CN108561758A - A kind of natural gas line monitoring system based on unmanned plane - Google Patents
A kind of natural gas line monitoring system based on unmanned plane Download PDFInfo
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- CN108561758A CN108561758A CN201810525479.9A CN201810525479A CN108561758A CN 108561758 A CN108561758 A CN 108561758A CN 201810525479 A CN201810525479 A CN 201810525479A CN 108561758 A CN108561758 A CN 108561758A
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- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 title claims abstract description 82
- 239000003345 natural gas Substances 0.000 title claims abstract description 41
- 238000012544 monitoring process Methods 0.000 title claims abstract description 25
- 230000002159 abnormal effect Effects 0.000 claims abstract description 71
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- 238000000034 method Methods 0.000 claims abstract description 7
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- 238000012545 processing Methods 0.000 claims description 70
- 239000000779 smoke Substances 0.000 claims description 12
- 238000013459 approach Methods 0.000 claims description 3
- 230000015556 catabolic process Effects 0.000 claims description 3
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
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Abstract
The present invention relates to a kind of, and the natural gas line based on unmanned plane monitors system,The system is by pipe detection,Three aspects of scheduling controlling and pipe first-aid connect,Realize multi-parameter pipeline on-line checking,Testing result reports in time,And repairing is remedied in time to problem pipeline section,To efficiently and accurately complete Monitoring Pinpelines task,It simultaneously can real-time Communication for Power between the pipe first-aid vehicle of different location,Multi-party linkage is realized to support,Coordination and response is rapid,Pipeline, which is approached, using unmanned plane carries out information collection,Pass through temperature,Sound wave,The various monitoring measures such as image,Confirm accident jointly,Testing result inaccuracy and the incomplete problem of information caused by avoiding single mode from detecting,Information gathering process are more safe and reliable,Information reporting and repairing work can be quickly completed when abnormal detecting that pipeline is deposited,Closing gas transmission is carried out by the dispatching control center linkage necessary valve of automation control,It ensure that the safety of natural gas line.
Description
Technical field
The present invention relates to unmanned plane fields and natural gas line to monitor field, and in particular to a kind of based on the natural of unmanned plane
Feed channel monitors system.
Background technology
Currently, all kinds of natural-gas transfer pipeline laying amounts are increasing, pipeline becomes the main shape of natural gas transportation
Formula, as natural gas line is laid with the increase of area, pipeline unusual condition is more and more, this management work to natural gas line
It puts forward higher requirements, once pipeline accident occurs, how to find in time as soon as possible and the most fast time is repaired to remedy and becomes
The technical barrier that those skilled in the art face, although existing Monitoring Pinpelines equipment improves pipe-line maintenance to a certain extent
Efficiency, but still have many problems, for example monitoring method is single, not in time to the discovery of problem；Coordination and response is not in time；
Intermediate link is more, can not real-time Transmission field condition and result；Systematicness, inaccurate coordination, the linkage of response is poor, to accident
Handle the problems such as unfavorable and safety is poor.
Therefore, how to provide that a kind of monitoring means is various, coordination and response is rapid, can real-time Transmission field data, reliability
Higher natural gas line monitoring system becomes those skilled in the art's technical problem urgently to be resolved hurrily.
Invention content
That technical problem to be solved by the invention is to provide monitoring means is various, coordination and response is rapid, can real-time Transmission it is existing
The higher natural gas line based on unmanned plane of field information, reliability monitors system.
The technical solution that the present invention solves above-mentioned technical problem is as follows：A kind of natural gas line monitoring system based on unmanned plane
System, the system include
Pipe detection unmanned plane, the pipe detection unmanned plane can approach pipeline into trip temperature, sound wave and Smoke Detection,
And floor image, image scene, warning information and location information are sent when detecting exception information and are generated multistage pre-
Alert information；
Dispatching control center, the pipe detection unmanned plane are communicated to connect with the dispatching control center, the scheduling control
Center processed receives image scene, warning information, location information and the multistage warning information that the pipe detection unmanned plane is sent, institute
State dispatching control center show unmanned plane shooting image and according to receive image scene, warning information, location information and
Multistage warning information generates repairing mission bit stream, and sends the repairing mission bit stream；And
Multiple pipe first-aid vehicles, the dispatching control center are communicated to connect with multiple pipe first-aid vehicles, the pipeline
Breakdown van receive repairing mission bit stream, and according to image scene execute repairing task, and multiple pipe first-aid vehicles mutually it
Between communicate to connect.
The beneficial effects of the invention are as follows：Three pipe detection, scheduling controlling and pipe first-aid aspects are connected, are realized
Multi-parameter pipeline on-line checking, testing result report in time, and repairing is remedied in time to problem pipeline section, to efficiently and accurately
Complete Monitoring Pinpelines task, at the same between the pipe first-aid vehicle of different location can real-time Communication for Power, realize multi-party linkage and support, connection
Dynamic response is rapid, and approaching pipeline using unmanned plane carries out information collection, especially at dangerous fire explosion scene, does not need personnel
Scene participate in, information gathering process are more safe and reliable, detect pipeline deposit can quickly complete when abnormal information reporting and
Work is repaired, ensure that the safety of natural gas line.
Based on the above technical solution, the present invention can also be improved as follows.
Further, the pipe detection unmanned plane includes
Infrared temperature sensor, the infrared temperature sensor detect the temperature difference inside and outside natural gas line in real time, identification
The larger pipeline location of temperature difference, obtains temperature anomaly information；
Sonic sensor, the sonic sensor detect on the outside of natural gas line whether acoustic signals occur in real time；Work as inspection
It measures when there are acoustic signals, analyzes the intensity of acoustic signals, obtain Abnormal acoustic wave information；
Photoelectric smoke sensor, the photoelectric smoke sensor acquires in real time whether there is smog on the outside of pipeline；Work as presence
For detecting smokescope when smog, abnormal smog information is obtained；
Image processing module, described image processing module acquire the image information around natural gas line, capture figure in real time
The abnormal image occurred as in, and processing is marked to abnormal image, obtain scene image information；
Central processing unit, the infrared temperature sensor, sonic sensor, photoelectric smoke sensor and image processing module
It is electrically connected with the central processing unit, the central processing unit receives and processes the temperature anomaly information, Abnormal acoustic wave letter
Breath, abnormal smog information and scene image information, the central processing unit is by temperature anomaly information, Abnormal acoustic wave information, exception
Smog information and scene image information value are compared with predetermined threshold value, when the live actual value is more than predetermined threshold value, hair
Send warning information；
Alarm, the central processing unit are connect with the alarm, and it is concurrent that the alarm receives the warning information
Go out alarm and reminding；
Course locating module, the central processing unit are connect with the course locating module, and the course locating module is real
Shi Dingwei unmanned planes position, and the non-straight pipe-line in along pipeline is positioned, it is through abnormal needs occur in pipeline
When certain point detection, directly determines a Minimal Flight Path around the non-straight pipe-line navigated to, generate unmanned plane course information, and by institute
It states unmanned plane course information and is sent to the central processing unit；
Grading forewarning system module, the central controller are connect with the grading forewarning system module, the grading forewarning system module root
Warning grade delimitation is carried out to pipeline abnormal conditions according to scene image information, and early warning letter is sent out according to preset standby signal
Breath；
Power supply, the power supply are powered for entire pipe detection unmanned plane；And
First wireless communication module, the central processing unit and the dispatching control center with first wireless telecommunications
Module connects, and first wireless communication module is by the temperature anomaly information, Abnormal acoustic wave information, abnormal smog information, existing
Field picture information, unmanned plane course information, warning information and warning information are sent to the dispatching control center.
Advantageous effect using above-mentioned further scheme be completed using unmanned plane it is a variety of inside pipeline and pipeline
The acquisition of information, the especially pipeline in wilderness field, uninhabited, unmanned plane can quickly arrive at live shooting, live feelings
Condition is transmitted back to dispatching control center, to formulate scientific and reasonable treatment measures, passes through a variety of monitorings such as temperature, sound wave, image
Means confirm accident jointly, and the testing result caused by avoiding single mode from detecting is inaccurate and information incomplete problem.
Further, described image processing module includes camera, abnormal image capturing unit and image processing unit,
The camera is electrically connected with the abnormal image capturing unit, and the camera is for acquiring pipeline image
Information, the abnormal image capturing unit are used for the abnormal image occurred in capture images information, and the abnormal image capture is single
Member is electrically connected with described image processing unit, and processing is marked to abnormal image in described image processing unit, generates scene photo
As information, described image processing unit is also electrically connected with the central processing unit, and described image processing unit is by the scene photo
As information is sent to the central processing unit.Camera can be sent out instruction into lower hemispherical from dispatching control center personnel
Arbitrary Rotation, unmanned plane can park in the air, and flight course can capture dangerous point abnormal image such as flame point,
And it may be implemented to be held constant for fixed point monitoring.
Further, the course locating module includes that real-time positioning unit, non-straight locating pipeling unit and course planning are single
Member,
The real-time positioning unit is electrically connected with the non-straight locating pipeling unit, and the real-time positioning unit obtains in real time
Unmanned plane position information, the non-straight locating pipeling unit positions the non-straight pipe-line in along pipeline, described non-
Straight pipe-line positioning unit is electrically connected with the course planning unit, and the course planning unit abnormal needs occurs in pipeline and goes directly
When certain point detection, directly determines a Minimal Flight Path around the non-straight pipe-line that the non-straight locating pipeling cell location arrives, generate
Unmanned plane course information, and unmanned plane course information is sent to the central processing unit.It (may when pipeline is not pure straight line
In the presence of tortuous place of turning round), next target point can be limited, point type jump ensures that the unmanned plane straight line shortest distance is flown over
It goes.
Further, the grading forewarning system module includes warning grade setup unit, standby signal setup unit and early warning letter
Cease setting unit；The warning grade setup unit is connect with the standby signal setup unit, and the warning grade setting is single
Member is used for each according to the multistage warning grade setting set for setting multistage warning grade, the standby signal setup unit
The corresponding standby signal of grade, the standby signal setup unit are connect with the warning information setting unit, the early warning letter
Breath setting unit is also connect with the central processing unit, and the warning information setting unit is different to pipeline according to scene image information
Reason condition carries out warning grade delimitation, and sends warning information to central processing unit according to preset standby signal.
Advantageous effect using above-mentioned further scheme is can be corresponded to not according to several warning grades of dangerous grade classification
Different standby signals is arranged in same grade, and specific warning grade is set by security evaluation expert and engineer to scene, or
Person sets according to different buried pipeline situations, and national natural gas line otherness is larger, is not specifically limited herein.
Further, standby signal color, scintillation time and the adjustable LED signal of flashing times in order to control.Prompt letter
Number use LED signal, such as green three kinds of colors of reddish yellow, point long flicker (3 seconds primary) and short flicker (1 second primary), three vice-minister sudden strain of a muscle
Five short flickers, the above permutation and combination, at least six kinds of grades or 12 kinds of grades are sparkled, identifies, can set more if necessary to more multi-grade
Set varicolored LED light, the mode of flicker can length or short length do not united herein with specific reference to needing to set
One limits.
Further, the dispatching control center includes the second wireless communication module, control terminal server, monitor and repairing
Task generation module,
Second wireless communication module is communicated to connect with first wireless communication module, the second wireless telecommunications mould
Block receives the temperature anomaly information of the first wireless communication module transmission, Abnormal acoustic wave information, abnormal smog information, shows
Field picture information, unmanned plane course information, warning information and warning information；Second wireless communication module and the control terminal
Server connects, and the control terminal server connect with the monitor, the monitor show the scene image information and
Unmanned plane course information；The control terminal server is also connect with the repairing task generation module, and the repairing task generates
Module is according to temperature anomaly information, Abnormal acoustic wave information, abnormal smog information, scene image information, unmanned plane course information, police
Breath and the warning information of notifying formulate pipe first-aid task, and the repairing task generation module is connect with the pipe first-aid vehicle, institute
It states repairing task generation module and pipe first-aid task is sent to the pipe first-aid vehicle nearest apart from abnormal position.
Advantageous effect using above-mentioned further scheme is can to notify to go to the vehicle of repairing by dispatching control center,
Accident point is at a distance from current vehicle position, so that more preferable programme path is gone to, and according to the collected much information of unmanned plane
Rational repairing task is formulated, work is repaired so as to the completion of quickness and high efficiency.
Further, the pipe first-aid vehicle includes cab signal transceiver and Vehicular video playback equipment, described vehicle-mounted
Signal sending and receiving equipment is connect with second wireless communication module, and the cab signal transceiver receives the repairing task life
At the pipe first-aid task that module is sent, the cab signal transceiver is connect with the Vehicular video playback equipment, described
Vehicular video playback equipment plays the scene image information；It is received by the cab signal between multiple pipe first-aid vehicles
Send out equipment communication connection.The real-time picture of unmanned plane shooting can also be seen on pipeline rescue carrigae by Vehicular video playback equipment
Face is conducive to onboard adjust original repairing task in time according to on-site actual situations.
Description of the drawings
Fig. 1 is the overall structure diagram that a kind of natural gas line based on unmanned plane of the present invention monitors system；
Fig. 2 is that the structure of pipe detection unmanned plane in a kind of natural gas line monitoring system based on unmanned plane of the present invention is shown
It is intended to；
Fig. 3 is the structural representation of image processing module in a kind of natural gas line monitoring system based on unmanned plane of the present invention
Figure；
Fig. 4 is the structural representation of course locating module in a kind of natural gas line monitoring system based on unmanned plane of the present invention
Figure；
Fig. 5 is the structural representation of grading forewarning system module in a kind of natural gas line monitoring system based on unmanned plane of the present invention
Figure；
Fig. 6 is the structural representation of dispatching control center in a kind of natural gas line monitoring system based on unmanned plane of the present invention
Figure；
Fig. 7 is the structural representation of pipeline breakdown van in a kind of natural gas line monitoring system based on unmanned plane of the present invention
Figure.
Specific implementation mode
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the present invention.
As shown in Figure 1, present embodiment discloses a kind of, the natural gas line based on unmanned plane monitors system, which includes
Pipe detection unmanned plane 1, pipe detection unmanned plane 1 approaches pipeline into trip temperature, sound wave and Smoke Detection, and shoots
Image scene sends image scene, warning information and location information when detecting exception information and generates multistage warning information；
Dispatching control center 2, pipe detection unmanned plane 1 are communicated to connect with dispatching control center 2, and dispatching control center 2 connects
Receive image scene, warning information, location information and multistage warning information that pipe detection unmanned plane 1 is sent, dispatching control center 2
Image scene, warning information, location information and the multistage warning information life that the image and basis of display unmanned plane shooting receive
At repairing mission bit stream, and send repairing mission bit stream；And
Multiple pipe first-aid vehicles 3, dispatching control center 2 are communicated to connect with multiple pipe first-aid vehicles 3, and pipe first-aid vehicle 3 connects
Repairing mission bit stream is received, and repairing task is executed according to image scene, and multiple pipe first-aid vehicles 3 communicate to connect between each other.
Referring to attached drawing 2, pipe detection unmanned plane 1 includes
Infrared temperature sensor 10, infrared temperature sensor 10 detect the temperature difference inside and outside natural gas line, identification in real time
The larger pipeline location of temperature difference, obtains temperature anomaly information；
Sonic sensor 11, whether detection natural gas line outside there are acoustic signals to sonic sensor 11 in real time；Work as inspection
It measures when there are acoustic signals, analyzes the intensity of acoustic signals, obtain Abnormal acoustic wave information；
Photoelectric smoke sensor 12, acquisition pipeline outside whether there is smog to photoelectric smoke sensor 12 in real time；Work as presence
For detecting smokescope when smog, abnormal smog information is obtained；
Image processing module 13, image processing module 13 acquire the image information around natural gas line, capture figure in real time
The abnormal image occurred as in, and processing is marked to abnormal image, obtain scene image information；
Central processing unit 14, infrared temperature sensor 10, sonic sensor 11, photoelectric smoke sensor 12 and image procossing
Module 13 is electrically connected with central processing unit 14, and central processing unit 14 receives and processes the temperature anomaly information, Abnormal acoustic wave
Information, abnormal smog information and scene image information, central processing unit 14 by the temperature anomaly information, Abnormal acoustic wave information,
Abnormal smog information and scene image information value are compared with predetermined threshold value, when smokescope value is more than predetermined threshold value, hair
Send warning information；
Alarm 15, central processing unit 14 are connect with alarm 15, and alarm 15 receives warning information and sends out alarm and carries
It wakes up；
Course locating module 16, central processing unit 14 are connect with course locating module 16, and course locating module 16 is fixed in real time
Position unmanned plane position, and the non-straight pipe-line in along pipeline is positioned, exception occur in pipeline needs certain point that goes directly
When detection, directly determines a Minimal Flight Path around the non-straight pipe-line navigated to, generate unmanned plane course information, and by unmanned plane
Course information is sent to central processing unit 14；
Grading forewarning system module 17, central controller 14 are connect with grading forewarning system module 17, and grading forewarning system module 17 is according to existing
Field picture information carries out warning grade delimitation to pipeline abnormal conditions, and sends out warning information according to preset standby signal；
Power supply 18, power supply 18 are powered for entire pipe detection unmanned plane 1；And
First wireless communication module 19, central processing unit 14 and dispatching control center 2 with the first wireless communication module 19
Connection, the first wireless communication module 19 by temperature anomaly information, Abnormal acoustic wave information, abnormal smog information, scene image information,
Unmanned plane course information, warning information and warning information are sent to the dispatching control center 2.
Referring to attached drawing 3, image processing module 13 includes camera 131, abnormal image capturing unit 132 and image procossing list
Member 133,
Camera 131 is electrically connected with abnormal image capturing unit 132, and camera 131 is for acquiring pipeline image letter
Breath, abnormal image capturing unit 132 are used for the abnormal image that occurs in capture images information, abnormal image capturing unit 132 with
Image processing unit 133 is electrically connected, and processing is marked to abnormal image in image processing unit 133, generates scene image information,
Image processing unit 133 is also electrically connected with central processing unit 14, and scene image information is sent to center by image processing unit 133
Processor 14.Camera can send instruction any angle into lower hemispherical under the personnel monitoring of dispatching control center and revolve
Turn, unmanned plane can park in the air, and flight course can capture dangerous point (flame point etc.) and can be held constant for fixed point monitoring
Impact development.
Referring to attached drawing 4, course locating module 16 includes real-time positioning unit 161, non-straight locating pipeling unit 162 and course
Planning unit 163,
Real-time positioning unit 161 is electrically connected with non-straight locating pipeling unit 162, and real-time positioning unit 161 obtains nothing in real time
Man-machine position information, non-straight locating pipeling unit 162 position the non-straight pipe-line in along pipeline, and non-straight pipe-line is fixed
Bit location 162 is electrically connected with course planning unit 163, and course planning unit 163 exception occurs in pipeline and needs certain point inspection of going directly
When survey, directly determines a Minimal Flight Path around the non-straight pipe-line that non-straight locating pipeling unit 162 navigates to, generate unmanned plane boat
It is sent to central processing unit 14 to information, and by unmanned plane course information.
Referring to attached drawing 5, grading forewarning system module 17 includes warning grade setup unit 171,172 and of standby signal setup unit
Warning information setting unit 173；Warning grade setup unit 171 is connect with standby signal setup unit 172, warning grade setting
Unit 171 is used to be set according to the multistage warning grade set for setting multistage warning grade, standby signal setup unit 172
The corresponding standby signal of each grade is set, standby signal setup unit 172 is connect with warning information setting unit 173, warning information
Setting unit 173 is also connect with central processing unit 14, and warning information setting unit 173 is according to scene image information to pipeline exception
Situation carries out warning grade delimitation, and sends warning information to central processing unit 14 according to preset standby signal.
Specifically, standby signal is color, scintillation time and the adjustable LED signal of flashing times.Standby signal uses LED
Signal, such as the green three kinds of colors of reddish yellow, point long flicker (3 seconds primary) and short flicker (1 second primary), three vice-minister flicker five short sudden strains of a muscle
Bright, several colors can be arranged if necessary to the identification of more multi-grade in the above permutation and combination, at least six kinds of grades or 12 kinds of grades more
LED light, the mode of flicker can length or short length do not do unified restriction herein with specific reference to needing to set.
Referring to attached drawing 6, dispatching control center 2 includes the second wireless communication module 20, control terminal server 21, monitor 22
With repairing task generation module 23, the second wireless communication module 20 and the first wireless communication module 19 communicate to connect, and second is wireless
Communication module 20 receive the temperature anomaly information that the first wireless communication module 19 sends, Abnormal acoustic wave information, abnormal smog information,
Scene image information, unmanned plane course information, warning information and warning information；Second wireless communication module 20 and control terminal service
Device 21 connects, and control terminal server 21 is connect with monitor 22,22 displaying scene image information of monitor and unmanned plane heading device
Breath；Control terminal server 21 is also connect with repairing task generation module 23, and repairing task generation module 23 is believed according to temperature anomaly
Breath, Abnormal acoustic wave information, abnormal smog information, scene image information, unmanned plane course information, warning information and warning information system
Determine pipe first-aid task, repairing task generation module 23 is connect with pipe first-aid vehicle 3, and repairing task generation module 23 robs pipeline
The task of repairing is sent to the pipe first-aid vehicle 3 nearest apart from abnormal position.
Referring to attached drawing 7, pipe first-aid vehicle 3 includes cab signal transceiver 30 and Vehicular video playback equipment 31, vehicle-mounted
Signal sending and receiving equipment 30 is connect with the second wireless communication module 20, and cab signal transceiver 30 receives repairing task generation module
The 23 pipe first-aid tasks sent, cab signal transceiver 30 are connect with Vehicular video playback equipment 31, and Vehicular video plays
Equipment 31 plays scene image information；It is communicated to connect by cab signal transceiver 30 between multiple pipe first-aid vehicles 3.
It is provided in this embodiment based on unmanned plane natural gas line monitoring system can by pipe detection, scheduling controlling with
Three aspects of pipe first-aid connect, and realize multi-parameter pipeline on-line checking, testing result reports in time, and to problem pipe
Section in time remedy by repairing, to the completion Monitoring Pinpelines task of efficiently and accurately, while can between the pipe first-aid vehicle of different location
Real-time Communication for Power realizes multi-party linkage and supports, and coordination and response is rapid, and approaching pipeline using unmanned plane carries out information collection, passes through
The various monitoring measures such as temperature, sound wave, image confirm accident, testing result caused by avoiding single mode from detecting jointly
The inaccurate and incomplete problem of information, information gathering process are more safe and reliable, when abnormal can be fast detecting that pipeline is deposited
Speed completes information reporting and repairing work, ensure that the safety of natural gas line.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of natural gas line based on unmanned plane monitors system, which is characterized in that including
Pipe detection unmanned plane (1), the pipe detection unmanned plane (1) approach pipeline into trip temperature, sound wave and Smoke Detection, and
Floor image sends image scene, warning information and location information when detecting exception information and generates multistage early warning
Information；
Dispatching control center (2), the pipe detection unmanned plane (1) communicate to connect with the dispatching control center (2), the tune
It spends control centre (2) and receives image scene, warning information, location information and multistage that the pipe detection unmanned plane (1) sends
Warning information, the dispatching control center (2) show the image image scene that simultaneously basis receives of unmanned plane shooting, alarm signal
Breath, location information and multistage warning information generate repairing mission bit stream, and send the repairing mission bit stream；And
Multiple pipe first-aid vehicles (3), the dispatching control center (2) communicates to connect with multiple pipe first-aid vehicles (3), described
Pipe first-aid vehicle (3) receives repairing mission bit stream, and executes repairing task, and multiple pipe first-aid vehicles according to image scene
(3) communication connection between each other.
2. a kind of natural gas line based on unmanned plane monitors system according to claim 1, which is characterized in that the pipeline
Detecting unmanned plane (1) includes：
Infrared temperature sensor (10), the infrared temperature sensor (10) detect the temperature difference inside and outside natural gas line in real time,
It identifies the larger pipeline location of temperature difference, obtains temperature anomaly information；
Sonic sensor (11), whether detection natural gas line outside there are acoustic signals to the sonic sensor (11) in real time；
When detect there are acoustic signals when, analyze the intensity of acoustic signals, obtain Abnormal acoustic wave information；
Photoelectric smoke sensor (12), acquisition pipeline outside whether there is smog to the photoelectric smoke sensor (12) in real time；When
There are, for detecting smokescope, obtain abnormal smog information when smog；
Image processing module (13), described image processing module (13) acquire the image information around natural gas line, catch in real time
The abnormal image occurred in image is obtained, and processing is marked to abnormal image, obtains scene image information；
Central processing unit (14), the infrared temperature sensor (10), sonic sensor (11), photoelectric smoke sensor (12) and
Image processing module (13) is electrically connected with the central processing unit (14), and the central processing unit (14) receives and processes described
Temperature anomaly information, Abnormal acoustic wave information, abnormal smog information and scene image information, the central processing unit (14) will be described
Temperature anomaly information, Abnormal acoustic wave information, abnormal smog information and scene image information are compared with predetermined threshold value, when described
When live actual monitoring value is more than predetermined threshold value, warning information is sent；
Alarm (15), the central processing unit (14) connect with the alarm (15), described in alarm (15) reception
Warning information simultaneously sends out alarm and reminding；
Course locating module (16), the central processing unit (14) connect with the course locating module (16), and the course is fixed
Position module (16) positions unmanned plane position in real time, and is positioned to the non-straight pipe-line in along pipeline, occurs in pipeline
Exception need to go directly certain point detection when, the course locating module (16) bypasses the non-straight pipe-line navigated to and directly determines one most
Short course line generates unmanned plane course information, and the unmanned plane course information is sent to the central processing unit (14)；
Grading forewarning system module (17), the central controller (14) connect with the grading forewarning system module (17), and the classification is pre-
Alert module (17) carries out warning grade delimitation according to scene image information to pipeline abnormal conditions, and according to preset standby signal
Send out warning information；
Power supply (18), the power supply (18) are powered for entire pipe detection unmanned plane (1)；And
First wireless communication module (19), the central processing unit (14) and the dispatching control center (2) are with described first
Wireless communication module (19) connect, first wireless communication module (19) by the temperature anomaly information, Abnormal acoustic wave information,
Abnormal smog information, scene image information, unmanned plane course information, warning information and warning information are sent to the scheduling controlling
Center (2).
3. a kind of natural gas line based on unmanned plane monitors system according to claim 2, which is characterized in that described image
Processing module (13) includes camera (131), abnormal image capturing unit (132) and image processing unit (133)；
The camera (131) is electrically connected with the abnormal image capturing unit (132), and the camera (131) is for acquiring
Pipeline image information；The abnormal image capturing unit (132) is used for the abnormal image occurred in capture images information, institute
Abnormal image capturing unit (132) is stated to be electrically connected with described image processing unit (133)；Described image processing unit (133) is right
Abnormal image is marked processing, generates scene image information, described image processing unit (133) also with the central processing unit
(14) it is electrically connected, the scene image information is sent to the central processing unit (14) by described image processing unit (133).
4. a kind of natural gas line based on unmanned plane monitors system according to claim 2, which is characterized in that the course
Locating module (16) includes real-time positioning unit (161), non-straight locating pipeling unit (162) and course planning unit (163)；
The real-time positioning unit (161) is electrically connected with the non-straight locating pipeling unit (162), the real-time positioning unit
(161) unmanned plane position information is obtained in real time；The non-straight locating pipeling unit (162) is to the non-straight tube in along pipeline
Line is positioned, and the non-straight locating pipeling unit (162) is electrically connected with the course planning unit (163)；The course rule
Unit (163) is drawn when pipeline appearance exception needs to go directly certain point detection, is positioned around the non-straight locating pipeling unit (162)
The non-straight pipe-line arrived directly determines a Minimal Flight Path, generates unmanned plane course information, and unmanned plane course information is sent to
The central processing unit (14).
5. a kind of natural gas line based on unmanned plane monitors system according to claim 2, which is characterized in that the classification
Warning module (17) includes warning grade setup unit (171), standby signal setup unit (172) and warning information setting unit
(173)；
The warning grade setup unit (171) connect with the standby signal setup unit (172), the warning grade setting
Unit (171) is used for pre- according to the multistage set for setting multistage warning grade, the standby signal setup unit (172)
The corresponding standby signal of each grade is arranged in alert grade, and the standby signal setup unit (172) and warning information setting are single
First (173) connection, the warning information setting unit (173) also connect with the central processing unit (14), the warning information
Setting unit (173) carries out warning grade delimitation according to scene image information to pipeline abnormal conditions, and according to preset prompt
Signal sends warning information to central processing unit (14).
6. a kind of natural gas line based on unmanned plane monitors system according to claim 5, which is characterized in that the prompt
Signal color, scintillation time and the adjustable LED signal of flashing times in order to control.
7. a kind of natural gas line based on unmanned plane monitors system according to claim 1, which is characterized in that the scheduling
Control centre (2) includes that the second wireless communication module (20), control terminal server (21), monitor (22) and repairing task generate
Module (23), second wireless communication module (20) communicate to connect with first wireless communication module (19), and described second
Wireless communication module (20) receives the temperature anomaly information, the Abnormal acoustic wave letter that first wireless communication module (19) sends
Breath, abnormal smog information, scene image information, unmanned plane course information, warning information and warning information；Second channel radio
News module (20) is connect with the control terminal server (21), and the control terminal server (21) connects with the monitor (22)
It connects, the monitor (22) shows the scene image information and unmanned plane course information；The control terminal server (21) is also
It is connect with the repairing task generation module (23), the repairing task generation module (23) is according to temperature anomaly information, sound wave
Exception information, abnormal smog information, scene image information, unmanned plane course information, warning information and warning information formulate pipeline
Repairing task, the repairing task generation module (23) connect with the pipe first-aid vehicle (3), the repairing task generation module
(23) pipe first-aid task is sent to the pipe first-aid vehicle (3) nearest apart from abnormal position.
8. a kind of natural gas line based on unmanned plane monitors system according to claim 1, which is characterized in that the pipeline
Breakdown van (3) includes cab signal transceiver (30) and Vehicular video playback equipment (31), the cab signal transceiver
(30) it is connect with second wireless communication module (20), the cab signal transceiver (30) receives the repairing task life
At the pipe first-aid task that module (23) is sent, the cab signal transceiver (30) and the Vehicular video playback equipment
(31) it connects, the Vehicular video playback equipment (31) plays the scene image information；Multiple pipe first-aid vehicle (3) phases
It is communicated to connect by the respective cab signal transceiver (30) between mutually.
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Application publication date: 20180921 |