CN107065027A - Detection system, method, device and the equipment of source of leaks - Google Patents
Detection system, method, device and the equipment of source of leaks Download PDFInfo
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- CN107065027A CN107065027A CN201710330373.9A CN201710330373A CN107065027A CN 107065027 A CN107065027 A CN 107065027A CN 201710330373 A CN201710330373 A CN 201710330373A CN 107065027 A CN107065027 A CN 107065027A
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- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
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Abstract
The present invention relates to a kind of detection system of source of leaks, method, device and equipment.A kind of detection system of leakage source position, wherein, the detection system includes：Aerial reconnaissance device, host computer and ground finder；The aerial reconnaissance device, host computer is sent to for obtaining telemetry intelligence (TELINT), and by the telemetry intelligence (TELINT)；The host computer, the telemetry intelligence (TELINT) for receiving the transmission of aerial reconnaissance device is that ground finder sets destination according to the telemetry intelligence (TELINT), and the coordinate information of the destination is sent into ground finder；The ground finder, the coordinate information of the destination for receiving host computer transmission, is detected to the destination, obtains leakage source position, and the leakage source position is sent into the host computer.Present invention also offers the detection method of source of leaks, device and equipment.
Description
Technical field
The present invention relates to field of detecting, the more particularly to detection system of harmful influence source of leaks, method, device and equipment.
Background technology
Harmful influence leakage accident can cause heavy economic losses, and the life security also given people brings high risks,
The features such as particularly there is sudden, diffusivity and toxic in harmful influence leakage accident so that accident impact scope is wide, disposal is difficult
Degree is big, and rescue personnel and common rescue aid are difficult to enter the scene of the accident, thus are difficult to the position of acquisition source of leaks in time, so that
Extreme difficulties are brought to accident handling and rescue decision-making.So, source of leaks how is accurately positioned after accident generation into danger
A urgent problem to be solved in the disposal of change product leakage accident.
Traditional leakage source detecting system is to enter scene using ground finder, by ground finder to according to leakage
The concentration information of thing determines the position of source of leaks.But, for the leak scene that coverage is larger, leakage distribution situation is answered
Miscellaneous, now existing leakage source detecting system is difficult to accurately according to the distribution situation and path planning, detection efficient of leakage
It is relatively low.
The content of the invention
Based on this, it is necessary to for tradition leakage source detecting system exist detection efficient it is relatively low the problem of there is provided one kind
Leak source detecting system, method, device and equipment.
A kind of detection system of source of leaks, wherein, the detection system includes：Aerial reconnaissance device, host computer and ground
Detector；
The aerial reconnaissance device, host computer is sent to for obtaining telemetry intelligence (TELINT), and by the telemetry intelligence (TELINT)；
The host computer, the telemetry intelligence (TELINT) for receiving the transmission of aerial reconnaissance device, is visited according to the telemetry intelligence (TELINT) for ground
Device setting destination is surveyed, and the coordinate information of the destination is sent to ground finder；
The ground finder, the coordinate information of the destination for receiving host computer transmission, advances to the destination,
The position of source of leaks is obtained in the destination, and passes the position of the source of leaks back the host computer.
The detection system of above-mentioned source of leaks, aerial remote sensing survey and ground are accurately measured and are combined, aerial reconnaissance device pair
The distribution of leakage is tentatively monitored, and obtains telemetry intelligence (TELINT), guides ground location device rapid, accurate further according to telemetry intelligence (TELINT)
Ground positions source of leaks.The system is considerably increased by the way of the mutual cooperation of aerial reconnaissance device, ground finder and host computer
Obtain the efficiency of leakage source position.
As a kind of embodiment, wherein, the ground finder is additionally operable to obtain the detection letter of the destination
Breath, and pass the detection information back host computer；
The host computer is additionally operable to obtain the position of source of leaks according to the detection information.
As a kind of embodiment, wherein, the aerial reconnaissance device includes：Infrared detector, video collector, letter
Cease transmitting terminal and information receiving end；
The infrared detector is used to obtain the telemetry intelligence (TELINT) with video collector；
Described information transmitting terminal, for the telemetry intelligence (TELINT) of acquisition to be sent into host computer；
Described information receiving terminal, for receiving the command information sent by host computer in response to telemetry intelligence (TELINT).
As a kind of embodiment, wherein, the host computer includes display, memory and communicator；
The communicator, for receiving and dispatching the information by aerial reconnaissance device and ground finder transmission；
The display, for showing the information received by information receiving end；
The memory, for storing the information received by information receiving end.
As a kind of embodiment, wherein, the ground finder include control device, gas sensor array,
Anemoclinograph, camera, avoidance equipment and communication device.
As a kind of embodiment, wherein, the detection system also includes differential GPS devices, and the differential GPS is set
It is standby to include base station and at least two rover stations；
The base station is arranged on around the host computer；
One rover station is set in each aerial reconnaissance device and each ground finder.
As a kind of embodiment, wherein, the host computer and each aerial reconnaissance device and it is each describedly
A networking communication module is respectively provided with surface detector.
A kind of detection method of source of leaks, wherein, the detection method is applied in the detection system of source of leaks, described to visit
Examining system includes aerial reconnaissance device, host computer and ground finder；
The detection method includes：
The aerial reconnaissance device obtains telemetry intelligence (TELINT), and the telemetry intelligence (TELINT) is sent into the host computer；
The host computer is that the ground finder sets destination according to telemetry intelligence (TELINT), and the destination is sent to
The ground finder；
The ground finder advances to the destination, and obtains detection information；
The ground finder judges whether the detection information meets the first source of leaks validation criteria being pre-configured with；
If meeting, the ground finder obtains the position of the source of leaks, and will leak out the position in source pass back it is upper
Machine.
The detection method of above-mentioned source of leaks, aerial remote sensing survey and ground are accurately measured and are combined, aerial reconnaissance device pair
The distribution of leakage is tentatively monitored, and obtains telemetry intelligence (TELINT), guides ground location device rapid, accurate further according to telemetry intelligence (TELINT)
Ground positions source of leaks.This method is considerably increased by the way of the mutual cooperation of aerial reconnaissance device, ground finder and host computer
Obtain the efficiency of leakage source position.
As a kind of embodiment, wherein, the host computer judges that the detection information does not meet what is prestored
First source of leaks validation criteria, then the detection method also include：
The host computer marks the destination to have detected destination, and according to the telemetry intelligence (TELINT) and has detected purpose
Ground, resets the destination of ground finder；
The ground finder re-executes the destination for advancing to reset, and the step of obtain detection information, directly
To the position for obtaining the source of leaks.
As a kind of embodiment, wherein, the host computer marks the destination to have detected destination, and root
According to the telemetry intelligence (TELINT) and destination is detected, also included before the step of resetting the destination of ground finder：
The ground finder passes the detection information back host computer；
The host computer judges whether the detection information meets the second source of leaks validation criteria prestored；
If meeting, the position of the source of leaks is obtained.
As a kind of embodiment, wherein, the host computer is set according to telemetry intelligence (TELINT) for the ground finder
The step of destination, includes：
According to the telemetry intelligence (TELINT), identification candidate destination；
Calculate the distance of each described candidate destination and the ground finder；
The minimum candidate destination of the distance is set as to the destination of the ground finder.
A kind of detection method of source of leaks, wherein, the detection method includes：
Telemetry intelligence (TELINT) is obtained by aerial reconnaissance device；
The initial purpose of ground finder is set according to the telemetry intelligence (TELINT)；
Judge ground finder whether successfully passback leakage source location information；
If so, then reading the positional information.
The detection method of above-mentioned source of leaks, aerial remote sensing survey and ground are accurately measured and are combined, aerial reconnaissance device pair
The distribution of leakage is tentatively monitored, and obtains telemetry intelligence (TELINT), guides ground location device rapid, accurate further according to telemetry intelligence (TELINT)
Ground positions source of leaks.This method is considerably increased by the way of the mutual cooperation of aerial reconnaissance device, ground finder and host computer
Obtain the efficiency of leakage source position.
As a kind of embodiment, wherein, if judging, ground finder does not return leakage source location information, described
Method also includes：
The destination is marked to have detected destination；
According to the telemetry intelligence (TELINT) and destination is detected, reset the renewal destination of ground finder；
Re-execute and the step of whether ground finder returns leakage source location information judged, until ground finder passback
The position of source of leaks.
As a kind of embodiment, wherein, the initial mesh that ground finder is set according to the telemetry intelligence (TELINT)
Ground the step of include：
According to the telemetry intelligence (TELINT), identification candidate destination；
Calculate the distance of each described candidate destination and the ground finder；
The minimum candidate destination of the distance is set as to the initial purpose of the ground finder.
A kind of detection device of source of leaks, wherein, the detection device includes：
Telemetry intelligence (TELINT) acquisition module, for obtaining telemetry intelligence (TELINT) by aerial reconnaissance device；
Destination setting module, the initial purpose for setting ground finder according to the telemetry intelligence (TELINT)；
Position acquisition module, for judging ground finder whether successfully passback leakage source location information, if so, then reading
The positional information；
The detection device of above-mentioned source of leaks, aerial remote sensing survey and ground are accurately measured and are combined, aerial reconnaissance device pair
The distribution of leakage is tentatively monitored, and obtains telemetry intelligence (TELINT), guides ground location device rapid, accurate further according to telemetry intelligence (TELINT)
Ground positions source of leaks.The device is considerably increased by the way of the mutual cooperation of aerial reconnaissance device, ground finder and host computer
Obtain the efficiency of leakage source position.
As a kind of embodiment, wherein, if judging, ground finder does not return leakage source location information, described
Device also includes：
Destination tag module, for marking the destination to be to have detected destination；
Destination module is updated, for according to the telemetry intelligence (TELINT) and having detected destination, reset ground finder
Renewal destination；
Data obtaining module, the step of whether ground finder returns leakage source location information judged for re-executing,
Until ground finder returns the position of source of leaks.
As a kind of embodiment, wherein, the destination setting module includes：
Contour line identification unit, for according to the telemetry intelligence (TELINT), recognizing leakage contour line；
Metrics calculation unit, the distance for calculating each described candidate destination and the ground finder；
Setup unit, the destination for closest candidate's purpose to be set as to ground finder.
A kind of detecting devices of source of leaks, including memory, processor and store on a memory and can be in processor
The computer program of upper operation, wherein, realize following steps during computer program described in the computing device：
Telemetry intelligence (TELINT) is obtained by aerial reconnaissance device；
The initial purpose of ground finder is set according to the telemetry intelligence (TELINT)；
Judge ground finder whether successfully passback leakage source location information；
If so, then reading the positional information.
The detecting devices of above-mentioned source of leaks, aerial remote sensing survey and ground are accurately measured and are combined, aerial reconnaissance device pair
The distribution of leakage is tentatively monitored, and obtains telemetry intelligence (TELINT), guides ground location device rapid, accurate further according to telemetry intelligence (TELINT)
Ground positions source of leaks.The equipment is considerably increased by the way of the mutual cooperation of aerial reconnaissance device, ground finder and host computer
Obtain the efficiency of leakage source position.
As a kind of embodiment, wherein, if judging, ground finder does not return leakage source location information, described
Processor also performs following steps：
The destination is marked to have detected destination；
According to the telemetry intelligence (TELINT) and destination is detected, reset the renewal destination of ground finder；
Re-execute and the step of whether ground finder returns leakage source location information judged, until ground finder passback
The position of source of leaks.
As a kind of embodiment, wherein, the computing device according to the telemetry intelligence (TELINT) set ground visit
Survey device initial purpose the step of include：
According to the telemetry intelligence (TELINT), identification candidate destination；
Calculate the distance of each described candidate destination and the ground finder；
The minimum candidate destination of the distance is set as to the initial purpose of the ground finder.
Brief description of the drawings
The application scenario diagram for the detection system that Fig. 1 provides for one of embodiment；
The schematic diagram for the detection system that Fig. 2 provides for one of embodiment；
The flow chart for the detection method that Fig. 3 provides for one of embodiment；
The partial process view for the detection method that Fig. 4 provides for one of which embodiment；
The partial process view of the detection method for the source of leaks that Fig. 5 provides for one of which embodiment；
The partial process view for the detection method that Fig. 6 provides for one of which embodiment；
Fig. 7 is a kind of structural representation of the detection device of source of leaks.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with drawings and Examples pair
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not
For limiting the present invention.
Referring to Fig. 1, the application scenario diagram for the detection system that Fig. 1 provides for one of embodiment.
Leakage influence area is larger in Fig. 1, building complex distribution in region, in the case of no priori,
Ground finder is difficult to the position for quickly and accurately detecting source of leaks.And due to the influence of the factors such as air-flow and landform, group
The position of shape leakage can change, and further increase the difficulty of ground finder detection.And what present embodiment was provided
Detection system carries out aerial remote measurement to whole leakage influence area using aerial reconnaissance device, and host computer is believed according to the remote measurement of acquisition
Breath is analyzed and sets destination to ground finder, and ground finder carries out more accurate detection to determine source of leaks.
Also referring to Fig. 2, the schematic diagram for the detection system that Fig. 2 provides for one of embodiment.It is described to visit
Examining system includes：Aerial reconnaissance device 201, host computer 203 and ground finder 205；The aerial reconnaissance device 201, for obtaining
Telemetry intelligence (TELINT) is taken, and the telemetry intelligence (TELINT) is sent to host computer 203；The host computer 203, for receiving aerial reconnaissance device
201 telemetry intelligence (TELINT)s sent, are that ground finder 205 sets destination according to the telemetry intelligence (TELINT), and by the destination
Coordinate information is sent to ground finder 205；The ground finder 205, for receiving the destination that host computer 203 is sent
Coordinate information, is detected to the destination and obtains detection information, when according to detection information confirmation leakage source position
When, the leakage source position is sent to the host computer 203.
Specifically, the host computer can be arranged in leakage influence area edge, be easy to artificial interventional procedure at any time.Institute
State aerial reconnaissance device overhead in influence area to be cruised, to obtain telemetry intelligence (TELINT), the telemetry intelligence (TELINT) includes infrared imaging
Data and video detection data.Ground finder movement over ground in influence area, is accurately visited to source of leaks
Survey.
Specifically, the host computer can be revolved using high-performance host computer, the aerial reconnaissance device using long endurance
Wing unmanned plane, the ground finder can use caterpillar type robot.Further, the host computer, aerial reconnaissance device with
And ground finder can be using protected against explosion design.
Specifically, the host computer, aerial reconnaissance device and ground finder can be loaded with the accurate of incident area
Satellite map.
The detection system of above-mentioned leakage source position, aerial remote sensing survey and ground are accurately measured and are combined, aerial reconnaissance
Distribution of the device to leakage is tentatively monitored, and obtains telemetry intelligence (TELINT), further according to telemetry intelligence (TELINT) guide ground location device it is rapid,
Source of leaks is positioned exactly.The system is increased by the way of the mutual cooperation of aerial reconnaissance device, ground finder and host computer
The efficiency for obtaining leakage source position is added.
Please continue to refer to Fig. 2, in the detection system that wherein another embodiment is provided, the ground finder
205 are additionally operable to, when failing to confirm leakage source position according to detection information, the detection information is sent into the host computer
203。
Specifically, will if the ground finder 205 fails independently to confirm the position of source of leaks according to detection information
The detection information is sent to host computer 203, is reaffirmed by host computer 203.If host computer 203 according to the detection information still
Source of leaks is not can confirm that, then is that the ground finder specifies next destination according to telemetry intelligence (TELINT), ground finder is again
Next destination is gone to be detected, until confirming source of leaks.
As one of which embodiment, the aerial reconnaissance device includes：Infrared detector, video collector, letter
Cease transmitting terminal and information receiving end.The infrared detector is used to obtain the telemetry intelligence (TELINT) with video collector.Described information
Transmitting terminal, the information for the infrared detector and video collector to be got is sent to host computer as telemetry intelligence (TELINT)；
Described information receiving terminal, for receiving the information sent by host computer.
Specifically, the aerial reconnaissance device is configured with infrared detector, video detector, information receiving end and information hair
Sending end.The infrared detector can be using leakage the characteristics of infrared band has radiation spectrum, and infrared detector passes through
These spectral informations are converted into infrared image to realize the remote probe to leakage.The video detector be mainly used in from
It is aerial to obtain scene of the accident information.
Specifically, the aerial reconnaissance device can plan flight path in advance, and be cruised according to planning flight path.Further
Ground, the speed and height of the cruise can be pre-set according to real needs.Further, the height of the cruise
Spend for 200 meters.
Specifically, described information receiving terminal and information transmitting terminal can include remote communication module, for host computer
Real-time Communication for Power, it is ensured that host computer obtains newest telemetry intelligence (TELINT).Further, the remote communication module can be long-range for XTend
Communication module.
Specifically, the aerial reconnaissance device can further include cruise module so that unmanned plane can be according to predetermined
Cruised in cruise path.
The leakage source detecting system provided as one of which embodiment, wherein, the host computer includes display
Device, memory and communicator；The communicator, for receiving and dispatching the letter by aerial reconnaissance device and ground finder transmission
Breath；The display, for showing the information received by information receiving end；The memory, for storing by information receiving end
The information of reception.
Specifically, the memory is used for the spy that telemetry intelligence (TELINT) and ground finder are passed back for passing aerial reconnaissance device back
Measurement information carries out building storehouse storage.
Specifically, the display is used for pass the telemetry intelligence (TELINT) and ground finder of passing aerial reconnaissance device back back
Detection information is shown on screen, more intuitively, clearly display scene situation, be more beneficial for rescue personnel make it is correct certainly
Plan.
Further, the host computer can also include XTend module receiving terminals, for realizing aerial reconnaissance device, ground
Real-time, interactive between detector, host computer.
As one of which embodiment, the ground finder includes control device, gas sensor array, wind
Fast anemoscope, camera, avoidance equipment and communication device.
Specifically, the leakage that the gas sensor array and anemoclinograph are used for obtaining around ground finder is dense
Spend information, air flow information and gas property.The camera is believed for obtaining the video information around ground finder, image
Breath.The avoidance equipment and camera are used on carry out avoidance.The communication device can for aerial reconnaissance device, on
Position machine carries out information exchange.
Specifically, ground finder can based on gas sensor array data, wind speed and direction data, visual information, swash
Optical radar information and aerial reconnaissance device telemetry intelligence (TELINT) carry out independent searching.
Specifically, described information receiving terminal and information transmitting terminal can include XTend remote communication modules, for it is upper
Machine real-time Communication for Power so that host computer can obtain newest detection information.
As one of which embodiment, the detection system also includes differential GPS devices, and the differential GPS is set
It is standby to include base station and at least two rover stations；The base station is arranged on around the host computer；Each aerial reconnaissance device and
A rover station is set in each ground finder.
Specifically, whole system is equipped with differential GPS devices, and base station is arranged near host computer, from being got over a distance from host computer
The nearly accuracy for being more conducive to positioning.It is appreciated that the base station can also be integrated in the host computer.Each sky
Middle detector and each ground finder are respectively provided with a flowing GPS website.It is equipped with differential GPS devices so that system Nei Gejie
Point realizes that Centimeter Level is accurately positioned.
As one of which embodiment, the host computer and each aerial reconnaissance device and each ground
A networking communication module is respectively provided with detector.
Specifically, system can add multiple nodes, you can with according to detection demand add multiple ground finders and
Multiple aerial reconnaissance devices, each ground finder or each aerial reconnaissance device can be considered as a node.And in each movement
Networking communication module is equipped with node, it is possible to achieve the intensive group-net communication between each mobile node.Further, described group
Net communication module can use ZigBee module, 3G/4G modules, WIFI module, XTend modules etc..
Referring to Fig. 3, the flow chart for the detection method that Fig. 3 provides for one of embodiment.Wherein, the detection side
Method is applied in the detection system of source of leaks, and the detection system includes aerial reconnaissance device, host computer and ground finder；Institute
Stating detection method includes：
Step S302, the aerial reconnaissance device obtains telemetry intelligence (TELINT), the telemetry intelligence (TELINT) is sent into the host computer.
Specifically, air detectors is in leakage influence area flying overhead, and obtains in flight course telemetry intelligence (TELINT),
And the telemetry intelligence (TELINT) is sent to the host computer for being arranged in leakage influence area edge.Further, the telemetry intelligence (TELINT)
Including infrared imaging data and video surveillance data.The infrared imaging data refer to there is spoke in infrared band using leakage
The characteristic of spectrum is penetrated, these spectral informations are converted into infrared image by infrared detector.The video surveillance data refer to
The aerial video information for obtaining the scene of the accident.Further, the air detectors uses rotor wing unmanned aerial vehicle, it is possible to according to
Predetermined cruise path carries out autonomous cruise.Further, the height in the cruise path is apart from 200 meters of ground.
Specifically, the host computer receives and stores the telemetry intelligence (TELINT) of the aerial reconnaissance device transmission.Further, it is upper
Machine can also show the telemetry intelligence (TELINT) of unmanned plane in real time on a display screen.
Step S304, the host computer is that the ground finder sets destination according to telemetry intelligence (TELINT), and by the mesh
Ground be sent to the ground finder.
Specifically, the host computer, using image processing method, picks out the concentration wheel of leakage according to telemetry intelligence (TELINT)
It is leakage concentration concentration zones in exterior feature, the profile, that is, there may be the region of source of leaks.It there may be the area of source of leaks
Domain is exactly the destination of ground finder.The destination information is sent to ground finder by host computer.Further, it is described
Destination information can be the coordinate parameters determined with reference to satellite map and GPS location data.
Step S306, the ground finder advances to the destination, and obtains detection information.
Specifically, the ground finder advances to the destination, and obtain detection information according to destination information.
Further, ground finder plans global path according to pre-loaded map and the destination information, and independent navigation
Advance to destination.
Specifically, the ground finder ceaselessly collects detection information during advance, and detection information is real
When pass host computer back.Further, the detection information includes being not limited to gas concentration information, diffusion information and gas
Property information.
Step S308, it is true that the ground finder judges whether the detection information meets the first source of leaks being pre-configured with
Recognize standard.
Specifically, the source of leaks validation criteria is pre-configured with according to leakage and field condition, is visited with described
Measurement information is with reference to for judging whether the position is source of leaks.
Step S310, if meeting, the ground finder obtains the position of the source of leaks, and will leak out the position in source
Pass host computer back.
Specifically, if ground finder can close autonomous confirmation according to the confirmation standard knots of detection information and source of leaks
Source of leaks, then further obtain the position of source of leaks, and will leak out the positional information in source and pass host computer back.
The detection method of above-mentioned leakage source position, aerial remote sensing survey and ground are accurately measured and are combined, aerial reconnaissance
Distribution of the device to leakage is tentatively monitored, and obtains telemetry intelligence (TELINT), further according to telemetry intelligence (TELINT) guide ground location device it is rapid,
Source of leaks is positioned exactly.This method is increased by the way of the mutual cooperation of aerial reconnaissance device, ground finder and host computer
The efficiency for obtaining leakage source position is added.
Please continue to refer to Fig. 3, if to judge that the detection information does not meet first source of leaks true for the ground finder
Recognize standard, then the detection method also includes：
S312, the host computer marks the destination to have detected destination, and according to telemetry intelligence (TELINT) and has detected mesh
Ground, reset ground finder destination.
Specifically, if ground finder judges that the detection information does not meet the first leakage validation criteria, i.e.,
Surface detector does not find source of leaks in destination, then ground finder is according to telemetry intelligence (TELINT) and the destination detected weight
It is new to determine destination, the repetition for having detected destination is detected so as to avoid.Further, on the telemetry intelligence (TELINT) can be
The newest telemetry intelligence (TELINT) that position machine is sent back in real time.
S314, the ground finder re-executes the destination for advancing to reset, and obtains the step of detection information
Suddenly, until the position of the acquisition source of leaks.
Specifically, ground finder is advanced to described heavy according to the destination of reset, contexture by self path and avoidance
The destination of new settings.System repeats said process, the position until getting source of leaks.
In the detection method that wherein one embodiment is provided, the host computer marks the destination to have visited
Survey destination, and according to the telemetry intelligence (TELINT) and detected destination, the step of the destination of reset ground finder it
It is preceding also to include：The ground finder passes the detection information back host computer；The host computer judges that the detection information is
It is no to meet the second source of leaks validation criteria prestored；If meeting, the position of the source of leaks is obtained.
Specifically, ground finder passes the detection information after host computer back, in order to more accurately judge information, can be with
Second set of source of leaks validation criteria is set in host computer, destination is more accurately judged by second set of source of leaks validation criteria
With the presence or absence of source of leaks.
Referring to Fig. 4, the partial process view for the detection method that Fig. 4 provides for one of which embodiment, wherein, it is described on
Position machine is that the step of ground finder sets destination includes according to telemetry intelligence (TELINT)：
Step S402, according to the telemetry intelligence (TELINT), identification candidate destination.
Specifically, host computer is handled telemetry intelligence (TELINT) using image processing method, picks out leakage concentration profile.
By the way that the gas concentration profile normal to be mapped to the region on ground, the candidate destination is used as.Due to air-flow and landform
The reason for landforms, in coverage, the possible more than one of leakage concentration profile, so the candidate destination may be more than
One.
Specifically, described image processing method may comprise steps of：First using the filter of adaptive median filter method
Except the noise in Infrared Image Information, the enhancing at image detail and edge is realized；Then inter-frame difference technology is utilized, from dynamic
Detected in Infrared Image Information and extract leakage concentration profile.Further, video letter is can be combined with the process
Breath further improves the recognition efficiency to leakage profile.
Step S404, calculates the distance of each described candidate destination and the ground finder.
Because the candidate destination is often an irregular figure, accordingly, it would be desirable to according to certain rule to determine
State the distance of candidate destination and the ground finder.
Specifically, the point minimum with ground finder distance can be selected in the profile of candidate destination, and calculating should
Point and the distance of the ground finder.And by the distance be defined as the candidate destination and the ground finder away from
From.
Step S406, the minimum candidate destination of the distance is set as the destination of the ground finder.
Specifically, the selection point minimum with candidate destination in candidate destination, is used as the mesh of the ground finder
Ground, and be sent to ground finder.Further, in the destination information of ground finder is sent to, it can not only wrap
The information of sending destination is included, the information of all candidate destinations after being sorted by distance can also be included.
Referring to Fig. 5, the partial process view of the detection method for the source of leaks that Fig. 5 provides for one of which embodiment, its
In, the detection method includes：
S502, telemetry intelligence (TELINT) is obtained by aerial reconnaissance device.
Specifically, the detection method that present embodiment is provided is performed by host computer.The air detectors is in leakage
Thing influence area flying overhead, and obtain in flight course telemetry intelligence (TELINT), and the telemetry intelligence (TELINT) is sent to be arranged in let out
Leak the host computer at thing influence area edge.Further, the telemetry intelligence (TELINT) includes infrared imaging data and video surveillance data.
The infrared imaging data refer to the characteristic for having radiation spectrum in infrared band using leakage, by infrared detector by these
Spectral information is converted into infrared image.The video surveillance data refer to the video information for obtaining the scene of the accident in the air.More enter
One step, the air detectors uses rotor wing unmanned aerial vehicle, it is possible to carry out autonomous cruise according to predetermined cruise path.Enter again
One step, the height in the cruise path is apart from 200 meters of ground.
S504, the initial purpose of ground finder is set according to the telemetry intelligence (TELINT).
Specifically, host computer is according to telemetry intelligence (TELINT), using image processing method, picks out the concentration profile of leakage, institute
It is leakage concentration concentration zones to state in profile, that is, there may be the region of source of leaks.It there may be the region of source of leaks just
It is the destination of ground finder.Further, the destination information can combine satellite map and GPS location data
The coordinate parameters of determination.
Whether successfully S506, judge ground finder passback leakage source location information.
Specifically, destination automatic obstacle avoiding, the independent navigation that ground finder is set according to host computer advance to destination,
If ground finder confirms source of leaks in destination, leakage source location information is sent to host computer.
S508, if so, then reading the positional information.
Specifically, if host computer judges that ground finder successfully returns leakage source location information, library storage institute rheme is built
Confidence ceases.Further, can also be existing for further analyzing leakage by positional information display in real time on the display device
Field situation.
Please continue to refer to Fig. 5, the detection method provided as a kind of embodiment, wherein, if judging ground location
Device does not return leakage source location information, then methods described also includes：
S510, is to have detected destination with marking the initial purpose.
Specifically, if ground finder does not find source of leaks in destination, initial purpose is labeled as by host computer
Destination is detected, then ground finder redefines renewal destination according to telemetry intelligence (TELINT) and the destination detected,
The repetition for having detected destination is detected so as to avoid.Further, the telemetry intelligence (TELINT) can be that host computer is passed back in real time
The newest telemetry intelligence (TELINT) come.
S512, according to the telemetry intelligence (TELINT) and has detected destination, resets the renewal destination of ground finder.
Specifically, all candidate destinations are determined according to the position of bulk source of leaks in telemetry intelligence (TELINT) first, will be all
Candidate destination obtain candidate destination sequence according to the certain queueing discipline sequence pre-set, the queueing discipline can be with
It is the information such as distance, concentration.Then destination will have been detected to exclude from candidate destination, just obtained updating destination sequence, institute
State that to update destination be the candidate destination for updating preferential position the most in the sequence of destination.
S514, re-executes and the step of whether ground finder returns leakage source location information is judged, until ground location
Device returns the position of source of leaks.
Specifically, ground finder is according to the destination of reset, contexture by self path and avoidance, advance to it is described more
New destination is detected, and confirms source of leaks in destination is updated, if confirming source of leaks in destination is updated, will be let out
Drain-source positional information passes host computer back.If the source of leaks still unconfirmed in the renewal destination, continuation will update destination
Labeled as having detected destination.Until ground finder gets the position of source of leaks.
Further, the first source of leaks standard is pre-set in the ground finder, ground finder is obtained in destination
Detection information is taken, the first source of leaks standard is matched confirmation source of leaks with detection information by ground finder.If detection information and
One source of leaks validation criteria is matched, then ground finder confirms source of leaks, and will leak out source position and be sent to host computer.More enter one
Step ground, if ground finder can not confirm source of leaks, detection information is sent in host computer, host computer and pre-sets second
Source of leaks validation criteria, host computer first matches detection information with the second source of leaks validation criteria again, if still detection information
The second source of leaks validation criteria is not met still, then the destination tag is again to have detected destination by host computer.
Further, the detection information of the host computer real-time reception ground finder, and being judged according to detection information
Whether ground finder there is exception, if it is, earthward detector sends instruction, switches it to artificial operator scheme.
Referring to Fig. 6, the partial process view for the detection method that Fig. 6 provides for one of which embodiment, wherein, described
According to the telemetry intelligence (TELINT) set ground finder initial purpose the step of include：
S602, according to the telemetry intelligence (TELINT), identification candidate destination.
Specifically, host computer is handled telemetry intelligence (TELINT) using image processing method, picks out leakage concentration profile.
By the way that the gas concentration profile normal to be mapped to the region on ground, the candidate destination is used as.Due to air-flow and landform
The reason for landforms, in coverage, the possible more than one of leakage concentration profile, so the candidate destination may be more than
One.
Specifically, described image processing method may comprise steps of：First using the filter of adaptive median filter method
Except the noise in Infrared Image Information, the enhancing at image detail and edge is realized；Then inter-frame difference technology is utilized, from dynamic
Detected in Infrared Image Information and extract leakage concentration profile.Further, video letter is can be combined with the process
Breath further improves the recognition efficiency to leakage profile.
S604, calculates the distance of each described candidate destination and the ground finder.
Because the candidate destination is often an irregular figure, accordingly, it would be desirable to according to certain rule to determine
State the distance of candidate destination and the ground finder.
Specifically, the point minimum with ground finder distance can be selected in the profile of candidate destination, and calculating should
Point and the distance of the ground finder.And by the distance be defined as the candidate destination and the ground finder away from
From.
S606, the minimum candidate destination of the distance is set as to the initial purpose of the ground finder.
Specifically, the selection point minimum with candidate destination in candidate destination, is used as the mesh of the ground finder
Ground, and be sent to ground finder.Further, in the destination information of ground finder is sent to, it can not only wrap
The information of sending destination is included, the information of all candidate destinations after being sorted by distance can also be included.
The detection method of above-mentioned leakage source position, aerial remote sensing survey and ground are accurately measured and are combined, aerial reconnaissance
Distribution of the device to leakage is tentatively monitored, and obtains telemetry intelligence (TELINT), further according to telemetry intelligence (TELINT) guide ground location device it is rapid,
Source of leaks is positioned exactly.This method is increased by the way of the mutual cooperation of aerial reconnaissance device, ground finder and host computer
The efficiency for obtaining leakage source position is added.
Referring to Fig. 7, Fig. 7 is a kind of structural representation of the detection device of source of leaks.Wherein, the detection device bag
Include：
Telemetry intelligence (TELINT) acquisition module 701, for obtaining telemetry intelligence (TELINT) by aerial reconnaissance device；
Destination setting module 703, the initial purpose for setting ground finder according to the telemetry intelligence (TELINT)；
Position acquisition module 705, for judging ground finder whether successfully passback leakage source location information, if so, then
Read the positional information；
The detection device of above-mentioned source of leaks, aerial remote sensing survey and ground are accurately measured and are combined, aerial reconnaissance device pair
The distribution of leakage is tentatively monitored, and obtains telemetry intelligence (TELINT), guides ground location device rapid, accurate further according to telemetry intelligence (TELINT)
Ground positions source of leaks.The device is considerably increased by the way of the mutual cooperation of aerial reconnaissance device, ground finder and host computer
Obtain the efficiency of leakage source position.
As a kind of embodiment, wherein, if judging, ground finder does not return leakage source location information, described
Device also includes：
Destination tag module, for marking the destination to be to have detected destination；
Destination module is updated, for according to the telemetry intelligence (TELINT) and having detected destination, reset ground finder
Renewal destination；
Data obtaining module, the step of whether ground finder returns leakage source location information judged for re-executing,
Until ground finder returns the position of source of leaks.
As a kind of embodiment, wherein, the destination setting module includes：
Contour line identification unit, for according to the telemetry intelligence (TELINT), recognizing leakage contour line；
Metrics calculation unit, the distance for calculating each described candidate destination and the ground finder；
Setup unit, the destination for closest candidate's purpose to be set as to ground finder.
A kind of detecting devices of source of leaks, including memory, processor and store on a memory and can be in processor
The computer program of upper operation, wherein, realize following steps during computer program described in the computing device：
Telemetry intelligence (TELINT) is obtained by aerial reconnaissance device；
The initial purpose of ground finder is set according to the telemetry intelligence (TELINT)；
Judge ground finder whether successfully passback leakage source location information；
If so, then reading the positional information.
The detecting devices of above-mentioned source of leaks, aerial remote sensing survey and ground are accurately measured and are combined, aerial reconnaissance device pair
The distribution of leakage is tentatively monitored, and obtains telemetry intelligence (TELINT), guides ground location device rapid, accurate further according to telemetry intelligence (TELINT)
Ground positions source of leaks.The equipment is considerably increased by the way of the mutual cooperation of aerial reconnaissance device, ground finder and host computer
Obtain the efficiency of leakage source position.
As a kind of embodiment, wherein, if judging, ground finder does not return leakage source location information, described
Processor also performs following steps：
The destination is marked to have detected destination；
According to the telemetry intelligence (TELINT) and destination is detected, reset the renewal destination of ground finder；
Re-execute and the step of whether ground finder returns leakage source location information judged, until ground finder passback
The position of source of leaks.
As a kind of embodiment, wherein, the computing device according to the telemetry intelligence (TELINT) set ground visit
Survey device initial purpose the step of include：
According to the telemetry intelligence (TELINT), identification candidate destination；
Calculate the distance of each described candidate destination and the ground finder；
The minimum candidate destination of the distance is set as to the initial purpose of the ground finder.
It should be understood by those skilled in the art that, embodiments herein can be provided as method, system or computer program
Product.Therefore, the application can be using the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware
Apply the form of example.Moreover, the application can be used in one or more computers for wherein including computer usable program code
The computer program production that usable storage medium is implemented on (including but is not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The application is the flow with reference to method, equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram are described.It should be understood that can be by every first-class in computer program instructions implementation process figure and/or block diagram
Journey and/or the flow in square frame and flow chart and/or block diagram and/or the combination of square frame.These computer programs can be provided
The processor of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced by the instruction of computer or the computing device of other programmable data processing devices for real
The device for the function of being specified in present one flow of flow chart or one square frame of multiple flows and/or block diagram or multiple square frames.
These computer program instructions, which may be alternatively stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory, which is produced, to be included referring to
Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or
The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that in meter
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented processing, thus in computer or
The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in individual square frame or multiple square frames.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope of this specification record is all considered to be.
Embodiment described above only expresses the several embodiments of the present invention, and it describes more specific and detailed, but simultaneously
Can not therefore it be construed as limiting the scope of the patent.It should be pointed out that coming for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (18)
1. a kind of detection system of source of leaks, it is characterised in that the detection system includes：Aerial reconnaissance device, host computer and
Ground finder；
The aerial reconnaissance device, host computer is sent to for obtaining telemetry intelligence (TELINT), and by the telemetry intelligence (TELINT)；
The host computer, the telemetry intelligence (TELINT) for receiving the transmission of aerial reconnaissance device is ground finder according to the telemetry intelligence (TELINT)
Destination is set, and the coordinate information of the destination is sent to ground finder；
The ground finder, the coordinate information of the destination for receiving host computer transmission, advances to the destination, in institute
The position that source of leaks is obtained in destination is stated, and passes the position of the source of leaks back the host computer.
2. detection system according to claim 1, it is characterised in that the ground finder is additionally operable to obtain the purpose
The detection information on ground, and pass the detection information back host computer；
The host computer is additionally operable to obtain the position of source of leaks according to the detection information.
3. detection system according to claim 1, it is characterised in that the aerial reconnaissance device includes：Infrared detector, regard
Frequency collector, information transmitting terminal and information receiving end；
The infrared detector is used to obtain the telemetry intelligence (TELINT) with video collector；
Described information transmitting terminal, for the telemetry intelligence (TELINT) of acquisition to be sent into host computer；
Described information receiving terminal, for receiving the command information sent by host computer in response to telemetry intelligence (TELINT).
4. detection system according to claim 1, it is characterised in that the host computer includes display, memory and logical
T unit；
The communicator, for receiving and dispatching the information by aerial reconnaissance device and ground finder transmission；
The display, for showing the information received by information receiving end；
The memory, for storing the information received by information receiving end.
5. detection system according to claim 1, it is characterised in that the ground finder includes control device, gas
Sensor array, anemoclinograph, camera, avoidance equipment and communication device.
6. detection system according to claim 1, it is characterised in that the detection system also includes differential GPS devices, institute
Stating differential GPS devices includes base station and at least two rover stations；
The base station is arranged on around the host computer；
One rover station is set in each aerial reconnaissance device and each ground finder.
7. the detection system according to claim 1-6 any one, it is characterised in that the host computer and each sky
A networking communication module is respectively provided with middle detector and each ground finder.
8. a kind of detection method of source of leaks, it is characterised in that the detection method is applied in the detection system of source of leaks, institute
Stating detection system includes aerial reconnaissance device, host computer and ground finder；
The detection method includes：
The aerial reconnaissance device obtains telemetry intelligence (TELINT), and the telemetry intelligence (TELINT) is sent into the host computer；
The host computer is that the ground finder sets destination according to telemetry intelligence (TELINT), and the destination is sent to described
Ground finder；
The ground finder advances to the destination, and obtains detection information；
The ground finder judges whether the detection information meets the first source of leaks validation criteria being pre-configured with；
If meeting, the ground finder obtains the position of the source of leaks, and will leak out the position in source and pass host computer back.
9. detection method according to claim 8, it is characterised in that the host computer judges that the detection information is not met
The the first source of leaks validation criteria prestored, then the detection method also include：
The host computer marks the destination to have detected destination, and according to the telemetry intelligence (TELINT) and has detected destination,
Reset the destination of ground finder；
The ground finder re-executes the destination for advancing to reset, and the step of obtain detection information, until obtaining
Take the position of the source of leaks.
10. detection method according to claim 9, it is characterised in that the host computer marks the destination to have visited
Survey destination, and according to the telemetry intelligence (TELINT) and detected destination, the step of the destination of reset ground finder it
It is preceding also to include：
The ground finder passes the detection information back host computer；
The host computer judges whether the detection information meets the second source of leaks validation criteria prestored；
If meeting, the position of the source of leaks is obtained.
11. detection method according to claim 8, it is characterised in that the host computer is described according to telemetry intelligence (TELINT)
The step of surface detector sets destination includes：
According to the telemetry intelligence (TELINT), identification candidate destination；
Calculate the distance of each described candidate destination and the ground finder；
The minimum candidate destination of the distance is set as to the destination of the ground finder.
12. a kind of detection method of source of leaks, it is characterised in that the detection method includes：
Telemetry intelligence (TELINT) is obtained by aerial reconnaissance device；
The initial purpose of ground finder is set according to the telemetry intelligence (TELINT)；
Judge ground finder whether successfully passback leakage source location information；
If so, then reading the positional information.
13. detection method according to claim 12, it is characterised in that ground finder does not return source of leaks position if judging
Confidence ceases, then methods described also includes：
The destination is marked to have detected destination；
According to the telemetry intelligence (TELINT) and destination is detected, reset the renewal destination of ground finder；
Re-execute and the step of whether ground finder returns leakage source location information judged, leaked until ground finder is returned
The position in source.
14. detection method according to claim 12, it is characterised in that described that ground spy is set according to the telemetry intelligence (TELINT)
Survey device initial purpose the step of include：
According to the telemetry intelligence (TELINT), identification candidate destination；
Calculate the distance of each described candidate destination and the ground finder；
The minimum candidate destination of the distance is set as to the initial purpose of the ground finder.
15. a kind of detection device of source of leaks, it is characterised in that the detection device includes：
Telemetry intelligence (TELINT) acquisition module, for obtaining telemetry intelligence (TELINT) by aerial reconnaissance device；
Destination setting module, the initial purpose for setting ground finder according to the telemetry intelligence (TELINT)；
Position acquisition module, for judging ground finder whether successfully passback leakage source location information, if so, then reading described
Positional information.
16. detection device according to claim 15, it is characterised in that ground finder does not return source of leaks position if judging
Confidence ceases, then described device also includes：
Destination tag module, for marking the destination to be to have detected destination；
Destination module is updated, for according to the telemetry intelligence (TELINT) and having detected destination, reset ground finder is more
New destination；
Data obtaining module, the step of whether ground finder returns leakage source location information judged for re-executing, until
Ground finder returns the position of source of leaks.
17. detection device according to claim 15, it is characterised in that the destination setting module includes：
Contour line identification unit, for according to the telemetry intelligence (TELINT), identification candidate destination；
Metrics calculation unit, the distance for calculating each described candidate destination and the ground finder；
Setup unit, the destination for closest candidate's purpose to be set as to ground finder.
18. a kind of detecting devices of source of leaks, including memory, processor and store on a memory and transport on a processor
Capable computer instruction, it is characterised in that realize that claim 12-14 is any described in the computing device during computer instruction
The step of one detection method.
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Application publication date: 20170818 |