CN113970074B - Method and system for performing leak-proof detection on natural gas pipeline and unmanned aerial vehicle - Google Patents
Method and system for performing leak-proof detection on natural gas pipeline and unmanned aerial vehicle Download PDFInfo
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- CN113970074B CN113970074B CN202111487302.2A CN202111487302A CN113970074B CN 113970074 B CN113970074 B CN 113970074B CN 202111487302 A CN202111487302 A CN 202111487302A CN 113970074 B CN113970074 B CN 113970074B
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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
- F17D5/005—Protection or supervision of installations of gas pipelines, e.g. alarm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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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
- F17D5/06—Preventing, monitoring, or locating loss using electric or acoustic means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/30—Use of alternative fuels, e.g. biofuels
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Abstract
The application discloses a method, system and unmanned aerial vehicle for leak protection detection to natural gas pipeline, the method includes: acquiring first temperature sample point data T1, first pressure sample point data P1, second temperature sample point data T2, second pressure sample point data P2, third temperature sample point data T3, third pressure sample point data P3, fourth temperature sample point data T4 and fourth pressure sample point data P4; calculating the data according to a set anti-leakage algorithm to obtain a calculation result; judging whether the calculation result is in a set judging range, if so, judging that natural gas leakage exists between the first sampling point and the second sampling point; if not, judging that no natural gas leakage exists between the first sampling point and the second sampling point, and alarming through an alarming unit connected with the processing unit. By adopting the method provided by the application to carry out leakage detection on the natural gas pipeline, whether the corresponding natural gas pipeline has leakage or not can be effectively and accurately judged.
Description
Technical Field
The application belongs to the technical field of natural gas pipeline safety, and particularly relates to a method, a system, an unmanned aerial vehicle and a storage medium for leak-proof detection of a natural gas pipeline.
Background
Natural gas is a common fuel, and along with the development of the times, the use of the natural gas is more and more popular, and the natural gas is usually transported by adopting a special natural gas pipeline, so that the natural gas brings great convenience to the life of people, and meanwhile, the natural gas brings great potential safety hazard. For example, natural gas pipelines are broken, so that natural gas leaks, and when the concentration is high, the natural gas pipelines can cause poisoning of a human body and further can cause explosion risks.
In addition, the laying amount of various natural gas pipelines is also larger and larger, and a part of pipelines are erected outside a high-rise building, so that the laying height and the coverage area are wide, and the manual detection is extremely difficult. And the natural gas station is in rare places of people, and part of natural gas stations have realized unmanned functions under the promotion of energy conservation and efficiency improvement and the Internet of things. Specifically, unattended refers to achieving an attended goal by an unmanned aerial vehicle having various detection instruments and sensors. Through collocation corresponding sensor on unmanned aerial vehicle to control unmanned aerial vehicle flies to the check point of settlement, just can realize preventing leaking the detection to natural gas line.
However, the existing detection method has the problems of missing report or misreport of natural gas leakage and the like, i.e. the existing technology cannot accurately judge whether the natural gas pipeline leaks or not.
Accordingly, the prior art is still to be improved and developed.
Disclosure of Invention
The embodiment of the application provides a method, a system, an unmanned aerial vehicle and a storage medium for leak-proof detection of a natural gas pipeline, which can solve the problem that whether the natural gas pipeline leaks or not can not be judged with high precision in the prior art.
In a first aspect, the present application provides a method for leak-proof detection of a natural gas pipeline, the method being applied to a drone, the method comprising the steps of:
sampling point collection is carried out on a set first sampling point and a set second sampling point through a collection unit of the unmanned aerial vehicle to obtain a plurality of sampling point data, wherein the collection unit comprises a first temperature sensor and a first pressure sensor, the temperature sampling point data of the outer wall of the natural gas pipeline corresponding to the first sampling point is collected through the first temperature sensor and recorded as a first temperature sampling point data T1, and the pressure sampling point data of the outer wall of the natural gas pipeline corresponding to the first sampling point is collected through the first pressure sensor and recorded as a first pressure sampling point data P1; collecting temperature sample point data of the outer wall of the natural gas pipeline corresponding to the second sampling point through the first temperature sensor, recording the temperature sample point data as second temperature sample point data T2, collecting pressure sample point data of the outer wall of the natural gas pipeline corresponding to the second sampling point through the first pressure sensor, and recording the pressure sample point data as second pressure sample point data P2;
Acquiring temperature sample point data of the inner wall of the natural gas pipeline corresponding to a first sampling point through a second temperature sensor positioned in the natural gas pipeline, recording the temperature sample point data as third temperature sample point data T3, acquiring pressure sample point data of the inner wall of the natural gas pipeline corresponding to the first sampling point through a second pressure sensor positioned in the natural gas pipeline, and recording the pressure sample point data as third pressure sample point data P3; acquiring temperature sample point data of the inner wall of the natural gas pipeline corresponding to a second sampling point through a third temperature sensor positioned in the natural gas pipeline, recording the temperature sample point data as fourth temperature sample point data T4, and acquiring pressure sample point data of the inner wall of the natural gas pipeline corresponding to a second sampling point through a third pressure sensor positioned in the natural gas pipeline, and recording the pressure sample point data as fourth pressure sample point data P4;
the signal transmission connection between the unmanned aerial vehicle and the second temperature sensor, the second pressure sensor, the third temperature sensor and the third pressure sensor is established through a communication unit, so that third temperature sample data T3, third pressure sample data P4, fourth temperature sample data T4 and fourth pressure sample data P4 are sent to a processing unit of the unmanned aerial vehicle;
The processing unit performs leakage judgment on the first temperature sample point data T1, the first pressure sample point data P1, the second temperature sample point data T2, the second pressure sample point data P2, the third temperature sample point data T3, the third pressure sample point data P3, the fourth temperature sample point data T4 and the fourth pressure sample point data P4 according to a set leakage detection algorithm, wherein the leakage detection algorithm is as follows:
in the above formula, Q represents the calculation result, ln represents the logarithm based on a constant e, abs (X) function represents the absolute value of calculation X, max function represents the maximum of the two numbers selected, min function represents the minimum of the two numbers selected, K represents a constant calculated from the standard atmospheric pressure P0, the natural gas density ρ and the natural gas friction coefficient λ, and L represents the distance between the first sampling point and the second sampling point;
judging whether the calculation result is in a set judging range, if so, judging that natural gas leakage exists between the first sampling point and the second sampling point; if not, judging that no natural gas leakage exists between the first sampling point and the second sampling point, and alarming through an alarming unit connected with the processing unit.
As another alternative scheme of this application, unmanned aerial vehicle includes the route control unit, through route control unit control unmanned aerial vehicle flies to first sampling point and second sampling point, route control unit and a camera communication connection, through the camera acquires the barrier in real time to control unmanned aerial vehicle avoids the barrier.
As another alternative of the present application, the step of collecting sample data of an outer wall of a natural gas pipeline includes:
collecting a plurality of temperature sample point data for a first sampling point by the first temperature sensor for a plurality of times according to a set time interval, and collecting a plurality of pressure sample point data for the first sampling point by the first pressure sensor for a plurality of times according to the set time interval;
calculating an average value and a median of a plurality of temperature sample data, and taking the maximum one of the average value and the median as the first temperature sample data T1; calculating the average value and the median of the plurality of pressure sample point data, and taking the maximum value of the average value and the median as the first pressure sample point data P1;
accordingly, the second temperature sample data T2, the second pressure sample data P2, the third temperature sample data T3, the third pressure sample data P3, the fourth temperature sample data T4, and the fourth pressure sample data P4 are determined according to the above steps.
As another alternative of the present application, the time interval is calculated as follows:
T N+1 ＝(T N +t)/lnt；
in the above, T N+1 Representing the second time interval, T N And representing the first time interval, wherein N represents the times of the time interval, and t represents a set frequency value, wherein t is a real number larger than 1.
As another alternative of the present application, the set determination range is [ -2.30, -1.20].
As another alternative of the present application, the step of alarming by an alarm unit connected to the processing unit includes:
the processing unit sends a closing instruction to a first electromagnetic valve positioned at the first sampling point so as to control the first electromagnetic valve to be closed;
and the processing unit sends a closing instruction to a second electromagnetic valve positioned at the second sampling point so as to control the second electromagnetic valve to be closed.
As another alternative to the present application, the constant K is calculated according to the following formula:
k= (λ·p0)/ρ0, P0 represents the standard atmospheric pressure, ρ represents the natural gas density, λ represents the natural gas friction coefficient.
In a second aspect, the present application also provides a system for leak-proof detection of a natural gas pipeline, the system comprising:
the first acquisition module is used for acquiring the set first sampling point and second sampling point through the acquisition unit of the unmanned aerial vehicle to obtain a plurality of sampling point data, wherein the acquisition unit comprises a first temperature sensor and a first pressure sensor, the temperature sampling point data of the outer wall of the natural gas pipeline corresponding to the first sampling point is acquired through the first temperature sensor and recorded as first temperature sampling point data T1, and the pressure sampling point data of the outer wall of the natural gas pipeline corresponding to the first sampling point is acquired through the first pressure sensor and recorded as first pressure sampling point data P1; collecting temperature sample point data of the outer wall of the natural gas pipeline corresponding to the second sampling point through the first temperature sensor, recording the temperature sample point data as second temperature sample point data T2, collecting pressure sample point data of the outer wall of the natural gas pipeline corresponding to the second sampling point through the first pressure sensor, and recording the pressure sample point data as second pressure sample point data P2;
The second acquisition module is used for acquiring temperature sample point data of the inner wall of the natural gas pipeline corresponding to the first sampling point through a second temperature sensor positioned in the natural gas pipeline, recording the temperature sample point data as third temperature sample point data T3, acquiring pressure sample point data of the inner wall of the natural gas pipeline corresponding to the first sampling point through a second pressure sensor positioned in the natural gas pipeline, and recording the pressure sample point data as third pressure sample point data P3; acquiring temperature sample point data of the inner wall of the natural gas pipeline corresponding to a second sampling point through a third temperature sensor positioned in the natural gas pipeline, recording the temperature sample point data as fourth temperature sample point data T4, and acquiring pressure sample point data of the inner wall of the natural gas pipeline corresponding to a second sampling point through a third pressure sensor positioned in the natural gas pipeline, and recording the pressure sample point data as fourth pressure sample point data P4;
the communication connection module is used for establishing signal transmission connection between the unmanned aerial vehicle and the second temperature sensor, the second pressure sensor, the third temperature sensor and the third pressure sensor through a communication unit so as to send third temperature sample point data T3, third pressure sample point data P4, fourth temperature sample point data T4 and fourth pressure sample point data P4 to a processing unit of the unmanned aerial vehicle;
The computing module is configured to perform leak judgment on the first temperature sample data T1, the first pressure sample data P1, the second temperature sample data T2, the second pressure sample data P2, the third temperature sample data T3, the third pressure sample data P3, the fourth temperature sample data T4, and the fourth pressure sample data P4 according to a set leak detection algorithm, where the leak detection algorithm is:
in the above formula, Q represents the calculation result, ln represents the logarithm based on a constant e, abs (X) function represents the absolute value of calculation X, max function represents the maximum of the two numbers selected, min function represents the minimum of the two numbers selected, K represents a constant calculated from the standard atmospheric pressure P0, the natural gas density ρ and the natural gas friction coefficient λ, and L represents the distance between the first sampling point and the second sampling point;
the judging module is used for judging whether the calculation result is in a set judging range, if so, judging that natural gas leakage exists between the first sampling point and the second sampling point; if not, judging that no natural gas leakage exists between the first sampling point and the second sampling point, and alarming through an alarming unit connected with the processing unit.
In a third aspect, the present application also provides a drone comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, the processor implementing the method of leak detection of a natural gas pipeline when the computer program is executed.
In a fourth aspect, the present application also provides a computer readable storage medium storing a computer program comprising program instructions which, when executed by a processor, cause the processor to perform a method of leak-proof detection of a natural gas pipeline as described.
By adopting the method provided by the application, the leakage detection is carried out on the natural gas pipeline, whether the corresponding natural gas pipeline leaks or not can be effectively and accurately judged, and an alarm instruction can be sent when the natural gas pipeline leaks, so that related personnel are reminded to process as soon as possible, and the further leakage of the natural gas is effectively prevented.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for leak-proof testing of natural gas pipelines in accordance with a preferred embodiment of the present invention.
FIG. 2 is a block diagram of a system for leak-proof testing of natural gas pipelines in accordance with a preferred embodiment of the present invention.
Fig. 3 is a block diagram of an internal structure of the unmanned aerial vehicle according to a preferred embodiment of the present invention.
Detailed Description
The present invention provides a method, a system, an unmanned aerial vehicle and a storage medium for leak-proof detection of a natural gas pipeline, so that the features and advantages of the present application can be more clearly and easily understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and obviously, the described embodiments are only some embodiments, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the accompanying claims.
In the description of the embodiments of the present application, it is to be understood that in the description of the present application, unless otherwise indicated, "a plurality" means two or more. "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: there are three cases where a alone exists, while a and B alone exist. The character "/" generally indicates that the context-dependent object is an "or" relationship.
It should be noted that the method provided by the invention needs to be used with an unmanned aerial vehicle or a robot provided with related sensors, and the corresponding sensors also need to be installed on a natural gas pipeline.
Referring to fig. 1, fig. 1 is a flowchart of a method for leak-proof detection of a natural gas pipeline according to a preferred embodiment of the present invention, the method being applied to a unmanned aerial vehicle, the method comprising the steps of:
s101, sampling point collection is carried out on a set first sampling point and a set second sampling point through an acquisition unit of the unmanned aerial vehicle to obtain a plurality of sampling point data, wherein the acquisition unit comprises a first temperature sensor and a first pressure sensor, the temperature sampling point data of the outer wall of the natural gas pipeline corresponding to the first sampling point is collected through the first temperature sensor and recorded as first temperature sampling point data T1, and the pressure sampling point data of the outer wall of the natural gas pipeline corresponding to the first sampling point is collected through the first pressure sensor and recorded as first pressure sampling point data P1; and acquiring temperature sample point data of the outer wall of the natural gas pipeline corresponding to the second sampling point through the first temperature sensor, recording the temperature sample point data as second temperature sample point data T2, and acquiring pressure sample point data of the outer wall of the natural gas pipeline corresponding to the second sampling point through the first pressure sensor, and recording the pressure sample point data as second pressure sample point data P2.
In cities, most natural gas pipelines are paved on the outer wall of a high building, and the natural gas pipelines have the problems of difficult leakage detection, high detection difficulty and the like. The problems can be well solved by introducing unmanned aerial vehicles, wherein the unmanned aerial vehicle is called an Unmanned Aerial Vehicle (UAV) for short, and the unmanned aerial vehicle is a unmanned aerial vehicle which is controlled by using a radio remote control device and a self-contained program control device or is operated by a vehicle-mounted computer completely or intermittently and autonomously.
The invention firstly collects sample point data through the collecting unit, namely the first temperature sensor and the first pressure sensor, which are arranged on the unmanned plane. Specifically, the unmanned aerial vehicle is controlled to fly to a set first sampling point, and then sampling point collection is carried out on the first sampling point, specifically, temperature sampling point data of the outer wall of the natural gas pipeline is collected through a first temperature sensor and recorded as first temperature sampling point data T1, pressure sampling point data of the outer wall of the natural gas pipeline is collected through a first pressure sensor, and the data is recorded as first pressure sampling point data P1; next, controlling the unmanned aerial vehicle to fly to a set second sampling point, and then collecting the second sampling point, specifically, collecting temperature sample data of the outer wall of the natural gas pipeline through a first temperature sensor, recording the data as second temperature sample data T2, and also collecting the sample data of the outer wall of the natural gas pipeline through a first pressure sensor, and recording the data as second pressure sample data P2.
Since the unmanned aerial vehicle may encounter an obstacle in the flight process, the unmanned aerial vehicle comprises an air line control unit, and the unmanned aerial vehicle is controlled to fly to the first sampling point and the second sampling point through the air line control unit. The route control unit is in communication connection with a camera, and the obstacle is acquired in real time through the camera so as to control the unmanned aerial vehicle to avoid the obstacle. In the flight process, the unmanned aerial vehicle carries out video acquisition on surrounding buildings or trees and the like through the camera in real time and sends relevant videos to the route control unit, so that the route control unit can send an instruction for avoiding obstacles to the unmanned aerial vehicle according to the received videos.
Referring again to fig. 1, the method includes:
s102, acquiring temperature sample point data of the inner wall of the natural gas pipeline corresponding to a first sampling point through a second temperature sensor positioned in the natural gas pipeline, recording the temperature sample point data as third temperature sample point data T3, acquiring pressure sample point data of the inner wall of the natural gas pipeline corresponding to the first sampling point through a second pressure sensor positioned in the natural gas pipeline, and recording the pressure sample point data as third pressure sample point data P3; and acquiring temperature sample point data of the inner wall of the natural gas pipeline corresponding to a second sampling point through a third temperature sensor positioned in the natural gas pipeline, recording the temperature sample point data as fourth temperature sample point data T4, and acquiring pressure sample point data of the inner wall of the natural gas pipeline corresponding to the second sampling point through a third pressure sensor positioned in the natural gas pipeline, and recording the pressure sample point data as fourth pressure sample point data P4.
Various sensors are provided in existing natural gas pipelines, such as a speed sensor for collecting the flow rate of natural gas, a humidity sensor for collecting the humidity of natural gas, and the like. According to the invention, temperature sample point data of the inner wall of the natural gas pipeline is obtained through a second temperature sensor arranged in the first sampling point, and the data is recorded as third temperature sample point data T3; the invention also obtains pressure sample point data of the inner wall of the natural gas pipeline through a second pressure sensor arranged at the first sampling point, and records the data as third pressure sample point data P3; the invention also obtains temperature sample point data of the inner wall of the natural gas pipeline through a third temperature sensor arranged in the second sampling point, and records the data as fourth temperature sample point data T4; the invention also obtains the pressure sample point data of the inner wall of the natural gas pipeline through the third pressure sensor arranged at the second sampling point, and records the data as fourth pressure sample point data P4.
Through the mode, the temperature sampling point data and the pressure sampling point data can be acquired from the first sampling point and the second sampling point in real time.
In order to ensure the reliability of the sample data, the invention preferably adopts the following mode to collect the sample data:
First, the first temperature sensor collects a plurality of temperature sample point data for a first sampling point a plurality of times according to a set time interval, and the first pressure sensor collects a plurality of pressure sample point data for the first sampling point a plurality of times according to the set time interval. The time interval may be user-defined, for example, set to 10S, or set to 15S, etc.
More preferably, the time interval is calculated as follows: t (T) N+1 ＝(T N +t)/lnt；
In the above, T N+1 Representing the second time interval, T N And representing the first time interval, wherein N represents the times of the time interval, and t represents a set frequency value, wherein t is a real number larger than 1. That is, the time interval between the second sampling and the first sampling is closely related to the frequency value set by the user, so that the accuracy of sampling can be ensured, the accuracy is improved, the error is reduced, and the subsequent calculation result is more accurate.
After obtaining a plurality of temperature sample point data and a plurality of pressure sample point data, calculating an average value and a median of the plurality of temperature sample point data, calculating an average value and a median of the plurality of pressure sample point data, and taking the maximum one of the two as the first temperature sample point data T1; and taking the maximum one of the two as the first pressure sampling point data P1. In this way, the most accurate first temperature sample data T1, and first pressure sample data P1 can be obtained.
Of course, the second temperature sample data T2, the second pressure sample data P2, the third temperature sample data T3, the third pressure sample data P3, the fourth temperature sample data T4, and the fourth pressure sample data P4 may be determined according to the above steps. In this way, the obtained first temperature sample data T1, first pressure sample data P1, second temperature sample data T2, second pressure sample data P2, third temperature sample data T3, third pressure sample data P3, fourth temperature sample data T4, and fourth pressure sample data P4 are all the most accurate sample data.
Referring again to fig. 1, the method includes:
s103, signal transmission connection between the unmanned aerial vehicle and the second temperature sensor, the second pressure sensor, the third temperature sensor and the third pressure sensor is established through a communication unit, so that third temperature sample data T3, third pressure sample data P4, fourth temperature sample data T4 and fourth pressure sample data P4 are sent to a processing unit of the unmanned aerial vehicle.
Because the acquisition unit (the first temperature sensor and the first pressure sensor) is connected with the processing unit in the unmanned aerial vehicle, for facilitating subsequent calculation, the unmanned aerial vehicle is required to be in signal connection with the second temperature sensor, the second pressure sensor, the third temperature sensor and the third pressure sensor through a communication unit. The communication unit may in particular be a bluetooth or a wireless network or the like. After the communication connection is completed, the second temperature sensor, the second pressure sensor, the third temperature sensor and the third pressure sensor can send the third temperature sample point data T3, the third pressure sample point data P4, the fourth temperature sample point data T4 and the fourth pressure sample point data P4 to the processing unit of the unmanned aerial vehicle through the communication unit.
Referring again to fig. 1, the method includes:
s104, the processing unit judges leakage of the first temperature sample point data T1, the first pressure sample point data P1, the second temperature sample point data T2, the second pressure sample point data P2, the third temperature sample point data T3, the third pressure sample point data P3, the fourth temperature sample point data T4 and the fourth pressure sample point data P4 according to a set leakage detection algorithm, wherein the leakage detection algorithm is as follows:
in the above expression, Q represents the calculation result, ln represents the logarithm based on the constant e, abs (X) function represents the absolute value of the calculation X, max function represents the maximum of the two numbers selected, min function represents the minimum of the two numbers selected, K represents the constant calculated from the standard atmospheric pressure P0, the natural gas density ρ and the natural gas friction coefficient λ, and L represents the distance between the first sampling point and the second sampling point. After the processing unit obtains the first temperature sample data T1, the first pressure sample data P1, the second temperature sample data T2, the second pressure sample data P2, the third temperature sample data T3, the third pressure sample data P3, the fourth temperature sample data T4, and the fourth pressure sample data P4, the processing unit can calculate according to the above leak detection algorithm (formula) and obtain a corresponding calculation result. Since the solenoid valve and the associated sensor are placed at fixed distance intervals in the natural gas pipeline, the distance L between the first sampling point and the second sampling point can be calculated by the distance interval. It should be noted that, in order to calculate the flow velocity value of the natural gas at the first sampling point, the maximum value of the pressure at the sampling point and the minimum value of the temperature at the sampling point are selected, so that the influence of the temperature difference between the inner pipe wall and the outer pipe wall and the pressure difference can be eliminated on the whole, and a more accurate flow velocity value is calculated. By calculating the absolute value of the flow velocity difference between the two sampling points and carrying out logarithmic operation, the flow velocity change result of the two sampling points can be obtained, and therefore whether the problem of natural gas leakage exists between the two sampling points is judged according to the change result.
As another alternative to the present application, the constant K is calculated according to the following formula:
k= (λ·p0)/ρ0, P0 represents the standard atmospheric pressure, ρ represents the natural gas density, λ represents the natural gas friction coefficient. Specifically, the natural gas density ρ and the standard atmospheric pressure P0 are fixed values, and the friction coefficient λ of different natural gases may be different, but generally not significantly different.
Referring again to fig. 1, the method includes:
s105, judging whether the calculation result is in a set judging range, if so, judging that natural gas leakage exists between the first sampling point and the second sampling point; if not, judging that no natural gas leakage exists between the first sampling point and the second sampling point, and alarming through an alarming unit connected with the processing unit.
After the calculation result is obtained in the step S104, the calculation result may be compared with the set determination range, so as to determine whether there is a natural gas leak between the two sampling points. Through a plurality of tests, test personnel find that the determination range is set to be [ -2.30, -1.20], so that the detection efficiency can be ensured, and the maximum precision can be obtained.
As another alternative of the present application, the step of alarming by an alarm unit connected to the processing unit includes:
The processing unit sends a closing instruction to a first electromagnetic valve positioned at the first sampling point so as to control the first electromagnetic valve to be closed; and the processing unit sends a closing instruction to a second electromagnetic valve positioned at the second sampling point so as to control the second electromagnetic valve to be closed.
In order to prevent further leakage of natural gas, it is therefore possible to control the first solenoid valve to close and the second solenoid valve to close by the processing unit until maintenance is completed.
As another alternative of the present invention, the unmanned aerial vehicle is further configured with a camera, and the camera has an infrared function, when it is determined that natural gas leaks between the first sampling point and the second sampling point, the camera is used to collect photos of the first sampling point and the sampling point, and the collected photos are fed back to the processing unit, and secondary verification is performed by the processing unit, so that the problem of misreporting is avoided. The specific verification mode is as follows: comparing the picture acquired by the camera with the picture of a normal pipeline (without leakage), and if the comparison value of the picture and the picture is within a set threshold value, indicating that false alarm occurs; if the comparison value of the two is not within the set threshold value, the false alarm is not generated. When error reporting occurs, the above-mentioned flow is aborted. Because the camera has an infrared function, the camera can still shoot the natural gas pipeline under the conditions of bad weather conditions and the like.
Referring to fig. 2, the present application further provides a system 10 for leak-proof detection of natural gas pipelines, the system 20 comprising:
a first obtaining module 11, configured to obtain a plurality of sample point data by performing sample point collection on a set first sampling point and a set second sampling point by using an collecting unit of the unmanned aerial vehicle, where the collecting unit includes a first temperature sensor and a first pressure sensor, collects temperature sample point data of an outer wall of the natural gas pipeline corresponding to the first sampling point by using the first temperature sensor, and records the temperature sample point data as first temperature sample point data T1, and collects pressure sample point data of the outer wall of the natural gas pipeline corresponding to the first sampling point by using the first pressure sensor, and records the temperature sample point data as first pressure sample point data P1; collecting temperature sample point data of the outer wall of the natural gas pipeline corresponding to the second sampling point through the first temperature sensor, recording the temperature sample point data as second temperature sample point data T2, collecting pressure sample point data of the outer wall of the natural gas pipeline corresponding to the second sampling point through the first pressure sensor, and recording the pressure sample point data as second pressure sample point data P2;
a second obtaining module 12, configured to obtain, by using a second temperature sensor located in the natural gas pipeline, temperature sample point data of an inner wall of the natural gas pipeline corresponding to the first sampling point, and record the temperature sample point data as third temperature sample point data T3, and obtain, by using a second pressure sensor located in the natural gas pipeline, pressure sample point data of an inner wall of the natural gas pipeline corresponding to the first sampling point, and record the pressure sample point data as third pressure sample point data P3; acquiring temperature sample point data of the inner wall of the natural gas pipeline corresponding to a second sampling point through a third temperature sensor positioned in the natural gas pipeline, recording the temperature sample point data as fourth temperature sample point data T4, and acquiring pressure sample point data of the inner wall of the natural gas pipeline corresponding to a second sampling point through a third pressure sensor positioned in the natural gas pipeline, and recording the pressure sample point data as fourth pressure sample point data P4;
The communication connection module 13 is configured to establish signal transmission connection between the unmanned aerial vehicle and the second temperature sensor, the second pressure sensor, the third temperature sensor and the third pressure sensor through a communication unit, so as to send third temperature sample data T3, third pressure sample data P4, fourth temperature sample data T4 and fourth pressure sample data P4 to a processing unit of the unmanned aerial vehicle;
the calculating module 14 is configured to perform leak judgment on the first temperature sample data T1, the first pressure sample data P1, the second temperature sample data T2, the second pressure sample data P2, the third temperature sample data T3, the third pressure sample data P3, the fourth temperature sample data T4, and the fourth pressure sample data P4 according to a set leak detection algorithm, where the leak detection algorithm is:
in the above formula, Q represents the calculation result, ln represents the logarithm based on a constant e, abs (X) function represents the absolute value of calculation X, max function represents the maximum of the two numbers selected, min function represents the minimum of the two numbers selected, K represents a constant calculated from the standard atmospheric pressure P0, the natural gas density ρ and the natural gas friction coefficient λ, and L represents the distance between the first sampling point and the second sampling point;
The judging module 15 is configured to judge whether the calculation result is within a set judging range, if yes, determine that natural gas leakage exists between the first sampling point and the second sampling point; if not, judging that no natural gas leakage exists between the first sampling point and the second sampling point, and alarming through an alarming unit connected with the processing unit.
It should be noted that, in the system 10 for leak detection of a natural gas pipeline according to the foregoing embodiment, only the division of the functional units is described for illustration, and in practical application, the functional allocation may be performed by different functional units, that is, the internal structure of the device is divided into different functional units, so as to perform all or part of the functions described above. In addition, the system 1O for leak-proof detection of a natural gas pipeline and the method embodiments for obtaining and leak-proof detection of a natural gas pipeline belong to the same concept, and the implementation process is already discussed in detail in the steps of the method embodiments, so that no description is given.
Referring to fig. 3, the present invention further provides a drone 20, wherein the drone 20 includes a processor 210, a memory 220, and a computer program stored on the memory 220 and executable on the processor 210, and the method for acquiring and storing text content is implemented when the processor 210 executes the computer program.
The processor 210 may be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a single chip, ARM (Acorn RISC Machine) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof. Also, the processor 210 may be any conventional processor, microprocessor, or state machine. Processor 210 may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.
The memory 220 is used as a non-volatile computer readable storage medium for storing non-volatile software programs, non-volatile computer executable programs and units, such as program instructions corresponding to the blockchain-based payment information recording method in the embodiment of the present invention. The processor 210 performs various functional applications and data processing of the blockchain-based recording of payment information by running non-volatile software programs, instructions and units stored in the storage device, i.e., implements the blockchain-based recording of payment information method of the above-described method embodiments.
The specific technical details of implementing the above-mentioned unmanned aerial vehicle 20 when executing the computer program are already discussed in detail in the foregoing method steps, and thus are not described in detail.
The present invention also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program comprising program instructions which, when executed by a processor, cause the processor to perform the method of leak detection of a natural gas pipeline.
The computer readable storage medium may be an internal storage unit of the system according to any of the foregoing embodiments, for example, a hard disk or a memory of the system. The computer readable storage medium may also be an external storage device of the system, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the system. Further, the computer readable storage medium may also include both internal storage units and external storage devices of the system. The computer readable storage medium is used to store the computer program and other programs and data required by the system. The computer-readable storage medium may also be used to temporarily store data that has been output or is to be output.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps described in connection with the embodiments disclosed herein may be embodied in electronic hardware, in computer software, or in a combination of the two, and that the elements and steps of the examples have been generally described in terms of function in the foregoing description to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. In addition, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices, or elements, or may be an electrical, mechanical, or other form of connection.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment of the present invention.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention is essentially or a part contributing to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
While the invention has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (10)
1. A method of leak-proof detection of natural gas pipelines, the method being applied to an unmanned aerial vehicle, the method comprising the steps of:
sampling point collection is carried out on a set first sampling point and a set second sampling point through a collection unit of the unmanned aerial vehicle to obtain a plurality of sampling point data, wherein the collection unit comprises a first temperature sensor and a first pressure sensor, the temperature sampling point data of the outer wall of the natural gas pipeline corresponding to the first sampling point is collected through the first temperature sensor and recorded as a first temperature sampling point data T1, and the pressure sampling point data of the outer wall of the natural gas pipeline corresponding to the first sampling point is collected through the first pressure sensor and recorded as a first pressure sampling point data P1; collecting temperature sample point data of the outer wall of the natural gas pipeline corresponding to the second sampling point through the first temperature sensor, recording the temperature sample point data as second temperature sample point data T2, collecting pressure sample point data of the outer wall of the natural gas pipeline corresponding to the second sampling point through the first pressure sensor, and recording the pressure sample point data as second pressure sample point data P2;
Acquiring temperature sample point data of the inner wall of the natural gas pipeline corresponding to a first sampling point through a second temperature sensor positioned in the natural gas pipeline, recording the temperature sample point data as third temperature sample point data T3, acquiring pressure sample point data of the inner wall of the natural gas pipeline corresponding to the first sampling point through a second pressure sensor positioned in the natural gas pipeline, and recording the pressure sample point data as third pressure sample point data P3; acquiring temperature sample point data of the inner wall of the natural gas pipeline corresponding to a second sampling point through a third temperature sensor positioned in the natural gas pipeline, recording the temperature sample point data as fourth temperature sample point data T, acquiring pressure sample point data of the inner wall of the natural gas pipeline corresponding to a second sampling point through a third pressure sensor positioned in the natural gas pipeline, and recording the pressure sample point data as fourth pressure sample point data P4;
the signal transmission connection between the unmanned aerial vehicle and the second temperature sensor, the second pressure sensor, the third temperature sensor and the third pressure sensor is established through a communication unit, so that third temperature sample point data T3, third pressure sample point data P4, fourth temperature sample point data T and fourth pressure sample point data P are sent to a processing unit of the unmanned aerial vehicle;
The processing unit performs leakage judgment on the first temperature sample point data T1, the first pressure sample point data P1, the second temperature sample point data T2, the second pressure sample point data P2, the third temperature sample point data T3, the third pressure sample point data P3, the fourth temperature sample point data T and the fourth pressure sample point data P according to a set leakage detection algorithm, wherein the leakage detection algorithm is as follows:
in the above formula, Q represents the calculation result, ln represents the logarithm based on a constant e, abs (X) function represents the absolute value of calculation X, max function represents the maximum of the two numbers selected, min function represents the minimum of the two numbers selected, K represents a constant calculated from the standard atmospheric pressure P0, the natural gas density ρ and the natural gas friction coefficient λ, and L represents the distance between the first sampling point and the second sampling point;
judging whether the calculation result is in a set judging range, if so, judging that natural gas leakage exists between the first sampling point and the second sampling point; if not, judging that no natural gas leakage exists between the first sampling point and the second sampling point, and alarming through an alarming unit connected with the processing unit.
2. The method for leak detection of natural gas pipelines according to claim 1, wherein the unmanned aerial vehicle comprises a line control unit, the unmanned aerial vehicle is controlled to fly to the first sampling point and the second sampling point by the line control unit, the line control unit is in communication connection with a camera, and the camera is used for acquiring the obstacle in real time so as to control the unmanned aerial vehicle to avoid the obstacle.
3. The method of leak testing a natural gas pipeline of claim 1, wherein the step of collecting sample data from the outer wall of the natural gas pipeline comprises:
the first temperature sensor collects a plurality of temperature sample point data for a first sampling point for a plurality of times according to a set time interval, and the first pressure sensor collects a plurality of pressure sample point data for the first sampling point for a plurality of times according to the set time interval;
calculating an average value and a median of a plurality of temperature sample data, and taking the maximum one of the average value and the median as the first temperature sample data T1; calculating the average value and the median of the plurality of pressure sample point data, and taking the maximum value of the average value and the median as the first pressure sample point data P1;
accordingly, the second temperature sample data T2, the second pressure sample data P2, the third temperature sample data T3, the third pressure sample data P3, the fourth temperature sample data T4, and the fourth pressure sample data P40 are determined according to the above steps.
4. A method of leak-proof testing a natural gas pipeline according to claim 3, wherein the time interval is calculated as follows:
T N+1 ＝(T N +t)/lnt；
in the above, T N+1 Representing the second time interval, T N Represents the first time interval, N representsThe number of time intervals, t, represents a set frequency value, where t is a real number greater than 1.
5. A method of leak detection of a natural gas pipeline as defined in any one of claims 1 to 4, wherein the set determination range is [ -2.30, -1.20].
6. A method of leak detection of a natural gas pipeline according to any one of claims 1 to 4, wherein the step of alerting by an alerting unit connected to the processing unit comprises:
the processing unit sends a closing instruction to a first electromagnetic valve positioned at the first sampling point so as to control the first electromagnetic valve to be closed;
and the processing unit sends a closing instruction to a second electromagnetic valve positioned at the second sampling point so as to control the second electromagnetic valve to be closed.
7. The method for leak-proof testing of natural gas pipelines according to any one of claims 1 to 4, wherein the constant K is calculated according to the following formula:
k= (λ·p0)/ρ0, P0 represents the standard atmospheric pressure, ρ represents the natural gas density, λ represents the natural gas friction coefficient.
8. A system for leak-proof detection of natural gas pipelines, the system comprising:
The first acquisition module is used for acquiring the set first sampling point and second sampling point through the acquisition unit of the unmanned aerial vehicle to obtain a plurality of sampling point data, wherein the acquisition unit comprises a first temperature sensor and a first pressure sensor, the temperature sampling point data of the outer wall of the natural gas pipeline corresponding to the first sampling point is acquired through the first temperature sensor and recorded as first temperature sampling point data T1, and the pressure sampling point data of the outer wall of the natural gas pipeline corresponding to the first sampling point is acquired through the first pressure sensor and recorded as first pressure sampling point data P1; collecting temperature sample point data of the outer wall of the natural gas pipeline corresponding to the second sampling point through the first temperature sensor, recording the temperature sample point data as second temperature sample point data T2, collecting pressure sample point data of the outer wall of the natural gas pipeline corresponding to the second sampling point through the first pressure sensor, and recording the pressure sample point data as second pressure sample point data P2;
the second acquisition module is used for acquiring temperature sample point data of the inner wall of the natural gas pipeline corresponding to the first sampling point through a second temperature sensor positioned in the natural gas pipeline, recording the temperature sample point data as third temperature sample point data T3, acquiring pressure sample point data of the inner wall of the natural gas pipeline corresponding to the first sampling point through a second pressure sensor positioned in the natural gas pipeline, and recording the pressure sample point data as third pressure sample point data P3; acquiring temperature sample point data of the inner wall of the natural gas pipeline corresponding to a second sampling point through a third temperature sensor positioned in the natural gas pipeline, recording the temperature sample point data as fourth temperature sample point data T4, and acquiring pressure sample point data of the inner wall of the natural gas pipeline corresponding to a second sampling point through a third pressure sensor positioned in the natural gas pipeline, and recording the pressure sample point data as fourth pressure sample point data P4;
The communication connection module is used for establishing signal transmission connection between the unmanned aerial vehicle and the second temperature sensor, the second pressure sensor, the third temperature sensor and the third pressure sensor through a communication unit so as to send third temperature sample point data T3, third pressure sample point data P4, fourth temperature sample point data T4 and fourth pressure sample point data P4 to a processing unit of the unmanned aerial vehicle;
the calculation module is configured to perform leak judgment on the first temperature sample data T1, the first pressure sample data P1, the second temperature sample data T2, the second pressure sample data P2, the third temperature sample data T3, the third pressure sample data P3, the fourth temperature sample data T4, and the fourth pressure sample data P4 according to a set leak detection algorithm, where the leak detection algorithm is:
in the above formula, Q represents the calculation result, ln represents the logarithm based on a constant e, abs (X) function represents the absolute value of calculation X, max function represents the maximum of the two numbers selected, min function represents the minimum of the two numbers selected, K represents a constant calculated from the standard atmospheric pressure P0, the natural gas density ρ and the natural gas friction coefficient λ, and L represents the distance between the first sampling point and the second sampling point;
The judging module is used for judging whether the calculation result is in a set judging range, if so, judging that natural gas leakage exists between the first sampling point and the second sampling point; if not, judging that no natural gas leakage exists between the first sampling point and the second sampling point, and alarming through an alarming unit connected with the processing unit.
9. A drone comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the processor implementing a method of leak-proof detection of a natural gas pipeline as claimed in any one of claims 1 to 7 when the computer program is executed by the processor.
10. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program comprising program instructions which, when executed by a processor, cause the processor to perform the method of leak detection of a natural gas pipeline as claimed in any one of claims 1 to 7.
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