WO2016065626A1 - 一种气体泄漏的处理方法、装置及飞行器 - Google Patents

一种气体泄漏的处理方法、装置及飞行器 Download PDF

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Publication number
WO2016065626A1
WO2016065626A1 PCT/CN2014/090083 CN2014090083W WO2016065626A1 WO 2016065626 A1 WO2016065626 A1 WO 2016065626A1 CN 2014090083 W CN2014090083 W CN 2014090083W WO 2016065626 A1 WO2016065626 A1 WO 2016065626A1
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WIPO (PCT)
Prior art keywords
gas
concentration
aircraft
detecting
flight
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PCT/CN2014/090083
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English (en)
French (fr)
Inventor
王启光
李尧
赵永建
孙辉
郭元臻
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201480031248.2A priority Critical patent/CN105518377B/zh
Priority to PCT/CN2014/090083 priority patent/WO2016065626A1/zh
Publication of WO2016065626A1 publication Critical patent/WO2016065626A1/zh
Priority to US15/582,025 priority patent/US10520387B2/en

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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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M3/00—Investigating fluid-tightness of structures
    • G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
    • G01M3/04—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point
    • 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
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M3/00—Investigating fluid-tightness of structures
    • G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
    • G01M3/04—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point
    • G01M3/20—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point using special tracer materials, e.g. dye, fluorescent material, radioactive material
    • G01M3/22—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point using special tracer materials, e.g. dye, fluorescent material, radioactive material for pipes, cables or tubes; for pipe joints or seals; for valves; for welds; for containers, e.g. radiators
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/59—Transmissivity
    • G01N21/61—Non-dispersive gas analysers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/18—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
    • G08B13/189—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems
    • G08B13/194—Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength using passive radiation detection systems using image scanning and comparing systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B17/00—Fire alarms; Alarms responsive to explosion
    • G08B17/005—Fire alarms; Alarms responsive to explosion for forest fires, e.g. detecting fires spread over a large or outdoors area
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/02—Alarms for ensuring the safety of persons
    • G08B21/12—Alarms for ensuring the safety of persons responsive to undesired emission of substances, e.g. pollution alarms
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
    • G08B25/01—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium
    • G08B25/10—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium using wireless transmission systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B7/00—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00
    • G08B7/06—Signalling systems according to more than one of groups G08B3/00 - G08B6/00; Personal calling systems according to more than one of groups G08B3/00 - G08B6/00 using electric transmission, e.g. involving audible and visible signalling through the use of sound and light sources
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
    • 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
    • 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
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • 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
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B64U2101/31—UAVs specially adapted for particular uses or applications for imaging, photography or videography for surveillance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]

Definitions

  • the invention relates to the technical field of gas leakage detection, in particular to a method, a device and an aircraft for treating a gas leakage.
  • the transportation of gases such as natural gas is generally carried out in the form of pipes.
  • the pipes used need to have suitable strength and rigidity to ensure that the gas transmission pipes can withstand external forces, such as the pressure to withstand wind and snow accumulation, Soil pressure and even the force generated by earthquake disasters.
  • the existing leak detection of natural gas and other gas transmission pipelines is basically carried out by means of manual inspection, which is labor-intensive and is not conducive to pipeline gas leakage detection.
  • Embodiments of the present invention provide a method, a device, and an aircraft for processing a gas leak, which can automatically and intelligently complete the detection work of a target gas leak in a gas delivery pipeline.
  • an embodiment of the present invention provides a method for processing a gas leak, including:
  • the target gas concentration is greater than the preset concentration threshold, it is determined that a gas leak has occurred and the gas leak processing operation is performed.
  • the method before the detecting the concentration of the target gas in the environment at the corresponding position of the gas delivery pipeline during the moving along the gas delivery pipeline, the method further includes:
  • the moving detection device is controlled to move along the gas delivery conduit to perform the step of detecting the concentration of the target gas in the environment at the corresponding location of the gas delivery conduit during movement along the gas delivery conduit.
  • the movement detecting device comprises an aircraft for detecting a gas concentration
  • the controlling the movement detecting device to move along the gas conveying pipe comprises:
  • the aircraft is controlled to fly on a route indicated by the flight path information to facilitate movement of the aircraft along the delivery conduit.
  • the movement detecting device comprises an aircraft for detecting a gas concentration
  • the controlling the movement detecting device to move along the gas conveying pipe comprises:
  • controlling the movement detection device to move along the gas delivery pipeline further comprises:
  • the flight data of the aircraft is corrected according to the received calibration information
  • the flight data includes: a flight position, or a flight position and a flight attitude.
  • the detecting the concentration of the target gas in the environment at the corresponding position of the gas delivery pipeline during the moving along the gas delivery pipeline comprises:
  • the target gas concentration in the environment at the corresponding position of the gas delivery pipeline is detected according to a preset detection interval value
  • the preset detection interval value includes: a detection time interval value, or a moving distance interval value.
  • the detecting the concentration of the target gas in the environment at the corresponding position of the gas delivery pipeline during the moving along the gas delivery pipeline comprises:
  • the target gas concentration in the environment in which the gas delivery conduit is located at the location is detected.
  • the detecting the concentration of the target gas in the environment at the corresponding position of the gas delivery pipeline during the moving along the gas delivery pipeline comprises:
  • the target gas concentration of the environment in which the gas delivery pipeline is located at the current position is detected.
  • determining whether the detection trigger information is acquired includes:
  • the visual image is collected in real time, and if the collected visual image includes a pattern for indicating the target gas concentration detection, it is determined that the detection trigger information is acquired.
  • determining whether the detection trigger information is obtained including:
  • the movement detecting device is configured with a gas chamber exposed to the air, and the target gas concentration in the environment at the corresponding position of the detecting gas delivery pipe includes:
  • a gas analysis operation is performed on the gas in the plenum to determine a target gas concentration in the plenum.
  • the target gas comprises natural gas
  • the gas analysis operation comprises: a non-dispersive infrared gas analysis operation for performing concentration detection on the natural gas in the gas chamber.
  • determining that a gas leak occurs performing a gas leak processing operation, including:
  • target gas concentration is greater than a preset concentration threshold, it is determined that a gas leak occurs and an alarm prompt signal is issued;
  • the target gas concentration is greater than the preset concentration threshold, it is determined that a gas leak occurs, and a prompt signal carrying the position coordinates is transmitted.
  • the method before the detecting the target gas concentration in the environment at the corresponding position of the gas delivery pipeline, the method further includes:
  • the embodiment of the invention further provides a processing device for gas leakage, comprising:
  • a detecting module configured to detect a target gas concentration in an environment at a corresponding position of the gas conveying pipe during moving along the gas conveying pipe;
  • the processing module is configured to determine that a gas leak occurs and perform a gas leak processing operation if the target gas concentration is greater than a preset concentration threshold.
  • the method further includes: a control module, configured to control movement of the motion detecting device along the gas delivery conduit.
  • a control module configured to control movement of the motion detecting device along the gas delivery conduit.
  • the motion detecting device is an aircraft
  • the control module is specifically configured to generate flight path information according to the acquired installation position trajectory information of the gas transmission pipeline; and control the aircraft to fly on the route indicated by the flight path information, so as to facilitate the aircraft along the flight path The conveying pipe moves.
  • the motion detecting device is an aircraft
  • the control module is specifically configured to capture an image including a visual pattern disposed on the gas delivery conduit; and control the aircraft to fly along the gas delivery conduit according to a feature point on a visual pattern in the captured image .
  • control module is further configured to: when receiving the calibration information sent by the calibrator disposed on the gas delivery pipeline during the flight of the aircraft, correcting according to the received calibration information Flight data of the aircraft; the flight data includes: a flight position, or a flight position and a flight attitude.
  • the detecting module is configured to detect, in a process of moving along the gas conveying pipeline, a target gas concentration in an environment at a corresponding position of the gas conveying pipeline according to a preset detecting interval value;
  • the preset detection interval value includes: a detection time interval value, or a moving distance interval value.
  • the detecting module is specifically configured to detect, when moving along the gas conveying pipeline, whether the position indicated by the preset position coordinates is reached; if yes, the gas conveying pipeline is located at the position The target gas concentration in the environment is detected.
  • the detecting module is configured to determine whether the detection trigger information is acquired during the moving along the gas delivery pipeline; and if the detection trigger information is obtained, detecting that the gas delivery pipeline is located at the current location The target gas concentration of the environment.
  • the detecting module is configured to collect a visual image in real time during the moving along the gas conveying pipeline, and if the collected visual image includes a pattern for indicating the target gas concentration detection, determine the obtaining. To detect trigger information.
  • the detecting module is configured to determine that the detection trigger information is acquired if a wireless signal for indicating the target gas concentration detection is received during the moving along the gas delivery pipeline.
  • the device is connected to a gas chamber exposed to the air;
  • the detecting module is specifically configured to control the movement detecting device to be in a stationary state at a corresponding position; start timing when in a stationary state, and perform gas on the gas in the air chamber when the timing duration reaches a preset duration threshold The operation is analyzed to determine the target gas concentration in the plenum.
  • the detecting module is specifically configured to perform gas analysis on a non-dispersive infrared gas analysis operation for performing concentration detection on natural gas in the gas chamber.
  • the processing module is specifically configured to: if the target gas concentration is greater than a preset concentration threshold, determine that a gas leak occurs, and issue an alarm prompt signal; or if the target gas concentration is greater than a preset concentration threshold, determine to occur The gas leaks and sends a prompt signal carrying the position coordinates.
  • the device further includes: a temperature compensation module, configured to detect whether the ambient temperature is lower than a preset temperature threshold, and if yes, perform a temperature compensation operation.
  • a temperature compensation module configured to detect whether the ambient temperature is lower than a preset temperature threshold, and if yes, perform a temperature compensation operation.
  • an embodiment of the present invention provides an aircraft, including: a power component, a flight controller, and a gas detecting device; wherein:
  • the flight controller is configured to control a power output of the power component to move the aircraft along the gas delivery pipeline;
  • the gas detecting device is configured to detect a target gas concentration in an environment at a corresponding position of the gas conveying pipeline during the moving along the gas conveying pipeline; if the target gas concentration is greater than a preset concentration threshold, determine that a gas leak occurs, and execute Gas leak handling operation.
  • the flight controller is specifically configured to control a power output of the power component according to the installation position trajectory information of the gas delivery pipeline to facilitate movement of the aircraft along the transportation pipeline.
  • the aircraft further includes: an image acquisition device;
  • the image capture device is configured to collect an image of a visual pattern that has been previously set on the gas delivery conduit;
  • the flight controller is specifically configured to control the aircraft to fly along the gas delivery pipeline according to a feature point on a visual pattern in an image obtained by the image acquisition device.
  • the aircraft further includes: a communication device;
  • the communication device is configured to receive an external signal
  • the flight controller is specifically configured to control, according to the received calibration information, if the communication device receives the calibration information sent by the calibrator disposed on the gas delivery pipeline during the flight of the aircraft.
  • the power output of the power assembly to correct flight data of the aircraft; the flight data includes: a flight position, or a flight position and a flight attitude.
  • the gas detecting device is specifically configured to detect, in a process of moving along the gas conveying pipeline, a target gas concentration in an environment corresponding to the gas conveying pipeline according to a preset detection interval value.
  • the preset detection interval value includes: a detection time interval value, or a moving distance interval value.
  • the gas detecting device is specifically configured to detect, when moving along the gas conveying pipeline, whether the position indicated by the preset position coordinates is reached; if yes, the gas conveying pipeline at the position The target gas concentration in the environment is detected.
  • the gas detecting device is specifically configured to determine whether the detecting trigger information is acquired during the moving along the gas conveying pipeline; and if the detecting trigger information is acquired, detecting the gas conveying pipeline at the current position The target gas concentration of the environment.
  • the gas detecting device is specifically configured to collect a visual image in real time during moving along the gas conveying pipeline, and if the collected visual image includes a pattern for indicating target gas concentration detection, determining Get detection trigger information.
  • the gas detecting device is specifically configured to receive, during the moving along the gas conveying pipeline, a wireless signal indicating that the target gas concentration is detected during the moving along the gas conveying pipeline, Make sure to get the detection trigger information.
  • the gas detecting device is configured with a gas chamber exposed to the air, and the gas detecting device is specifically configured to control the motion detecting device to be in a stationary state at a corresponding position; and start timing when in a stationary state.
  • a gas analysis operation is performed on the gas in the plenum to determine a target gas concentration in the plenum.
  • the gas detecting device is specifically configured to: if the target gas concentration is greater than a preset concentration threshold, determine that a gas leak occurs, and issue an alarm prompt signal; or if the target gas concentration is greater than a preset concentration threshold, determine A gas leak occurs and a prompt signal carrying position coordinates is transmitted.
  • the aircraft further includes: a temperature compensation device configured to detect whether the ambient temperature is lower than a preset temperature threshold, and if yes, perform a temperature compensation operation.
  • a temperature compensation device configured to detect whether the ambient temperature is lower than a preset temperature threshold, and if yes, perform a temperature compensation operation.
  • the embodiment of the invention can move and detect the concentration of the target gas in the air, thereby determining whether a gas leakage accident occurs in the gas delivery pipeline, and can automatically complete corresponding operations such as alarm, position notification or even automatic plugging to satisfy the user's gas leakage.
  • the automated, intelligent requirements of the inspection reduce the cost of gas leak detection.
  • FIG. 1 is a schematic flow chart of a method for processing a gas leak according to an embodiment of the present invention
  • FIG. 2 is a schematic flow chart of another method for treating gas leakage according to an embodiment of the present invention.
  • FIG. 3 is a schematic flow chart of still another method for processing gas leakage according to an embodiment of the present invention.
  • FIG. 4 is a schematic flow chart of still another method for processing a gas leak according to an embodiment of the present invention.
  • FIG. 5 is a schematic flow chart of a method for controlling movement of a movement detecting device along a gas conveying pipe according to an embodiment of the present invention
  • FIG. 6 is a schematic flow chart of another method for controlling movement of a movement detecting device along a gas conveying pipe according to an embodiment of the present invention
  • FIG. 7 is a schematic structural view of a gas leakage processing apparatus according to an embodiment of the present invention.
  • FIG. 8 is a schematic structural view of another gas leakage treatment device according to an embodiment of the present invention.
  • FIG. 9 is a schematic structural view of an aircraft according to an embodiment of the present invention.
  • Embodiments of the present invention can automatically detect whether a gas delivery pipe leaks at a corresponding position according to user requirements during movement of the movement detecting device along the natural gas input pipe.
  • the motion detecting device includes: a UAV (Unmanned Aerial Vehicle), a remote control car, a remote control robot, and the like.
  • FIG. 1 is a schematic flowchart of a method for processing a gas leakage according to an embodiment of the present invention.
  • the method of the embodiment of the present invention may be implemented by a processor, where the method of the embodiment of the present invention includes :
  • the mobile detection device such as the UAV can be moved along the gas delivery pipe to be detected by manual remote control or automatic movement. Specifically, during automatic flight, based on data provided by distance sensors, image sensors, GPS positioning sensors, etc., the distance between the UAV and the gas delivery pipeline is always within a certain distance to achieve UAV flight along the gas transmission pipeline. .
  • the ambient gas at the position is triggered to detect the concentration of the target gas therein, and the target gas described in the embodiment of the present invention may be natural gas, in other implementations. In the case, it can also be other gases that need to be detected.
  • a bundle of monochromatic light is irradiated on the surface of the absorbing medium. After passing through a medium of a certain thickness, the intensity of the transmitted light is weakened due to the absorption of a part of the light energy by the medium. Based on the principle, the light can be irradiated by light. The gas in the space is then determined based on the attenuation of the light intensity to determine the concentration of the corresponding gas. Furthermore, since natural gas has strong absorption characteristics for infrared light having a wavelength of 3.31 um, the concentration of natural gas contained in a certain space can be determined by infrared irradiation, which can be realized by a non-dispersive infrared gas analysis operation.
  • a bottom open air chamber may be disposed in the UAV, and infrared light emitting devices and infrared light receiving devices are disposed on opposite sides of the air chamber.
  • the UAV flies to a certain position of the gas delivery pipe, the gas chamber is continuously exposed to the air for a period of time, and then the infrared light emitting device and the infrared light receiving device are turned on to detect the natural gas concentration.
  • the temperature compensation strategy may be enabled to compensate the temperature in the gas chamber, specifically, the temperature in the gas chamber may be increased to complete the target gas concentration. Correct measurement.
  • the concentration threshold can be configured according to experience, and the concentration threshold can be specifically configured according to the distance from the gas delivery pipeline, and a concentration threshold can be correspondingly configured for each distance value.
  • the distance of the movement detecting device to the pipe can be determined by vision, distance sensor or the like before the comparison, and then the appropriate concentration threshold is selected as a reference to determine whether a leak occurs at the position of the gas delivery pipe.
  • the executed gas leakage processing operation includes issuing an alarm signal, such as lighting, audible alarm, etc., or to the user equipment (user A prompt message including location coordinates occurs on the computer, the user's mobile device, or the remote controller held by the user.
  • an alarm signal such as lighting, audible alarm, etc.
  • user equipment user A prompt message including location coordinates occurs on the computer, the user's mobile device, or the remote controller held by the user.
  • the gas leakage treatment operation can also be completed by automatically applying a sealant in a large range.
  • the embodiment of the invention can move and detect the concentration of the target gas in the air, thereby determining whether a gas leakage accident occurs in the gas delivery pipeline, and can automatically complete corresponding operations such as alarm, position notification or even automatic plugging to satisfy the user's gas leakage.
  • the automated, intelligent requirements of the inspection reduce the cost of gas leak detection.
  • FIG. 2 it is a schematic flowchart of another method for processing a gas leak according to an embodiment of the present invention.
  • the method of the embodiment of the present invention may be implemented by a processor, and the processor may be configured in, for example, In a UAV (Unmanned Aerial Vehicle), the method of the embodiment of the present invention includes:
  • S202 in the process of moving along the gas delivery pipeline, detecting a target gas concentration in an environment at a corresponding position of the gas delivery pipeline according to a preset detection interval value; the preset detection interval value includes: detecting Time interval value, or moving distance interval value.
  • the time interval can be calculated and triggered by a timer to detect the target gas concentration.
  • the distance interval can be calculated according to the coordinates of the built-in GPS module output to obtain a distance interval such as flight movement.
  • the S202 may include:
  • the purpose of placing the motion detecting device in a stationary state is to sufficiently acquire various gases in the environment in order to detect a relatively accurate target gas concentration.
  • the gas analysis operation of the gas entering the gas chamber may include a non-dispersive infrared gas analysis operation or the like as needed.
  • the temperature compensation operation may be performed when the ambient temperature is too low during the detection process.
  • the S203 may include: if the target gas concentration is greater than a preset concentration threshold, determining that a gas leak occurs, and issuing an alarm prompt signal; or if the target gas concentration is greater than a preset concentration threshold, determining that a gas leak occurs, sending A cue signal carrying position coordinates.
  • the alarm can be directly sent to the nearby control user according to the alarm device such as occurrence, illumination, etc. configured in the motion detecting device. Or directly send a prompt signal carrying the GPS coordinate data at the location to the designated user directly through the wireless communication module.
  • the embodiment of the invention can detect whether a gas leakage accident occurs in the gas transmission pipeline based on the time interval or the distance interval, and can automatically complete corresponding operations such as alarm, position notification or even automatic plugging, and satisfy the user's automatic detection of the gas leakage. Intelligent demand reduces the cost of detecting gas leaks.
  • FIG. 3 it is a schematic flowchart of a method for processing a gas leakage according to an embodiment of the present invention.
  • the method in the embodiment of the present invention may be implemented by a processor, and the processor may be configured in, for example, In the UAV, specifically, the method of the embodiment of the present invention includes:
  • the preset position coordinates can be configured by the user based on GPS coordinates.
  • the detection of the target gas concentration is triggered, and S303 described below is executed; otherwise, the GPS of the built-in GPS module is compared and analyzed. Coordinates and preset position coordinates.
  • the preset position coordinate may be an area position coordinate, that is, a coordinate range. After the comparison result determines that the motion detecting device enters the preset area, the following S303 is triggered.
  • the S303 may include:
  • the purpose of placing the motion detecting device in a stationary state is to sufficiently acquire various gases in the environment in order to detect a relatively accurate target gas concentration.
  • the gas analysis operation of the gas entering the gas chamber may include a non-dispersive infrared gas analysis operation or the like as needed.
  • the temperature compensation operation may be performed when the ambient temperature is too low during the detection process.
  • the S304 may include: if the target gas concentration is greater than a preset concentration threshold, determining that a gas leak occurs, and issuing an alarm prompt signal; or if the target gas concentration is greater than a preset concentration threshold, determining that a gas leak occurs, sending A cue signal carrying position coordinates.
  • the alarm can be directly sent to the nearby control user according to the alarm device such as occurrence, illumination, etc. configured in the motion detecting device. Or directly send a prompt signal carrying the GPS coordinate data at the location to the designated user directly through the wireless communication module.
  • the embodiment of the invention can detect whether a gas leakage accident occurs in the gas delivery pipeline at a position configured by the user, and can automatically complete corresponding operations such as alarm, position notification or even automatic plugging, and satisfy the user's automation of detecting the gas leakage, Intelligent demand reduces the cost of detecting gas leaks.
  • FIG. 4 it is a schematic flowchart of still another method for processing a gas leak according to an embodiment of the present invention.
  • the method in the embodiment of the present invention may be implemented by a processor, and the processor may be configured in, for example, In the UAV, specifically, the method of the embodiment of the present invention includes:
  • S402 determining, in the process of moving along the gas delivery pipeline, whether the detection trigger information is acquired
  • the S402 may specifically include: collecting a visual image in real time during the moving along the gas delivery pipeline, and if the collected visual image includes a pattern for indicating the target gas concentration detection, Then it is determined that the detection trigger information is acquired.
  • the image capturing information such as a camera set in the movement detecting device may be called to collect image information, and the user may preliminarily set a pattern of a specific color and shape on the pipe by painting or attaching a ribbon at a specific position of the other conveying pipe.
  • the pattern of colors and shapes can be set very clearly to facilitate accurate visual recognition.
  • the S402 may further include: determining that the detection trigger information is acquired if a wireless signal indicating that the target gas concentration detection is performed is received during the movement along the gas delivery conduit.
  • a signal of a specific frequency is transmitted to accurately trigger a detection device such as a drone to detect an ambient gas at a position where the wireless trigger signal is received. Triggering gas concentration detection based on wireless signals is more accurate.
  • S403 is performed to perform detection of the target gas concentration, otherwise the S402 is continued.
  • the S403 may include:
  • the purpose of placing the motion detecting device in a stationary state is to sufficiently acquire various gases in the environment in order to detect a relatively accurate target gas concentration.
  • the gas analysis operation of the gas entering the gas chamber may include a non-dispersive infrared gas analysis operation or the like as needed.
  • the temperature compensation operation may be performed when the ambient temperature is too low during the detection process.
  • the S404 may include: if the target gas concentration is greater than a preset concentration threshold, determining that a gas leak occurs, and issuing an alarm prompt signal; or if the target gas concentration is greater than a preset concentration threshold, determining that a gas leak occurs, sending A cue signal carrying position coordinates.
  • the alarm can be directly sent to the nearby control user according to the alarm device such as occurrence, illumination, etc. configured in the motion detecting device. Or directly send a prompt signal carrying the GPS coordinate data at the location to the designated user directly through the wireless communication module.
  • the embodiment of the invention can trigger the detection of whether a gas leakage accident occurs in the gas delivery pipeline based on visual, wireless communication, etc., and can automatically complete corresponding operations such as alarm, position notification or even automatic plugging to satisfy the user's gas leakage.
  • the automated, intelligent requirements of the inspection reduce the cost of gas leak detection.
  • the motion detecting device is an aircraft for detecting a gas concentration, and specifically may be a UAV, and the method includes:
  • S501 Generate flight path information according to the acquired position trajectory information of the gas transmission pipeline
  • S502 Control the aircraft to fly on the route indicated by the flight path information, so as to move the aircraft along the conveying pipeline.
  • control method of the embodiment of the present invention may further include: S503: receiving, during the flight of the aircraft, if the calibration information sent by the calibrator disposed on the gas delivery pipeline is received, according to the received The calibration information corrects flight data of the aircraft; the flight data includes: a flight position, or a flight position and a flight attitude.
  • the coordinate value of the gas input pipe is known. Based on the coordinate value, the corresponding position parameter and the flight altitude parameter are set to complete the configuration of the flight path.
  • the aircraft can be secured to the configured flight path based on its intrinsic GPS module and height sensors such as barometers. During flight, the aircraft can adjust the position of the aircraft and the attitude of the flight such as a route based on a calibrator configured on the gas input pipe that can transmit wireless signals.
  • the embodiment of the invention can configure the automatic flight trajectory of the aircraft based on the trajectory of the pipeline, and meets the automation and intelligent requirements of the user for detecting the gas leakage of the pipeline.
  • the motion detecting device is an aircraft for detecting a gas concentration, and specifically may be a UAV, and the method includes:
  • S602 Control the aircraft to fly along the gas transmission pipeline according to the feature points on the visual pattern in the captured image.
  • control method of the embodiment of the present invention may further include: S603: receiving, during the flight of the aircraft, if the calibration information sent by the calibrator disposed on the gas delivery pipeline is received, according to the received The calibration information corrects flight data of the aircraft; the flight data includes: a flight position, or a flight position and a flight attitude.
  • the acquisition and analysis of specific visual patterns can be performed based on the high-definition camera configured on the aircraft to control the flight of the aircraft along the gas delivery pipeline. Specifically, based on the correspondence between the color and the vertices of the visual pattern disposed on the gas delivery pipeline, and the actual size of the preset pattern, a set of three-dimensional coordinate points in the actual world coordinate system and a two-dimensional image of the corresponding image may be obtained. Coordinates, in turn, can use the commonly used PNP (Perspective N Points) algorithm to determine the distance (local coordinates) and direction of the aircraft relative to the corner point of the corresponding pattern, and then determine and adjust according to the actual GPS coordinates and absolute height of the corner point. The GPS coordinates and altitude of the aircraft.
  • PNP Perspective N Points
  • the embodiment of the invention can control the flight of the aircraft based on the visual pattern configured on the pipeline, and meets the automation and intelligent requirements of the user for detecting the gas leakage of the pipeline.
  • FIG. 7 is a schematic structural diagram of a gas leakage processing apparatus according to an embodiment of the present invention.
  • the apparatus of the embodiment of the present invention may be configured in various types of mobile machines, for example, may be configured in a UAV, specifically,
  • the device includes:
  • the detecting module 1 is configured to detect a target gas concentration in an environment at a corresponding position of the gas conveying pipeline during the moving along the gas conveying pipeline;
  • the processing module 2 is configured to determine that a gas leak occurs when the target gas concentration is greater than a preset concentration threshold, and perform a gas leak processing operation.
  • the mobile detection device such as the UAV can be moved along the gas delivery pipe to be detected by manual remote control or automatic movement. Specifically, during automatic flight, based on data provided by distance sensors, image sensors, GPS positioning sensors, etc., the distance between the UAV and the gas delivery pipeline is always within a certain distance to achieve UAV flight along the gas transmission pipeline. .
  • the detecting module 1 detects the ambient gas at the position to determine the concentration of the target gas therein, and the target gas in the embodiment of the present invention may be natural gas. In other embodiments, other gases that need to be detected may also be used.
  • a bundle of monochromatic light is irradiated on the surface of the absorption medium. After passing through a medium of a certain thickness, the intensity of the transmitted light is weakened due to the absorption of a part of the light energy by the medium.
  • the detection module 1 The gas in a certain space can be illuminated by light, and then the concentration of the corresponding gas is determined based on the attenuation of the light intensity. Further, since the natural gas has strong absorption characteristics for infrared light having a wavelength of 3.31 um, the detection module 1 can determine the concentration of the natural gas contained in a certain space by infrared irradiation, and specifically, a non-dispersive infrared gas can be used. Analyze operations to achieve.
  • a bottom open air chamber may be disposed in the UAV, and infrared light emitting devices and infrared light receiving devices are disposed on opposite sides of the air chamber.
  • the UAV flies to a certain position of the gas delivery pipe, the gas chamber is continuously exposed to the air for a period of time, and then the infrared light emitting device and the infrared light receiving device are turned on to detect the natural gas concentration.
  • the gas leak processing operation performed by the processing module 2 includes issuing an alarm signal, such as illuminating, An audible alarm or the like, or a prompt message including position coordinates is generated to the user equipment (user computer, user mobile device, or remote controller held by the user).
  • the detecting module 1 can also complete the gas leakage processing operation by controlling the automatic application of the sealant in a large range.
  • the embodiment of the invention can move and detect the concentration of the target gas in the air, thereby determining whether a gas leakage accident occurs in the gas delivery pipeline, and can automatically complete corresponding operations such as alarm, position notification or even automatic plugging to satisfy the user's gas leakage.
  • the automated, intelligent requirements of the inspection reduce the cost of gas leak detection.
  • FIG. 8 is a schematic structural diagram of another apparatus for processing a gas leakage according to an embodiment of the present invention.
  • the apparatus of the embodiment of the present invention may be configured in various types of mobile machines, for example, may be configured in a UAV, specifically
  • the device includes the detection module 1 and the processing module 2 in the embodiment of the device.
  • the device further includes:
  • the control module 3 is configured to control the movement of the movement detecting device along the gas conveying pipe.
  • the control module 3 can act as a movement controller for the motion detection device, such as a flight controller of the UAV.
  • the movement detecting device is an aircraft; the control module 3 is specifically configured to generate flight path information according to the acquired installation position trajectory information of the gas delivery pipeline; and control the aircraft to fly The route indicated by the route information is flighted to facilitate movement of the aircraft along the delivery pipe.
  • the user can configure the coordinates of the aircraft and the parameters of the altitude through the erected position route of the gas input pipe, and configure the corresponding flight path information in the control module 3 so that the aircraft can move along the gas delivery pipe.
  • the movement detecting device is an aircraft; the control module 3 is specifically configured to capture an image including a visual pattern disposed on the gas conveying pipeline; and visually patterning the image according to the photographing A feature point that controls the aircraft to fly along the gas delivery conduit.
  • the position and flight attitude of the aircraft relative to the visual pattern can be determined based on the PNP algorithm to facilitate further control of aircraft movement.
  • control module 3 is further configured to: when receiving the calibration information sent by the calibrator disposed on the gas delivery pipeline during the flight of the aircraft, according to the received calibration information Correcting flight data of the aircraft; the flight data includes: a flight position, or a flight position and a flight attitude.
  • the calibrator provided at certain special positions on the gas transmission pipeline can emit a specific frequency and/or a signal carrying relevant information (such as position and attitude information), so that the mobile detection device such as an aircraft can accurately and timely perform the position and posture thereof. Correction.
  • the triggering manner of the detection module 1 for detecting the target gas concentration includes: being based on a preset time interval, a displacement interval, reaching a specified position, and acquiring one or more of a trigger signal or a trigger image. Combine to trigger the detection of the target gas concentration in the air.
  • the detecting module 1 is specifically configured to detect, in a process of moving along the gas conveying pipeline, a target gas concentration in an environment corresponding to the gas conveying pipeline according to a preset detection interval value.
  • the preset detection interval value includes: a detection time interval value, or a moving distance interval value.
  • the detecting module 1 is specifically configured to detect, when moving along the gas conveying pipeline, whether the position indicated by the preset position coordinates is reached; if yes, the environment in which the gas conveying pipeline is located at the position The target gas concentration is detected.
  • the detecting module 1 is specifically configured to determine whether the detection trigger information is acquired during the moving along the gas delivery pipeline; and if the detection trigger information is acquired, detecting the target gas in the environment where the gas delivery pipeline is located at the current position concentration.
  • the detecting module 1 is specifically configured to collect a visual image in real time during moving along the gas conveying pipeline, and if the collected visual image includes a pattern for indicating target gas concentration detection, determining to obtain the detecting trigger information .
  • the detection module 1 is specifically configured to determine that the detection trigger information is acquired if a wireless signal for indicating the target gas concentration detection is received during the movement along the gas delivery pipeline.
  • the detecting unit 1 when the detecting module 1 specifically detects the gas concentration in the air, the detecting unit 1 is specifically configured to control the moving detecting device to be in a stationary state at a corresponding position; start timing when in a stationary state, and when the time duration reaches At a preset duration threshold, a gas analysis operation is performed on the gas in the chamber to determine a target gas concentration in the chamber.
  • the detection module 1 is specifically configured to perform gas analysis for a non-dispersive infrared gas analysis operation for performing concentration detection on natural gas in a gas chamber.
  • the processing module 2 is specifically configured to: if the target gas concentration is greater than a preset concentration threshold, determine that a gas leak occurs, and issue an alarm prompt signal; or if the target gas concentration is greater than a preset concentration threshold, determine A gas leak occurs and a prompt signal carrying position coordinates is transmitted.
  • apparatus of the embodiment of the present invention may further include:
  • the temperature compensation module 4 is configured to detect whether the ambient temperature is lower than a preset temperature threshold, and if yes, perform a temperature compensation operation.
  • each module in the device in the embodiment of the present invention may refer to the description of related steps in the corresponding embodiments in FIG. 1 to FIG. 6 .
  • the embodiment of the invention can move and detect the concentration of the target gas in the air, thereby determining whether a gas leakage accident occurs in the gas delivery pipeline, and can automatically complete corresponding operations such as alarm, position notification or even automatic plugging to satisfy the user's gas leakage.
  • the automated, intelligent requirements of the inspection reduce the cost of gas leak detection.
  • FIG. 9 is a schematic structural diagram of an aircraft according to an embodiment of the present invention.
  • the aircraft of the embodiment of the present invention includes an existing propeller, an inertial sensor, and the like.
  • the aircraft further includes a power component 100, a flight controller 200, and a gas detecting device 300; the gas detecting device 300 can call a related program to complete a corresponding function, wherein:
  • the flight controller 200 is configured to control the power output of the power assembly 100 to move the aircraft along the gas delivery pipeline;
  • the gas detecting device 300 is configured to detect a target gas concentration in an environment at a corresponding position of the gas conveying pipe during the moving along the gas conveying pipe; if the target gas concentration is greater than a preset concentration threshold, determine that a gas leak occurs, Perform a gas leak processing operation.
  • the flight controller 200 is specifically configured to control the power output of the power assembly 100 according to the installation position trajectory information of the gas delivery pipeline to facilitate movement of the aircraft along the transportation pipeline.
  • the aircraft of the embodiment of the present invention further includes: an image collection device 400;
  • the image capture device 400 is configured to collect an image of a visual pattern that has been previously set on the gas delivery conduit;
  • the flight controller 200 is specifically configured to control the aircraft to fly along the gas delivery pipeline according to a feature point on a visual pattern in an image obtained by the image acquisition device.
  • the aircraft of the embodiment of the present invention further includes: a communication device 500;
  • the communication device 500 is configured to receive an external signal
  • the flight controller 200 is specifically configured to: during the flight of the aircraft, if the communication device 500 receives the calibration information sent by the calibrator disposed on the gas delivery pipeline, according to the received calibration information
  • the power output of the power assembly 100 is controlled to correct flight data of the aircraft; the flight data includes: a flight position, or a flight position and a flight attitude.
  • the gas detecting device 300 of the aircraft is specifically configured to: in the process of moving along the gas conveying pipeline, corresponding positions of the gas conveying pipeline according to preset preset interval values
  • the target gas concentration in the environment is detected;
  • the preset detection interval value includes: a detection time interval value, or a moving distance interval value.
  • the gas detecting device 300 of the aircraft is specifically configured to detect whether the position indicated by the preset position coordinates is reached during the movement along the gas conveying pipeline; if yes, The target gas concentration in the environment in which the gas delivery conduit is located at the location is detected.
  • the gas detecting device 300 of the aircraft is specifically configured to determine whether the detection trigger information is acquired during the process of moving along the gas delivery pipeline; if the detection trigger information is acquired, The target gas concentration of the environment in which the gas delivery conduit is located at the current position is detected.
  • the gas detecting device 300 of the aircraft is specifically configured to collect a visual image in real time during moving along the gas conveying pipeline, and if the collected visual image includes an indication for indicating When the pattern of the target gas concentration detection is performed, it is determined that the detection trigger information is acquired.
  • the gas detecting device 300 of the aircraft is specifically configured to receive an indication during the movement along the gas conveying pipe during the movement along the gas conveying pipe.
  • the wireless signal of the target gas concentration detection is performed, it is determined that the detection trigger information is acquired.
  • the gas detecting device 300 of the aircraft of the embodiment of the present invention is configured with a gas chamber exposed to the air, and the gas detecting device 300 is specifically configured to control the moving detecting device at a corresponding position. It is in a stationary state; when it is in a stationary state, when the timing duration reaches a preset duration threshold, a gas analysis operation is performed on the gas in the gas chamber to determine a target gas concentration in the gas chamber.
  • the gas detecting device 300 of the aircraft is specifically configured to: if the target gas concentration is greater than a preset concentration threshold, determine that a gas leak occurs, and issue an alarm prompt signal; or if the target gas When the concentration is greater than the preset concentration threshold, it is determined that a gas leak occurs, and a prompt signal carrying the position coordinates is transmitted.
  • the aircraft of the embodiment of the invention further comprises: a temperature compensation device 600, configured to detect whether the ambient temperature is lower than a preset temperature threshold, and if yes, perform a temperature compensation operation.
  • a temperature compensation device 600 configured to detect whether the ambient temperature is lower than a preset temperature threshold, and if yes, perform a temperature compensation operation.
  • the embodiment of the invention can move and detect the concentration of the target gas in the air, thereby determining whether a gas leakage accident occurs in the gas delivery pipeline, and can automatically complete corresponding operations such as alarm, position notification or even automatic plugging to satisfy the user's gas leakage.
  • the automated, intelligent requirements of the inspection reduce the cost of gas leak detection.
  • the related apparatus and method disclosed may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the modules or units is only a logical function division.
  • there may be another division manner for example, multiple units or components may be used. Combinations can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium.
  • the technical solution of the present invention which is essential or contributes 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.
  • a number of instructions are included to cause a computer processor to perform all or part of the steps of the methods described in various embodiments of the present invention.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like. .

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Abstract

一种气体泄漏的处理方法，包括：在沿气体输送管道移动的过程中，检测气体输送管道对应位置处的环境中目标气体浓度（S101）；若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，执行气体泄漏处理操作（S102）。还公开了一种气体泄漏的处理装置及飞行器。

Description

一种气体泄漏的处理方法、装置及飞行器 技术领域
本发明涉及气体泄漏检测技术领域，尤其涉及一种气体泄漏的处理方法、装置及飞行器。
背景技术
诸如天然气等气体的输送一般是通过管道的形式实现的，所采用的管道需要具有较合适的强度和刚度，以此来确保气体输送管道可以承受外力的作用，例如需要承受风雪堆积的压力、土壤压力甚至地震灾害产生的作用力等。
现有的关于天然气等气体输送管道的泄漏检测基本是通过人工巡查的方式进行，耗费人力，不利于管道气体泄漏检测。
发明内容
本发明实施例提供了一种气体泄漏的处理方法、装置及飞行器，可自动化、智能化地完成气体输送管道是否存在目标气体泄漏的检测工作。
一方面，本发明实施例提供了一种气体泄漏的处理方法，包括：
在沿气体输送管道移动的过程中，检测气体输送管道对应位置处的环境中目标气体浓度；
若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，执行气体泄漏处理操作。
其中可选地，所述在沿气体输送管道移动的过程中，检测气体输送管道对应位置处的环境中目标气体浓度之前，还包括：
控制移动检测装置沿气体输送管道移动，以执行所述在沿气体输送管道移动的过程中，检测气体输送管道对应位置处的环境中目标气体浓度的步骤。
其中可选地，所述移动检测装置包括用于检测气体浓度的飞行器，所述控制移动检测装置沿气体输送管道移动包括：
根据已获取的所述气体输送管道的安装位置轨迹信息，生成飞行航线信息；
控制所述飞行器以所述飞行航线信息所指示的航线飞行，以便于所述飞行器沿输送管道移动。
其中可选地，所述移动检测装置包括用于检测气体浓度的飞行器，所述控制移动检测装置沿气体输送管道移动包括：
拍摄包括设置在所述气体输送管道上的视觉图案的图像；
根据所述拍摄得到的图像中视觉图案上的特征点，控制所述飞行器沿所述气体输送管道飞行。
其中可选地，所述控制移动检测装置沿气体输送管道移动还包括：
在所述飞行器的飞行过程中，若接收到设置在所述气体输送管道上的标定器发送的标定信息，则根据接收到的标定信息校正所述飞行器的飞行数据；
所述飞行数据包括：飞行位置，或者飞行位置及飞行姿态。
其中可选地，所述在沿气体输送管道移动的过程中，检测气体输送管道对应位置处的环境中目标气体浓度，包括：
在沿气体输送管道移动的过程中，根据预置的检测间隔值，对所述气体输送管道对应位置处的环境中的目标气体浓度进行检测；
所述预置的检测间隔值包括：检测时间间隔值、或移动距离间隔值。
其中可选地，所述在沿气体输送管道移动的过程中，检测气体输送管道对应位置处的环境中目标气体浓度，包括：
在沿气体输送管道移动的过程中，检测是否到达预置的位置坐标所指示的位置；
若是，则对该位置处所述气体输送管道所处的环境中的目标气体浓度进行检测。
其中可选地，所述在沿气体输送管道移动的过程中，检测气体输送管道对应位置处的环境中目标气体浓度，包括：
在沿气体输送管道移动的过程中，判断是否获取到检测触发信息；
若获取到检测触发信息，则检测当前位置下所述气体输送管道所处环境的目标气体浓度。
其中可选地，所述在沿气体输送管道移动的过程中，判断是否获取到检测触发信息，包括：
在沿气体输送管道移动的过程中，实时采集视觉图像，若采集到的视觉图像中包括用于指示进行目标气体浓度检测的图案，则确定获取到检测触发信息。
其中可选地，在沿气体输送管道移动的过程中，判断是否获取到检测触发信息，包括：
在沿气体输送管道移动的过程中，若接收到用于指示进行目标气体浓度检测的无线信号，则确定获取到检测触发信息。
其中可选地，所述移动检测装置配置有暴露在空气中的气室，所述检测气体输送管道对应位置处的环境中目标气体浓度，包括：
在对应位置处控制所述移动检测装置处于静止状态；
从处于静止状态时开始计时，当计时时长达到预设的时长阈值时，对所述气室内的气体进行气体分析操作，以确定所述气室中的目标气体浓度。
其中可选地，目标气体包括天然气，所述气体分析操作包括：针对气室内的天然气进行浓度检测的非色散红外气体分析操作。
其中可选地，所述若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，执行气体泄漏处理操作，包括：
若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，发出报警提示信号；或
若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，发送携带位置坐标的提示信号。
其中可选地，所述检测气体输送管道对应位置处的环境中目标气体浓度之前，还包括：
检测环境温度是否低于预置的温度阈值，若是，则执行温度补偿操作。
相应地，本发明实施例还提供了一种气体泄漏的处理装置，包括：
检测模块，用于在沿气体输送管道移动的过程中，检测气体输送管道对应位置处的环境中目标气体浓度；
处理模块，用于若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，执行气体泄漏处理操作。
其中可选地，还包括：控制模块，用于控制移动检测装置沿气体输送管道移动。
其中可选地，所述移动检测装置为飞行器；
所述控制模块，具体用于根据已获取的所述气体输送管道的安装位置轨迹信息，生成飞行航线信息；控制所述飞行器以所述飞行航线信息所指示的航线飞行，以便于所述飞行器沿输送管道移动。
其中可选地，所述移动检测装置为飞行器；
所述控制模块，具体用于拍摄包括设置在所述气体输送管道上的视觉图案的图像；根据所述拍摄得到的图像中视觉图案上的特征点，控制所述飞行器沿所述气体输送管道飞行。
其中可选地，所述控制模块，具体还用于在所述飞行器的飞行过程中，若接收到设置在所述气体输送管道上的标定器发送的标定信息，则根据接收到的标定信息校正所述飞行器的飞行数据；所述飞行数据包括：飞行位置，或者飞行位置及飞行姿态。
其中可选地，所述检测模块，具体用于在沿气体输送管道移动的过程中，根据预置的检测间隔值，对所述气体输送管道对应位置处的环境中的目标气体浓度进行检测；所述预置的检测间隔值包括：检测时间间隔值、或移动距离间隔值。
其中可选地，所述检测模块，具体用于在沿气体输送管道移动的过程中，检测是否到达预置的位置坐标所指示的位置；若是，则对该位置处所述气体输送管道所处的环境中的目标气体浓度进行检测。
其中可选地，所述检测模块，具体用于在沿气体输送管道移动的过程中，判断是否获取到检测触发信息；若获取到检测触发信息，则检测当前位置下所述气体输送管道所处环境的目标气体浓度。
其中可选地，所述检测模块，具体用于在沿气体输送管道移动的过程中，实时采集视觉图像，若采集到的视觉图像中包括用于指示进行目标气体浓度检测的图案，则确定获取到检测触发信息。
其中可选地，所述检测模块，具体用于在沿气体输送管道移动的过程中，若接收到用于指示进行目标气体浓度检测的无线信号，则确定获取到检测触发信息。
其中可选地，该装置与暴露在空气中的气室相连；
所述检测模块，具体用于在对应位置处控制所述移动检测装置处于静止状态；从处于静止状态时开始计时，当计时时长达到预设的时长阈值时，对所述气室内的气体进行气体分析操作，以确定所述气室中的目标气体浓度。
其中可选地，所述检测模块，具体用于针对气室内的天然气进行浓度检测的非色散红外气体分析操作进行气体分析。
其中可选地，所述处理模块，具体用于若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，发出报警提示信号；或若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，发送携带位置坐标的提示信号。
其中可选地，所述装置还包括：温度补偿模块，用于检测环境温度是否低于预置的温度阈值，若是，则执行温度补偿操作。
再一方面，本发明实施例还提供了一种飞行器，包括：动力组件、飞行控制器以及气体检测装置；其中：
所述飞行控制器，用于控制所述动力组件的动力输出，使飞行器沿气体输送管道移动；
所述气体检测装置，用于在沿气体输送管道移动的过程中，检测气体输送管道对应位置处的环境中目标气体浓度；若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，执行气体泄漏处理操作。
其中可选地，所述飞行控制器，具体用于根据所述气体输送管道的安装位置轨迹信息，控制所述动力组件的动力输出，以便于所述飞行器沿输送管道移动。
其中可选地，所述飞行器还包括：图像采集装置；
所述图像采集装置，用于采集已预先设置在所述气体输送管道上的视觉图案的图像；
所述飞行控制器，具体用于根据所述图像采集装置得到的图像中视觉图案上的特征点，控制所述飞行器沿所述气体输送管道飞行。
其中可选地，所述飞行器还包括：通信装置；
所述通信装置，用于接收外部信号；
所述飞行控制器，具体用于在所述飞行器的飞行过程中，若所述通信装置接收到设置在所述气体输送管道上的标定器发送的标定信息，则根据接收到的标定信息控制所述动力组件的动力输出，以校正所述飞行器的飞行数据；所述飞行数据包括：飞行位置，或者飞行位置及飞行姿态。
其中可选地，所述气体检测装置，具体用于在沿气体输送管道移动的过程中，根据预置的检测间隔值，对所述气体输送管道对应位置处的环境中的目标气体浓度进行检测；所述预置的检测间隔值包括：检测时间间隔值、或移动距离间隔值。
其中可选地，所述气体检测装置，具体用于在沿气体输送管道移动的过程中，检测是否到达预置的位置坐标所指示的位置；若是，则对该位置处所述气体输送管道所处的环境中的目标气体浓度进行检测。
其中可选地，所述气体检测装置，具体用于在沿气体输送管道移动的过程中，判断是否获取到检测触发信息；若获取到检测触发信息，则检测当前位置下所述气体输送管道所处环境的目标气体浓度。
其中可选地，所述气体检测装置，具体用于在沿气体输送管道移动的过程中，实时采集视觉图像，若采集到的视觉图像中包括用于指示进行目标气体浓度检测的图案，则确定获取到检测触发信息。
其中可选地，所述气体检测装置，具体用于在沿气体输送管道移动的过程中，在沿气体输送管道移动的过程中，若接收到用于指示进行目标气体浓度检测的无线信号，则确定获取到检测触发信息。
其中可选地，所述气体检测装置配置有暴露在空气中的气室，所述气体检测装置，具体用于在对应位置处控制所述移动检测装置处于静止状态；从处于静止状态时开始计时，当计时时长达到预设的时长阈值时，对所述气室内的气体进行气体分析操作，以确定所述气室中的目标气体浓度。
其中可选地，所述气体检测装置，具体用于若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，发出报警提示信号；或若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，发送携带位置坐标的提示信号。
其中可选地，所述飞行器还包括：温度补偿装置，用于检测环境温度是否低于预置的温度阈值，若是，则执行温度补偿操作。
本发明实施例能够移动检测空气中的目标气体的浓度，从而确定气体输送管道是否发生气体泄漏事故，且能够自动地完成相应的诸如报警、位置通知甚至自动堵漏的操作，满足用户对气体泄漏的检测的自动化、智能化需求，降低了气体泄漏的检测成本。
 附图说明
图1是本发明实施例的一种气体泄漏的处理方法的流程示意图；
图2是本发明实施例的另一种气体泄漏的处理方法的流程示意图；
图3是本发明实施例的再一种气体泄漏的处理方法的流程示意图；
图4是本发明实施例的又一种气体泄漏的处理方法的流程示意图；
图5是本发明实施例的一种控制移动检测装置沿气体输送管道移动的方法的流程示意图；
图6是本发明实施例的另一种控制移动检测装置沿气体输送管道移动的方法的流程示意图；
图7是本发明实施例的一种气体泄漏的处理装置的结构示意图；
图8是本发明实施例的另一种气体泄漏的处理装置的结构示意图；
图9是本发明实施例的一种飞行器的结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
本发明实施例能够在移动检测装置沿天然气输入管道移动过程中，自动地根据用户需求对气体输送管道在对应位置处是否发生泄漏进行检测。所述的移动检测装置包括：UAV（Unmanned Aerial Vehicle，无人机）、遥控汽车、遥控机器人等。
具体的，请参见图1，是本发明实施例的一种气体泄漏的处理方法的流程示意图，本发明实施例的所述方法可以由一个处理器来实现，本发明实施例的所述方法包括：
S101：在沿气体输送管道移动的过程中，检测气体输送管道对应位置处的环境中目标气体浓度。
可以通过手动遥控或者自动移动的方式，使UAV等移动检测装置沿着需要检测的气体输送管道飞行。具体的，在自动飞行时可以基于距离传感器、图像传感器、GPS定位传感器等装置提供的数据，控制UAV与气体输送管道之间的距离始终在一定的距离范围内，以实现UAV沿气体输送管道飞行。
在检测到UAV飞行到某些位置处时，即触发对该位置处的环境气体进行检测，确定出其中的目标气体的浓度，本发明实施例中所述的目标气体可以为天然气，在其他实施例中还可以为其他需要检测的气体。
根据现有技术可知，一束单色光照射于吸收介质表面，在通过一定厚度的介质后，由于介质吸收了一部分光能，透射光的强度就要减弱，基于该原理，可以通过光线照射一定空间内的气体，然后基于光强度的衰减来确定对应气体的浓度。更进一步地，由于天然气对波长为3.31um的红外光有较强的吸收特性，可以通过红外照射的方式来确定一定空间内包含的天然气的浓度，具体可以采用非色散红外气体分析操作来实现。
具体的，可在UAV中配置一个底部开口的气室，气室相对的两侧配置红外光发射装置和红外光接收装置。当UAV飞行到气体输送管道的某个位置处，该气室在空气中持续暴露一段时间后，即可开启红外光发射装置和红外光接收装置进行天然气浓度的检测。
另外，在检测气室内的目标气体浓度时，为了保证检测不受温度的影响，可以启用温度补偿策略对所述气室内的温度进行补偿，具体可以提高气室内的温度以便于完成目标气体浓度的正确测量。
S102：若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，执行气体泄漏处理操作。
浓度阈值可以根据经验进行配置，该浓度阈值具体可以根据与气体输送管道之间的距离来配置，针对每一个距离值可以对应配置一个浓度阈值。在执行所述S102时，在比较之前，可以通过视觉、距离传感器等确定移动检测装置到管道的距离，然后选择合适的浓度阈值来作为参考，确定气体输送管道的该位置处是否发生泄漏。
如果检测的结果为目标气体浓度大于预设的浓度阈值，则确定该检测位置处发生了气体泄漏，执行的气体泄漏处理操作包括发出报警信号，例如发光、发声报警等，或者向用户设备（用户电脑、用户移动设备或用户所持的遥控器）发生包括位置坐标的提示信息。当然也可以通过较大范围内自动刷涂密封胶等方式完成气体泄漏处理操作。
本发明实施例能够移动检测空气中的目标气体的浓度，从而确定气体输送管道是否发生气体泄漏事故，且能够自动地完成相应的诸如报警、位置通知甚至自动堵漏的操作，满足用户对气体泄漏的检测的自动化、智能化需求，降低了气体泄漏的检测成本。
再请参见图2，是本发明实施例的另一种气体泄漏的处理方法的流程示意图，本发明实施例的所述方法可以由一个处理器来实现，而所述处理器则可以配置在诸如UAV（Unmanned Aerial Vehicle，无人机）中，具体的，本发明实施例的所述方法包括：
S201：控制移动检测装置沿气体输送管道移动；
S202：在沿气体输送管道移动的过程中，根据预置的检测间隔值，对所述气体输送管道对应位置处的环境中的目标气体浓度进行检测；所述预置的检测间隔值包括：检测时间间隔值、或移动距离间隔值。
时间间隔可以通过一个计时器来计算并触发进行目标气体浓度的检测。而距离间隔则可以根据内置的GPS模块输出的坐标进行计算来得到诸如飞行移动的距离间隔。
在所述移动检测装置中配备了暴露在空气中的气室，在该气室存在与所述气体输送管道对应位置处的环境中一段时间后，环境气体可以填充到该气室中，以便于执行气体泄漏的检测的，具体的，所述S202在检测目标气体浓度时，可以包括：
在对应位置处控制所述移动检测装置处于静止状态；从处于静止状态时开始计时，当计时时长达到预设的时长阈值时，对所述气室内的气体进行气体分析操作，以确定所述气室中的目标气体浓度。
使移动检测装置处于静止状态的目的在于充分获取环境中的各种气体，以便于检测到较为准确的目标气体浓度。而所述对进入气室的气体进行的气体分析操作则可以根据需要包括非色散红外气体分析操作等。
具体的，在目标气体浓度检测过程中，为了克服环境温度对气体浓度检测带来的影响，可以在检测过程中，在环境温度过低时执行温度补偿操作。
S203：若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，执行气体泄漏处理操作；
具体的，所述S203可以包括：若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，发出报警提示信号；或若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，发送携带位置坐标的提示信号。
具体的，在将检测出的目标气体在空气中的浓度
可以直接根据移动检测装置中配置的发生、发光等报警装置向附近的控制用户发出报警。或者直接通过无线通信模块向指定的用户发出携带该位置处的GPS坐标数据的提示信号。
本发明实施例能够基于时间间隔或距离间隔来检测气体输送管道是否发生气体泄漏事故，且能够自动地完成相应的诸如报警、位置通知甚至自动堵漏的操作，满足用户对气体泄漏的检测的自动化、智能化需求，降低了气体泄漏的检测成本。
再请参见图3，是本发明实施例的再一种气体泄漏的处理方法的流程示意图，本发明实施例的所述方法可以由一个处理器来实现，而所述处理器则可以配置在诸如UAV中，具体的，本发明实施例的所述方法包括：
S301：控制移动检测装置沿气体输送管道移动；
S302：在沿气体输送管道移动的过程中，检测是否到达预置的位置坐标所指示的位置；
该预置的位置坐标可以由用户基于GPS坐标进行配置。当在移动检测装置中内置的GPS模块输出的GPS坐标值接近或者处于预置的位置坐标时，即触发目标气体浓度的检测，执行下述的S303，否则，解析比较内置的GPS模块输出的GPS坐标与预置的位置坐标。需要说明的，该预置的位置坐标可以是一个区域位置坐标，即一个坐标范围，在比较结果确定出移动检测装置在进入该预置的区域内后，即触发执行下述的S303。
S303：若是，则对该位置处所述气体输送管道所处的环境中的目标气体浓度进行检测。
在所述移动检测装置中配备了暴露在空气中的气室，在该气室存在与所述气体输送管道对应位置处的环境中一段时间后，环境气体可以填充到该气室中，以便于执行气体泄漏的检测的，具体的，所述S303在检测目标气体浓度时，可以包括：
在对应位置处控制所述移动检测装置处于静止状态；从处于静止状态时开始计时，当计时时长达到预设的时长阈值时，对所述气室内的气体进行气体分析操作，以确定所述气室中的目标气体浓度。
使移动检测装置处于静止状态的目的在于充分获取环境中的各种气体，以便于检测到较为准确的目标气体浓度。而所述对进入气室的气体进行的气体分析操作则可以根据需要包括非色散红外气体分析操作等。
具体的，在目标气体浓度检测过程中，为了克服环境温度对气体浓度检测带来的影响，可以在检测过程中，在环境温度过低时执行温度补偿操作。
S304：若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，执行气体泄漏处理操作；
具体的，所述S304可以包括：若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，发出报警提示信号；或若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，发送携带位置坐标的提示信号。
可以直接根据移动检测装置中配置的发生、发光等报警装置向附近的控制用户发出报警。或者直接通过无线通信模块向指定的用户发出携带该位置处的GPS坐标数据的提示信号。
本发明实施例能够在用户配置的位置处检测气体输送管道是否发生气体泄漏事故，且能够自动地完成相应的诸如报警、位置通知甚至自动堵漏的操作，满足用户对气体泄漏的检测的自动化、智能化需求，降低了气体泄漏的检测成本。
再请参见图4，是本发明实施例的又一种气体泄漏的处理方法的流程示意图，本发明实施例的所述方法可以由一个处理器来实现，而所述处理器则可以配置在诸如UAV中，具体的，本发明实施例的所述方法包括：
S401：控制移动检测装置沿气体输送管道移动；
S402：在沿气体输送管道移动的过程中，判断是否获取到检测触发信息；
其中，在本发明实施例中，所述S402具体可以包括：在沿气体输送管道移动的过程中，实时采集视觉图像，若采集到的视觉图像中包括用于指示进行目标气体浓度检测的图案，则确定获取到检测触发信息。可以调用移动检测装置中设置的摄像机等拍摄模块来采集图像信息，用户可以预先在其他输送管道的特定位置处通过刷漆、或者贴缎带的方式在管道上设置出特定颜色、形状的图案，以便于进行视觉识别。颜色、形状的图案可以设置得非常明显，以方便执行准确的视觉识别。
或者，所述S402还可以包括：在沿气体输送管道移动的过程中，若接收到用于指示进行目标气体浓度检测的无线信号，则确定获取到检测触发信息。
通过直接在管道上配置无线信号发射机，发射特定频率的信号，以准确地触发无人机等检测设备对接收到无线触发信号时的位置处的环境气体进行检测。基于无线信号触发气体浓度检测更准确。
如果检测到特定的视觉图案或者接收到特定频率的无线信号，则执行下述的S403，进行目标气体浓度的检测，否则继续执行所述S402。
S403：若获取到检测触发信息，则检测当前位置下所述气体输送管道所处环境的目标气体浓度。
在所述移动检测装置中配备了暴露在空气中的气室，在该气室存在与所述气体输送管道对应位置处的环境中一段时间后，环境气体可以填充到该气室中，以便于执行气体泄漏的检测的，具体的，所述S403在检测目标气体浓度时，可以包括：
在对应位置处控制所述移动检测装置处于静止状态；从处于静止状态时开始计时，当计时时长达到预设的时长阈值时，对所述气室内的气体进行气体分析操作，以确定所述气室中的目标气体浓度。
使移动检测装置处于静止状态的目的在于充分获取环境中的各种气体，以便于检测到较为准确的目标气体浓度。而所述对进入气室的气体进行的气体分析操作则可以根据需要包括非色散红外气体分析操作等。
具体的，在目标气体浓度检测过程中，为了克服环境温度对气体浓度检测带来的影响，可以在检测过程中，在环境温度过低时执行温度补偿操作。
S404：若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，执行气体泄漏处理操作；
具体的，所述S404可以包括：若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，发出报警提示信号；或若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，发送携带位置坐标的提示信号。
可以直接根据移动检测装置中配置的发生、发光等报警装置向附近的控制用户发出报警。或者直接通过无线通信模块向指定的用户发出携带该位置处的GPS坐标数据的提示信号。
本发明实施例能够基于视觉、无线通信等方式来触发对气体输送管道是否发生气体泄漏事故的检测，且能够自动地完成相应的诸如报警、位置通知甚至自动堵漏的操作，满足用户对气体泄漏的检测的自动化、智能化需求，降低了气体泄漏的检测成本。
再请参见图5，是本发明实施例的一种控制移动检测装置沿气体输送管道移动的方法的流程示意图，本发明实施例对应于上述各个实施例中涉及到的移动检测装置的移动控制方式。具体的，在本发明实施例中，所述移动检测装置以用于检测气体浓度的飞行器，具体可以为UAV，所述方法包括：
S501：根据已获取的所述气体输送管道的安装位置轨迹信息，生成飞行航线信息；
S502：控制所述飞行器以所述飞行航线信息所指示的航线飞行，以便于所述飞行器沿输送管道移动。
可选地，本发明实施例的控制方法还可以包括：S503：在所述飞行器的飞行过程中，若接收到设置在所述气体输送管道上的标定器发送的标定信息，则根据接收到的标定信息校正所述飞行器的飞行数据；所述飞行数据包括：飞行位置，或者飞行位置及飞行姿态。
多数情况下，气体输入管道的坐标值为已知，基于该坐标值，设置相应的位置参数和飞行高度参数，完成飞行航线的配置。飞行器可以根据其内在的GPS模块和气压计等高度传感器来确保其飞行在配置的飞行航线上。飞行器在飞行过程中，可以基于气体输入管道上配置的可以发送无线信号的标定器，来对飞行器的位置、以及诸如航线等飞行姿态进行调整。
本发明实施例能够基于管道的轨迹来配置飞行器的自动飞行轨迹，满足了用户对输送管道气体泄漏检测的自动化、智能化需求。
再请参见图6，是本发明实施例的另一种控制移动检测装置沿气体输送管道移动的方法的流程示意图，本发明实施例对应于上述各个实施例中涉及到的移动检测装置的移动控制方式。具体的，在本发明实施例中，所述移动检测装置以用于检测气体浓度的飞行器，具体可以为UAV，所述方法包括：
S601：拍摄包括设置在所述气体输送管道上的视觉图案的图像；
S602：根据所述拍摄得到的图像中视觉图案上的特征点，控制所述飞行器沿所述气体输送管道飞行。
可选地，本发明实施例的控制方法还可以包括：S603：在所述飞行器的飞行过程中，若接收到设置在所述气体输送管道上的标定器发送的标定信息，则根据接收到的标定信息校正所述飞行器的飞行数据；所述飞行数据包括：飞行位置，或者飞行位置及飞行姿态。
可以基于飞行器上配置的高清摄像头，对特定的视觉图案进行采集分析，来控制飞行器沿气体输送管道飞行。具体的，可以基于设置在气体输送管道上的视觉图案的颜色和顶点的对应关系，以及预先设置的图案实际尺寸，可以得到一组实际世界坐标系下的三维坐标点和对应图像的二维图像坐标，进而可以采用常用的PNP（Perspective N Points）算法来确定飞行器相对于对应图案的角点的距离（局部坐标）和方向，进而根据该角点实际的GPS坐标和绝对高度，来确定并调整飞行器的GPS坐标和高度。
本发明实施例能够基于管道上配置的视觉图案控制飞行器飞行，满足了用户对输送管道气体泄漏检测的自动化、智能化需求。
下面对本发明实施例的气体泄漏的处理装置及飞行器进行详细描述。
请参见图7，是本发明实施例的一种气体泄漏的处理装置的结构示意图，本发明实施例的所述装置可配置在各类可移动机器中，例如可配置在UAV中，具体的，所述装置包括：
检测模块1，用于在沿气体输送管道移动的过程中，检测气体输送管道对应位置处的环境中目标气体浓度；
处理模块2，用于若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，执行气体泄漏处理操作。
可以通过手动遥控或者自动移动的方式，使UAV等移动检测装置沿着需要检测的气体输送管道飞行。具体的，在自动飞行时可以基于距离传感器、图像传感器、GPS定位传感器等装置提供的数据，控制UAV与气体输送管道之间的距离始终在一定的距离范围内，以实现UAV沿气体输送管道飞行。
在检测到UAV飞行到某些位置处时，所述检测模块1即对该位置处的环境气体进行检测，确定出其中的目标气体的浓度，本发明实施例中所述的目标气体可以为天然气，在其他实施例中还可以为其他需要检测的气体。
根据现有技术可知，一束单色光照射于吸收介质表面，在通过一定厚度的介质后，由于介质吸收了一部分光能，透射光的强度就要减弱，基于该原理，所述检测模块1可以通过光线照射一定空间内的气体，然后基于光强度的衰减来确定对应气体的浓度。更进一步地，由于天然气对波长为3.31um的红外光有较强的吸收特性，所述检测模块1可以通过红外照射的方式来确定一定空间内包含的天然气的浓度，具体可以采用非色散红外气体分析操作来实现。
具体的，可在UAV中配置一个底部开口的气室，气室相对的两侧配置红外光发射装置和红外光接收装置。当UAV飞行到气体输送管道的某个位置处，该气室在空气中持续暴露一段时间后，即可开启红外光发射装置和红外光接收装置进行天然气浓度的检测。
如果所述检测模块1检测的结果为目标气体浓度大于预设的浓度阈值，则确定该检测位置处发生了气体泄漏，所述处理模块2执行的气体泄漏处理操作包括发出报警信号，例如发光、发声报警等，或者向用户设备（用户电脑、用户移动设备或用户所持的遥控器）发生包括位置坐标的提示信息。当然，所述检测模块1也可以通过控制在较大范围内自动刷涂密封胶等方式完成气体泄漏的处理操作。
本发明实施例能够移动检测空气中的目标气体的浓度，从而确定气体输送管道是否发生气体泄漏事故，且能够自动地完成相应的诸如报警、位置通知甚至自动堵漏的操作，满足用户对气体泄漏的检测的自动化、智能化需求，降低了气体泄漏的检测成本。
再请参见图8，是本发明实施例的另一种气体泄漏的处理装置的结构示意图，本发明实施例的所述装置可配置在各类可移动机器中，例如可配置在UAV中，具体的，所述装置包括包括上述装置实施例中的检测模块1和处理模块2，在本发明实施例中，所述装置还包括：
控制模块3，用于控制移动检测装置沿气体输送管道移动。所述控制模块3可以作为移动检测装置的移动控制器，例如UAV的飞行控制器。
具体可选地，所述移动检测装置为飞行器；所述控制模块3，具体用于根据已获取的所述气体输送管道的安装位置轨迹信息，生成飞行航线信息；控制所述飞行器以所述飞行航线信息所指示的航线飞行，以便于所述飞行器沿输送管道移动。用户可以通过气体输入管道的架设的位置路线来配置飞行器的坐标以及高度的参数，在控制模块3中配置对应的飞行航线信息，以便飞行器能够沿气体输送管道移动。
具体可选地，所述移动检测装置为飞行器；所述控制模块3，具体用于拍摄包括设置在所述气体输送管道上的视觉图案的图像；根据所述拍摄得到的图像中视觉图案上的特征点，控制所述飞行器沿所述气体输送管道飞行。可以基于PNP算法来确定飞行器相对于视觉图案的位置和飞行姿态，以便于进一步控制飞行器移动。
具体可选地，所述控制模块3，具体还用于在所述飞行器的飞行过程中，若接收到设置在所述气体输送管道上的标定器发送的标定信息，则根据接收到的标定信息校正所述飞行器的飞行数据；所述飞行数据包括：飞行位置，或者飞行位置及飞行姿态。在气体输送管道上某些特殊位置处设置的标定器可以发出特定频率和/或携带相关信息（如位置、姿态信息）的信号，方便飞行器等移动检测装置准确、及时地进行位置及其姿态等的校正。
所述检测模块1在检测目标气体浓度的触发方式包括：可以基于预置的时间间隔、位移间隔、到达指定的位置处、以及获取的触发信号或触发图像中的任一种或多种方式的组合，来触发执行空气中目标气体浓度的检测。
具体可选地，所述检测模块1，具体用于在沿气体输送管道移动的过程中，根据预置的检测间隔值，对所述气体输送管道对应位置处的环境中的目标气体浓度进行检测；所述预置的检测间隔值包括：检测时间间隔值、或移动距离间隔值。
所述检测模块1，具体用于在沿气体输送管道移动的过程中，检测是否到达预置的位置坐标所指示的位置；若是，则对该位置处所述气体输送管道所处的环境中的目标气体浓度进行检测。
所述检测模块1，具体用于在沿气体输送管道移动的过程中，判断是否获取到检测触发信息；若获取到检测触发信息，则检测当前位置下所述气体输送管道所处环境的目标气体浓度。
所述检测模块1，具体用于在沿气体输送管道移动的过程中，实时采集视觉图像，若采集到的视觉图像中包括用于指示进行目标气体浓度检测的图案，则确定获取到检测触发信息。
其中，所述检测模块1，具体用于在沿气体输送管道移动的过程中，若接收到用于指示进行目标气体浓度检测的无线信号，则确定获取到检测触发信息。
具体可选地，所述检测模块1在对空气中气体浓度进行具体检测时，具体用于在对应位置处控制所述移动检测装置处于静止状态；从处于静止状态时开始计时，当计时时长达到预设的时长阈值时，对所述气室内的气体进行气体分析操作，以确定所述气室中的目标气体浓度。所述检测模块1具体用于针对气室内的天然气进行浓度检测的非色散红外气体分析操作进行气体分析。
进一步可选地，所述处理模块2，具体用于若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，发出报警提示信号；或若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，发送携带位置坐标的提示信号。
进一步可选地，本发明实施例的所述装置还可以包括：
温度补偿模块4，用于检测环境温度是否低于预置的温度阈值，若是，则执行温度补偿操作。
需要说明的是，本发明实施例所述装置中各个模块的具体实现可对应地参考上述图1至图6对应实施例中相关步骤的描述。
本发明实施例能够移动检测空气中的目标气体的浓度，从而确定气体输送管道是否发生气体泄漏事故，且能够自动地完成相应的诸如报警、位置通知甚至自动堵漏的操作，满足用户对气体泄漏的检测的自动化、智能化需求，降低了气体泄漏的检测成本。
再请参见图9，是本发明实施例的一种飞行器的结构示意图，本发明实施例的所述飞行器包括现有的螺旋桨、惯性传感器等部件，在本发明实施例中，所述飞行器还包括：动力组件100、飞行控制器200以及气体检测装置300；所述气体检测装置300可以调用相关的程序完成相应的功能，其中：
所述飞行控制器200，用于控制所述动力组件100的动力输出，使飞行器沿气体输送管道移动；
所述气体检测装置300，用于在沿气体输送管道移动的过程中，检测气体输送管道对应位置处的环境中目标气体浓度；若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，执行气体泄漏处理操作。
其中可选地，所述飞行控制器200，具体用于根据所述气体输送管道的安装位置轨迹信息，控制所述动力组件100的动力输出，以便于所述飞行器沿输送管道移动。
进一步可选地，本发明实施例的所述飞行器还包括：图像采集装置400；
所述图像采集装置400，用于采集已预先设置在所述气体输送管道上的视觉图案的图像；
所述飞行控制器200，具体用于根据所述图像采集装置得到的图像中视觉图案上的特征点，控制所述飞行器沿所述气体输送管道飞行。
进一步可选地，本发明实施例的所述飞行器还包括：通信装置500；
所述通信装置500，用于接收外部信号；
所述飞行控制器200，具体用于在所述飞行器的飞行过程中，若所述通信装置500接收到设置在所述气体输送管道上的标定器发送的标定信息，则根据接收到的标定信息控制所述动力组件100的动力输出，以校正所述飞行器的飞行数据；所述飞行数据包括：飞行位置，或者飞行位置及飞行姿态。
进一步可选地，本发明实施例的所述飞行器的所述气体检测装置300，具体用于在沿气体输送管道移动的过程中，根据预置的检测间隔值，对所述气体输送管道对应位置处的环境中的目标气体浓度进行检测；所述预置的检测间隔值包括：检测时间间隔值、或移动距离间隔值。
进一步可选地，本发明实施例的所述飞行器的所述气体检测装置300，具体用于在沿气体输送管道移动的过程中，检测是否到达预置的位置坐标所指示的位置；若是，则对该位置处所述气体输送管道所处的环境中的目标气体浓度进行检测。
进一步可选地，本发明实施例的所述飞行器的所述气体检测装置300，具体用于在沿气体输送管道移动的过程中，判断是否获取到检测触发信息；若获取到检测触发信息，则检测当前位置下所述气体输送管道所处环境的目标气体浓度。
进一步可选地，本发明实施例的所述飞行器的所述气体检测装置300，具体用于在沿气体输送管道移动的过程中，实时采集视觉图像，若采集到的视觉图像中包括用于指示进行目标气体浓度检测的图案，则确定获取到检测触发信息。
进一步可选地，本发明实施例的所述飞行器的所述气体检测装置300，具体用于在沿气体输送管道移动的过程中，在沿气体输送管道移动的过程中，若接收到用于指示进行目标气体浓度检测的无线信号，则确定获取到检测触发信息。
进一步可选地，本发明实施例的所述飞行器的所述气体检测装置300配置有暴露在空气中的气室，所述气体检测装置300，具体用于在对应位置处控制所述移动检测装置处于静止状态；从处于静止状态时开始计时，当计时时长达到预设的时长阈值时，对所述气室内的气体进行气体分析操作，以确定所述气室中的目标气体浓度。
进一步可选地，本发明实施例的所述飞行器的所述气体检测装置300，具体用于若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，发出报警提示信号；或若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，发送携带位置坐标的提示信号。
进一步可选地，本发明实施例的所述飞行器还包括：温度补偿装置600，用于检测环境温度是否低于预置的温度阈值，若是，则执行温度补偿操作。
需要说明的是，本发明实施例中所述飞行器的各个装置、器件的具体实现可参考上述图1至图8对应实施例中相关步骤或模块的描述。
本发明实施例能够移动检测空气中的目标气体的浓度，从而确定气体输送管道是否发生气体泄漏事故，且能够自动地完成相应的诸如报警、位置通知甚至自动堵漏的操作，满足用户对气体泄漏的检测的自动化、智能化需求，降低了气体泄漏的检测成本。
在本发明所提供的几个实施例中，应该理解到，所揭露的相关装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得计算机处理器（processor）执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器（ROM，Read-Only Memory）、随机存取存储器（RAM，Random Access Memory）、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。

Claims (40)

  1. 一种气体泄漏的处理方法，其特征在于，包括：
    在沿气体输送管道移动的过程中，检测气体输送管道对应位置处的环境中目标气体浓度；
    若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，执行气体泄漏处理操作。
  2. 如权利要求1所述的方法，其特征在于，所述在沿气体输送管道移动的过程中，检测气体输送管道对应位置处的环境中目标气体浓度之前，还包括：
    控制移动检测装置沿气体输送管道移动，以执行所述在沿气体输送管道移动的过程中，检测气体输送管道对应位置处的环境中目标气体浓度的步骤。
  3. 如权利要求2所述的方法，其特征在于，所述移动检测装置包括用于检测气体浓度的飞行器，所述控制移动检测装置沿气体输送管道移动包括：
    根据已获取的所述气体输送管道的安装位置轨迹信息，生成飞行航线信息；
    控制所述飞行器以所述飞行航线信息所指示的航线飞行，以便于所述飞行器沿输送管道移动。
  4. 如权利要求2所述的方法，其特征在于，所述移动检测装置包括用于检测气体浓度的飞行器，所述控制移动检测装置沿气体输送管道移动包括：
    拍摄包括设置在所述气体输送管道上的视觉图案的图像；
    根据所述拍摄得到的图像中视觉图案上的特征点，控制所述飞行器沿所述气体输送管道飞行。
  5. 如权利要求3或4所述的方法，其特征在于，所述控制移动检测装置沿气体输送管道移动还包括：
    在所述飞行器的飞行过程中，若接收到设置在所述气体输送管道上的标定器发送的标定信息，则根据接收到的标定信息校正所述飞行器的飞行数据；
    所述飞行数据包括：飞行位置，或者飞行位置及飞行姿态。
  6. 如权利要求1所述的方法，其特征在于，所述在沿气体输送管道移动的过程中，检测气体输送管道对应位置处的环境中目标气体浓度，包括：
    在沿气体输送管道移动的过程中，根据预置的检测间隔值，对所述气体输送管道对应位置处的环境中的目标气体浓度进行检测；
    所述预置的检测间隔值包括：检测时间间隔值、或移动距离间隔值。
  7. 如权利要求1所述的方法，其特征在于，所述在沿气体输送管道移动的过程中，检测气体输送管道对应位置处的环境中目标气体浓度，包括：
    在沿气体输送管道移动的过程中，检测是否到达预置的位置坐标所指示的位置；
    若是，则对该位置处所述气体输送管道所处的环境中的目标气体浓度进行检测。
  8. 如权利要求1所述的方法，其特征在于，所述在沿气体输送管道移动的过程中，检测气体输送管道对应位置处的环境中目标气体浓度，包括：
    在沿气体输送管道移动的过程中，判断是否获取到检测触发信息；
    若获取到检测触发信息，则检测当前位置下所述气体输送管道所处环境的目标气体浓度。
  9. 如权利要求8所述的方法，其特征在于，所述在沿气体输送管道移动的过程中，判断是否获取到检测触发信息，包括：
    在沿气体输送管道移动的过程中，实时采集视觉图像，若采集到的视觉图像中包括用于指示进行目标气体浓度检测的图案，则确定获取到检测触发信息。
  10. 如权利要求8所述的方法，其特征在于，在沿气体输送管道移动的过程中，判断是否获取到检测触发信息，包括：
    在沿气体输送管道移动的过程中，若接收到用于指示进行目标气体浓度检测的无线信号，则确定获取到检测触发信息。
  11. 如权利要求2所述的方法，其特征在于，所述移动检测装置配置有暴露在空气中的气室，所述检测气体输送管道对应位置处的环境中目标气体浓度，包括：
    在对应位置处控制所述移动检测装置处于静止状态；
    从处于静止状态时开始计时，当计时时长达到预设的时长阈值时，对所述气室内的气体进行气体分析操作，以确定所述气室中的目标气体浓度。
  12. 如权利要求11所述的方法，其特征在于，目标气体包括天然气，所述气体分析操作包括：针对气室内的天然气进行浓度检测的非色散红外气体分析操作。
  13. 如权利要求2所述的方法，其特征在于，所述若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，执行气体泄漏处理操作，包括：
    若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，发出报警提示信号；或
    若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，发送携带位置坐标的提示信号。
  14. 如权利要求1所述的方法，其特征在于，所述检测气体输送管道对应位置处的环境中目标气体浓度之前，还包括：
    检测环境温度是否低于预置的温度阈值，若是，则执行温度补偿操作。
  15. 一种气体泄漏的处理装置，其特征在于，包括：
    检测模块，用于在沿气体输送管道移动的过程中，检测气体输送管道对应位置处的环境中目标气体浓度；
    处理模块，用于若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，执行气体泄漏处理操作。
  16. 如权利要求15所述的装置，其特征在于，还包括：
    控制模块，用于控制移动检测装置沿气体输送管道移动。
  17. 如权利要求16所述的装置，其特征在于，所述移动检测装置为飞行器；
    所述控制模块，具体用于根据已获取的所述气体输送管道的安装位置轨迹信息，生成飞行航线信息；控制所述飞行器以所述飞行航线信息所指示的航线飞行，以便于所述飞行器沿输送管道移动。
  18. 如权利要求16所述的装置，其特征在于，所述移动检测装置为飞行器；
    所述控制模块，具体用于拍摄包括设置在所述气体输送管道上的视觉图案的图像；根据所述拍摄得到的图像中视觉图案上的特征点，控制所述飞行器沿所述气体输送管道飞行。
  19. 如权利要求17或18所述的装置，其特征在于，
    所述控制模块，具体还用于在所述飞行器的飞行过程中，若接收到设置在所述气体输送管道上的标定器发送的标定信息，则根据接收到的标定信息校正所述飞行器的飞行数据；所述飞行数据包括：飞行位置，或者飞行位置及飞行姿态。
  20. 如权利要求15所述的装置，其特征在于，
    所述检测模块，具体用于在沿气体输送管道移动的过程中，根据预置的检测间隔值，对所述气体输送管道对应位置处的环境中的目标气体浓度进行检测；所述预置的检测间隔值包括：检测时间间隔值、或移动距离间隔值。
  21. 如权利要求15所述的装置，其特征在于，
    所述检测模块，具体用于在沿气体输送管道移动的过程中，检测是否到达预置的位置坐标所指示的位置；若是，则对该位置处所述气体输送管道所处的环境中的目标气体浓度进行检测。
  22. 如权利要求15所述的装置，其特征在于，
    所述检测模块，具体用于在沿气体输送管道移动的过程中，判断是否获取到检测触发信息；若获取到检测触发信息，则检测当前位置下所述气体输送管道所处环境的目标气体浓度。
  23. 如权利要求22所述的装置，其特征在于，
    所述检测模块，具体用于在沿气体输送管道移动的过程中，实时采集视觉图像，若采集到的视觉图像中包括用于指示进行目标气体浓度检测的图案，则确定获取到检测触发信息。
  24. 如权利要求22所述的装置，其特征在于，
    所述检测模块，具体用于在沿气体输送管道移动的过程中，若接收到用于指示进行目标气体浓度检测的无线信号，则确定获取到检测触发信息。
  25. 如权利要求16所述的装置，其特征在于，该装置与暴露在空气中的气室相连；
    所述检测模块，具体用于在对应位置处控制所述移动检测装置处于静止状态；从处于静止状态时开始计时，当计时时长达到预设的时长阈值时，对所述气室内的气体进行气体分析操作，以确定所述气室中的目标气体浓度。
  26. 如权利要求25所述的装置，其特征在于，
    所述检测模块，具体用于针对气室内的天然气进行浓度检测的非色散红外气体分析操作进行气体分析。
  27. 如权利要求16所述的装置，其特征在于，
    所述处理模块，具体用于若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，发出报警提示信号；或若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，发送携带位置坐标的提示信号。
  28. 如权利要求15所述的装置，其特征在于，还包括：
    温度补偿模块，用于检测环境温度是否低于预置的温度阈值，若是，则执行温度补偿操作。
  29. 一种飞行器，其特征在于，包括：动力组件、飞行控制器以及气体检测装置；其中：
    所述飞行控制器，用于控制所述动力组件的动力输出，使飞行器沿气体输送管道移动；
    所述气体检测装置，用于在沿气体输送管道移动的过程中，检测气体输送管道对应位置处的环境中目标气体浓度；若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，执行气体泄漏处理操作。
  30. 如权利要求29所述的飞行器，其特征在于，
    所述飞行控制器，具体用于根据所述气体输送管道的安装位置轨迹信息，控制所述动力组件的动力输出，以便于所述飞行器沿输送管道移动。
  31. 如权利要求29所述的飞行器，其特征在于，还包括：图像采集装置；
    所述图像采集装置，用于采集已预先设置在所述气体输送管道上的视觉图案的图像；
    所述飞行控制器，具体用于根据所述图像采集装置得到的图像中视觉图案上的特征点，控制所述飞行器沿所述气体输送管道飞行。
  32. 如权利要求30或31所述的飞行器，其特征在于，还包括：通信装置；
    所述通信装置，用于接收外部信号；
    所述飞行控制器，具体用于在所述飞行器的飞行过程中，若所述通信装置接收到设置在所述气体输送管道上的标定器发送的标定信息，则根据接收到的标定信息控制所述动力组件的动力输出，以校正所述飞行器的飞行数据；所述飞行数据包括：飞行位置，或者飞行位置及飞行姿态。
  33. 如权利要求29所述的飞行器，其特征在于，
    所述气体检测装置，具体用于在沿气体输送管道移动的过程中，根据预置的检测间隔值，对所述气体输送管道对应位置处的环境中的目标气体浓度进行检测；所述预置的检测间隔值包括：检测时间间隔值、或移动距离间隔值。
  34. 如权利要求29所述的飞行器，其特征在于，
    所述气体检测装置，具体用于在沿气体输送管道移动的过程中，检测是否到达预置的位置坐标所指示的位置；若是，则对该位置处所述气体输送管道所处的环境中的目标气体浓度进行检测。
  35. 如权利要求29所述的飞行器，其特征在于，
    所述气体检测装置，具体用于在沿气体输送管道移动的过程中，判断是否获取到检测触发信息；若获取到检测触发信息，则检测当前位置下所述气体输送管道所处环境的目标气体浓度。
  36. 如权利要求35所述的飞行器，其特征在于，
    所述气体检测装置，具体用于在沿气体输送管道移动的过程中，实时采集视觉图像，若采集到的视觉图像中包括用于指示进行目标气体浓度检测的图案，则确定获取到检测触发信息。
  37. 如权利要求35所述的飞行器，其特征在于，
    所述气体检测装置，具体用于在沿气体输送管道移动的过程中，在沿气体输送管道移动的过程中，若接收到用于指示进行目标气体浓度检测的无线信号，则确定获取到检测触发信息。
  38. 如权利要求29所述的飞行器，其特征在于，
    所述气体检测装置配置有暴露在空气中的气室，所述气体检测装置，具体用于在对应位置处控制所述移动检测装置处于静止状态；从处于静止状态时开始计时，当计时时长达到预设的时长阈值时，对所述气室内的气体进行气体分析操作，以确定所述气室中的目标气体浓度。
  39. 如权利要求29所述的飞行器，其特征在于，
    所述气体检测装置，具体用于若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，发出报警提示信号；或若目标气体浓度大于预设的浓度阈值，则确定发生气体泄漏，发送携带位置坐标的提示信号。
  40. 如权利要求29所述的飞行器，其特征在于，还包括：
    温度补偿装置，用于检测环境温度是否低于预置的温度阈值，若是，则执行温度补偿操作。
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