Research On Key Technologies Of Vehicle-Mounted UAV Based Natural Gas Inspection Platform

In recent years,natural gas has been widely promoted and applied in industrial production and daily life due to its characteristics of easy storage and transportation,high calorific value and clean combustion products.At present,China's natural gas is mainly transported by pipeline,but in the application process of natural gas pipeline,damages and fractures caused by various factors often result in environmental pollution,fire,explosion,poisoning casualties and other accidents.Therefore,it is of great significance to use technical means to improve the supervision level of natural gas pipeline.Aiming at the supervision of natural gas pipeline,this thesis proposes a patrol inspection method based on a vehicle-mounted UAV(unmanned aerial vehicle)platform.On the one hand,the proposed method can give full play to the advantages of the UAV in monitoring the leakage site in a short distance;on the other hand,the vehicle-mounted platform can effectively solve the weakness of the UAV's endurance ability.The thesis focuses on the explosion-proof technology of UAV,the technology of UAV landing on vehicle platform and the gas leakage detection method based on UAV.The main research achievements are summarized as follows:(1)An explosion-proof technology scheme of the UAV for natural gas inspection is proposed.In order to adapt to the inflammable and explosive environment in the process of natural gas inspection,according to relevant explosion-proof technical standards,combined with flameproof,essential safety and other explosion-proof technical means,an explosion-proof UAV sample is designed and manufactured,and passed the relevant test of China's explosion-proof certification center.(2)The control method of the automatic landing of UAV on the vehicle-mounted apron is given.In order to adapt to the field inspection environment,compatible with the existing inspection workflow and inspection equipment,the explosion-proof UAV is combined with the vehicle platform,which can effectively solve the problem of monitoring the leakage site in a short distance and the weakness of the UAV's endurance ability.Automatic landing on vehicle-mounted apron is a key technology.In this thesis,combined with multi-scale guidance tags and the tag position conversion method,the multi-label smooth switch to guide the UAV to land on the vehicle apron is realized.The experiment verifies the feasibility of UAV automatic landing on a vehicle apron.(3)A UAV based gas distribution mapping method using TDLAS(Tunable Diode Laser Absorption Spectroscopy)sensor is proposed.Combined with vertical sampling by the vehicle-mounted TDLAS sensor and the Gaussian core extrapolation algorithm with variable radius,the proposed method can obtain two-dimensional images of gas distribution closer to the reality.Simulation and experiment validate the method.The vehicle-mounted UAV platform provides a new solution for the gas inspection,and the key technical achievements can provide new ideas and technical support for the gas inspection.