Method and device for inspecting dangerous gas, robot and medium

Abstract

The application relates to a dangerous gas laser inspection method and device, a robot and a medium, and is applied to the technical field of inspection robots. The method comprises the following steps: in response to an inspection instruction sent by a control center, obtaining information of a region to be inspected based on the inspection instruction; determining whether the region to be inspected is a regular shape; if the region to be inspected is a regular shape, generating at least one dangerous gas collection point based on the region to be inspected; if the region to be inspected is not a regular shape, approximating the region to be inspected to a regular region; generating at least one dangerous gas collection point based on the regular region; generating an inspection route based on the at least one dangerous gas collection point; obtaining self-position information based on a laser radar, and performing inspection on the region to be inspected based on the self-position information and the inspection route. The application has the effect of improving the accuracy of on-site dangerous gas inspection.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of inspection robots, in particular to a dangerous gas laser inspection method and device, a robot and a medium. BACKGROUND

[0002] With the rapid development of economy, the detection of safe production in industrial sites such as coal, natural gas mining, circulation and storage has increasingly high requirements. These sites are prone to dangerous gases, which can cause great harm to production safety and the environment, so these sites have higher requirements for detection of dangerous gases.

[0003] When the traditional dangerous gas detection robot inspects the industrial site, it often needs to manually set the inspection route. Manually setting the inspection route requires a lot of calculations, takes a long time, and depends on the experience of the staff. There is a problem of incomplete inspection when setting the route, which affects the accuracy of the inspection result. SUMMARY

[0004] In order to improve the accuracy of on-site dangerous gas inspection, the present application provides a dangerous gas laser inspection method, device, robot and medium.

[0005] In a first aspect, the present application provides a dangerous gas laser inspection method, which adopts the following technical solution:

[0006] A dangerous gas laser inspection method comprises:

[0007] In response to an inspection instruction sent by a control center, information of a region to be inspected is obtained based on the inspection instruction;

[0008] It is judged whether the region to be inspected is a regular shape;

[0009] If it is a regular shape, at least one dangerous gas collection point is generated based on the region to be inspected;

[0010] If it is not a regular shape, the region to be inspected is approximated to a regular region;

[0011] At least one dangerous gas collection point is generated based on the regular region;

[0012] An inspection route is generated based on the at least one dangerous gas collection point;

[0013] The position information of the robot is obtained based on the laser radar, and the region to be inspected is inspected based on the position information of the robot and the inspection route.

[0014] By adopting the technical scheme, the dangerous gas laser inspection robot is used to inspect the to-be-inspected area, the dangerous gas laser inspection robot sets the dangerous gas collection point according to the to-be-inspected area and generates the inspection route according to the dangerous gas collection point, and the to-be-inspected area is automatically inspected, so that the accuracy of the on-site dangerous gas inspection is improved.

[0015] Optionally, the determining whether the to-be-inspected area is a regular shape comprises:

[0016] acquiring a region shape of the to-be-inspected area based on the information of the to-be-inspected area;

[0017] determining whether the region shape is an axisymmetric figure or a center symmetric figure;

[0018] if the region shape is the axisymmetric figure or the center symmetric figure, it is determined that the to-be-inspected area is a regular shape;

[0019] if the region shape is not the axisymmetric figure or the center symmetric figure, it is determined that the to-be-inspected area is an irregular shape.

[0020] Optionally, the approximating the to-be-inspected area to a regular area comprises:

[0021] matching the closed figure with the regular figure, selecting a regular figure with the highest similarity to the closed figure from the regular figures, and taking the regular figure with the highest similarity as the regular area.

[0022] Optionally, the generating at least one dangerous gas collection point based on the to-be-inspected area comprises:

[0023] acquiring an edge length of the to-be-inspected area and a region area of the to-be-inspected area;

[0024] dividing the to-be-inspected area into at least one to-be-inspected block based on the edge length and the region area;

[0025] acquiring a block perimeter of the to-be-inspected block and a block area of the to-be-inspected block, and generating at least one dangerous gas collection point based on the block perimeter and the block area;

[0026] the generating at least one dangerous gas collection point based on the regular area comprises:

[0027] acquiring an edge length of the regular area and a region area of the regular area;

[0028] dividing the regular area into at least one to-be-inspected block based on the edge length and the region area;

[0029] Obtaining a block perimeter and a block area of the to-be-inspected block, and generating at least one dangerous gas collection point based on the block perimeter and the block area.

[0030] Optionally, the generating an inspection route based on the at least one dangerous gas collection point comprises:

[0031] Obtaining a number of dangerous gas collection points in each of the to-be-inspected blocks and position coordinates of each of the dangerous gas collection points;

[0032] Determining whether the number of dangerous gas collection points in each of the to-be-inspected blocks is consistent;

[0033] If the number is consistent, generating an inspection route based on the position coordinates;

[0034] If the number is inconsistent, generating an inspection priority of the to-be-inspected blocks in descending order according to the number of dangerous gas collection points;

[0035] Generating an inspection route based on the inspection priority and the position coordinates.

[0036] Optionally, the obtaining the position information of the device based on the laser radar and inspecting the to-be-inspected area based on the position information of the device and the inspection route comprises:

[0037] Obtaining a position coordinate of the device based on the laser radar;

[0038] Obtaining a starting point of the inspection route, and generating a starting point route based on the position coordinate of the device and the starting point;

[0039] Returning to the starting point of the inspection route based on the starting point route;

[0040] Inspecting the to-be-inspected area based on the inspection route and the starting point of the inspection route.

[0041] Optionally, after the obtaining the position information of the device based on the laser radar and inspecting the to-be-inspected area based on the position information of the device and the inspection route, the method further comprises:

[0042] Obtaining dangerous gas concentration information of each of the dangerous gas collection points and inspection image information of the dangerous gas collection points, the inspection image information comprising images of the dangerous gas collection points;

[0043] Generating a visual inspection report about each of the dangerous gas collection points based on the dangerous gas concentration information and the inspection image information.

[0044] In a second aspect, the present application provides a dangerous gas laser inspection device, which adopts the following technical solution:

[0045] The application discloses a dangerous gas laser inspection device, which comprises:

[0046] An information acquisition module is configured to acquire information of a region to be inspected based on an inspection instruction sent by a control center in response to the inspection instruction.

[0047] A shape judgment module is configured to judge whether the region to be inspected is of a regular shape.

[0048] A first generation module is configured to generate at least one dangerous gas collection point based on the region to be inspected.

[0049] A region approximation module is configured to approximate the region to be inspected to a regular region.

[0050] A second generation module is configured to generate at least one dangerous gas collection point based on the regular region.

[0051] A route generation module is configured to generate an inspection route based on the at least one dangerous gas collection point.

[0052] A region inspection module is configured to acquire self-position information based on a laser radar, and to inspect the region to be inspected based on the self-position information and the inspection route.

[0053] By using the above technical solution, the dangerous gas laser inspection robot is used to inspect the region to be inspected, the dangerous gas laser inspection robot automatically sets a dangerous gas collection point according to the region to be inspected and generates an inspection route according to the dangerous gas collection point, and the region to be inspected is automatically inspected, so that the accuracy of on-site dangerous gas inspection is improved.

[0054] In a third aspect, the application provides a dangerous gas laser inspection robot, which adopts the following technical solution:

[0055] The dangerous gas laser inspection robot comprises a memory, a processor, a laser radar, a gas detection sensor, a camera and a wireless communication module, and the memory, the processor, the laser radar, the gas detection sensor, the camera and the wireless communication module are electrically connected.

[0056] In a fourth aspect, the application provides a computer readable storage medium, which adopts the following technical solution:

[0057] The computer readable storage medium stores a computer program capable of being loaded and executed by the processor to execute the dangerous gas laser inspection method according to any one of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0058] Figure 1is a flowchart of a dangerous gas laser inspection method provided by an embodiment of the present application.

[0059] Figure 2 is a structural block diagram of a dangerous gas laser inspection device provided by an embodiment of the present application.

[0060] Figure 3 is a structural block diagram of a dangerous gas laser inspection device provided by an embodiment of the present application.

[0061] Figure 4 is a structural block diagram of a dangerous gas laser inspection device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0062] The present application will be further described in detail below with reference to the accompanying drawings.

[0063] Figure 1 is a flowchart of a dangerous gas laser inspection method provided by an embodiment of the present application.

[0064] As shown in Figure 1 , the main process of the method is described as follows (steps S101-S107):

[0065] Step S101, in response to the inspection instruction sent by the control center, the information of the area to be inspected is obtained based on the inspection instruction.

[0066] In this embodiment, the user sends an inspection instruction to the dangerous gas laser inspection robot through the control center, and the inspection instruction contains the information of the area to be inspected. The control center and the dangerous gas laser inspection robot communicate wirelessly. The control center can include but is not limited to mobile terminals such as mobile phones, notebook computers, tablet computers, and fixed terminals such as desktop computers.

[0067] Step S102, determine whether the area to be inspected is a regular shape.

[0068] In this embodiment, the area to be inspected is photographed or recorded by an imaging device such as a camera, and the area shape of the area to be inspected is obtained based on the information of the area to be inspected. It is determined whether the area shape is an axisymmetric figure or a central symmetric figure. If it is an axisymmetric figure or a central symmetric figure, it is determined that the area to be inspected is a regular shape. If it is not an axisymmetric figure or a central symmetric figure, it is determined that the area to be inspected is an irregular shape.

[0069] Figure 2 is a structural block diagram of a dangerous gas laser inspection device provided by an embodiment of the present application.

[0070] As shown in Figure 2As shown, the center of the to-be-inspected region is selected as the center point of the coordinate system, and the corner point A, the corner point B, the corner point C and the corner point D of the to-be-inspected region are obtained, and the corner point coordinates are A(2, 2), B(2, -2), C(-2, -2) and D(-2, 2). It is judged whether there are two sets of corner point coordinates with the same vertical coordinates or the same horizontal coordinates. If there are two sets of corner point coordinates with the same vertical coordinates or the same horizontal coordinates, it is judged whether the two sets of corner point coordinates with the same vertical coordinates or the same horizontal coordinates are symmetrical based on the coordinate axis or symmetrical based on the center of the coordinate axis. If the two sets of corner point coordinates with the same vertical coordinates or the same horizontal coordinates are symmetrical based on the coordinate axis or symmetrical based on the center of the coordinate axis, it is determined that the to-be-inspected region is a regular figure. If the two sets of corner point coordinates with the same vertical coordinates or the same horizontal coordinates are not symmetrical based on the coordinate axis or symmetrical based on the center of the coordinate axis, it is determined that the to-be-inspected region is an irregular figure. For example, it is judged whether the vertical coordinates of the corner point A and the corner point D are the same, and whether the vertical coordinates of the corner point B and the corner point C are the same. When the judgment result is the same, it is judged whether the corner point A and the corner point D, and the corner point B and the corner point C are symmetrical based on the vertical coordinates. However, when the judgment result is symmetrical, it is determined that the figure ABCD is a regular shape.

[0071] It should be noted that the establishment method of the coordinate system and the selection of the coordinate point need to be adjusted according to actual needs, and are not specifically limited here. In the embodiment, the corner point coordinates refer to, for example, the four vertices of a square or a rectangle, or the wave crest and wave trough points of a wave shape, and are not specifically limited here.

[0072] In step S103, if yes, at least one dangerous gas collection point is generated based on the to-be-inspected region.

[0073] In the embodiment, when the to-be-inspected region is a regular shape, the edge length of the to-be-inspected region and the area of the to-be-inspected region are obtained. The to-be-inspected region is divided into at least one to-be-inspected block based on the edge length and the area. The block perimeter and the block area of the to-be-inspected block are obtained, and at least one dangerous gas collection point is generated based on the block perimeter and the block area.

[0074] The longer the edge length of the to-be-inspected region and the larger the area of the to-be-inspected region, the more to-be-inspected blocks can be divided, and the longer the block perimeter of the to-be-inspected block, the larger the block area of the to-be-inspected block, and the more dangerous gas collection points in the to-be-inspected block.

[0075] When the to-be-inspected region is divided, a minimum area division threshold is set, the axis of the to-be-inspected region is first obtained, the to-be-inspected region is first divided into two to-be-inspected blocks, the axes of the two to-be-inspected blocks are then obtained, and the to-be-inspected region is further divided into four to-be-inspected blocks, until the area of the to-be-inspected block is not greater than the minimum area division threshold, and the division of the to-be-inspected region is stopped. It should be noted that the division method of the to-be-inspected block includes but is not limited to the above method, and the minimum area division threshold, the division number of the to-be-inspected block and the number of the dangerous gas collection points need to be set according to actual needs, which are not limited here.

[0076] In step S104, if no, the to-be-inspected region is approximated as a regular region.

[0077] In this embodiment, when the to-be-inspected region is irregular, the closed graph is matched with the regular graph, the regular graph with the highest similarity to the closed graph is selected, and the regular graph with the highest similarity is taken as the regular region. When the to-be-inspected region cannot be normally matched with the regular graph with the highest similarity, the to-be-inspected region is divided, and the regular graph matching is performed on each divided to-be-inspected region, thereby obtaining a plurality of regular graphs with different shapes. The similarity value needs to be set according to actual needs, and if not set, the default is 90%, and the similarity value cannot be lower than 85%. The actual similarity value used is not limited here.

[0078] In step S105, at least one dangerous gas collection point is generated based on the regular region.

[0079] For step S105, the edge length of the regular region and the area of the regular region are obtained; the regular region is divided into at least one to-be-inspected block based on the edge length and the area; the block perimeter and the block area of the to-be-inspected block are obtained, and at least one dangerous gas collection point is generated based on the block perimeter and the block area.

[0080] For example, when the to-be-inspected region is a graph with three equal-length sides and an angle of ninety degrees between two adjacent sides, but the other side is a wavy shape, a straight line is used to replace the wavy side, so that the graph is similar to a square, and the graph is approximated as a square, that is, the to-be-inspected region is approximated as a square regular region, so that the to-be-inspected region is divided into at least one to-be-inspected block by using the to-be-inspected block division method of the regular region.

[0081] In step S106, a to-be-inspected region is generated based on at least one dangerous gas collection point.

[0082] For step S106, the number of dangerous gas collection points in each to-be-inspected block and the position coordinates of each dangerous gas collection point are obtained; it is determined whether the number of dangerous gas collection points in each to-be-inspected block is consistent; if yes, the inspection route is generated based on the position coordinates; if no, the to-be-inspected blocks are sorted in descending order according to the number of dangerous gas collection points to generate an inspection priority; and the inspection route is generated based on the inspection priority and the position coordinates.

[0083] In this embodiment, when the to-be-inspected region is a square, a rectangle, or a circle, or other graphics that can be equally divided into multiple identical blocks along an axis, the area of each to-be-inspected block and the number of dangerous gas collection points in the to-be-inspected block are the same, the dangerous gas collection points are connected according to the position coordinates, and all to-be-inspected blocks and dangerous gas collection points are connected in series to form a complete inspection route, such as an S-shaped inspection route. When the to-be-inspected region is a trapezoid, a parallelogram, or a rhombus, or other graphics that cannot be equally divided into multiple identical blocks along an axis, the areas of the to-be-inspected blocks will be different, and the number of dangerous gas collection points in the to-be-inspected blocks will also be different. The priority is set according to the number of dangerous gas collection points in the to-be-inspected blocks, the to-be-inspected block with more dangerous gas collection points has a higher priority, and the order of inspection is arranged according to the priority. The dangerous gas collection points are connected according to the priority and the position coordinates to form a complete inspection route. It should be noted that the specific inspection route generation method includes but is not limited to the above method, which is not limited here.

[0084] In step S107, the position information of the laser radar is obtained, and the to-be-inspected region is inspected based on the position information and the inspection route.

[0085] For step S107, the position coordinates of the laser radar are obtained, the inspection starting point of the inspection route is obtained, the starting point route is generated based on the position coordinates and the starting point, the starting point route is returned based on the starting point route, and the to-be-inspected region is inspected based on the inspection route and the starting point.

[0086] In this embodiment, after the inspection route is generated, the dangerous gas laser inspection robot will start the inspection activity. Since the dangerous gas laser inspection robot may not be located at the starting point of the inspection route, the dangerous gas laser inspection robot needs to return to the starting point of the inspection route for inspection. The dangerous gas laser inspection robot returns to the starting point of the inspection route according to the position coordinates of the laser radar, generates a starting point route based on the position coordinates and the starting point of the inspection route, and the starting point route is the route that reaches the starting point from the position coordinates the fastest.

[0087] After step S107, the dangerous gas concentration information and the inspection image information of each dangerous gas collection point are acquired, the inspection image information including the image of the dangerous gas collection point; and the visual inspection report about each dangerous gas collection point is generated based on the dangerous gas concentration information and the inspection image information.

[0088] In this embodiment, after reaching a dangerous gas collection point, the dangerous gas collection point is photographed by the camera to generate a collection image, and the dangerous gas concentration of the dangerous gas collection point is recorded; and the visual inspection report is generated by combining the collection image and the dangerous gas concentration information after the inspection is completed, which can be a video and is not limited here.

[0089] Figure 3 A structural block diagram of a dangerous gas laser inspection device 200 provided for the application embodiment.

[0090] As shown in Figure 3 , the dangerous gas laser inspection device 200 mainly includes:

[0091] An information acquisition module 201 is configured to acquire information of a to-be-inspected area based on an inspection instruction sent by a control center in response to the inspection instruction;

[0092] A shape judgment module 202 is configured to judge whether the to-be-inspected area is a regular shape;

[0093] A first generation module 203 is configured to generate at least one dangerous gas collection point based on the to-be-inspected area;

[0094] A region approximation module 204 is configured to approximate the to-be-inspected area to a regular area;

[0095] A second generation module 205 is configured to generate at least one dangerous gas collection point based on the regular area;

[0096] A route generation module 206 is configured to generate an inspection route based on the at least one dangerous gas collection point;

[0097] A region inspection module 207 is configured to acquire self position information based on a laser radar, and to inspect the to-be-inspected area based on the self position information and the inspection route.

[0098] As an optional implementation manner of this embodiment, the shape judgment module 202 is specifically configured to acquire a region shape of the to-be-inspected area based on the information of the to-be-inspected area; to judge whether the region shape is an axisymmetric figure or a center-symmetric figure; to determine that the to-be-inspected area is a regular shape if the region shape is an axisymmetric figure or a center-symmetric figure; and to determine that the to-be-inspected area is an irregular shape if the region shape is not an axisymmetric figure or a center-symmetric figure.

[0099] As an optional implementation of the embodiment, the region approximation module 204 is configured to match the closed graph with the regular graphs, select a regular graph with the highest similarity to the closed graph from the regular graphs, and take the regular graph with the highest similarity as the regular region.

[0100] As an optional implementation of the embodiment, the first generation module 203 is specifically configured to obtain an edge length of the region to be inspected and a region area of the region to be inspected, divide the region to be inspected into at least one region block to be inspected based on the edge length and the region area, obtain a block perimeter of the region block to be inspected and a block area of the region block to be inspected, and generate at least one dangerous gas collection point based on the block perimeter and the block area.

[0101] The second generation module 205 is specifically configured to obtain an edge length of the regular region and a region area of the regular region, divide the regular region into at least one region block to be inspected based on the edge length and the region area, obtain a block perimeter of the region block to be inspected and a block area of the region block to be inspected, and generate at least one dangerous gas collection point based on the block perimeter and the block area.

[0102] As an optional implementation of the embodiment, the route generation module 206 is specifically configured to obtain a number of dangerous gas collection points in each region block to be inspected and position coordinates of the dangerous gas collection points, determine whether the number of dangerous gas collection points in each region block to be inspected is consistent, generate an inspection route based on the position coordinates if the number is consistent, sort the region blocks to be inspected in descending order according to the number of dangerous gas collection points to generate an inspection priority if the number is inconsistent, and generate an inspection route based on the inspection priority and the position coordinates.

[0103] As an optional implementation of the embodiment, the region inspection module 207 is specifically configured to obtain a self position coordinate based on the laser radar, obtain an inspection starting point of the inspection route, generate a starting point route based on the self position coordinate and the starting point, return to the inspection starting point based on the starting point route, and inspect the region to be inspected based on the inspection route and the inspection starting point.

[0104] As an optional implementation of the embodiment, the dangerous gas laser inspection device 200 further comprises:

[0105] The image acquisition module is configured to obtain dangerous gas concentration information and inspection image information of each dangerous gas collection point, and the inspection image information comprises an image of the dangerous gas collection point.

[0106] The report generation module is configured to generate a visual inspection report about each dangerous gas collection point based on the dangerous gas concentration information and the inspection image information.

[0107] In one example, the modules in any of the above apparatuses can be one or more integrated circuits configured to implement the above methods, for example: one or more application specific integrated circuits (ASICs), or, one or more digital signal processors (DSPs), or, one or more field programmable gate arrays (FPGAs), or a combination of at least two of these integrated circuit forms.

[0108] For another example, when the modules in the apparatuses can be implemented in the form of a processing element scheduler, the processing element can be a general purpose processor, such as a central processing unit (CPU) or other processor that can invoke a program. For another example, the modules can be integrated together to be implemented in the form of a system-on-a-chip (SOC).

[0109] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working processes of the apparatuses and modules described above can refer to the corresponding processes in the foregoing method embodiments, which will not be described here again.

[0110] Figure 4 A structural block diagram of the hazardous gas laser patrol robot 300 provided by the embodiments of the present application is shown.

[0111] As shown in Figure 4 The hazardous gas laser patrol robot 300 includes a processor 301 and a memory 302, and can further include one or more of an information input / output (I / O) interface 303, a wireless communication module 304, a communication bus 305, a laser radar 306, a gas detection sensor 307, and a camera 308.

[0112] The processor 301 is configured to control the overall operation of the dangerous gas laser inspection robot 300 to complete all or part of the steps of the dangerous gas laser inspection method described above. The memory 302 is configured to store various types of data to support the operation of the dangerous gas laser inspection robot 300. For example, the data can include instructions for any application or method operating on the dangerous gas laser inspection robot 300, and application-related data. The memory 302 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as one or more of static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

[0113] The I / O interface 303 provides an interface between the processor 301 and other interface modules, which can be a keyboard, a mouse, a button, and the like. These buttons can be virtual buttons or physical buttons. The wireless communication module 304 is configured to enable wired or wireless communication between the dangerous gas laser inspection robot 300 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, near field communication (NFC), 2G, 3G, or 4G, or a combination of one or more of them, so the corresponding wireless communication module 304 can include a Wi-Fi component, a Bluetooth component, and an NFC component.

[0114] The dangerous gas laser inspection robot 300 can be implemented by one or more of an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a controller, a microcontroller, a microprocessor, or other electronic elements, to execute the dangerous gas laser inspection method given in the above embodiments.

[0115] The communication bus 305 can include a path for transmitting information between the above components. The communication bus 305 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus 305 can be divided into an address bus, a data bus, a control bus, etc. The laser radar 306 provides position information and inspection route information for the laser inspection robot 300, the gas detection sensor 307 provides dangerous gas information for the laser inspection robot 300, and the camera 308 provides inspection image information for the laser inspection robot 300.

[0116] The dangerous gas laser inspection robot 300 can include, but is not limited to, a mobile robot, a car-shaped robot, etc.

[0117] The application also provides a computer readable storage medium, and the computer readable storage medium stores a computer program. When the computer program is executed by a processor, the steps of the dangerous gas laser inspection method described above are implemented.

[0118] The computer readable storage medium can include 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 various media that can store program codes.

[0119] The terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0120] The description above only concerns preferred embodiments of the application and the explanation of the principles of the technology used. The person skilled in the art should understand that the scope of the application involved in the application is not limited to the technical solutions formed by the specific combinations of the technical features described above, and should also cover other technical solutions formed by any combinations of the technical features described above or their equivalent features without departing from the above-mentioned application concept. For example, the technical solutions formed by the mutual replacement of the above-mentioned features and the technical features applied in the application (but not limited to) having similar functions.

Claims

1. A method of inspecting a hazardous gas laser, characterized by, The method comprises the following steps: in response to the inspection instruction sent by the control center, obtaining information of a to-be-inspected area based on the inspection instruction; determining whether the to-be-inspected area is a regular shape; if the to-be-inspected area is a regular shape, generating at least one dangerous gas collection point based on the to-be-inspected area; if the to-be-inspected area is not a regular shape, approximating the to-be-inspected area to a regular area; generating at least one dangerous gas collection point based on the regular area; generating an inspection route based on the at least one dangerous gas collection point; when the to-be-inspected area can be equally divided into a plurality of identical blocks along an axis, the area of each to-be-inspected block and the number of dangerous gas collection points in the to-be-inspected block are the same, the dangerous gas collection points are connected according to the position coordinates, and all the to-be-inspected blocks and the dangerous gas collection points are connected in series to form a complete inspection route; when the to-be-inspected area cannot be equally divided into a plurality of identical blocks along an axis, the area of each to-be-inspected block is different, and the number of dangerous gas collection points in the to-be-inspected block is also different, the priority is set according to the number of dangerous gas collection points in the to-be-inspected block, the priority of the to-be-inspected block with more dangerous gas collection points is higher, the order of inspection is arranged according to the priority, and the dangerous gas collection points are connected according to the position coordinates to form a complete inspection route; obtaining self-position information based on a laser radar, and inspecting the to-be-inspected area based on the self-position information and the inspection route.

2. The method of claim 1, wherein, The determination of whether the to-be-inspected area is a regular shape comprises the following steps:

3. The method of claim 2, wherein, obtaining the area shape of the to-be-inspected area based on the information of the to-be-inspected area; determining whether the area shape is an axisymmetric figure or a center-symmetric figure; 4. The method according to any one of claims 1 to 3, characterized in that, if the area shape is an axisymmetric figure or a center-symmetric figure, it is determined that the to-be-inspected area is a regular shape; if the area shape is not an axisymmetric figure or a center-symmetric figure, it is determined that the to-be-inspected area is an irregular shape. The approximation of the to-be-inspected area to a regular area comprises the following steps: matching a closed figure with a regular figure, selecting a regular figure with the highest similarity to the closed figure as the regular area. The generation of at least one dangerous gas collection point based on the to-be-inspected area comprises the following steps: obtaining the edge length of the to-be-inspected area and the area of the to-be-inspected area; dividing the to-be-inspected area into at least one to-be-inspected block based on the edge length and the area; obtaining the block perimeter and the block area of the to-be-inspected block, and generating at least one dangerous gas collection point based on the block perimeter and the block area. The generation of at least one dangerous gas collection point based on the regular area comprises the following steps: obtaining the edge length of the regular area and the area of the regular area; dividing the regular area into at least one to-be-inspected block based on the edge length and the area; obtaining the block perimeter and the block area of the to-be-inspected block, and generating at least one dangerous gas collection point based on the block perimeter and the block area.

5. The method of claim 1, wherein, The laser radar is used to acquire self-position information, and the to-be-inspected area is inspected based on the self-position information and the inspection route, including: acquiring self-position coordinates based on the laser radar; acquiring an inspection starting point of the inspection route, and generating a starting point route based on the self-position coordinates and the starting point; returning to the inspection starting point based on the starting point route; and inspecting the to-be-inspected area based on the inspection route and the inspection starting point.

6. The method of claim 1, wherein, After the laser radar is used to acquire self-position information, and the to-be-inspected area is inspected based on the self-position information and the inspection route, the method further includes: acquiring dangerous gas concentration information and inspection image information of each dangerous gas collection point, the inspection image information including images of the dangerous gas collection points; and generating a visual inspection report about each dangerous gas collection point based on the dangerous gas concentration information and the inspection image information.

7. A hazardous gas laser patrol device characterized by, The method includes: an information acquisition module, configured to acquire information of a to-be-inspected area based on an inspection instruction sent by a control center in response to the inspection instruction; a shape judgment module, configured to judge whether the to-be-inspected area is of a regular shape; a first generation module, configured to generate at least one dangerous gas collection point based on the to-be-inspected area; a region approximation module, configured to approximate the to-be-inspected area to a regular region; a second generation module, configured to generate at least one dangerous gas collection point based on the regular region; a route generation module, configured to generate an inspection route based on the at least one dangerous gas collection point; when the to-be-inspected area can be divided into a plurality of identical blocks according to an axis, the area of each to-be-inspected block and the number of dangerous gas collection points in the to-be-inspected block are identical, the dangerous gas collection points are connected according to position coordinates, and all to-be-inspected blocks and dangerous gas collection points are connected in series to form a complete inspection route; when the to-be-inspected area cannot be divided into a plurality of identical blocks according to an axis, the area of each to-be-inspected block is different, and the number of dangerous gas collection points in each to-be-inspected block is also different, a priority is set according to the number of dangerous gas collection points in each to-be-inspected block, the priority of a to-be-inspected block with more dangerous gas collection points is higher, the order of inspection is arranged according to the priority, and the dangerous gas collection points are connected according to the priority and position coordinates, so that all to-be-inspected blocks and dangerous gas collection points are connected in series to form a complete inspection route; a region inspection module, configured to acquire self-position information based on a laser radar, and inspect the to-be-inspected area based on the self-position information and the inspection route.

8. A hazardous gas laser inspection robot, characterized by, The method includes a memory, a processor, a laser radar, a gas detection sensor, a camera, and a wireless communication module, which are electrically connected, and the memory stores a computer program capable of being loaded and executed by the processor to perform the method of any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, A computer program is stored which can be loaded by a processor and execute the method according to any one of claims 1 to 6.

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