CN117307981A - Gas leakage point co-positioning method and positioning center for station - Google Patents
Gas leakage point co-positioning method and positioning center for station Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 52
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims abstract description 634
- 238000001514 detection method Methods 0.000 claims description 87
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
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- 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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Abstract
The invention provides a gas leakage point co-locating method and a locating center for a station, which accurately determine the geographic three-dimensional coordinates and the height of suspected leakage points by utilizing a plurality of laser methane telemetry instruments, reduce the exposure time of workers on a leakage site, reduce the exposure risk of workers on dangerous sites, and provide a higher-precision coordinate of the suspected leakage points for a subsequent unmanned station automatic leakage repairing scheme. And the relation between the leakage point and the pipeline can be accurately positioned by combining the alarm point concentration aggregation diagram, the station pipeline GIS system and the BIM model.
Description
Technical Field
The invention relates to a gas leakage positioning method, in particular to a gas leakage point co-positioning method and a positioning center for a station.
Background
Current gas sites are increasingly trending toward unattended operation, and it is desirable to be able to discover and relatively accurately locate the leak location in time when a gas leak occurs.
The existing leak detection method generally comprises the steps of erecting a plurality of overhead cradle head methane telemetry instruments and matching video cameras at a site, circularly scanning respective responsible areas, sending an alarm to a control system background when leakage is found, and carrying out secondary investigation by workers to the site to confirm leakage points. However, due to the fact that part of station pipelines are complex, a plurality of pipelines are crossed vertically and horizontally, the methane telemetry instrument can only determine the range of a leakage area, the alarm position cannot be accurately positioned, manual secondary leakage point investigation in the field leakage area needs to take time, and safety risks exist during inspection.
CNl 10553587B provides a method for accurately positioning a leakage point by using a laser telemetering methane tester, which comprises the steps of carrying out an endless panoramic scanning on a region to be monitored by using two or more fixed laser methane testers, and positioning the methane leakage point by using two or more laser beams; when a leakage point is detected, horizontal angles beta 1 and beta 2 and a distance L of two laser telemetering methane testers respectively arranged at two ends of one side line of a scanning area are utilized to calculate transverse and longitudinal coordinate values of the leakage point relative to a first laser telemetering methane tester, and then Z which is used as a vertical distance value of the leakage point relative to the installation horizontal plane of the first laser telemetering methane tester is calculated according to a vertical angle alpha 1 of the first laser telemetering methane tester, so that the position of the methane leakage point is obtained.
However, for a station, the number of gas pipelines is large, and a plurality of leakage points are likely to exist, so that when the scheme is adopted to position the methane leakage points, two or more laser telemetering methane testers cannot be guaranteed to detect the same leakage point; moreover, because the gas pipelines in the station are crossed vertically and horizontally, the leakage points detected by each laser methane tester are not real leakage points, for example, when the pipeline at the low position is leaked, leaked gas can be possibly diffused to the pipeline at the high position, so that the laser methane tester can mistakenly consider that the pipeline at the high position is leaked, and error guidance can be generated for the secondary leakage point investigation of personnel in the field leakage area. It is therefore highly desirable to have a more efficient method of locating suspected leak sources without adding excessive additional cost.
In order to solve the above problems, an ideal technical solution is always sought.
Disclosure of Invention
The invention aims at overcoming the defects of the prior art, and provides a gas leakage point co-locating method and a locating center for a station.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: firstly, a gas leakage point co-location method by utilizing a multi-aerial cradle head type laser methane telemetry instrument is provided, which specifically comprises the following steps:
when the first aerial tripod head type laser methane telemetry instrument detects gas leakage, obtaining a geographic three-dimensional coordinate of an intersection point of a laser nodding direction of the first aerial tripod head type laser methane telemetry instrument and the ground;
according to the geographic three-dimensional coordinates of the second aerial tripod head laser methane telemetry instrument and the geographic three-dimensional coordinates of the ground intersection, obtaining a depression angle and a horizontal rotation angle of the second aerial tripod head laser methane telemetry instrument pointing to the ground intersection, and then controlling the second aerial tripod head laser methane telemetry instrument to point to the ground intersection according to the depression angle and the horizontal rotation angle;
controlling the second aerial tripod head laser methane telemetry instrument to detect methane concentration in a low-to-high stepping mode in a linear space between the first aerial tripod head laser methane telemetry instrument and the ground intersection point from the ground intersection point, and taking a corresponding detection point as an alarm point when the methane concentration exceeds an alarm threshold value;
And after the detection is finished, selecting an alarm point with the highest methane concentration from all alarm points as a suspected leakage point.
In one embodiment, controlling the second aerial tripod head laser methane telemetry to perform methane concentration detection in a low-to-high step manner for a line space between the first aerial tripod head laser methane telemetry and the ground intersection starting from the ground intersection comprises:
acquiring an intersection of an ith plane spaced by i pieces of preset height information above a ground intersection between a laser depression direction of a first aerial tripod head type laser methane telemetering instrument, and taking the intersection as an ith plane detection point; according to the geographic three-dimensional coordinates of the second aerial tripod head laser methane telemetry instrument and the geographic three-dimensional coordinates of the ith plane detection point, obtaining the depression angle and the horizontal rotation angle of the second aerial tripod head laser methane telemetry instrument pointing to the ith plane detection point; then controlling the aerial tripod head type laser methane telemetry instrument to point to an ith plane detection point according to the depression angle and the horizontal rotation angle, detecting methane concentration, taking the ith plane detection point as an alarm point when the methane concentration exceeds an alarm threshold value, enabling i=i+1, judging whether the sum of i pieces of preset height information is smaller than a preset maximum value of a station, and if not, exiting the current step; if the current step is smaller than the preset threshold, returning to the current step again; wherein the initial value of i is 1.
Based on the method, the invention also provides a gas leakage point co-locating method for the station, which comprises the following steps:
controlling the aerial holder type laser methane telemetering instrument A to carry out inspection on a station, calculating a horizontal rotation angle range according to the geographic three-dimensional coordinate and the current depression angle of the aerial holder type laser methane telemetering instrument A when gas leakage is detected in the inspection process, keeping the current depression angle, and carrying out carpet scanning by taking the current position as a center and taking the horizontal rotation angle range as a boundary;
when gas leakage is detected in the carpet type scanning process of the aerial tripod head type laser methane telemetering instrument A, suspending scanning, and matching with the aerial tripod head type laser methane telemetering instrument B, and acquiring a suspected leakage point by using the gas leakage point co-positioning method; the aerial cradle head type laser methane telemetry instrument A is a first aerial cradle head type laser methane telemetry instrument, and the aerial cradle head type laser methane telemetry instrument B is a second aerial cradle head type laser methane telemetry instrument;
and controlling the aerial tripod head type laser methane telemetry instrument A to continue carpet scanning until the aerial tripod head type laser methane telemetry instrument A completes carpet scanning, forming a first leakage point concentration set by the obtained geographic three-dimensional coordinates of a plurality of suspected leakage points and methane concentration information, selecting the suspected leakage point with the highest methane concentration information in the first leakage point concentration set as a target leakage point, and outputting the geographic three-dimensional coordinates of the target leakage point and the methane concentration information.
Further, in order to more accurately locate the leakage point, after the target leakage point is obtained, controlling the aerial tripod head type laser methane telemetry instrument B to point to the target leakage point according to the geographic three-dimensional coordinate of the aerial tripod head type laser methane telemetry instrument B and the geographic three-dimensional coordinate of the target leakage point;
after the aerial tripod head type laser methane telemetering instrument B points to the target leakage point, acquiring a current depression angle, calculating a horizontal rotation angle range according to the geographic three-dimensional coordinate and the current depression angle of the aerial tripod head type laser methane telemetering instrument B, keeping the current depression angle, and carrying out carpet scanning by taking the current position as a center and taking the horizontal rotation angle range as a boundary;
when gas leakage is detected in the carpet type scanning process of the aerial cradle head laser methane telemetering instrument B, suspending scanning, and matching with the aerial cradle head laser methane telemetering instrument A or the aerial cradle head laser methane telemetering instrument C, and acquiring a suspected leakage point by using the gas leakage point co-positioning method; the aerial cradle head type laser methane telemetry instrument B is a first aerial cradle head type laser methane telemetry instrument, and the aerial cradle head type laser methane telemetry instrument A or the aerial cradle head type laser methane telemetry instrument C is a second aerial cradle head type laser methane telemetry instrument;
The aerial tripod head type laser methane telemetry instrument B is controlled to continue carpet scanning until the aerial tripod head type laser methane telemetry instrument B completes carpet scanning, the obtained geographic three-dimensional coordinates of a plurality of suspected leakage points and methane concentration information form a second leakage point concentration set, in the second leakage point concentration set, the suspected leakage point with the highest methane concentration information is selected to be compared with the target leakage point for methane concentration information, if the suspected leakage point with the highest methane concentration information is larger than the target leakage point, the suspected leakage point with the highest methane concentration information is replaced with the target leakage point, and the geographic three-dimensional coordinates of the target leakage point and the methane concentration information are output; if the suspected leakage point with the highest methane concentration information is smaller than or equal to the target leakage point, the target leakage point is kept unchanged, and the geographic three-dimensional coordinates of the target leakage point and the methane concentration information are output.
Further, after the second leakage point concentration set is obtained, a three-dimensional alarm point concentration aggregation chart is drawn according to the first leakage point concentration set and the second leakage point concentration set, a suspected leakage point with the highest methane concentration information is selected as a target leakage point, and the geographic three-dimensional coordinates of the target leakage point and the methane concentration information are output.
Because the acquired target leakage points are geographic three-dimensional coordinates, in order to further determine the pipeline leakage positions, the pipeline leakage positions are determined by combining a gas station GIS system and a pipeline BIM model after the target leakage points are acquired.
Correspondingly, the invention also provides a gas leakage point co-locating device, which comprises:
the geographic three-dimensional coordinate acquisition module is used for acquiring geographic three-dimensional coordinates of the intersection point of the laser nodding direction of the first aerial tripod head type laser methane telemetry instrument and the ground when the first aerial tripod head type laser methane telemetry instrument detects gas leakage;
the angle acquisition module is used for acquiring a depression angle and a horizontal rotation angle of the second aerial tripod head laser methane telemetry instrument pointing to the ground intersection point according to the geographic three-dimensional coordinates of the second aerial tripod head laser methane telemetry instrument and the geographic three-dimensional coordinates of the ground intersection point, and acquiring the depression angle and the horizontal rotation angle of the second aerial tripod head laser methane telemetry instrument pointing to the i-th plane detection point according to the geographic three-dimensional coordinates of the second aerial tripod head laser methane telemetry instrument and the geographic three-dimensional coordinates of the i-th plane detection point, wherein the intersection point of the i-th plane which is spaced above the ground intersection point by i preset height information between the laser depression direction of the first aerial tripod head laser methane telemetry instrument is used as the i-th plane detection point;
The control module is used for controlling the second aerial tripod head type laser methane telemetry instrument to point to the ground intersection according to the depression angle and the horizontal rotation angle which are acquired by the angle acquisition module, sequentially detecting the methane concentration of an ith plane detection point between the first aerial tripod head type laser methane telemetry instrument and the ground intersection from the ground intersection in a sequence from low to high, and taking the corresponding detection point as an alarm point when the methane concentration exceeds an alarm threshold value; wherein, the initial value of i is 1;
and the output module is used for selecting the alarm point with the highest methane concentration from all the alarm points as a suspected leakage point.
Furthermore, the invention also provides a gas leakage point co-location center for the station, which comprises a memory and a processor, wherein the memory stores a computer program, and the gas leakage point co-location center for the station is characterized in that the processor realizes the steps of the gas leakage point co-location method for the station when executing the computer program.
Furthermore, the invention also provides a gas leakage point co-location system of the laser methane telemetry instrument for the station, which comprises a co-center and a cradle head laser methane telemetry instrument array; the co-location center is the co-location center.
Compared with the prior art, the gas leakage point co-locating method has outstanding substantial characteristics and remarkable progress, and particularly, the gas leakage point co-locating method provided by the invention utilizes an overhead cradle head type laser methane telemetry instrument to carry out preliminary gas leakage detection, obtains the direction of a preliminarily determined leakage point when gas leakage is detected preliminarily, utilizes other overhead cradle head type laser methane telemetry instruments to carry out cross irradiation investigation on each section of rays of the first overhead cradle head type laser methane telemetry instrument and the direction of the leakage point, records alarm conditions of a plurality of target crossing points, and selects an alarm point with highest methane concentration as a suspected leakage point in all alarm points, thereby being capable of accurately locating the gas leakage point.
Further, the target intersection point is determined according to the direction of the primarily determined leakage point, and other aerial cradle head type laser methane telemetry instruments are controlled to sequentially detect all the target intersection points, so that the situation that two or more laser telemetry methane testers detect different leakage points can be avoided.
The invention also controls an overhead cradle head type laser methane telemetering instrument to carry out inspection on the station, when gas leakage is detected in the inspection process, the current depression angle is kept to take the leakage point as the center, carpet type scanning is carried out, and when gas leakage is detected in the carpet type scanning process, a suspected leakage point is obtained by adopting the gas leakage point co-positioning method; and then continuously controlling the aerial holder type laser methane telemetry instrument to perform carpet type scanning until the carpet type scanning is completed, forming a first leakage point concentration set by using the obtained geographic three-dimensional coordinates of a plurality of suspected leakage points and methane concentration information, selecting the suspected leakage point with the highest methane concentration information as a target leakage point in the first leakage point concentration set, and further realizing the accurate positioning of the gas leakage point by adding a patrol inspection in a horizontal dimension to avoid the situation that the detected suspected leakage point is not the actual leakage point due to the diffusion of the gas leaked by the actual leakage point when the actual leakage point and the preliminarily determined suspected leakage point are positioned in the same horizontal direction.
Further, after the target leakage point is obtained, other aerial cradle head type laser methane telemetry instruments can be used for carrying out inspection in other directions based on the target leakage point, so that the situation that the detected suspected leakage point is not the real leakage point due to gas diffusion caused by leakage of the real leakage point when the real leakage point and the preliminarily determined suspected leakage point are positioned in other directions is avoided, and the accurate positioning of the gas leakage point is further realized.
Before manual secondary investigation, the invention utilizes the cooperative work of a plurality of overhead cradle head type laser methane telemetry instruments to accurately determine the geographic three-dimensional coordinates and the height of the gas leakage points, reduces the time of exposing workers on the leakage site, reduces the risk of exposing dangerous sites for the workers, and provides a foundation for the subsequent automatic leakage repairing scheme of unmanned stations; and moreover, an alarm point concentration aggregation diagram can be generated according to a detection result, and the relation between the leakage point and the pipeline can be accurately positioned by combining a station pipeline GIS system and a BTM model.
Drawings
Fig. 1 is a schematic flow chart of a gas leakage point co-location method according to embodiment 1 of the present invention.
Fig. 2 is a schematic flow chart of methane concentration detection in a stepwise manner from low to high in example 1.
Fig. 3 is a flow chart of a method for co-locating gas leakage points for a station according to embodiment 2 of the present invention.
Fig. 4 is a flow chart of a method for co-locating gas leakage points for a station according to embodiment 3 of the present invention.
Detailed Description
The technical scheme of the invention is further described in detail through the following specific embodiments.
Example 1
The embodiment provides a gas leakage point co-location method, as shown in fig. 1, specifically including the following steps:
when the first aerial tripod head type laser methane telemetry instrument detects gas leakage, obtaining a geographic three-dimensional coordinate of an intersection point of a laser nodding direction of the first aerial tripod head type laser methane telemetry instrument and the ground; wherein the geographic three-dimensional coordinates include longitude, latitude, and altitude;
acquiring a depression angle and a horizontal rotation angle of the second aerial tripod head laser methane telemetry instrument pointing to the ground intersection point according to the geographic three-dimensional coordinates of the second aerial tripod head laser methane telemetry instrument and the geographic three-dimensional coordinates of the ground intersection point, and controlling the second aerial tripod head laser methane telemetry instrument to point to the ground intersection point according to the depression angle and the horizontal rotation angle;
controlling the second aerial tripod head laser methane telemetry instrument to detect methane concentration in a low-to-high stepping mode in a linear space between the first aerial tripod head laser methane telemetry instrument and the ground intersection point from the ground intersection point, and taking a corresponding detection point as an alarm point when the methane concentration exceeds an alarm threshold value;
And after the detection is finished, selecting an alarm point with the highest methane concentration from all alarm points as a suspected leakage point.
In the specific implementation, the following formula is adopted when the geographic three-dimensional coordinates of the intersection point of the laser depression direction of the first aerial cradle head laser methane telemetering instrument and the ground are obtained:
d 1 ＝tanθ 1 *h 1
x j0 ＝arc sin(sin(x 1 ))*cos(d 1 /r 0 )+cosy 1 *sin((d 1 /r 0 ))*cos(α j0 )
y j0 ＝y 1 +a tan 2(sin(α j0 )*sin(d/r 0 )*cosx，cos(d 1 /r 0 ))-sin x 1 *sin x j0
wherein d 1 The distance between the first aerial cradle head type laser methane telemetry instrument and the corresponding ground intersection point is set; θ 1 The laser depression angle of the first aerial cradle head type laser methane telemeter; h is a 1 The height of the first aerial cradle head type laser methane telemeter; x is x j0 Is the dimension of the ground intersection; x is x 1 The dimension of the first aerial cradle head type laser methane telemeter; r is (r) 0 Is the earth radius; alpha j0 Heading angle, y, of laser in the nodding direction j0 Longitude as ground intersection; y is 1 Longitude for a first aerial cradle head laser methane telemetry instrument; atan2 () is a 4-quadrant arctangent function, returning to the angle required to rotate counterclockwise from the x-axis forward to point (x, y), ranging from-pi to pi.
It will be appreciated that for ease of calculation, longitude and latitude are converted to radians for calculation and x is obtained j0 And y j0 And then, carrying out degree conversion to obtain new longitude and latitude, and finally obtaining the geographic three-dimensional coordinates of the ground intersection point.
In particular implementations, as shown in fig. 2, controlling the second aerial tripod head laser methane telemetry to detect the methane concentration in a low-to-high step manner for the linear space between the first aerial tripod head laser methane telemetry and the ground intersection from the ground intersection includes:
acquiring an intersection of an ith plane spaced by i pieces of preset height information above a ground intersection between a laser depression direction of a first aerial tripod head type laser methane telemetering instrument, and taking the intersection as an ith plane detection point; according to the geographic three-dimensional coordinates of the second aerial tripod head laser methane telemetry instrument and the geographic three-dimensional coordinates of the ith plane detection point, obtaining the depression angle and the horizontal rotation angle of the second aerial tripod head laser methane telemetry instrument pointing to the ith plane detection point; then controlling the aerial tripod head type laser methane telemetry instrument to point to an ith plane detection point according to the depression angle and the horizontal rotation angle, detecting methane concentration, taking the ith plane detection point as an alarm point when the methane concentration exceeds an alarm threshold value, enabling i=i+1, judging whether the sum of i pieces of preset height information is smaller than a preset maximum value of a station, and if not, exiting the current step; if the current step is smaller than the preset threshold, returning to the current step again; wherein the initial value of i is 1.
In a specific implementation, the gas leakage point co-location method according to claim 1 or 2, wherein the ground intersection and the i-th plane detection point are used as target detection points, and the following formula is adopted when the second aerial tripod head laser methane telemetry points to the target detection points according to the geographic three-dimensional coordinates of the second aerial tripod head laser methane telemetry and the geographic three-dimensional coordinates of the target detection points:
l 2k ＝arc cos(sin(x 2 ))*sin(x jk )+cos x 2 *cos x jk *cos(x jk -x 2 )
d 2k ＝r 0 *l 2k
θ 2k ＝arc tan(d 2k /h 2 )
b jk ＝a tan 2(sin(x jk -x 2 )*cos x jk ，cos x 2 *sin x jk )-sin x 2 *cos x jk *cos(x jk -x 2 ) Wherein, I 2k Is the angular distance between the second aerial cradle head type laser methane telemetry instrument and the kth target detection point, d 2k The distance between the second aerial cradle head type laser methane telemetry instrument and the kth target detection point is the distance between the second aerial cradle head type laser methane telemetry instrument and the kth target detection point; k=1, indicating that the target detection point is a ground intersection; k=2. In the case of i +1, indicating that the target detection point is an ith plane detection point; h is a 2 The height of the second aerial cradle head type laser methane telemeter; x is x ik The dimension of the kth target detection point; θ 2k A laser depression angle of a second aerial cradle head type laser methane telemeter; x is x 2 The dimension of the second aerial cradle head type laser methane telemeter; r is (r) 0 Is the earth radius; b jk Is a horizontal rotation angle; y is jk Longitude being the kth target detection point; y is 2 Longitude is the second aerial cradle head laser methane telemetry instrument.
Similarly, to facilitate calculation, the longitude and latitude are converted into radians for calculation, and b is obtained ik Then, the degree conversion is performed to obtain a true horizontal rotation angle.
According to the gas leakage point co-location method, an overhead cradle head type laser methane telemetry instrument is utilized to conduct primary gas leakage detection, when gas leakage is detected primarily, the direction of a primarily determined leakage point is obtained, other overhead cradle head type laser methane telemetry instruments are utilized to conduct cross irradiation investigation on each section of rays in the direction of the first cradle head type laser methane telemetry instrument and the leakage point, alarm conditions of a plurality of target crossing points are recorded, and among all alarm points, the alarm point with the highest methane concentration is selected as a suspected leakage point, so that the gas leakage point can be located accurately.
Further, the target intersection point is determined according to the direction of the primarily determined leakage point, and other aerial cradle head type laser methane telemetry instruments are controlled to sequentially detect all the target intersection points, so that the situation that two or more laser telemetry methane testers detect different leakage points can be avoided.
Example 2
The embodiment provides a co-locating method for gas leakage points for a station, as shown in fig. 3, comprising the following steps:
controlling the aerial holder type laser methane telemetering instrument A to carry out inspection on a station, calculating a horizontal rotation angle range according to the geographic three-dimensional coordinate and the current depression angle of the aerial holder type laser methane telemetering instrument A when gas leakage is detected in the inspection process, keeping the current depression angle, and carrying out carpet scanning by taking the current position as a center and taking the horizontal rotation angle range as a boundary;
when gas leakage is detected in the carpet type scanning process of the aerial tripod head type laser methane telemetry instrument A, suspending scanning, and matching with the aerial tripod head type laser methane telemetry instrument B, and acquiring a suspected leakage point by using the gas leakage point co-positioning method described in the embodiment 1; the aerial cradle head type laser methane telemetry instrument A is a first aerial cradle head type laser methane telemetry instrument, and the aerial cradle head type laser methane telemetry instrument B is a second aerial cradle head type laser methane telemetry instrument;
and controlling the aerial tripod head type laser methane telemetry instrument A to continue carpet scanning until the aerial tripod head type laser methane telemetry instrument A completes carpet scanning, forming a first leakage point concentration set by the obtained geographic three-dimensional coordinates of a plurality of suspected leakage points and methane concentration information, selecting the suspected leakage point with the highest methane concentration information in the first leakage point concentration set as a target leakage point, and outputting the geographic three-dimensional coordinates of the target leakage point and the methane concentration information.
Because the acquired target leakage points are geographic three-dimensional coordinates, in order to further determine the pipeline leakage positions, the pipeline leakage positions are determined by combining a gas station GIS system and a pipeline BTM model after the target leakage points are acquired.
In the embodiment, an aerial cradle head type laser methane telemetering instrument is controlled to carry out inspection on a station, when gas leakage is detected in the inspection process, a current depression angle is kept to be centered on a leakage point, carpet type scanning is carried out, and when the gas leakage is detected in the carpet type scanning process, a suspected leakage point is obtained by adopting the gas leakage point co-positioning method provided in the embodiment 1; and then continuously controlling the aerial holder type laser methane telemetry instrument to perform carpet type scanning until the carpet type scanning is completed, forming a first leakage point concentration set by using the obtained geographic three-dimensional coordinates of a plurality of suspected leakage points and methane concentration information, selecting the suspected leakage point with the highest methane concentration information as a target leakage point in the first leakage point concentration set, and further realizing the accurate positioning of the gas leakage point by adding a patrol inspection in a horizontal dimension to avoid the situation that the detected suspected leakage point is not the actual leakage point due to the diffusion of the gas leaked by the actual leakage point when the actual leakage point and the preliminarily determined suspected leakage point are positioned in the same horizontal direction.
Example 3
In order to locate the leakage point more accurately, as shown in fig. 4, in this embodiment, after the target leakage point is obtained by using embodiment 2, the aerial cradle head laser methane telemetry B is controlled to point to the target leakage point according to the geographic three-dimensional coordinates of the aerial cradle head laser methane telemetry B and the geographic three-dimensional coordinates of the target leakage point;
after the aerial tripod head type laser methane telemetering instrument B points to the target leakage point, acquiring a current depression angle, calculating a horizontal rotation angle range according to the geographic three-dimensional coordinate and the current depression angle of the aerial tripod head type laser methane telemetering instrument B, keeping the current depression angle, and carrying out carpet scanning by taking the current position as a center and taking the horizontal rotation angle range as a boundary;
when gas leakage is detected in the carpet scanning process of the aerial cradle head type laser methane telemetry instrument B, suspending scanning, and obtaining a suspected leakage point by matching with the aerial cradle head type laser methane telemetry instrument A or the aerial cradle head type laser methane telemetry instrument C by using the gas leakage point co-locating method described in the embodiment 1; the aerial cradle head type laser methane telemetry instrument B is a first aerial cradle head type laser methane telemetry instrument, and the aerial cradle head type laser methane telemetry instrument A or the aerial cradle head type laser methane telemetry instrument C is a second aerial cradle head type laser methane telemetry instrument;
The aerial tripod head type laser methane telemetry instrument B is controlled to continue carpet scanning until the aerial tripod head type laser methane telemetry instrument B completes carpet scanning, the obtained geographic three-dimensional coordinates of a plurality of suspected leakage points and methane concentration information form a second leakage point concentration set, in the second leakage point concentration set, the suspected leakage point with the highest methane concentration information is selected to be compared with the target leakage point for methane concentration information, if the suspected leakage point with the highest methane concentration information is larger than the target leakage point, the suspected leakage point with the highest methane concentration information is replaced with the target leakage point, and the geographic three-dimensional coordinates of the target leakage point and the methane concentration information are output; if the suspected leakage point with the highest methane concentration information is smaller than or equal to the target leakage point, the target leakage point is kept unchanged, and the geographic three-dimensional coordinates of the target leakage point and the methane concentration information are output.
It can be understood that after the second leakage point concentration set is obtained, the suspected leakage point with the highest methane concentration information in the second leakage point concentration set is not selected to be compared with the target leakage point for methane concentration information, a three-dimensional alarm point concentration aggregation chart is drawn according to the first leakage point concentration set and the second leakage point concentration set, the suspected leakage point with the highest methane concentration information is selected as the target leakage point, and the geographic three-dimensional coordinates and the methane concentration information of the target leakage point are output.
It should be noted that, after the target leakage point is obtained through the present embodiment, the aerial cloud platform type laser methane telemetry instrument C or D may be controlled to point to the target leakage point according to the geographic three-dimensional coordinates of the aerial cloud platform type laser methane telemetry instrument C or D and the geographic three-dimensional coordinates of the target leakage point;
after the aerial tripod head type laser methane telemetering instrument C or D points to the target leakage point, the current depression angle is obtained, the horizontal rotation angle range is calculated according to the geographic three-dimensional coordinates and the current depression angle of the aerial tripod head type laser methane telemetering instrument C or D, the current depression angle is kept, the current position is taken as the center, and the horizontal rotation angle range is taken as the boundary to carry out carpet scanning.
According to the embodiment, after the target leakage point is obtained, other aerial cradle head type laser methane telemetry instruments are utilized to carry out inspection in other directions based on the target leakage point, so that the situation that the detected suspected leakage point is not the real leakage point due to gas diffusion caused by leakage of the real leakage point when the real leakage point and the preliminarily determined suspected leakage point are located in other directions is avoided, and the accurate positioning of the gas leakage point is further realized.
It can be understood that the more the aerial tripod head type laser methane telemetry devices participating in the co-location are, the closer the obtained target leakage points are to the real leakage points, and when the aerial tripod head type laser methane telemetry device is used, a user can reasonably determine the number of the aerial tripod head type laser methane telemetry devices participating in the co-location according to the accuracy and cost requirements of the leakage points on site.
Furthermore, before manual secondary investigation, the invention utilizes the cooperative work of a plurality of overhead cradle head type laser methane telemetry instruments to accurately determine the geographic three-dimensional coordinates and the height of the gas leakage points, reduces the time of exposing workers on the leakage site, reduces the risk of exposing dangerous sites for the workers, and provides a foundation for the automatic leakage repairing scheme of subsequent unmanned stations; and moreover, an alarm point concentration aggregation diagram can be generated according to a detection result, and the relation between the leakage point and the pipeline can be accurately positioned by combining a station pipeline GIS system and a BTM model.
Example 4
The embodiment provides a gas leakage point co-location device, includes:
the geographic three-dimensional coordinate acquisition module is used for acquiring geographic three-dimensional coordinates of the intersection point of the laser nodding direction of the first aerial tripod head type laser methane telemetry instrument and the ground when the first aerial tripod head type laser methane telemetry instrument detects gas leakage;
the angle acquisition module is used for acquiring a depression angle and a horizontal rotation angle of the second aerial tripod head laser methane telemetry instrument pointing to the ground intersection point according to the geographic three-dimensional coordinates of the second aerial tripod head laser methane telemetry instrument and the geographic three-dimensional coordinates of the ground intersection point, and acquiring the depression angle and the horizontal rotation angle of the second aerial tripod head laser methane telemetry instrument pointing to the i-th plane detection point according to the geographic three-dimensional coordinates of the second aerial tripod head laser methane telemetry instrument and the geographic three-dimensional coordinates of the i-th plane detection point, wherein the intersection point of the i-th plane which is spaced above the ground intersection point by i preset height information between the laser depression direction of the first aerial tripod head laser methane telemetry instrument is used as the i-th plane detection point;
After obtaining the depression angle and the horizontal rotation angle of the second aerial tripod head laser methane telemetry pointed at the ith plane detection point, enabling i=i+1, judging whether the sum of i pieces of preset height information is smaller than a preset highest value of the station, if so, continuing to calculate and obtain the depression angle and the horizontal rotation angle of the second aerial tripod head laser methane telemetry pointed at the ith plane detection point;
the control module is used for controlling the second aerial tripod head type laser methane telemetry instrument to point to the ground intersection according to the depression angle and the horizontal rotation angle which are acquired by the angle acquisition module, sequentially detecting the methane concentration of an ith plane detection point between the first aerial tripod head type laser methane telemetry instrument and the ground intersection from the ground intersection in a sequence from low to high, and taking the corresponding detection point as an alarm point when the methane concentration exceeds an alarm threshold value; wherein, the initial value of i is 1;
and the output module is used for selecting the alarm point with the highest methane concentration from all the alarm points as a suspected leakage point.
In the specific implementation, the following formula is adopted when the geographic three-dimensional coordinates of the intersection point of the laser depression direction of the first aerial cradle head laser methane telemetering instrument and the ground are obtained:
d 1 ＝tanθ 1 *h 1
x j0 ＝arc sin(sin(x 1 ))*cos(d 1 /r 0 )+cos y 1 *sin((d 1 /r 0 ))*cos(α j0 )
y j0 ＝y 1 +a tan 2(sin(α j0 )*sin(d/r 0 )*cos x，cos(d 1 /r 0 ))-sin x 1 *sin x j0
Wherein d 1 The distance between the first aerial cradle head type laser methane telemetry instrument and the corresponding ground intersection point is set; θ 1 The laser depression angle of the first aerial cradle head type laser methane telemeter; h is a 1 The height of the first aerial cradle head type laser methane telemeter; x is x j0 Is the dimension of the ground intersection; x is x 1 The dimension of the first aerial cradle head type laser methane telemeter; r is (r) 0 Is the earth radius; alpha j0 Heading angle, y, of laser in the nodding direction j0 Longitude as ground intersection; y is 1 Longitude for a first aerial cradle head laser methane telemetry instrument; atan2 () is a 4-quadrant arctangent function, returning to the angle required to rotate counterclockwise from the x-axis forward to point (x, y), ranging from-pi to pi.
In a specific implementation, controlling the second aerial tripod head laser methane telemetry to perform methane concentration detection on a linear space between the first aerial tripod head laser methane telemetry and the ground intersection in a low-to-high stepping manner from the ground intersection comprises:
acquiring an intersection of an ith plane spaced by i pieces of preset height information above a ground intersection between a laser depression direction of a first aerial tripod head type laser methane telemetering instrument, and taking the intersection as an ith plane detection point; according to the geographic three-dimensional coordinates of the second aerial tripod head laser methane telemetry instrument and the geographic three-dimensional coordinates of the ith plane detection point, obtaining the depression angle and the horizontal rotation angle of the second aerial tripod head laser methane telemetry instrument pointing to the ith plane detection point; then controlling the aerial tripod head type laser methane telemetry instrument to point to an ith plane detection point according to the depression angle and the horizontal rotation angle, detecting methane concentration, taking the ith plane detection point as an alarm point when the methane concentration exceeds an alarm threshold value, enabling i=i+1, judging whether the sum of i pieces of preset height information is smaller than a preset maximum value of a station, and if not, exiting the current step; if the current step is smaller than the preset threshold, returning to the current step again; wherein the initial value of i is 1.
In a specific implementation, the gas leakage point co-location method according to claim 1 or 2, wherein the ground intersection and the i-th plane detection point are used as target detection points, and the following formula is adopted when the second aerial tripod head laser methane telemetry points to the target detection points according to the geographic three-dimensional coordinates of the second aerial tripod head laser methane telemetry and the geographic three-dimensional coordinates of the target detection points:
l 2k ＝arc cos(sin(x 2 ))*sin(x jk )+cos x 2 *cos x jk *cos(x jk -x 2 )
d 2k ＝r 0 *l 2k
θ 2k ＝arc tan(d 2k /h 2 )
b jk ＝a tan 2(sin(x jk -x 2 )*cos x jk ，cos x 2 *sin x jk )-sin x 2 *cos x jk *cos(x jk -x 2 )
wherein, I 2k Is the angular distance between the second aerial cradle head type laser methane telemetry instrument and the kth target detection point, d 2k Is a second overhead cradle head type laser armorDistance between the alkane telemetry instrument and the kth target detection point; k=1, indicating that the target detection point is a ground intersection; k=2. In the case of i +1, indicating that the target detection point is an ith plane detection point; h is a 2 The height of the second aerial cradle head type laser methane telemeter; x is x ik The dimension of the kth target detection point; θ 2k A laser depression angle of a second aerial cradle head type laser methane telemeter; x is x 2 The dimension of the second aerial cradle head type laser methane telemeter; r is (r) 0 Is the earth radius; b jk Is a horizontal rotation angle; y is jk Longitude being the kth target detection point; y is 2 Longitude is the second aerial cradle head laser methane telemetry instrument.
According to the gas leakage point co-locating device, an overhead cradle head type laser methane telemetry instrument is utilized for preliminary gas leakage detection, when gas leakage is detected preliminarily, the direction of a preliminarily determined leakage point is obtained, other overhead cradle head type laser methane telemetry instruments are utilized for cross irradiation investigation on each section of rays in the direction of the first cradle head type laser methane telemetry instrument and the leakage point, alarm conditions of a plurality of target crossing points are recorded, and among all alarm points, the alarm point with the highest methane concentration is selected as a suspected leakage point, so that the gas leakage point can be located accurately.
Further, the target intersection point is determined according to the direction of the primarily determined leakage point, and other aerial cradle head type laser methane telemetry instruments are controlled to sequentially detect all the target intersection points, so that the situation that two or more laser telemetry methane testers detect different leakage points can be avoided. .
Example 5
The present embodiment provides a co-location center for gas leakage points for a station, including a memory and a processor, where the memory stores a computer program, and the processor implements the steps of the co-location method for gas leakage points for a station in embodiment 3 or embodiment 4 when executing the computer program.
Example 6
The embodiment provides a laser methane telemetry instrument gas leakage point co-location system for a station, which comprises a co-center and a cradle head laser methane telemetry instrument array; the co-location center is the co-location center described in embodiment 5.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same; while the invention has been described in detail with reference to the preferred embodiments, those skilled in the art will appreciate that: modifications may be made to the specific embodiments of the present invention or equivalents may be substituted for part of the technical features thereof; without departing from the spirit of the invention, it is intended to cover the scope of the invention as claimed.
Claims (10)
1. The gas leakage point co-location method is applied to a co-location center and is characterized by comprising the following steps of:
when the first aerial tripod head type laser methane telemetry instrument detects gas leakage, obtaining a geographic three-dimensional coordinate of an intersection point of a laser nodding direction of the first aerial tripod head type laser methane telemetry instrument and the ground;
acquiring a depression angle and a horizontal rotation angle of the second aerial tripod head laser methane telemetry instrument pointing to the ground intersection point according to the geographic three-dimensional coordinates of the second aerial tripod head laser methane telemetry instrument and the geographic three-dimensional coordinates of the ground intersection point, and controlling the second aerial tripod head laser methane telemetry instrument to point to the ground intersection point according to the depression angle and the horizontal rotation angle;
Controlling the second aerial tripod head laser methane telemetry instrument to detect methane concentration in a low-to-high stepping mode in a linear space between the first aerial tripod head laser methane telemetry instrument and the ground intersection point from the ground intersection point, and taking a corresponding detection point as an alarm point when the methane concentration exceeds an alarm threshold value;
and after the detection is finished, selecting an alarm point with the highest methane concentration from all alarm points as a suspected leakage point.
2. The method of claim 1, wherein controlling the second aerial land laser methane telemetry to detect methane concentration in a low-to-high step manner for a linear space between the first aerial land laser methane telemetry and the ground intersection from the ground intersection comprises:
acquiring an intersection of an ith plane spaced by i pieces of preset height information above a ground intersection between a laser depression direction of a first aerial tripod head type laser methane telemetering instrument, and taking the intersection as an ith plane detection point; according to the geographic three-dimensional coordinates of the second aerial tripod head laser methane telemetry instrument and the geographic three-dimensional coordinates of the ith plane detection point, obtaining the depression angle and the horizontal rotation angle of the second aerial tripod head laser methane telemetry instrument pointing to the ith plane detection point; then controlling the aerial tripod head type laser methane telemetry instrument to point to an ith plane detection point according to the depression angle and the horizontal rotation angle, detecting methane concentration, taking the ith plane detection point as an alarm point when the methane concentration exceeds an alarm threshold value, enabling i=i+1, judging whether the sum of i pieces of preset height information is smaller than a preset maximum value of a station, and if not, exiting the current step; if the current step is smaller than the preset threshold, returning to the current step again; wherein the initial value of i is 1.
3. A gas leak source co-location method as defined in claim 1 or 2, wherein: the following formula is adopted when the geographic three-dimensional coordinates of the intersection point of the laser nodding direction of the first aerial cradle head type laser methane telemetering instrument and the ground are obtained:
d 1 ＝tanθ 1 *h 1
x j0 ＝arc sin(sin(x 1 ))*cos(d 1 /r 0 )+cos y 1 *sin((d 1 /r 0 ))*cos(a j0 )
y j0 ＝y 1 +a tan2(sin(a j0 )*sin(d/r 0 )*cos x，cos(d 1 /r 0 ))-sin x 1 *sin x j0
wherein d 1 The distance between the first aerial cradle head type laser methane telemetry instrument and the corresponding ground intersection point is set; 1 is first overhead cradle head type laser methaneLaser depression angle of the telemeter; h is a 1 The height of the first aerial cradle head type laser methane telemeter; x is x j0 Is the dimension of the ground intersection; x is x 1 The dimension of the first aerial cradle head type laser methane telemeter; r is (r) 0 Is the earth radius; alpha j0 Heading angle, y, of laser in the nodding direction j0 Longitude as ground intersection; y is 1 Longitude is the first aerial cradle head laser methane telemetry instrument.
4. The gas leakage point co-location method according to claim 1 or 2, wherein the ground intersection and the i-th plane detection point are used as target detection points, and the following formula is adopted when the second aerial tripod head type laser methane telemetry points to the target detection points according to the geographic three-dimensional coordinates of the second aerial tripod head type laser methane telemetry and the geographic three-dimensional coordinates of the target detection points:
l 2k ＝arc cos(sin(x 2 ))*sin(x jk )+cos x 2 *cos x jk *cos(x jk -x 2 )
d 2k ＝r 0 *l 2k
θ 2k ＝arc tan(d 2k /h 2 )
b jk ＝a tan2(sin(x jk -x 2 )*cos x jk ，cos x 2 *sin x jk )-sin x 2 *cos x jk *cos(x jk -x 2
Wherein, I 2k Is the angular distance between the second aerial cradle head type laser methane telemetry instrument and the kth target detection point, d 2k The distance between the second aerial cradle head type laser methane telemetry instrument and the kth target detection point is the distance between the second aerial cradle head type laser methane telemetry instrument and the kth target detection point; k=1, indicating that the target detection point is a ground intersection; k=2. In the case of i +1, indicating that the target detection point is an ith plane detection point; h is a 2 The height of the second aerial cradle head type laser methane telemeter; x is x jk The dimension of the kth target detection point; θ 2k A laser depression angle of a second aerial cradle head type laser methane telemeter; x is x 2 Laser methane telemetry for a second aerial cradle headThe dimension of the instrument; r is (r) 0 Is the earth radius; b jk Is a horizontal rotation angle; y is jk Longitude being the kth target detection point; y is 2 Longitude is the second aerial cradle head laser methane telemetry instrument.
5. The gas leakage point co-location method for the station is applied to a co-location center and is characterized by comprising the following steps of:
controlling the aerial holder type laser methane telemetering instrument A to carry out inspection on a station, calculating a horizontal rotation angle range according to the geographic three-dimensional coordinate and the current depression angle of the aerial holder type laser methane telemetering instrument A when gas leakage is detected in the inspection process, keeping the current depression angle, and carrying out carpet scanning by taking the current position as a center and taking the horizontal rotation angle range as a boundary;
Suspending scanning when gas leakage is detected in the carpet type scanning process of the aerial cradle head laser methane telemetry instrument A, and obtaining a suspected leakage point by matching with the aerial cradle head laser methane telemetry instrument B by using the gas leakage point co-positioning method according to any one of claims 1-4; the aerial cradle head type laser methane telemetry instrument A is a first aerial cradle head type laser methane telemetry instrument, and the aerial cradle head type laser methane telemetry instrument B is a second aerial cradle head type laser methane telemetry instrument;
and controlling the aerial tripod head type laser methane telemetry instrument A to continue carpet scanning until the aerial tripod head type laser methane telemetry instrument A completes carpet scanning, forming a first leakage point concentration set by the obtained geographic three-dimensional coordinates of a plurality of suspected leakage points and methane concentration information, selecting the suspected leakage point with the highest methane concentration information in the first leakage point concentration set as a target leakage point, and outputting the geographic three-dimensional coordinates of the target leakage point and the methane concentration information.
6. The method for collaborative positioning of gas leakage points for a terminal according to claim 5, wherein after the target leakage points are obtained, the aerial cradle head type laser methane telemetry instrument B is controlled to point to the target leakage points according to the geographic three-dimensional coordinates of the aerial cradle head type laser methane telemetry instrument B and the geographic three-dimensional coordinates of the target leakage points;
After the aerial tripod head type laser methane telemetering instrument B points to the target leakage point, acquiring a current depression angle, calculating a horizontal rotation angle range according to the geographic three-dimensional coordinate and the current depression angle of the aerial tripod head type laser methane telemetering instrument B, keeping the current depression angle, and carrying out carpet scanning by taking the current position as a center and taking the horizontal rotation angle range as a boundary;
suspending scanning when gas leakage is detected in the carpet scanning process of the aerial cradle head type laser methane telemetry instrument B, and obtaining a suspected leakage point by matching with the aerial cradle head type laser methane telemetry instrument A or the aerial cradle head type laser methane telemetry instrument C and using the gas leakage point co-locating method according to any one of claims 1-3; the aerial cradle head type laser methane telemetry instrument B is a first aerial cradle head type laser methane telemetry instrument, and the aerial cradle head type laser methane telemetry instrument A or the aerial cradle head type laser methane telemetry instrument C is a second aerial cradle head type laser methane telemetry instrument;
the aerial tripod head type laser methane telemetry instrument B is controlled to continue carpet scanning until the aerial tripod head type laser methane telemetry instrument B completes carpet scanning, the obtained geographic three-dimensional coordinates of a plurality of suspected leakage points and methane concentration information form a second leakage point concentration set, in the second leakage point concentration set, the suspected leakage point with the highest methane concentration information is selected to be compared with the target leakage point for methane concentration information, if the suspected leakage point with the highest methane concentration information is larger than the target leakage point, the suspected leakage point with the highest methane concentration information is replaced with the target leakage point, and the geographic three-dimensional coordinates of the target leakage point and the methane concentration information are output; if the suspected leakage point with the highest methane concentration information is smaller than or equal to the target leakage point, the target leakage point is kept unchanged, and the geographic three-dimensional coordinates of the target leakage point and the methane concentration information are output.
7. A gas leak source co-location method for a terminal as defined in any one of claims 5-6, wherein: after the target leakage point is obtained, the gas station GIS system and the pipeline BIM model are combined, and the pipeline leakage position is determined.
8. A gas leak point co-locating device, comprising:
the geographic three-dimensional coordinate acquisition module is used for acquiring geographic three-dimensional coordinates of the intersection point of the laser nodding direction of the first aerial tripod head type laser methane telemetry instrument and the ground when the first aerial tripod head type laser methane telemetry instrument detects gas leakage;
the angle acquisition module is used for acquiring a depression angle and a horizontal rotation angle of the second aerial tripod head laser methane telemetry instrument pointing to the ground intersection point according to the geographic three-dimensional coordinates of the second aerial tripod head laser methane telemetry instrument and the geographic three-dimensional coordinates of the ground intersection point, and acquiring the depression angle and the horizontal rotation angle of the second aerial tripod head laser methane telemetry instrument pointing to the i-th plane detection point according to the geographic three-dimensional coordinates of the second aerial tripod head laser methane telemetry instrument and the geographic three-dimensional coordinates of the i-th plane detection point, wherein the intersection point of the i-th plane which is spaced above the ground intersection point by i preset height information between the laser depression direction of the first aerial tripod head laser methane telemetry instrument is used as the i-th plane detection point;
The control module is used for controlling the second aerial tripod head type laser methane telemetry instrument to point to the ground intersection according to the depression angle and the horizontal rotation angle which are acquired by the angle acquisition module, sequentially detecting the methane concentration of an ith plane detection point between the first aerial tripod head type laser methane telemetry instrument and the ground intersection from the ground intersection in a sequence from low to high, and taking the corresponding detection point as an alarm point when the methane concentration exceeds an alarm threshold value; wherein, the initial value of i is 1;
and the output module is used for selecting the alarm point with the highest methane concentration from all the alarm points as a suspected leakage point.
9. A co-location center for gas leakage points for a station, comprising a memory and a processor, said memory storing a computer program, characterized in that said processor, when executing said computer program, realizes the steps of the co-location method for gas leakage points for a station according to any one of claims 5-7.
10. A laser methane telemetering instrument gas leakage point co-location system for a station is characterized in that: the system comprises a coordination center and a cradle head laser methane telemeter array; the co-center is the co-location center of claim 9.
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