to receive enabling signal, and starting to take off carries out execution nothing
The automatic leakage monitoring task of people, and collect to calculate and the information from other modules and analyzed and processed, and with modules it
Between communicate.Gesture stability and GPS positioning module 5 make it fly according to system requirements track system flight pose adjustment, and really
Its fixed locus；Atmosphere environment supervision module 3 gathers wind direction, wind velocity signal and passes to unmanned flight's calculating control centre；
Artificial Olfactory module 2 gathers the leakage of monitoring objective gas with trace volatile component signal, and passes to unmanned flight's calculating
Control centre.Leak position module 4 is based on leak position algorithm routine, and control centre's instruction is calculated according to unmanned flight,
Gesture stability and GPS positioning module are controlled, adjusts system space flight position, until positioning is completed；Automatic obstacle avoidance module 6
Realize in flight course, realize automatic dodging of the system and device to barrier.
Gesture stability and GPS positioning module 5 are mainly by horizontal level control 501, upright position control 502 and position coordinates
Positioning 503 is formed.Using the module can realize system and device in the horizontal direction, the position of vertical direction moves, and determines
Spatial coordinate location where system and device.
Artificial Olfactory module 2, by sampling enrichment facility 200, high-precision gas sensor array 204 and pattern-recognition
Algorithm 205 is formed.The module can monitor region gaseous sample with automatic collection, and gas is enriched with by sampling enrichment facility 200
Afterwards, high-precision gas sensor array 204 responds specific gas component signal, 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, and system starts in operational process
Being capable of monitoring of environmental wind speed and direction change, and send related monitoring signals data to unmanned flight and calculate in control automatically
The heart, for leak position.
Leak position module 4, using leak position algorithm, concentration data, the ring obtained according to calculating control centre
Border monitoring data, control system posture and change in location, final positioning leakage release source position.
Automatic obstacle avoidance module 6 mainly includes obstacle detection sensor 300 and adaptive obstacle avoidance algorithm 601,
During system is automatically positioned, obstacle detection sensor can be with automatic sensing obstacle information, and is transferred to
Control centre is calculated, adaptive obstacle avoidance algorithm is according to the information of obstacle detection sensor, automatic calling gesture stability mould
Block, is adjusted system position, avoiding barrier.
The principle of the present invention is：High-precision gas sensor array is made of the sensor of 4 different response performances, is passed through
After being enriched with to gas sample to be measured, 4 sensors in sensor array produce micro trace gas component different responses
Signal, the quantitative judge model for the specific gas component established by algorithm for pattern recognition, which identifies monitoring signals, to be exported.Entirely
System installs 4 groups of sensor arrays in the form of distributed rectangular, to detect the concentration signal at diverse location.Environment monitoring module is supervised
Ambient air wind speed and direction is surveyed, related data is provided for leak position algorithm.Once monitoring leakage trace gas component surpasses
Mark, starts source of leaks by unmanned flight's system-computed control centre and is automatically positioned program, with reference to the micro trace constituent of gas leakage
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, while flight course is realized by automatic obstacle avoidance module in flight course
In adaptive Obstacle avoidance.During leak position, flight system is first depending on wind direction statistics according to location algorithm,
Adjustment heading is parallel with current wind direction, plume center line of the gas leakage in present level is found in next step, according to 4 groups
Sensor array concentration difference, judges midline position, so that system position is adjusted, after further finding current plume starting point,
Then the plume center line and starting point of next level are begun look for, until finding the plume starting point at leakage source position, i.e.,
Concentration signal is leak position for the region of global statistics maximum.
The general flow of monitoring and positioning system of the present invention work is：
Execution mission requirements is received when flight calculates control centre 1, system starts to take off and flown according to desired trajectory
OK, flight range gaseous sample is gathered by the Artificial Olfactory 2 carried in flight course, and carries out quantitative analysis.Manually
Olfactory system is made of sampling enrichment facility 200, high-precision gas sensor array 203 and algorithm for pattern recognition.
Wherein, sampling enrichment facility 200 realizes the filtering and enrichment of gaseous sample, its structure is as shown in Fig. 2, mainly include
Filter membrane 201 and enrichment gas chamber 202.Sensor array 203 is positioned at 200 bottom of sampling enrichment facility, by 4 different response performances
Sensor 204 form, as shown in Fig. 2 203.Every group of sensor array has different response characteristics for 4 by a, b, c, d
Gas sensor forms, and the under test gas component of below 1ppm can be responded, and composition structure is as shown in Fig. 2-203,204.It is logical
Cross after being enriched with to gas sample to be measured, 4 sensors in sensor array 203 produce micro trace gas component different
Response signal, the quantitative judge model output monitoring gas component for the specific gas component established by algorithm for pattern recognition quantify
Signal.
As shown in figure 3, whole system installs 4 groups of sensor arrays in the form of distributed rectangular, to detect at diverse location
Concentration signal, sampling enrichment facility 200 and high-precision totally 4 groups of gas sensor 204, installed in 4 different positions of system and device
Put, 204 combination S 1 of sampling enrichment facility 200 and gas sensor array, S2, S3, S4 are distributed in system installation with rectangular in form
The corner symmetric position of structure, it is formed, and mounting structure normal direction is parallel with system and device heading, 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
It is parallel with system flight direction with S2, S3 position line.
During system flight, atmosphere environment supervision module is carried with the wind speed and direction of monitoring of environmental air, to let out
Drain-source location algorithm provides related wind speed and direction data.If Artificial Olfactory analyzes to obtain leakage trace constituent in just
Ordinary water is put down, and flight system carries out flight monitoring according to desired trajectory, once and Artificial Olfactory is analyzed to obtain leakage trace gas
Body component is exceeded, and starting source of leaks by unmanned flight's system-computed control centre is automatically positioned program, micro with reference to gas leakage
Trace constituent concentration data, atmosphere environment supervision data, according to leak position algorithm, continuous control system pose adjustment, and
The locus as residing for GPS module determines unmanned flight's system, while realized in flight course by automatic obstacle avoidance module
Adaptive Obstacle avoidance in flight course.
The basic principle of leak position as shown in figure 4, source of leaks track is traced to the source positioning according to gas leakage in big compression ring
Horizontal and vertical Diffusion Law in border, its horizontal proliferation plume concentration value increase and reduce with relative leakage source downwind distance X,
With symmetrical by the source of leaks center line parallel with cross-wind direction Y-axis, cross-wind direction concentration reduces with apart from the increase of center line distance,
As shown in Fig. 4 401；And vertical plume concentration is gradually reduced with the increase of height, as shown in Fig. 4 402.Determine in source of leaks
During position, flight system carries four groups of sensor arrays of Artificial Olfactory and samples enrichment facility in different spatial
Place's collection gas concentration signal, as shown in Fig. 4 403.
Location algorithm basic procedure including abnormal concentrations signal determining, heading and wind direction as shown in figure 5, mainly sentence
Fixed, system position and source of leaks wind direction position judgment, plume midline position judge, horizontal plume start position judges, source of leaks
Several parts such as position judgment.
System according to wind direction statistics, judges whether current flight direction is parallel with the current wind direction of statistics, such as first
Fruit heading is parallel with current wind direction, continues to fly according to current flight direction, if it is inconsistent, adjustment flight side
To parallel with current wind direction.
Horizontal plume center line of the gas leakage in present level is found in next step, according to 4 groups of sensor array concentration differences,
Judge midline position, if the concentration average difference of S1, S3 group and S2, S4 group it is small to the two difference 10% when, judge
It is located near plume center line.
The start position of present level plume is further found, if under current flight direction, head two sensors
Array monitoring concentration and value less than afterbody two sensors array concentration and value, and concentration difference exceed concentration and value compared with
Small side 10% when, judge that flight system has reached the start position of present level plume.
Flight system starts adjustment posture 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 for the gas concentration value that four groups of sensor arrays obtain constantly is counted in flight course, such as
Fruit system reaches the plume starting point at leakage source position, i.e. the global concentration value of gas tracking component reaches maximum area
Domain, it is possible to judge that leakage source position is located at the region, positioning is completed, storage location information.
The above, is only presently preferred embodiments of the present invention, not the present invention is imposed any restrictions, it is every according to the present invention
Any simple modification, change and the equivalent structure change that technical spirit makees above example, still fall within skill of the present invention
In the protection domain of art scheme.
Claims (8)
- A kind of 1. airflight Artificial Olfactory gas premature leak monitoring and positioning system, it is characterised in that including：Unmanned flight is controlled Calculating center (1), Artificial Olfactory module (2), atmosphere environment supervision module (3), leak position module (4) and posture processed Control and GPS positioning module (5)；The unmanned flight controls calculating center (1) to be used to receive enabling signal, and starting to take off performs leakage monitoring task, and receives Collection calculates the information from other modules；The Artificial Olfactory module (2) is used to gather the leakage of monitoring objective gas with trace volatile component concentration data, and Pass to unmanned flight and control calculating center (1)；The atmosphere environment supervision module (3) is used to gather environmental monitoring data and pass to unmanned flight to control calculating center (1)；The gesture stability and GPS positioning module (5) are used to adjust system and device flight attitude, make it according to system and device It is required that track is flown, and determine its locus；Concentration data, the environmental monitoring number that the leak position module (4) obtains according to unmanned flight calculating control centre (1) According to the posture and change in location of control system device, control gesture stability and GPS positioning module (5), adjustment system and device space Flight position, carries out leak position；The Artificial Olfactory module (2) includes sampling enrichment facility (200) and pattern recognition module (205), samples enrichment facility (200) it is internal to be enriched with gas chamber (202), filter membrane (201), enrichment gas chamber (202) are provided with the port of enrichment gas chamber (202) Bottom be provided with gas sensor array (203)；Artificial Olfactory module (2) automatic collection monitors region gaseous sample, and gas is enriched with by sampling enrichment facility (200) Afterwards, gas sensor array (203) responds specific gas component signal, 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.
- 2. airflight Artificial Olfactory gas premature leak monitoring and positioning system according to claim 1, it is characterised in that Gas sensor array (203) is made of the sensor of multiple and different response performances；It is multiple in the sensor array (203) Sensor produces micro trace gas component different response signals, the specific gas established by pattern recognition module (205) The quantitative judge model output monitoring gas component quantifiable signal of body component.
- 3. airflight Artificial Olfactory gas premature leak monitoring and positioning system according to claim 1, it is characterised in that The quantity of the 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, it is parallel with system and device heading that it forms the normal direction of mounting structure.
- 4. airflight Artificial Olfactory gas premature leak monitoring and positioning system according to claim 1, it is characterised in that The gesture stability and GPS positioning 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 it is mobile and really Spatial coordinate location where determining system and device.
- 5. airflight Artificial Olfactory gas premature leak monitoring and positioning system according to claim 1, it is characterised in that The atmosphere environment supervision module (3) includes air monitoring module (300) and wind direction monitoring modular (301), is respectively used to automatic Monitoring of environmental wind speed and direction change, and send related monitoring signals data to unmanned flight and calculate control centre (1).
- 6. airflight Artificial Olfactory gas premature leak monitoring and positioning system according to claim 1, it is characterised in that Automatic obstacle avoidance module (6) is further included, it includes obstacle detection sensor (600) and adaptive obstacle avoidance module (601)；The obstacle detection sensor (600) is used for automatic sensing obstacle information, and is transferred to and calculates in control The heart (1)；Adaptive obstacle avoidance module (601) is used for according to obstacle detection sensor (600) feedack, calls appearance automatically State controls and the data of GPS positioning module (5), system and device position is adjusted, avoiding barrier.
- 7. a kind of airflight Artificial Olfactory gas leakage monitoring localization method, it is characterised in that comprise the following steps：After being enriched with to gas sample to be measured, the sensor in gas sensor array produces not micro trace gas component Same response signal, the quantitative judge model of the specific gas component of foundation obtain micro trace constituent concentration data；Gather atmosphere environment supervision data, including wind speed and direction；When monitoring leakage trace gas component is exceeded, start source of leaks automatic positioning program, with reference to the micro trace group of gas leakage Divide concentration data, atmosphere environment supervision data, according to leak position algorithm, pose adjustment is done in continuous control system position, and The locus as residing for GPS module determines unmanned flight's system, at the same it is real by automatic obstacle avoidance module in flight course Adaptive Obstacle avoidance in existing flight course；Final positioning leakage release source position；Leak position algorithm refers to：Counted according to wind direction, adjustment heading is parallel with current wind direction, finds in next step Plume center line of the gas leakage in present level；Whole system installs multigroup sensor array in the form of distributed rectangular, with detection Concentration data at diverse location, according to multigroup sensor array concentration difference, judges midline position, so as to adjust system position Put, after further finding current plume starting point, the plume center line and starting point of next level are then begun look for, until finding The plume starting point at leakage source position.
- 8. airflight Artificial Olfactory gas leakage monitoring localization method according to claim 7, it is characterised in that leakage Source location algorithm comprises the following steps：1) abnormal concentrations signal determining：System handles trace constituent quantitative concentrations information, judges whether concentration is abnormal, if It is no, then into desired trajectory inspection；If so, enter in next step；2) heading judges with wind direction：According to wind direction statistics, judge current flight direction whether the current wind with statistics To parallel, if heading is parallel with current wind direction, continue to fly according to current flight direction, if it is inconsistent, It is parallel with current wind direction to adjust heading；3) compared according to the sensor array concentration information of different azimuth, carry out system position wind direction position opposite with source of leaks Judge：If along the hot nose array concentration average X of system and device heading1With tail sensor array concentration average X2Size, if X1＞ X2, then continue to fly along when front direction, if X1＜ X2, then fly along the opposite direction when front direction；4) plume midline position judges：According to the sensor array concentration difference of diverse location, judge along system and device flight side To left wing 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, flight is judged Position is in the plume midline position of this layer of gas leakage；5) start position of present level plume is found：If under current flight direction, hot nose array monitors dense Degree and value are less than the concentration and value of tail sensor array, and both wings sensor array concentration difference exceedes concentration and is worth smaller Side 10% when, judge that flight system has reached the start position of present level plume；6) source of leaks position judgment：Flight system starts adjustment posture and flies to next level, and height declines L every time, starts to seek Look for the plume center line and starting point of next level；The gas concentration value that constantly statistics sensor array obtains in flight course With if the global concentration value that system reaches gas tracking component reaches maximum region, it is possible to judge leakage source position position In the region, positioning is completed, storage location information.
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