Methane monitoring method and system

Abstract

The embodiment of the invention discloses a methane monitoring method and system, the system comprises an infrared imaging module and a methane detection module, the infrared imaging module and the methane detection module are integrated in an infrared dome camera, the method comprises the following steps: the methane detection module is driven by the infrared dome camera to rotate, and in the rotating process, the methane detection module is driven by the infrared dome camera to rotate; detecting the methane concentration of the to-be-detected area, and sending the target position information of the to-be-detected area to the infrared dome camera when the methane concentration of the to-be-detected area is detected to exceed a preset concentration threshold value; the infrared dome camera controls the infrared imaging module to rotate to an area corresponding to the target position information according to the target position information; the infrared imaging module collects an infrared image of the area corresponding to the target position information to obtain infrared image data of the area to be detected, and the infrared image data is used for indicating the methane distribution condition of the area to be detected. By implementing the embodiment of the invention, all-directional monitoring of methane can be realized, a monitoring blind area is avoided, and the accuracy and efficiency of methane monitoring are improved.

Description

Technical Field

[0001] The present application relates to the field of environmental monitoring technology, and in particular to a methane monitoring method and system. Background Art

[0002] At present, methane is an important greenhouse gas, and its greenhouse effect is several times that of carbon dioxide. Its emission has a significant impact on the environment and safety. As the problem of global warming becomes increasingly serious, the monitoring of methane emissions has become extremely important. Traditional methane monitoring methods can only cover a certain area. For large-area monitoring needs, a large number of monitoring equipment need to be deployed, which is costly and difficult to achieve seamless coverage. In other words, traditional methane monitoring methods have problems such as blind spots and low efficiency. Summary of the invention

[0003] The embodiments of the present application disclose a methane monitoring method and system, which can realize all-round monitoring of methane and improve the accuracy and efficiency of methane monitoring.

[0004] The first aspect of the embodiment of the present application discloses a methane monitoring method, which is applied to a methane monitoring system. The system includes an infrared imaging module and a methane detection module. The infrared imaging module and the methane detection module are integrated in an infrared ball camera. The infrared ball camera is used to drive the infrared imaging module and the methane detection module to rotate. The method includes:

[0005] The methane detection module rotates under the drive of the infrared ball camera, and detects the methane concentration of the area to be detected during the rotation process. When it is detected that the methane concentration of the area to be detected exceeds a preset concentration threshold, the target position information of the area to be detected is sent to the infrared ball camera;

[0006] The infrared ball camera controls the infrared imaging module to rotate toward an area corresponding to the target position information according to the target position information;

[0007] The infrared imaging module collects an infrared image of the area corresponding to the target position information to obtain infrared image data of the area to be measured, and the infrared image data is used to indicate the methane distribution in the area to be measured.

[0008] As an optional implementation, in the first aspect of this embodiment, the infrared ball camera is equipped with at least one methane detection module, and the methane detection module includes a first detection submodule and a second detection submodule. The first detection submodule is used to detect methane in the test area whose distance from the infrared ball camera is less than a preset distance threshold, and the second detection submodule is used to detect methane in the test area whose distance from the infrared ball camera is greater than or equal to the preset distance threshold.

[0009] As an optional implementation manner, in the first aspect of this embodiment, when the infrared ball camera simultaneously receives the first position information sent by the first detection submodule and the second position information sent by the second detection submodule, the infrared imaging module collects an infrared image of the area corresponding to the target position information to obtain infrared image data of the area to be measured, including:

[0010] The infrared ball camera respectively obtains a first methane concentration value detected by the first detection submodule and a second methane concentration value detected by the second detection submodule;

[0011] Determine a first target detection module and a second target detection module according to the first methane concentration value and the second methane concentration value;

[0012] The infrared imaging module collects infrared image data of the area to be detected corresponding to the first target detection module;

[0013] After the infrared image data of the area to be detected corresponding to the first target detection module is collected, the infrared image data of the area to be detected corresponding to the second target detection module is collected.

[0014] As an optional implementation, in the first aspect of this embodiment, the infrared imaging module includes a first imaging module and a second imaging module, the first imaging module is used to collect infrared image data of the area to be measured corresponding to the first target detection module, and the second imaging module is used to collect infrared image data of the area to be measured corresponding to the second target detection module.

[0015] As an optional implementation manner, in the first aspect of this embodiment, the infrared ball camera controls the infrared imaging module to rotate to an area corresponding to the target position information according to the target position information, including:

[0016] The infrared ball camera obtains its own position information, and obtains relative position parameters according to the position information of the infrared ball camera and the target position information of the area to be measured, wherein the relative position parameters include the relative distance and relative direction between the target position of the area to be measured and the infrared ball camera;

[0017] The infrared ball camera adjusts its own rotation angle according to the relative direction, driving the infrared imaging module to rotate toward the area corresponding to the target position information;

[0018] Sending the relative position parameter to the infrared imaging module;

[0019] The infrared imaging module collects an infrared image of the area corresponding to the target position information according to the relative position parameter.

[0020] As an optional implementation manner, in the first aspect of this embodiment, collecting the infrared image of the area corresponding to the target position information according to the relative position parameter includes:

[0021] The infrared imaging module determines the focal length parameter according to the relative distance between the target position of the area to be measured and the infrared ball camera;

[0022] The infrared image data of the area to be measured is acquired according to the focal length parameter.

[0023] As an optional implementation, in the first aspect of this embodiment, when the methane detection module detects that the methane concentration in the detected area exceeds a preset concentration threshold, the method further includes:

[0024] The methane detection module obtains the position information of the infrared ball camera and the target position information of the area to be detected;

[0025] Determine relative position information according to the position information of the infrared ball camera and the target position information of the area to be measured, wherein the relative position information includes a relative distance and a relative direction between the target position of the area to be measured and the infrared ball camera;

[0026] The relative position information is sent to the infrared ball camera and the infrared imaging module.

[0027] As an optional implementation manner, in the first aspect of this embodiment, the infrared ball camera is installed on a fixed platform or a mobile platform.

[0028] As an optional implementation, in the first aspect of this embodiment, the methane monitoring system also includes a communication module and / or an alarm module, the communication module is used to send the target location information and the infrared image data to the user device, and the alarm module is used to send alarm information to the user device when an abnormality occurs in the methane monitoring system.

[0029] The second aspect of the embodiment of the present application discloses a methane monitoring system, the system includes an infrared imaging module and a methane detection module, the infrared imaging module and the methane detection module are integrated in an infrared ball camera, the infrared ball camera is used to drive the infrared imaging module and the methane detection module to rotate, wherein:

[0030] The methane detection module rotates under the drive of the infrared ball camera, and detects the methane concentration of the area to be detected during the rotation process. When it is detected that the methane concentration of the area to be detected exceeds a preset concentration threshold, the target position information of the area to be detected is sent to the infrared ball camera;

[0031] The infrared ball camera controls the infrared imaging module to rotate toward an area corresponding to the target position information according to the target position information;

[0032] The infrared imaging module collects an infrared image of the area corresponding to the target position information to obtain infrared image data of the area to be measured, and the infrared image data is used to indicate the methane distribution in the area to be measured.

[0033] A third aspect of an embodiment of the present application discloses an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor implements the method described above.

[0034] A fourth aspect of an embodiment of the present application discloses a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the method described above when executed by a processor.

[0035] Compared with the related art, the embodiments of the present application include at least the following beneficial effects:

[0036] The methane detection module rotates under the drive of the infrared ball camera and detects the methane concentration in the area to be tested. Once the preset concentration threshold is exceeded, the target position information is sent to the infrared ball camera. The infrared ball camera controls the infrared imaging module to rotate to the corresponding area to collect infrared images. The obtained infrared image data can indicate the methane distribution in the area to be tested.

[0037] In the embodiment of the present application, by integrating the methane detection module and the infrared imaging module into the infrared ball camera, the methane detection module can detect the methane concentration in the area to be tested in all directions during the rotation process, avoiding the blind spots that may occur in traditional fixed-position monitoring, and the coordinated operation of the methane detection module and the infrared imaging module greatly improves the accuracy and efficiency of methane monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0039] Figure 1 This is an application scenario diagram of a methane monitoring method in an embodiment;

[0040] Figure 2 is a flow chart of a methane monitoring method in one embodiment;

[0041] Figure 3A flow chart of a method for acquiring infrared image data in one embodiment;

[0042] Figure 4 A flow chart of a method for an infrared ball camera to control an infrared imaging module in one embodiment;

[0043] Figure 5 is a structural block diagram of a methane monitoring system in one embodiment;

[0044] Figure 6 FIG. 4 is a structural block diagram of an electronic device in an embodiment. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0046] In order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first" and "second" are used to distinguish the same items or similar items with substantially the same functions and effects. For example, the first instruction and the second instruction are to distinguish different user instructions, and their order is not limited. Those skilled in the art can understand that the words "first" and "second" do not limit the quantity and execution order, and the words "first" and "second" do not necessarily limit them to be different.

[0047] It should be noted that, in this application, words such as "exemplarily" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplarily" or "for example" in this application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplarily" or "for example" is intended to present related concepts in a specific way.

[0048] In addition, "at least one" means one or more, and "plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b and c can mean: a, or b, or c, or a and b, or a and c, or b and c, or a, b and c, where a, b, c can be single or multiple.

[0049] In addition, the terms "including" and "having" and any variations thereof in the embodiments of the present application and the accompanying drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products, or devices.

[0050] The embodiments of the present application disclose a methane monitoring method and system, which can realize all-round monitoring of methane, avoid monitoring blind spots, and improve the accuracy and efficiency of methane monitoring.

[0051] See also Figure 1 , Figure 1 FIG. 1 is an application scenario diagram of a methane monitoring method in an embodiment. Figure 1 As shown, the application scenario may include a methane detection module 10, an infrared ball camera 20, and an infrared imaging module 30, wherein the methane detection module 10 establishes a communication connection with the infrared ball camera 20, and the infrared ball camera 20 establishes a communication connection with the infrared imaging module 30. In one embodiment, the methane detection module 10 may also establish a communication connection with the infrared imaging module 30, wherein the methane detection module 10 and the infrared imaging module 30 are integrated in the infrared ball camera 20, and the infrared ball camera 20 has an omnidirectional rotation function, which can drive the methane detection module 10 and the infrared imaging module 30 to rotate in all directions, thereby achieving comprehensive coverage of the methane detection space.

[0052] In the embodiment of the present application, the methane detection module 10 is used to detect the methane concentration of the area to be tested in real time, and realizes all-round rotation detection under the drive of the infrared ball camera 20 to ensure that no area where methane leakage may exist is missed. The methane detection module 10 can be an independent detection unit, such as a laser methane telemeter. Methane molecules have absorption characteristics for lasers of specific wavelengths. The laser in the instrument emits a laser beam of a specific wavelength. When the laser passes through a gas area containing methane, part of the laser will be absorbed by the methane molecules, resulting in a weakening of the laser intensity. The change in laser intensity is detected by the receiving end, and according to the Beer-Lambert law, the concentration of methane in the air mass passed through can be calculated.

[0053] The methane detection module 10 can also be a component integrated inside the infrared ball camera 20, which is closely integrated with the control system of the infrared ball camera, making full use of the rotating mechanism of the infrared ball camera to achieve all-round monitoring of methane. In addition, the methane detection module 10 can also be installed at different positions around the infrared ball camera according to actual detection needs to obtain a better detection angle and range. For example, it can be installed below, on the side, or above the infrared ball camera, etc., and the embodiments of the present application are not specifically limited here.

[0054] In some embodiments, the methane detection module 10 includes a signal processing module and a communication module. The signal processing module is used to separate and process the laser signal absorbed by the methane gas. The module will amplify, filter, digitize, and process the received signal for subsequent analysis and calculation, and convert the weak absorption signal into recognizable methane concentration information. The communication module transmits the detected methane concentration data and the target position information of the area to be tested to the infrared ball camera 20 in real time for subsequent processing.

[0055] The infrared ball camera 20 is a monitoring device that integrates functions such as a camera, a pan / tilt head, and infrared lighting. It has a spherical appearance and can rotate in all directions horizontally and vertically, thereby achieving 360-degree monitoring of the surrounding environment without blind spots. The infrared ball camera 20 can be installed on a fixed platform or a mobile platform, such as an elevated tower, a tripod, a monitoring vehicle, a drone, etc., to adapt to different monitoring environments.

[0056] In an embodiment of the present application, the infrared ball camera 20 is used to receive the target position information of the area to be tested where the methane concentration exceeds the preset concentration threshold value sent by the methane detection module 10, and adjust its own rotation angle according to the target position information, so that the infrared imaging module 30 rotates to the area corresponding to the target position information. After receiving the target position information, the infrared ball camera 20's internal motor and transmission device work together to rotate the ball camera body and the infrared imaging module 30 to the target direction at high speed and high precision. In some embodiments, in order to improve the accuracy of positioning, the infrared ball camera 20 can also be combined with other sensors and positioning technologies, for example, using a gyroscope and an accelerometer to sense its own posture changes, further correct the rotation angle, or communicate with other fixed-position monitoring equipment to obtain more accurate target position reference information.

[0057] The infrared imaging module 30 is a device that uses infrared radiation for imaging. Its working principle is based on the thermal radiation characteristics of objects. Objects at different temperatures emit infrared radiation of different wavelengths. The infrared camera captures these radiations through special infrared detectors and converts them into visual images through electronic signal processing. These images can be displayed as pseudo-color, where different colors represent different temperatures. The thermal radiation of the target area can be converted into a visual image. By representing different temperatures with different colors, hot spots or cold spots can be identified. In the application scenario of methane detection, the infrared imaging module 30 can detect the changes in thermal radiation generated by methane leaks, thereby locating the source of the leak, and the infrared imaging module 30 can also generate a thermal distribution map of the area to be tested to help analyze the hot spots of methane leaks and assess the severity of the leak.

[0058] The infrared imaging module 30 may be a miniature long-wave infrared thermal imager module, an industrial standard infrared thermal imager module, a high-resolution infrared thermal imager module, an online infrared thermal imager module, a miniaturized infrared imaging module, etc., which is not limited in the embodiment of the present invention. In some embodiments, the infrared imaging module 30 may be integrated into the camera module of the infrared ball camera 20, or may not be integrated into the camera module, or may be installed inside or outside the ball camera as an independent module. The integrated infrared ball camera may have the functions of infrared imaging and visible light imaging at the same time, providing more comprehensive monitoring capabilities.

[0059] In some other embodiments, the infrared image collected by the infrared imaging module and the visible light image collected by the camera module can be fused. By fusing different types of images, more abundant information can be obtained to improve the detection capability of methane gas. For example, the temperature change area caused by methane leakage can be clearly seen in the infrared image, and the environment of the methane leakage area can be seen in the visible light image. After fusing the two, the location and range of methane leakage can be determined more accurately.

[0060] See also Figure 2 , Figure 2 : is a flow chart of a methane monitoring method in an embodiment, which can be applied to a methane monitoring system. The system includes an infrared imaging module and a methane detection module, which are integrated in an infrared ball camera, and the infrared ball camera is used to drive the infrared imaging module and the methane detection module to rotate, such as Figure 2 As shown, the method may include the following steps:

[0061] Step 201, the methane detection module rotates driven by the infrared ball camera, and during the rotation, detects the methane concentration of the area to be detected. When it is detected that the methane concentration of the area to be detected exceeds a preset concentration threshold, the target position information of the area to be detected is sent to the infrared ball camera.

[0062] In the embodiment of the present application, preferably, the methane detection module is a laser methane telemeter, and the motor of the infrared ball camera can drive the entire device to perform 360-degree continuous uniform rotation in the horizontal or vertical direction. This rotation method can ensure that the laser module in the laser methane telemeter can quickly and comprehensively scan a large area in the horizontal direction. In some embodiments, the infrared ball camera can also pause for a period of time at a certain angle in the horizontal or vertical direction, and then continue to rotate. For example, it pauses for a few seconds every 30 or 45 degrees of rotation, so that the methane detection module has enough time to perform accurate concentration detection at each pause position. This rotation method is suitable for scenes that need to focus on monitoring certain specific areas or directions. For example, in areas with dense pipelines, the infrared ball camera can be set to pause at key positions of the pipeline to more accurately detect whether methane is leaking.

[0063] In some other embodiments, the infrared ball camera can also rotate in the horizontal and vertical directions at the same time to form a three-dimensional scanning space. This rotation method can perform comprehensive methane concentration monitoring in complex three-dimensional space, and can ensure that the methane detection module can effectively detect every corner and areas at different heights. In addition to the linked rotation in the horizontal and vertical directions, different rotation angle combinations can also be set according to specific monitoring needs. For example, first rotate a certain angle in the horizontal direction, then rotate a certain angle in the vertical direction, and then return to the horizontal direction to continue rotating. This multi-angle combined rotation method can more flexibly adapt to various complex areas to be tested and improve the accuracy and comprehensiveness of methane detection.

[0064] In some embodiments, the laser module of the laser methane telemeter can continuously emit laser beams, and receive and analyze the returned laser signals in real time, and can complete a measurement within milliseconds, so as to realize real-time monitoring of methane concentration. By comparing the difference between the detected methane concentration and the preset concentration threshold, when the methane concentration exceeds the preset threshold, the methane monitoring system considers that there is a risk of methane leakage. At this time, the methane detection module will send the target position information of the area to be tested to the infrared ball camera. The area to be tested is the area where the methane concentration exceeds the preset concentration threshold. The target position information can be the longitude and latitude coordinates used by the global positioning system (GPS), or a local coordinate system established with the position of the infrared ball camera as the origin.

[0065] Step 202: The infrared ball camera controls the infrared imaging module to rotate to an area corresponding to the target position information according to the target position information.

[0066] In an embodiment of the present application, the infrared ball camera determines the specific position of the target position in the entire monitoring space according to the definition of the coordinate system, and obtains the direction and distance of the target position relative to itself according to the target position information. As an optional implementation, the angle that the infrared ball camera needs to rotate in the horizontal direction can be calculated according to the horizontal coordinates or direction information of the target position. For example, assuming that the horizontal angle of the current corresponding area of ​​the infrared imaging module in the infrared ball camera is A, and the horizontal angle of the target position is B, then the horizontal angle to be rotated is AB. If the result is positive, it means that clockwise rotation is required. If the result is negative, it means that counterclockwise rotation is required. The rotation angle can also be calculated in the vertical direction in the same way.

[0067] In some embodiments, the infrared ball camera can be equipped with motors in both horizontal and vertical directions to control the infrared imaging module to rotate in the horizontal and vertical directions. Precise rotation control can be achieved by sending a control signal to the motor. The control signal can be a pulse width modulation (PWM) signal, which controls the speed and rotation direction of the motor by adjusting the width of the pulse. For example, by sending a positive PWM signal, the motor will rotate clockwise; by sending a negative PWM signal, the motor will rotate counterclockwise. During the rotation process, the infrared ball camera can obtain the current rotation angle information through a built-in sensor (such as an encoder), compare it with the target angle, and perform feedback adjustment. If there is a deviation between the actual rotation angle and the target angle, continue to send control signals until the target angle is reached. When the infrared ball camera rotates close to the target angle, reduce the speed of the motor and make fine adjustments to ensure that the infrared imaging module is accurately aligned with the area where the target position is located.

[0068] Step 203: The infrared imaging module collects an infrared image of the area corresponding to the target position information to obtain infrared image data of the area to be measured. The infrared image data is used to indicate the methane distribution in the area to be measured.

[0069] In an embodiment of the present application, after the infrared ball camera receives the target position information, it can immediately send a start signal to the infrared imaging module to make it enter the acquisition state from the standby state. Once the infrared ball camera rotates the infrared imaging module to the area corresponding to the target position information, the control system of the infrared ball camera can send an instruction to the infrared imaging module to trigger the infrared imaging module to start the image acquisition program. The infrared sensor in the infrared imaging module begins to receive the infrared radiation emitted by the target area. These sensors are usually detectors based on thermoelectric effect or quantum effect, which can convert infrared radiation into electrical signals. The electrical signal output by the sensor passes through the analog-to-digital conversion (ADC) circuit to convert the analog signal into a digital signal. These digital signals contain the infrared radiation intensity information of the target area, that is, the original form of the infrared image data. The infrared image data can be stored in the internal memory of the infrared imaging module or sent to an external device through a data transmission interface for storage and processing. For example, the infrared image data can be stored in an SD card or transmitted to a server or user device via a wireless network.

[0070] In some embodiments, methane leakage may cause the ambient temperature to change, causing the ambient temperature to decrease, and this temperature change may be displayed through infrared image data. In the infrared image, the area with lower temperature may be displayed as darker color, while the area with higher temperature may be displayed as brighter color. Therefore, by observing the color distribution in the infrared image, the area of ​​methane leakage and the approximate location of the leakage may be further determined.

[0071] By adopting the above embodiment, the methane detection module rotates under the drive of the infrared ball camera, realizing all-round monitoring of the methane detection space and avoiding monitoring blind spots. At the same time, the infrared ball camera controls the infrared imaging module to rotate to the area corresponding to the target position according to the target position information, thereby realizing rapid and accurate positioning of the methane leakage area, and by collecting infrared image data, further determining the methane distribution in the area to be tested, thereby improving the efficiency and accuracy of methane leakage detection.

[0072] In the embodiment of the present application, the infrared ball camera is equipped with at least one methane detection module, and multiple methane detection modules can simultaneously detect the methane concentrations in different areas to be tested. In addition, the methane detection module includes a first detection submodule and a second detection submodule. The first detection submodule is used to detect methane in the area to be tested whose distance from the infrared ball camera is less than a preset distance threshold, and the second detection submodule is used to detect methane in the area to be tested whose distance from the infrared ball camera is greater than or equal to the preset distance threshold. The infrared ball camera can drive multiple methane detection modules to rotate simultaneously, and can not only detect areas in different directions at the same time, but also detect areas at different distances at the same time, thereby improving the efficiency of methane monitoring. Therefore, when multiple methane detection modules simultaneously detect the presence of methane in multiple areas that exceeds the preset concentration threshold, the method flow chart of the methane monitoring system obtaining infrared image data in this case is as follows. Figure 3 shown.

[0073] See also Figure 3 , Figure 3 The flowchart of a method for obtaining infrared image data in one embodiment is as follows. When the infrared ball camera simultaneously receives the first position information sent by the first detection submodule and the second position information sent by the second detection submodule, the infrared imaging module collects the infrared image of the area corresponding to the target position information to obtain the infrared image data of the area to be measured, which may include the following steps:

[0074] Step 301: The infrared ball camera obtains a first methane concentration value detected by a first detection submodule and a second methane concentration value detected by a second detection submodule.

[0075] In an embodiment of the present application, the preset distance threshold is a distance standard pre-set in the methane monitoring system, which is used to distinguish the working ranges of different detection sub-modules. For example, the preset distance threshold can be set to 10 meters. The first detection sub-module is responsible for detecting areas where the distance from the infrared ball camera is less than 10 meters, and the second detection sub-module is responsible for monitoring areas where the distance from the infrared ball camera is greater than or equal to 10 meters.

[0076] In some embodiments, the first detection submodule and the second detection submodule of the same methane detection module may detect methane in different areas at the same time, or one of the detection submodules in different methane detection modules and one of the detection submodules in other methane detection modules may detect methane in different areas at the same time, or the infrared ball camera may also receive the location information of multiple (two or more) areas to be tested at the same time, which is not limited to the embodiments of the present application.

[0077] When the methane detection module detects that the methane concentration in the test area exceeds the preset concentration threshold, it will send the methane concentration value of the area and the target location information of the area to the infrared dome camera. When the infrared dome camera receives multiple methane concentration values ​​and multiple location information, it will match and store the methane concentration values ​​and corresponding location information detected by different detection sub-modules to form a complete set of data records.

[0078] Step 302, determining a first target detection module and a second target detection module according to the first methane concentration value and the second methane concentration value;

[0079] In an embodiment of the present application, the infrared ball camera can compare the stored first methane concentration value and the second methane concentration value. If the first methane concentration value is greater than the second methane concentration value, the first detection submodule is determined as the first target detection module, and the second detection submodule is determined as the second target detection module; conversely, if the second methane concentration value is greater than the first methane concentration value, the second detection submodule is determined as the first target detection module, and the first detection submodule is determined as the second target detection module; when the first methane concentration value and the second methane concentration value are equal, the infrared ball camera can randomly use one of the detection submodules as the first target detection module and the remaining detection submodules as the second target detection modules; the area detected by the first target detection module is the current target position area, and the priority of the first target detection module is higher than that of the second target detection module, and the infrared imaging module will give priority to collecting infrared image data of the area to be detected corresponding to the first target detection module.

[0080] In the embodiment of the present application, by determining the target detection module and assigning a priority, the infrared imaging module can preferentially collect infrared image data of the area to be detected corresponding to the first target detection module. Therefore, in the event of an abnormal methane concentration, the methane monitoring system can quickly focus on the area with a higher concentration, that is, the target location area currently considered to be at a higher risk.

[0081] Step 303: The infrared imaging module collects infrared image data of the area to be detected corresponding to the first target detection module;

[0082] In the embodiment of the present application, after the infrared ball camera determines the first target detection module, it will control the infrared imaging module to rotate to the area corresponding to the target position information according to the target position information sent by the first target detection module. The infrared imaging module collects the infrared image of the area corresponding to the target position information to obtain the infrared image data of the area to be measured. The specific process is not repeated here. In some embodiments, as the methane detection module continuously monitors and updates the methane concentration information, the target position information may also change. The infrared ball camera can receive these changes in real time and adjust the position of the infrared imaging module accordingly to maintain accurate monitoring of the target area.

[0083] Step 304: After the infrared image data of the to-be-detected area corresponding to the first target detection module is collected, the infrared image data of the to-be-detected area corresponding to the second target detection module is collected.

[0084] In some embodiments, after the infrared imaging module has collected the infrared image data of the area to be measured corresponding to the first target detection module, the infrared imaging module can send a collection completion signal to the infrared ball camera. When the infrared ball camera receives the signal, it calculates the angle and direction of rotation required for the infrared imaging module based on the target position information sent by the second target detection module, and drives the infrared imaging module to rotate so that the infrared imaging module is aligned with the new monitoring area. After the infrared imaging module rotates to the area corresponding to the target position information, it collects the infrared image data of the area to be measured corresponding to the second target detection module.

[0085] In some other embodiments, the infrared imaging module may also include a first imaging module and a second imaging module, wherein the first imaging module is used to collect infrared image data of the area to be measured corresponding to the first target detection module, and the second imaging module is used to collect infrared image data of the area to be measured corresponding to the second target detection module. In the case where the infrared imaging module includes at least two imaging modules, the infrared image data of the area to be measured corresponding to the first target detection module and the second target detection module may be collected simultaneously. For example, the infrared ball camera may be equipped with a dual-axis rotating pan-tilt head, wherein one axis is used to control the rotation of the first imaging module, and the other axis is used to control the rotation of the second imaging module. In this way, the two imaging modules can be independently rotated to their respective corresponding target positions, and image collection can be performed simultaneously. By accurately controlling the rotation angles of the two axes, it can be ensured that both imaging modules can be accurately aligned with the target area. It should be noted that the infrared imaging module may also include multiple imaging modules, and image collection can be performed on multiple different areas to be measured simultaneously.

[0086] By adopting the above-mentioned embodiment, when the infrared imaging module is equipped with a single imaging module, the methane monitoring system can identify areas with relatively high methane concentration and greater risk, and give priority to collecting infrared image data for them, thereby being able to timely discover potential safety hazards; when the infrared imaging module is equipped with multiple imaging modules, the methane monitoring system can simultaneously perform efficient infrared image data collection on multiple different areas, greatly improving the monitoring coverage and response speed.

[0087] See also Figure 4 , Figure 4 FIG. 1 is a flow chart of a method for an infrared ball camera to control an infrared imaging module in an embodiment. Figure 4 As shown, the method may include the following steps:

[0088] Step 401, the infrared ball camera obtains its own position information, and obtains relative position parameters according to its own position information and the target position information of the area to be measured, wherein the relative position parameters include the relative distance and relative direction between the target position of the area to be measured and the infrared ball camera;

[0089] In the embodiments of the present application, the infrared ball camera can obtain its own location information through a variety of technologies. For example, satellite positioning technologies such as the Global Positioning System (GPS) and the Beidou Satellite Navigation System can be used to determine its own longitude and latitude coordinates. Alternatively, wireless positioning technologies such as Bluetooth positioning and Wi-Fi positioning can also be used to calculate its own position by communicating with wireless signal sources at known locations around it.

[0090] Once the infrared ball camera obtains its own position information, it can calculate the relative position parameters in combination with the target position information of the area to be measured. In some embodiments, the relative distance refers to the straight-line distance between the target position of the area to be measured and the infrared ball camera, which can be calculated by mathematical methods, such as using the distance formula between two points. If the coordinates of the infrared ball camera are known to be (x1, y1, z1) and the coordinates of the target position of the area to be measured are (x2, y2, z2), the relative distance d can be calculated as:

[0091]

[0092] Relative direction refers to the direction of the target position in the area to be measured relative to the infrared ball camera. The relative direction can be determined by calculating the azimuth. The azimuth is usually measured in a clockwise direction based on the true north direction. In some embodiments, trigonometric functions can be used to calculate the relative direction. It should be noted that when calculating the relative direction, the direction and positive and negative regulations of the coordinate system need to be considered. At the same time, other sensor data, such as gyroscopes, electronic compasses, etc., can also be combined to improve the accuracy of the relative direction.

[0093] Step 402, the infrared ball camera adjusts its own rotation angle according to the relative direction, driving the infrared imaging module to rotate to the area corresponding to the target position information;

[0094] In the embodiment of the present application, the horizontal angle of the current infrared ball camera can be determined by reading the angle sensor inside the ball camera, and the calculated horizontal azimuth angle of the relative direction is compared with the horizontal angle of the current infrared ball camera. If the horizontal azimuth angle is greater than the current horizontal angle, it means that the target position is in the clockwise direction of the current infrared ball camera position. At this time, the infrared ball camera controls the internal horizontal rotation motor to rotate clockwise, and the rotation angle is the difference between the horizontal azimuth angle and the horizontal angle of the current infrared ball camera. If the horizontal azimuth angle is less than the horizontal angle of the current infrared ball camera, it means that the target position is in the counterclockwise direction of the current infrared ball camera position. The infrared ball camera controls the horizontal rotation motor to rotate counterclockwise, and the rotation angle is the absolute value of the difference between the horizontal angle of the current infrared ball camera and the horizontal azimuth angle. For the adjustment of the vertical rotation angle, the vertical azimuth angle is similarly compared with the vertical angle of the current infrared ball camera. If the vertical azimuth angle is greater than the current vertical angle, the vertical rotation motor is controlled to rotate upward, and the rotation angle is the difference between the vertical azimuth angle and the current vertical angle. If the vertical azimuth angle is less than the current vertical angle, the vertical rotation motor is controlled to rotate downward.

[0095] In some other embodiments, the infrared ball camera can also directly obtain the current angle information of the infrared imaging module by installing an angle sensor on the infrared imaging module to feed back its angle information to the infrared ball camera in real time. The infrared ball camera calculates the angle that needs to be adjusted based on the target position information and the current angle information of the infrared imaging module, and sends a control signal to the rotation mechanism of the infrared imaging module to accurately rotate it to the required angle. In this case, the infrared ball camera does not need to adjust its own rotation angle, but only needs to control the rotation of the infrared imaging module.

[0096] Step 403, the infrared ball camera sends the relative position parameters to the infrared imaging module;

[0097] In some embodiments, the infrared ball camera can send the relative distance between the target position of the area to be measured and the infrared ball camera to the infrared imaging module through wired communication (such as serial communication, bus communication) or wireless communication (such as Bluetooth, Wi-Fi, radio frequency communication), and the infrared imaging module collects an infrared image of the area corresponding to the target position information based on the relative position parameters.

[0098] Step 404, the infrared imaging module determines the focal length parameter according to the relative distance between the target position of the area to be measured and the infrared ball camera;

[0099] In the embodiment of the present application, the infrared imaging module can accurately adjust its own focusing parameters according to the received relative distance information. When the target position is close, the infrared imaging module needs to use a shorter focal length to obtain a clear image; and when the target position is far away, it needs to be adjusted to a longer focal length accordingly, so as to ensure that the infrared imaging module can capture clear infrared images regardless of whether the target position is at a long distance or a short distance.

[0100] In some embodiments, a corresponding relationship table of different relative distance ranges and corresponding focal length parameters can be established and stored in the infrared imaging module. After receiving the relative distance information between the target position and the infrared ball camera, the infrared imaging module determines the approximate focal length range by looking up the table and automatically adjusts the focal length.

[0101] In some other embodiments, a machine learning algorithm, such as a neural network, can also be used to train with a large amount of sample data, with the relative distance and the corresponding optimal focal length as the input and output of the training data, to train a model that can predict the optimal focal length based on the relative distance. In practical applications, the corresponding focal length parameters can be obtained by simply inputting the new relative distance into the trained model, and the infrared imaging module quickly adjusts its own focal length settings based on the parameters to ensure that a clear and accurate infrared image can be obtained.

[0102] Step 405: The infrared imaging module obtains infrared image data of the area to be measured according to the focal length parameter.

[0103] In some embodiments, the infrared image data acquired by the infrared imaging module can be stored in an internal memory, such as a flash memory or a random access memory (RAM), and the image data can also be transmitted to other devices or systems, such as user devices or servers, by wired or wireless means. Among them, the user device may include but is not limited to a mobile phone, a wearable device (such as a smart watch, a smart bracelet, smart glasses, etc.), a tablet computer, a laptop computer, a vehicle terminal, a PC (Personal Computer), etc., and the embodiments of the present application do not limit this.

[0104] By adopting the above embodiment, the relative position parameters are obtained by obtaining the position information of the infrared ball camera itself and combining it with the target position information of the area to be measured, ensuring that the infrared imaging module can directly aim at the target area for image acquisition. This method enables the infrared imaging module to quickly acquire the infrared image of the area to be measured, improving the efficiency of image acquisition. At the same time, the infrared imaging module determines the focal length parameters according to the relative distance, and can realize adaptive focal length adjustment to obtain high-quality infrared images.

[0105] In some embodiments, when the methane detection module detects that the methane concentration in the detected area exceeds a preset concentration threshold, the methane monitoring method in the embodiment of the present application further includes:

[0106] The methane detection module obtains the location information of the infrared ball camera and the target location information of the area to be tested;

[0107] Determine relative position information according to the position information of the infrared ball camera and the target position information of the area to be measured, wherein the relative position information includes the relative distance and relative direction between the target position of the area to be measured and the infrared ball camera;

[0108] The relative position information is sent to the infrared ball camera and the infrared imaging module.

[0109] In some embodiments, the methane monitoring module can directly send the relative distance and relative direction between the target position of the area to be tested and the infrared ball camera to the infrared ball camera and the infrared imaging module. The infrared ball camera controls the infrared imaging module to rotate to the area corresponding to the target position information according to the relative direction information. The infrared imaging module determines the focal length parameter according to the relative distance information and obtains the infrared image data of the area to be tested. The specific implementation method of the methane detection module to obtain the relative position information can refer to the above embodiment and will not be repeated here.

[0110] See also Figure 5 , Figure 5 FIG. 1 is a structural block diagram of a methane monitoring system in an embodiment. Figure 5 As shown, the methane monitoring system 500 includes an infrared imaging module 520 and a methane detection module 510, the infrared imaging module 520 and the methane detection module 510 are integrated in an infrared ball camera 530, and the infrared ball camera 530 is used to drive the infrared imaging module 530 and the methane detection module 510 to rotate, wherein:

[0111] The methane detection module 510 is used to rotate under the drive of the infrared ball camera 530, and detect the methane concentration of the area to be detected during the rotation process, and send the target position information of the area to be detected to the infrared ball camera 530 when it is detected that the methane concentration of the area to be detected exceeds a preset concentration threshold;

[0112] The infrared ball camera 530 is used to control the infrared imaging module 520 to rotate to an area corresponding to the target position information according to the target position information;

[0113] The infrared imaging module 520 is used to collect an infrared image of the area corresponding to the target position information to obtain infrared image data of the area to be measured, and the infrared image data is used to indicate the methane distribution in the area to be measured.

[0114] In some embodiments, the infrared ball camera 530 is equipped with at least one methane detection module 510, and the methane detection module 510 includes a first detection submodule 511 and a second detection submodule 512. The first detection submodule 511 is used to detect methane in the area to be tested whose distance from the infrared ball camera 530 is less than a preset distance threshold, and the second detection submodule 512 is used to detect methane in the area to be tested whose distance from the infrared ball camera 530 is greater than or equal to the preset distance threshold.

[0115] In some embodiments, when the infrared ball camera 530 simultaneously receives the first position information sent by the first detection submodule 511 and the second position information sent by the second detection submodule 512, the infrared ball camera 530 is further used to:

[0116] Respectively obtaining a first methane concentration value detected by the first detection submodule 511 and a second methane concentration value detected by the second detection submodule 512;

[0117] Determine a first target detection module and a second target detection module according to the first methane concentration value and the second methane concentration value;

[0118] The infrared imaging module 520 is also used for:

[0119] Collecting infrared image data of the area to be detected corresponding to the first target detection module;

[0120] After the infrared image data of the area to be detected corresponding to the first target detection module is collected, the infrared image data of the area to be detected corresponding to the second target detection module is collected.

[0121] In some embodiments, the infrared imaging module 520 includes a first imaging module 521 and a second imaging module 522, wherein the first imaging module 521 is used to collect infrared image data of the area to be measured corresponding to the first target detection module, and the second imaging module 522 is used to collect infrared image data of the area to be measured corresponding to the second target detection module.

[0122] In some embodiments, the infrared ball camera 530 is also used for:

[0123] Acquire its own position information, and obtain relative position parameters according to the own position information and the target position information of the area to be measured, wherein the relative position parameters include the relative distance and relative direction between the target position of the area to be measured and the infrared ball camera 530;

[0124] Adjusting its own rotation angle according to the relative direction, driving the infrared imaging module 520 to rotate toward the area corresponding to the target position information;

[0125] Sending the relative position parameter to the infrared imaging module 520;

[0126] In some embodiments, the infrared imaging module 520 is further used to:

[0127] Determine the focal length parameter according to the relative distance between the target position of the area to be measured and the infrared ball camera 530;

[0128] The infrared image data of the area to be measured is acquired according to the focal length parameter.

[0129] In some embodiments, the methane detection module 510 is further used to:

[0130] Obtaining the position information of the infrared ball camera 530 and the target position information of the area to be measured;

[0131] Determine relative position information according to the position information of the infrared ball camera 530 and the target position information of the area to be measured, wherein the relative position information includes a relative distance and a relative direction between the target position of the area to be measured and the infrared ball camera 530;

[0132] The relative position information is sent to the infrared ball camera 530 and the infrared imaging module 520 .

[0133] In some embodiments, the methane monitoring system 500 further includes a communication module 540 and / or an alarm module 550, wherein the communication module 540 is used to send the target location information and the infrared image data to a user device, and the alarm module 550 is used to send an alarm message to the user device when an abnormality occurs in the methane monitoring system.

[0134] The description of the above system embodiment is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the system embodiment of the present application, please refer to the description of the method embodiment of the present application for understanding.

[0135] It should be noted that in the embodiments of this application Figure 5The division of modules in the methane monitoring system 500 shown is schematic and is only a logical functional division. There may be other division methods in actual implementation. In addition, each functional unit in each embodiment of the present application may be integrated into a processing unit, or may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware, or in the form of a software functional unit, or in the form of a combination of software and hardware.

[0136] The embodiment of the present application provides a computer device, which may be a server, and its internal structure block diagram may be as follows: Figure 6 As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, the above method is implemented.

[0137] An embodiment of the present application discloses a computer-readable storage medium storing a computer program, wherein the computer program implements the methods described in the above embodiments when executed by a processor.

[0138] An embodiment of the present application discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program can be executed by a processor to implement the methods described in the above embodiments.

[0139] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a disk, an optical disk, a ROM, etc.

[0140] As used herein, any reference to memory, storage, database, or other medium may include nonvolatile and / or volatile memory. Suitable nonvolatile memory may include ROM, programmable ROM (Programmable ROM, PROM), erasable PROM (Erasable PROM, EPROM), electrically erasable PROM (Electrically Erasable PROM, EEPROM), or flash memory. Volatile memory may include random access memory (RAM), which is used as an external cache memory. By way of illustration and not limitation, RAM may be in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), memory bus direct RAM (RDRAM) and direct memory bus dynamic RAM (DRDRAM).

[0141] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. Those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application. It should be noted that "multiple" in the present application includes "two or more".

[0142] In the various embodiments of the present application, it should be understood that the size of the serial numbers of the above-mentioned processes does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0143] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0144] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0145] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0146] The above is a detailed introduction to a methane monitoring method and system disclosed in the embodiment of the present application. This article uses specific examples to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core ideas of the present application. At the same time, for those of ordinary skill in the art, according to the ideas of the present application, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A methane monitoring method, characterized in that: Applied to a methane monitoring system, the system includes an infrared imaging module and a methane detection module, the infrared imaging module and the methane detection module are integrated in an infrared ball camera, the infrared ball camera is used to drive the infrared imaging module and the methane detection module to rotate, and the method includes: The methane detection module rotates under the drive of the infrared ball camera, and detects the methane concentration of the area to be detected during the rotation process. When it is detected that the methane concentration of the area to be detected exceeds a preset concentration threshold, the target position information of the area to be detected is sent to the infrared ball camera; The infrared ball camera controls the infrared imaging module to rotate toward an area corresponding to the target position information according to the target position information; The infrared imaging module collects an infrared image of the area corresponding to the target position information to obtain infrared image data of the area to be measured, and the infrared image data is used to indicate the methane distribution in the area to be measured.

2. The method according to claim 1, characterized in that The infrared ball camera is equipped with at least one methane detection module, and the methane detection module includes a first detection submodule and a second detection submodule. The first detection submodule is used to detect methane in the area to be tested whose distance from the infrared ball camera is less than a preset distance threshold, and the second detection submodule is used to detect methane in the area to be tested whose distance from the infrared ball camera is greater than or equal to the preset distance threshold.

3. The method according to claim 2, characterized in that When the infrared ball camera simultaneously receives the first position information sent by the first detection submodule and the second position information sent by the second detection submodule, the infrared imaging module collects the infrared image of the area corresponding to the target position information to obtain the infrared image data of the area to be measured, including: The infrared ball camera respectively obtains a first methane concentration value detected by the first detection submodule and a second methane concentration value detected by the second detection submodule; Determine a first target detection module and a second target detection module according to the first methane concentration value and the second methane concentration value; The infrared imaging module collects infrared image data of the area to be detected corresponding to the first target detection module; After the infrared image data of the area to be detected corresponding to the first target detection module is collected, the infrared image data of the area to be detected corresponding to the second target detection module is collected.

4. The method according to claim 3, characterized in that The infrared imaging module includes a first imaging module and a second imaging module. The first imaging module is used to collect infrared image data of the area to be tested corresponding to the first target detection module, and the second imaging module is used to collect infrared image data of the area to be tested corresponding to the second target detection module.

5. The method according to claim 1, characterized in that The infrared ball camera controls the infrared imaging module to rotate toward an area corresponding to the target position information according to the target position information, including: The infrared ball camera obtains its own position information, and obtains relative position parameters according to the position information of the infrared ball camera and the target position information of the area to be measured, wherein the relative position parameters include the relative distance and relative direction between the target position of the area to be measured and the infrared ball camera; The infrared ball camera adjusts its own rotation angle according to the relative direction, driving the infrared imaging module to rotate toward the area corresponding to the target position information; Sending the relative position parameter to the infrared imaging module; The infrared imaging module collects an infrared image of the area corresponding to the target position information according to the relative position parameter.

6. The method according to claim 5, characterized in that The step of collecting the infrared image of the area corresponding to the target position information according to the relative position parameter includes: The infrared imaging module determines the focal length parameter according to the relative distance between the target position of the area to be measured and the infrared ball camera; The infrared image data of the area to be measured is acquired according to the focal length parameter.

7. The method according to claim 1, characterized in that When the methane detection module detects that the methane concentration in the detected area exceeds a preset concentration threshold, the method further includes: The methane detection module obtains the position information of the infrared ball camera and the target position information of the area to be detected; Determine relative position information according to the position information of the infrared ball camera and the target position information of the area to be measured, wherein the relative position information includes a relative distance and a relative direction between the target position of the area to be measured and the infrared ball camera; The relative position information is sent to the infrared ball camera and the infrared imaging module.

8. The method according to claim 1, characterized in that The infrared ball camera is installed on a fixed platform or a mobile platform.

9. The method according to claim 1, characterized in that: The methane monitoring system also includes a communication module and / or an alarm module. The communication module is used to send the target location information and the infrared image data to a user device. The alarm module is used to send an alarm message to the user device when an abnormality occurs in the methane monitoring system.

10. A methane monitoring system, characterized in that: The system includes an infrared imaging module and a methane detection module, wherein the infrared imaging module and the methane detection module are integrated in an infrared ball camera, and the infrared ball camera is used to drive the infrared imaging module and the methane detection module to rotate, wherein: The methane detection module rotates under the drive of the infrared ball camera, and detects the methane concentration of the area to be detected during the rotation process. When it is detected that the methane concentration of the area to be detected exceeds a preset concentration threshold, the target position information of the area to be detected is sent to the infrared ball camera; The infrared ball camera controls the infrared imaging module to rotate toward an area corresponding to the target position information according to the target position information; The infrared imaging module collects an infrared image of the area corresponding to the target position information to obtain infrared image data of the area to be measured, and the infrared image data is used to indicate the methane distribution in the area to be measured.

Images