Gas concentration visualisation method and master device

Abstract

The application discloses a gas concentration visualization method and a master control device. The gas concentration visualization method comprises the following steps: acquiring scanning information of a gimbal remote sensor, and constructing a full-scene graph according to the scanning information; determining a plurality of preset positions of the gimbal remote sensor, and constructing a mapping relationship between the preset positions and a panoramic coordinate system corresponding to the full-scene graph; acquiring gas concentration remote sensing values of the gimbal remote sensor at the preset positions, and estimating a full-scene gas concentration distribution and performing visualization rendering according to the gas concentration remote sensing values of the preset positions and the mapping relationship. The gas concentration visualization method of the embodiment of the application can generate a full-scene gas concentration distribution graph by constructing a mapping relationship between the preset positions and a panoramic coordinate system corresponding to the full-scene graph and according to the gas concentration remote sensing values of the preset positions, can directly display full-scene gas concentration information, and is convenient for users to handle in a timely manner when gas concentration abnormalities occur.

Description

Technical Field

[0001] This invention relates to the field of power distribution network technology, and in particular to a method for visualizing gas concentration and a main control device. Background Technology

[0002] In the thermal power generation industry, coal and oil-based power generation suffers from high pollution and low energy conversion rates. Gas-fired power generation, on the other hand, offers advantages such as lower emissions, higher calorific value, and higher energy conversion rates, thus reducing pollution and improving energy efficiency. However, natural gas, being a flammable and explosive gas, poses risks of leakage, which can lead to energy waste, environmental pollution, fires, explosions, and even serious safety incidents such as asphyxiation, poisoning, and fatalities.

[0003] Offline detection methods based on manual sampling are inefficient and cannot provide timely and effective concentration warnings. Therefore, gas-fired power plants are gradually transitioning from manual inspections based on gas sampling or single-point detection to remote sensing methods based on online detection and rotating scanning. Among these, the methane pan-tilt telemetry device is a relatively advanced rotating methane telemetry device, consisting of a detection unit, a camera unit, and a pan-tilt unit. It uses laser spectral absorption technology to perform real-time online detection of gas concentration within the scanning radius through rotating scanning. Simultaneously, the camera unit captures images of the detection scene, facilitating data analysis, observation, and comparison for users.

[0004] Because methane telemetry is based on a method of fixed-point, rotating measurement of methane concentration using preset locations, it allows for a large number of preset locations and covers a wide range of scenarios. The amount of methane concentration information detected far exceeds that of single-point testing. Furthermore, the detected data still requires manual analysis and screening, failing to effectively reflect the methane concentration relationships between adjacent areas. This makes it difficult for users to intuitively identify abnormal or correlated data and take timely and effective measures. Moreover, with the increase in detection points, the complex telemetry data significantly increases the burden of manual analysis, failing to intuitively and effectively reflect the overall methane concentration distribution trend within the scenario, thus hindering timely anomaly warnings.

[0005] Currently, the mainstream method for estimating gas concentration involves building a gas diffusion model based on the initial gas concentration, combined with factors such as wind direction and speed, diffusion coefficient, and diffusion time; then, the gas concentration in a local area is estimated using the model. This method suffers from difficulties in obtaining parameters and cannot effectively utilize the correlation between multiple telemetry points across the entire scene. Summary of the Invention

[0006] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, the purpose of this invention is to propose a gas concentration visualization method and a main control device to intuitively display gas concentration information across a complete scene.

[0007] To achieve the above objectives, a first aspect of the present invention proposes a gas concentration visualization method, the method comprising: acquiring scanning information from a gimbal telemetry instrument and constructing a full-scene map based on the scanning information; determining multiple preset positions of the gimbal telemetry instrument and constructing a mapping relationship between each preset position and a panoramic coordinate system corresponding to the full-scene map; acquiring gas concentration telemetry values ​​of the gimbal telemetry instrument at each preset position, and estimating the full-scene gas concentration distribution and performing visualization rendering based on the gas concentration telemetry values ​​of each preset position and the mapping relationship.

[0008] In addition, the gas concentration visualization method of this invention may also have the following additional technical features:

[0009] According to one embodiment of the present invention, the scanning information includes multiple partial scene images captured by the gimbal telemetry instrument when performing an initial scan of the entire scene according to a preset trajectory. The step of constructing a full scene image based on the scanning information includes: stitching the multiple partial scene images together to obtain a first scene image, wherein adjacent partial scene images have overlapping areas; performing a perspective transformation on the first scene image to obtain a second scene image; and adjusting the size of the second scene image to obtain the full scene image.

[0010] According to one embodiment of the present invention, the initial scan includes a horizontal scan and a vertical scan, and the number of local scene maps is N. ho ×N v ,in, This indicates the number of horizontal scans performed by the gimbal telemetry instrument. A represents the number of longitudinal scans performed by the gimbal telemetry instrument. ho A represents the yaw angle of the gimbal telemetry instrument. v The pitch angle of the gimbal telemetry instrument is represented by α. ho a represents the horizontal field of view of the camera mounted on the gimbal telemetry instrument. v a represents the vertical field of view of the camera. o This indicates the overlap angle of the scan by the gimbal telemetry instrument.

[0011] According to one embodiment of the present invention, adjusting the size of the second scene image includes:

[0012] The width of the second scene image is adjusted using the following formula:

[0013]

[0014] The height of the second scene image is adjusted using the following formula:

[0015]

[0016] Where W represents the width of the full scene graph, H represents the height of the full scene graph, and w c h represents the width of the image captured by the camera. c This indicates the height of the image captured by the camera.

[0017] According to an embodiment of the present invention, constructing the mapping relationship between each of the preset positions and the panoramic coordinate system corresponding to the full scene map includes:

[0018] The horizontal coordinate of the preset position in the panoramic coordinate system is calculated using the following formula:

[0019]

[0020] The ordinate of the preset position in the panoramic coordinate system is calculated using the following formula:

[0021]

[0022] Among them, P n，x P represents the x-coordinate of the nth preset position in the panoramic coordinate system. n，y This represents the ordinate of the nth preset position in the panoramic coordinate system. This represents the gimbal deflection degree of the nth preset position. This represents the pitch angle of the nth preset position.

[0023] According to an embodiment of the present invention, estimating the gas concentration distribution of the entire scene and performing visualization rendering based on the gas concentration telemetry values ​​of each preset position and the mapping relationship includes: obtaining discrete data of gas concentration in the entire scene map based on the gas concentration telemetry values ​​of each preset position and the mapping relationship; estimating gas concentration in local areas using diffusion estimation and estimating gas concentration in the panoramic area using proportional weighting, wherein the local areas are areas less than a preset distance threshold from the preset positions, and the panoramic areas are areas greater than or equal to the preset distance threshold from the preset positions; generating a full-field color density image mask based on the gas concentration distribution estimation results, and overlaying the color density image mask with the entire scene map to achieve visualization rendering of the gas concentration distribution of the entire scene.

[0024] According to one embodiment of the present invention, gas concentration estimation is performed on a local region based on the discrete data using a diffusion estimation method, including:

[0025] The local area is divided into a strong diffusion region and a weak diffusion region with the corresponding preset position as the center.

[0026] The gas concentration at each location within the strong diffusion region is calculated using the following formula:

[0027]

[0028] The gas concentration at each location within the weak diffusion region is calculated using the following formula:

[0029]

[0030] Among them, c n This represents the telemetry value of the gas concentration at the nth preset position. This represents the radius of the weak diffusion region. r base c represents the diffusion radius at the maximum gas concentration. max This indicates the maximum upper limit of gas concentration measurement for the aforementioned gimbal telemetry instrument. This represents the radius of the strong diffusion region. scale represents the scaling factor, d represents the distance from the position to be estimated to the preset position, and v s v represents the attenuation ratio of the strong diffusion region. w This indicates the attenuation ratio of the weak diffusion region.

[0031] According to one embodiment of the present invention, gas concentration estimation of a panoramic area based on the discrete data using a proportional weighting method includes:

[0032] The gas concentration at each location within the panoramic area is calculated using the following formula:

[0033]

[0034] Where, d n This represents the distance from the position to be estimated to the nth preset position.

[0035] According to an embodiment of the present invention, generating a full-field color density image mask based on the gas concentration distribution estimation result includes: constructing a panoramic density mask and classifying warning levels based on the gas concentration distribution estimation result; coloring the panoramic density mask according to the warning level classification result to obtain a color density mask; and overlaying the color density mask and the full-scene image to obtain a visualized full-scene image of gas concentration.

[0036] To achieve the above objectives, a second aspect of the present invention provides a master control device, including a memory, a processor, and a computer program stored in the memory. When the computer program is executed by the processor, it implements the above-described gas concentration visualization method.

[0037] The gas concentration visualization method and main control device of this invention construct a mapping relationship between each preset position and the panoramic coordinate system corresponding to the full scene map, and generate a full scene gas concentration distribution map based on the gas concentration telemetry value of each preset position. This can intuitively display the gas concentration information of the entire scene, making it convenient for users to take timely action when gas concentration anomalies occur. Attached Figure Description

[0038] Figure 1 This is a schematic flowchart of a gas concentration visualization method according to an embodiment of the present invention;

[0039] Figure 2 This is a schematic diagram of the first scene image splicing process according to an embodiment of the present invention;

[0040] Figure 3 This is a schematic diagram of the mapping between a preset position and a panoramic coordinate system according to an embodiment of the present invention;

[0041] Figure 4 This is a schematic diagram showing the radii of the strong diffusion region and the weak diffusion region according to an embodiment of the present invention;

[0042] Figure 5 This is a schematic diagram of the rendering process of a visualized full-scene map of gas concentration according to an embodiment of the present invention;

[0043] Figure 6 This is a schematic diagram of the main control device according to an embodiment of the present invention. Detailed Implementation

[0044] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0045] The gas concentration visualization method and main control device of the present invention are described below with reference to the accompanying drawings.

[0046] Figure 1 This is a schematic flowchart of a gas concentration visualization method according to an embodiment of the present invention.

[0047] like Figure 1 As shown, methods for visualizing gas concentration include:

[0048] S1: Obtain the scanning information from the gimbal telemetry device and construct a full-scene map based on the scanning information.

[0049] As an example, a gimbal telemetry device includes a telemetry module, a snapshot module, and a gimbal control module. The telemetry module and the snapshot module are fixed to the gimbal and controlled by the gimbal control module. The telemetry module is used for remote measurement of gas concentration, and the snapshot module is used to capture images of a local scene.

[0050] S2, determine multiple preset positions of the gimbal telemetry instrument, and construct the mapping relationship between each preset position and the panoramic coordinate system corresponding to the full scene map.

[0051] It should be noted that the preset positions are locations pre-set by the gimbal telemetry device. Using these preset positions, the camera mounted on the gimbal telemetry device can switch between different locations. The camera can sequentially position itself at each preset position and capture a partial scene image at that location.

[0052] After establishing the mapping relationship between each preset position and the panoramic coordinate system corresponding to the full scene map, the gimbal telemetry instrument can perform gas concentration rotational telemetry.

[0053] S3: Obtain the gas concentration telemetry values ​​of the gimbal telemetry instrument at each preset position, and estimate the gas concentration distribution of the entire scene and perform visualization rendering based on the gas concentration telemetry values ​​and mapping relationship of each preset position.

[0054] As an example, a gimbal telemetry device can remotely measure the methane concentration in a scene.

[0055] The gas concentration visualization method of this invention constructs a mapping relationship between each preset position and the panoramic coordinate system corresponding to the whole scene map, and generates a whole scene gas concentration distribution map based on the gas concentration telemetry value of each preset position. This method can intuitively display the whole scene gas concentration information, making it convenient for users to take timely action when gas concentration anomalies occur.

[0056] In some embodiments of the present invention, the scanning information includes multiple partial scene images captured by the gimbal telemetry instrument during the initial scanning of the entire scene according to a preset trajectory. A full-scene image is constructed based on the scanning information, including:

[0057] S11, stitch together multiple local scene images to obtain the first scene image, wherein adjacent local scene images have overlapping areas.

[0058] S12, perform perspective transformation on the first scene image to obtain the second scene image.

[0059] It should be noted that performing perspective transformation on the first scene image ensures that the stitched image maintains consistent dimensions in both the horizontal and vertical directions.

[0060] S13, adjust the size of the second scene image to obtain the full scene image.

[0061] Preferably, the gimbal telemetry instrument scans and captures partial scene images column by column according to a "U" shaped trajectory, thereby ensuring the integrity of the first scene image.

[0062] Specifically, the initial scan includes horizontal and vertical scans, and the number of local scene graphs is N. ho ×N v ,in, This indicates the number of horizontal scans performed by the gimbal telemetry instrument. A represents the number of longitudinal scans performed by the gimbal telemetry instrument. ho A represents the yaw angle of the gimbal telemetry instrument. v The pitch angle of the gimbal telemetry instrument is represented by 'a'. ho a represents the horizontal field of view of the camera mounted on the gimbal telemetry instrument. V a represents the camera's vertical field of view. o This indicates the overlap angle of the pan-tilt telemetry instrument's scan.

[0063] As an example, such as Figure 2 As shown, the gimbal telemetry instrument performs an initial scan of the entire scene according to a preset trajectory, obtaining N. ho ×N v Zhang's partial scene image. Based on the overlapping areas, N ho ×N v First, the partial scene images are stitched together along the column direction, and then the stitched column images are stitched together horizontally to obtain the first scene image.

[0064] In this embodiment, stitching together multiple local scene images obtained from scanning facilitates the rapid location and confirmation of locations with abnormal gas concentrations.

[0065] In some embodiments of the present invention, adjusting the size of the second scene image includes:

[0066] The width of the second scene image is adjusted using the following formula:

[0067]

[0068] The height of the second scene image is adjusted using the following formula:

[0069]

[0070] Where W represents the width of the full scene graph, H represents the height of the full scene graph, and w c h represents the width of the image captured by the camera. c This indicates the height of the image captured by the camera.

[0071] In some embodiments of the present invention, the mapping relationship between each preset position and the panoramic coordinate system corresponding to the full scene map is constructed, including:

[0072] The x-coordinate of the preset position in the panoramic coordinate system is calculated using the following formula:

[0073]

[0074] The ordinate of the preset position in the panoramic coordinate system is calculated using the following formula:

[0075]

[0076] Among them, P n，x P represents the x-coordinate of the nth preset position in the panoramic coordinate system. n，y This represents the ordinate of the nth preset position in the panoramic coordinate system. This represents the gimbal deflection degree of the nth preset position. This represents the pitch angle of the nth preset position.

[0077] As an example, such as Figure 3 As shown, based on the above formula, the mapping relationship between the preset position and the panoramic coordinate system corresponding to the full scene map can be obtained.

[0078] In this embodiment, the coordinate values ​​of each preset position in the panoramic coordinate system can be obtained through the above calculation formula, which facilitates the subsequent estimation of the gas concentration distribution in the entire scene.

[0079] In some embodiments of the present invention, the gas concentration distribution of the entire scene is estimated and visualized based on the telemetry values ​​and mapping relationships of gas concentrations at each preset location, including:

[0080] S31. Based on the telemetry values ​​and mapping relationships of gas concentration at each preset position, obtain discrete data of gas concentration in the entire scene map.

[0081] Specifically, for the pre-set position p during the round trip n n∈[1,N] and its gas concentration telemetry value c n In the full-scene map, complete telemetry information P can be obtained. n (x, y, c), where x and y represent the horizontal and vertical coordinates of the telemetry measurement in the panoramic image, respectively, and c represents the gas concentration measurement value at the preset position. Thus, by using the panoramic coordinate system and telemetry function, complete discrete data of gas concentration in a planar scene can be obtained.

[0082] S32, based on discrete data, gas concentration is estimated by diffusion estimation in local areas and by proportional weighting in panoramic areas. Local areas are regions less than a preset distance threshold from a preset position, while panoramic areas are regions greater than or equal to a preset distance threshold from a preset position.

[0083] S33 generates a full-field color concentration image mask based on the gas concentration distribution estimation results, and overlays the color concentration image mask with the full-scene image to achieve visualization rendering of the gas concentration distribution in the full scene.

[0084] In this embodiment, in the full scene map, for local areas near preset positions, the diffusion radius is constructed based on the measured concentration of a single preset position for concentration estimation; for panoramic areas far from each preset position, weighted estimation is performed based on the distance information of each telemetry point, which can improve the accuracy and efficiency of gas concentration estimation.

[0085] In some embodiments of the present invention, gas concentration is estimated based on discrete data using diffusion estimation of local regions, including:

[0086] S321, divide the local area into a strong diffusion region and a weak diffusion region with the corresponding preset position as the center.

[0087] S322, the gas concentration at each location within the strong diffusion region is calculated using the following formula:

[0088]

[0089] S323, the gas concentration at each location within the weak diffusion region is calculated using the following formula:

[0090]

[0091] Where, c′ n，1 c′ represents the gas concentration at each position within the strong diffusion region corresponding to the nth preset position. n，2 c represents the gas concentration at each position within the weak diffusion region corresponding to the nth preset position. n This represents the telemetry value of the gas concentration at the nth preset position. Indicates the radius of the weak diffusion region. r base c represents the diffusion radius at the maximum gas concentration. max This indicates the maximum upper limit for measuring gas concentration using the gimbal telemetry instrument. Indicates the radius of the strong diffusion region. scale represents the scaling factor, d represents the distance from the position to be estimated to the preset position, and v represents the distance from the position to be estimated to the preset position. s v represents the attenuation ratio in the strong diffusion region. w This indicates the attenuation ratio in the weak diffusion region.

[0092] It should be noted that, as Figure 4As shown, the radii of the strong diffusion region (strong diffusion radius) and the weak diffusion region (weak diffusion radius) can be selected based on the gas concentration measured at the preset location (telemetry point). Specifically, the gas concentration decreases less within the weak diffusion radius region and more significantly within the strong diffusion radius region.

[0093] Specifically, when any position P′ n If a location is located within multiple diffusion regions, the maximum gas concentration value at that location is selected from the gas concentration values ​​corresponding to those multiple diffusion regions.

[0094] In some embodiments of the present invention, gas concentration estimation is performed on a panoramic area using a proportional weighting method based on discrete data, including:

[0095] The gas concentration at each location within the panoramic area is calculated using the following formula:

[0096]

[0097] Where c″ represents the gas concentration at each location within the panoramic area, and d n This represents the distance from the position to be estimated to the nth preset position.

[0098] In this embodiment, the gas concentration in the panoramic area is estimated by using a weighted average method, which can accurately estimate the gas concentration at each location within the panoramic area.

[0099] In some embodiments of the present invention, generating a full-field color density image mask based on gas concentration distribution estimation results includes:

[0100] S331. Based on the gas concentration distribution estimation results, construct a panoramic concentration mask and classify early warning levels.

[0101] S332, based on the warning level classification results, colorize the panoramic density mask to obtain a color density mask.

[0102] Preferably, the panoramic density mask can be colored according to the color search method and the warning level classification results to obtain a color density mask.

[0103] S333 overlays a color concentration mask and a full-scene image to obtain a visualized full-scene image of gas concentration.

[0104] As an example, such as Figure 5 As shown, firstly, the warning levels are divided according to the rendering color table, specifically into Level 1 warning and Level 2 warning; then, the panoramic density mask is colored using the rendering color table to obtain a color density mask; finally, the full scene image is overlaid onto the color density mask to obtain a visualized full scene image of gas concentration.

[0105] Corresponding to the above embodiments, the present invention also proposes a master control device.

[0106] Figure 6 This is a schematic diagram of the main control device according to an embodiment of the present invention.

[0107] like Figure 6 As shown, the main control device 500 includes a processor 501 and a memory 503. The processor 501 and the memory 503 are connected, for example, via a bus 502. Optionally, the main control device 500 may also include a transceiver 504. It should be noted that in practical applications, the transceiver 504 is not limited to one, and the structure of the main control device 500 does not constitute a limitation on the embodiments of the present invention.

[0108] Processor 501 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this invention. Processor 501 may also be a combination that implements computational functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0109] Bus 502 may include a pathway for transmitting information between the aforementioned components. Bus 502 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 502 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 6 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0110] The memory 503 stores a computer program corresponding to the gas concentration visualization method of the above embodiments of the present invention. This computer program is controlled and executed by the processor 501. The processor 501 executes the computer program stored in the memory 503 to implement the content shown in the foregoing method embodiments.

[0111] Among them, the main control device 500 includes, but is not limited to: mobile terminals such as laptops and PADs (tablet computers) and fixed terminals such as desktop computers. Figure 6 The main control device 500 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

[0112] The main control device 500 in this embodiment of the invention can intuitively display gas concentration information for the entire scene, which facilitates timely handling by users when abnormal gas concentration occurs.

[0113] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0114] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0115] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0116] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0117] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method of visualizing a gas concentration, characterized by, The method comprises: acquiring scan information of a gimbal telemeter, and constructing a full-scene graph according to the scan information; determining a plurality of preset positions of the gimbal telemeter, and constructing a mapping relationship of a panoramic coordinate system corresponding to each of the preset positions and the full-scene graph; acquiring gas concentration telemetering values of the gimbal telemeter at each of the preset positions, and obtaining discrete data of gas concentration in the full-scene graph according to the gas concentration telemetering values of each of the preset positions and the mapping relationship; based on the discrete data, a diffusion estimation method is used to estimate gas concentration in a local region, and a proportional weighting method is used to estimate gas concentration in a panoramic region, wherein the local region is a region with a distance less than a preset distance threshold from the preset position, and the panoramic region is a region with a distance greater than or equal to the preset distance threshold from the preset position; a full-scene color concentration image mask is generated according to the gas concentration distribution estimation result, and the color concentration image mask is superimposed on the full-scene graph to realize visual rendering of the full-scene gas concentration distribution; wherein the diffusion estimation method is used to estimate gas concentration in the local region based on the discrete data, comprising: dividing the local region into a strong diffusion region and a weak diffusion region with the corresponding preset position as the center; calculating the gas concentration of each position in the strong diffusion region by the following formula: calculating the gas concentration of each position in the weak diffusion region by the following formula: wherein c n represents the remote sensing value of the gas concentration of the nth preset position, represents the radius of the weak diffusion region, r base represents the diffusion radius under the maximum gas concentration, c max represents the maximum measurement upper limit of the gas concentration of the remote sensing device, represents the radius of the strong diffusion region, scale represents the scaling scale, d represents the distance from the position to be estimated to the preset position, v s represents the attenuation ratio of the strong diffusion region, v w represents the attenuation ratio of the weak diffusion region.

2. The gas concentration visualization method according to claim 1, characterized by, The scan information includes a plurality of local scene graphs captured by the gimbal telemeter when initializing scanning of the full-scene according to a preset track, and the full-scene graph is constructed according to the scan information, comprising: stitching the plurality of local scene graphs to obtain a first scene graph, wherein there is an intersection region between adjacent local scene graphs; perspective transformation is performed on the first scene graph to obtain a second scene graph; adjusting the size of the second scene graph to obtain the full-scene graph.

3. The gas concentration visualization method according to claim 2, characterized by, The initialization scanning includes a horizontal scanning and a vertical scanning, and the number of the local scene maps is N ho ×N v , wherein, represents the number of horizontal scanning of the gimbal remote tester, represents the number of vertical scanning of the gimbal remote tester, A ho represents the yaw angle of the gimbal remote tester, A v represents the pitch angle of the gimbal remote tester, a ho represents the horizontal field of view angle of the camera carried by the gimbal remote tester, a v represents the vertical field of view angle of the camera, a o represents the overlap angle of the scanning of the gimbal remote tester.

4. The gas concentration visualization method according to claim 3, characterized by, The size of the second scene graph is adjusted, comprising: adjusting the width of the second scene graph by the following formula: adjusting the height of the second scene graph by the following formula: where W represents a width of the full scene map, H represents a height of the full scene map, w c represents a width of an image captured by the camera, and h c represents a height of an image captured by the camera.

5. The gas concentration visualization method according to claim 4, characterized by, The mapping relationship of each of the preset positions and the full-scene graph corresponding to the panoramic coordinate system is constructed, comprising: calculating the horizontal coordinate of the preset position in the panoramic coordinate system by the following formula: calculating the vertical coordinate of the preset position in the panoramic coordinate system by the following formula: wherein P n,x represents the horizontal coordinate of the n-th preset position in the panoramic coordinate system, P n,y represents the vertical coordinate of the n-th preset position in the panoramic coordinate system, represents the yaw angle of the n-th preset position, represents the pitch angle of the n-th preset position.

6. The gas concentration visualization method according to claim 1, characterized by, The proportional weighting method is used to estimate gas concentration in the panoramic region based on the discrete data, comprising: calculating the gas concentration of each position in the panoramic region by the following formula: where d n represents the distance from the position to be estimated to the nth preset position.

7. The gas concentration visualization method according to claim 1, characterized by, The full-scene color concentration image mask is generated according to the gas concentration distribution estimation result, comprising: constructing a panoramic concentration mask and dividing the warning level according to the gas concentration distribution estimation result; coloring the panoramic concentration mask according to the warning level division result to obtain a color concentration mask; superimposing the color concentration mask and the full-scene graph to obtain a visual gas concentration full-scene graph.

8. A master device comprising a memory, a processor and a computer program stored on the memory, characterized in that, The computer program is executed by the processor to realize the gas concentration visualization method of any one of claims 1-7. The computer program is executed by the processor to realize the gas concentration visualization method of any one of claims 1-7.

Images