Laser galvanometer telemetering and infrared imaging combined gas detection system and method

Abstract

The invention provides a laser galvanometer telemetering and infrared imaging combined gas detection method which comprises the following steps: acquiring position information of a to-be-inspected area, and controlling a micro galvanometer laser telemetering assembly and an infrared gas imager assembly to be aligned with the to-be-inspected area according to the position information of the to-be-inspected area, leakage detection is carried out on the infrared radiation image data based on an infrared gas detection algorithm, when a suspected leakage area is found, contour information of the suspected leakage area is obtained, and a micro galvanometer laser telemetering assembly is controlled to carry out traversal detection on the suspected leakage area based on the contour information of the suspected leakage area; receiving laser scanning return light data collected by the micro-galvanometer laser telemetering assembly for performing traversal detection on the suspected leakage area, and calculating the gas concentration of each detection light spot in the suspected leakage area according to the laser scanning return light data, and the leakage concentration of the suspected leakage area is calculated by combining the gray level change value of the pixel area corresponding to each detection light spot in the infrared radiation image.

Description

Technical Field

[0001] The present invention relates to the field of gas leakage detection. Specifically, it relates to a gas detection system and method combining laser galvanometer telemetry and infrared imaging. Background Art

[0002] With the rapid development of industrialization and urbanization, the emission problem of volatile organic compounds (VOCs) has become increasingly prominent. Exceeding the concentration standard of VOCs gas in the air will cause serious harm to the environment and human health. Therefore, the timely detection and monitoring of VOCs gas become particularly important.

[0003] At present, there are many gas sensing technologies. Laser telemetry sensors are widely used because of their advantages of high measurement accuracy and high efficiency. However, they require a good reflection ability of the reflection surface of the measured gas and can only detect at a single point. To increase the usability of laser telemetry, many researchers have combined laser telemetry with pan-tilt technology, improving the comprehensiveness and flexibility of detection through flexible detection angles and range coverage. However, this system still has the problem of insufficient flexibility, mainly manifested in that it is still point-by-point detection or preset point detection, resulting in a low overall detection efficiency and a certain degree of blindness. Even if the leakage point is detected, it is difficult for the system to accurately determine the location, range, and gas leakage direction of the leakage in a short time. In addition, the ability of laser telemetry in multi-component gas detection is limited, further restricting its application in complex environments. Although the pan-tilt technology enhances the operability of the system, overall, it still needs to be improved to achieve more efficient and comprehensive leakage monitoring. Therefore, there is an urgent need for a new method to overcome the limitations of these traditional technologies and achieve more efficient and comprehensive gas detection.

[0004] As a passive detection means, infrared imaging technology has the advantages of non-contact, long-distance monitoring, strong environmental adaptability, and visualization without the need to actively emit signals. It is one of the research hotspots in the current VOCs gas leakage detection. For example, CN116862887A proposes a gas leakage quantitative detection method and system based on laser scanning and infrared imaging, measuring the gas concentration by laser multi-point scanning, and then the infrared image algorithm combines the gray-scale change based on the gas concentration at the laser measurement points to intuitively and accurately obtain the gas concentration distribution and calculate the gas leakage amount. However, the current infrared imaging gas detection technology still faces some challenges in practical applications, especially in the case of gas leakage with low concentration and low flow rate. The existing systems and detection methods have a high false detection rate and are difficult to measure the leakage concentration. To overcome these challenges and improve the detection accuracy and efficiency, it is necessary to further optimize and improve the infrared gas imaging system to meet the actual detection requirements.

[0005] To solve the above problems, people have been seeking an ideal technical solution. Summary of the Invention

[0006] The object of the present invention is to overcome the deficiencies of the prior art, and thus provide a gas detection system and method combining laser galvanometer telemetry and infrared imaging. This system integrates the advantages of the infrared imaging system for visualizing gas leakage and the laser scanning detection for accurately inverting gas concentration, and realizes the visualization of the gas leakage position and concentration distribution.

[0007] To achieve the above object, the technical solution adopted by the present invention is as follows: In a first aspect, a gas detection method combining laser galvanometer telemetry and infrared imaging is provided, including the following steps: Obtain the position information of the area to be inspected, and control the micro-galvanometer laser telemetry component and the infrared gas imager component to align with the area to be inspected according to the position information of the area to be inspected, wherein the micro-galvanometer laser telemetry component and the infrared gas imager component are spatially aligned; Receive the infrared radiation image data collected by the infrared gas imager component, perform leakage detection on the infrared radiation image data based on the infrared gas detection algorithm, and when a suspected leakage area is found, obtain the contour information of the suspected leakage area and control the micro-galvanometer laser telemetry component to perform traversal detection on the suspected leakage area based on the contour information of the suspected leakage area; Receive the laser scanning return light data collected by the micro-galvanometer laser telemetry component during the traversal detection of the suspected leakage area, calculate the gas concentration of each detection spot in the suspected leakage area according to the laser scanning return light data, and calculate the leakage concentration of the suspected leakage area in combination with the gray-scale change value of the pixel area corresponding to each detection spot in the infrared radiation image.

[0008] Further, calculating the leakage concentration of the suspected leakage area in combination with the gray-scale change value of the pixel area corresponding to each detection spot in the infrared radiation image includes: Taking the gray-scale change value of the pixel area corresponding to each detection spot in the infrared radiation image as the independent variable and the gas concentration of each detection spot in the suspected leakage area as the dependent variable for linear fitting, and obtaining the following formula: C (x,y) =Gain (x,y) × DN (x,y) +Offset (x,y) Wherein, C (x,y) is the leakage concentration of the pixel point (x,y), Gain (x,y) is the gray-scale concentration relationship coefficient, DN (x,y)is the gray-scale change value, Offset (x,y) is the concentration offset value; Obtain the gray-scale change value of each pixel in the suspected leakage area and substitute it into the above formula to obtain the leakage concentration in the suspected leakage area.

[0009] Furthermore, when calculating the central gas concentration of each detection spot in the suspected leakage area based on the laser scanning backlight data, the ranging backlight data of the suspected leakage area by the micro-vibrating mirror laser telemetry component is also received simultaneously, and the relative distance between each detection spot and the infrared gas imager component is calculated based on the ranging backlight data.

[0010] Furthermore, after obtaining the relative distance of each detection spot, further calculate the average distance of the suspected leakage area from the infrared gas imager component; According to the number of pixels in the suspected leakage area N pix and the focal length of the infrared gas imager component f and the size of a single pixel of the infrared gas imager component A pix and the average distance of the suspected leakage area from the infrared gas imager component D avreage calculate the leakage area: where N is the number of detection spots corresponding to the suspected leakage area; D i is the relative distance of the i-th detection spot; A VOC is the area of the suspected leakage area.

[0011] In a second aspect, a gas detection system combining laser galvanometer telemetry and infrared imaging is provided, including: A micro-vibrating mirror laser telemetry component, configured to emit detection laser to the area to be inspected and receive the backlight signal absorbed by the target gas; An infrared gas imager component, configured to capture the infrared radiation signal of the area to be inspected; A position adjustment mechanism, on which the micro-vibrating mirror laser telemetry component and the infrared gas imager component are arranged, and configured to adjust the positions of the micro-vibrating mirror laser telemetry component and the infrared gas imager component to align them with the area to be inspected; A data processing and control device, respectively connected to the position adjustment mechanism, the micro-vibrating mirror laser telemetry component, and the infrared gas imager component, and configured to execute the gas detection method combining laser galvanometer telemetry and infrared imaging described in the first aspect to obtain gas leakage information; Input / output and display components for displaying gas leakage information.

[0012] A third aspect provides a computer device, including a memory and a processor. The memory stores a computer program. It is characterized in that when the processor executes the computer program, the steps of the gas detection method combining laser galvanometer telemetry and infrared imaging as described in the first aspect are implemented.

[0013] A fourth aspect provides a computer storage medium. The computer storage medium stores a gas detection program. When the gas detection program is executed by the processor, the steps of the gas detection method combining laser galvanometer telemetry and infrared imaging as described in the first aspect are implemented.

[0014] The present invention has prominent substantive features and significant progress compared with the prior art. Specifically, the present invention uses an infrared gas imager module to collect thermal infrared images of the target area to discover suspected leakage areas; a micro-vibrating mirror laser telemetry component is used to scan the suspected leakage areas to obtain gas concentration and relative distance, and calculate the area and concentration of the VOCs leakage area according to the measured relative distance and gas concentration. This method combines the advantages of visualizing gas leakage by the infrared imaging system and accurately inversing gas concentration by laser scanning detection, realizing high-precision gas concentration analysis and visualization of the gas leakage position and concentration distribution.

[0015] Furthermore, in terms of relative distance measurement, the laser ranging beam and the laser gas measurement beam are combined, further simplifying the system design, improving the operation convenience, and correcting the gas concentration data by synchronously measuring the real-time obtained distance information, enhancing the data accuracy and the system response speed.

[0016] The micro-vibrating mirror can adjust the dynamic angle by voltage, enhancing the flexibility of measurement, reducing the dependence on the traditional pan-tilt rotating shaft, reducing mechanical wear and failure rate, and thus reducing the maintenance frequency and cost. This method not only improves the detection efficiency and reliability but also optimizes the long-term use cost of the equipment.

[0017] In terms of the planning of the inspection area route, a scheme of first panoramically scanning the image and then subdividing the detection area is used, improving the detection efficiency and accuracy while enhancing the intelligence level of the system; in addition, the subdivision of the detection area can effectively reduce the false alarm frequency of the system and reduce the system operation cost.

[0018] In summary, this method not only improves the detection efficiency and reliability but also optimizes the long-term use benefit of the equipment, expands the functional application, and provides a more comprehensive gas leakage detection solution. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic flow chart of the present invention.

[0020] Figure 2 It is a registration schematic diagram of the micro-vibrating mirror laser telemetry component of the present invention and the infrared imager.

[0021] Figure 3 It is a schematic diagram of the laser spot coverage range of the present invention.

[0022] Figure 4 It is a schematic diagram of dividing the inspection area of the present invention into sub-areas.

[0023] Figure 5 It is a schematic diagram of the secondary division of the sub-areas in the inspection area of the present invention.

[0024] Figure 6 It is a galvanometer scanning schematic diagram of the present invention.

[0025] Figure 7 It is a structural schematic diagram of the gas detection system of the present invention.

[0026] Figure 8 It is an inspection schematic diagram of the present invention.

[0027] In the figure: 1. Infrared gas imager component; 2. Micro-vibrating mirror laser scanning module; 3. Pan-tilt; 4. Leaked gas; 5. Infrared image acquisition range. Detailed implementation manners

[0028] Currently, the following problems exist in gas leakage detection: 1) Portable, pan-tilt type and cross-beam type laser gas detection devices have low inspection efficiency, are prone to missed detection, have high pan-tilt maintenance costs, and it is difficult to accurately locate the leakage point in a wide-area scenario; 2) It is not easy to visualize the leakage concentration distribution and leakage direction; 3) When detecting gas leakage in a complex environment, it is easily interfered by the environment, and the detection accuracy and sensitivity of conventional methods are not high; 4) The ability to identify weak leaked gas is not strong. Image algorithms such as anti-interference are complex and computationally intensive, and it is difficult to ensure real-time performance during data processing; Small-flow gas leakage cannot accurately reflect the gas position and area, and has poor visualization effect, and cannot truly reflect the gas leakage situation.

[0029] To solve the above problems, the present invention uses an infrared gas imager module to collect thermal infrared images of the target area to discover suspected leakage areas; a micro-vibrating mirror laser telemetry component is used to scan the suspected leakage areas to obtain gas concentration and relative distance, and calculate the area and concentration of the VOCs leakage area based on the measured relative distance and gas concentration. This method effectively integrates the infrared gas imager galvanometer laser scanning remote sensing, gives full play to the advantages of the two detection devices, makes up for each other's deficiencies, and improves the accuracy and reliability of leakage gas detection.

[0030] The following further describes the technical solution of the present invention in detail through specific embodiments.

[0031] Embodiment 1 This embodiment provides a gas detection method combining laser galvanometer telemetry and infrared imaging, as Figure 1 shown, including the following steps: Step S1, obtain the position information of the area to be inspected, and control the micro-vibrating mirror laser telemetry component and the infrared gas imager component to align with the area to be inspected according to the position information of the area to be inspected, where the micro-vibrating mirror laser telemetry component and the infrared gas imager component are spatially aligned.

[0032] It should be noted that when using the micro-vibrating mirror laser telemetry component and the infrared gas imager component for gas detection, sensor registration needs to be carried out first to accurately align the data of the two different sensors.

[0033] Specifically, sensor registration means: by adjusting and calibrating the parameters of the micro-vibrating mirror laser telemetry component and the infrared gas imager component, ensure that the position of each laser scan can be accurately matched with the corresponding pixel point on the infrared gas imager. This process can also be called spatial registration or geometric registration, and the purpose is to achieve spatial alignment between the laser point cloud and the infrared image, facilitate subsequent data fusion and analysis, and obtain more accurate gas distribution and concentration information.

[0034] In this embodiment, the selected micro-vibrating mirror laser telemetry component is a piezoelectric MEMS micro-vibrating mirror, with a mirror size of φ3mm, an angular resolution of ±0.005°, a deflection angle of ±8°, a driving voltage of -16V to +16V, and a gold film plated on the mirror, and the reflectivity for 1653.7nm or 3260.2nm band laser is more than 90%; the selected infrared gas imager is a type II superlattice mid-wave refrigerated core, with a detector pixel size of 15um, a resolution of 640*512 (unit: pixel), and a band range of 3.2um to 3.5um.

[0035] Before carrying out the registration work, ensure that the main optical axis of the initial position of the micro-vibrating mirror is parallel to the main optical axis of the infrared imager, and then carry out spatial registration at a typical working distance (50~150m) respectively. The registration schematic diagram is asFigure 2 As shown, the red circle represents the effective laser spot. X: -15 to X: +15 and Y: -15 to Y: +15 respectively represent the driving voltages of the galvanometer's X-axis and Y-axis. To ensure the registration effect and the reliability of the micro-laser galvanometer scanning result, in this embodiment, each laser spot is set to cover 32 * 32 pixel units of the image, specifically as Figure 3 shown.

[0036] After the registration work is completed, the two-dimensional voltage matrix is stored, so as to facilitate subsequent searching for the two-dimensional voltage matrix according to the contour information of the suspected leakage area and sending corresponding driving voltage instructions to the base of the micro-galvanometer laser telemetry component to form corresponding spots for gas concentration detection.

[0037] Step S2: Receive the infrared radiation image data collected by the infrared gas imager component, perform leakage detection on the infrared radiation image data based on the infrared gas detection algorithm. When a suspected leakage area is found, obtain the contour information of the suspected leakage area and control the micro-galvanometer laser telemetry component to perform traversal detection on the suspected leakage area based on the contour information of the suspected leakage area.

[0038] In one implementation, before performing leakage detection on the infrared radiation image data based on the infrared gas detection algorithm, two preparatory works of image preprocessing and gas recognition model training need to be carried out first.

[0039] Among them, image preprocessing includes basic algorithms such as dark current correction, lens non-uniformity correction, and image detail enhancement. It can be understood that the basic algorithms such as dark current correction, lens non-uniformity correction, and image detail enhancement can directly adopt existing algorithms and will not be described in detail here.

[0040] Gas recognition model training mainly combines deep learning methods to focus on identifying leakage areas. The specific steps are as follows: Considering the weakness and mobility of gas changes, the idea of identifying moving change regions is adopted to identify leakage regions; therefore, before training the gas recognition model, a dataset is first constructed.

[0041] Specifically, use the infrared gas imager component to collect original image data. Taking VOCs gas as an example, the VOCs leakage gas simulation data selects hydrocarbon volatile organic compounds; then, use the frame difference method to extract the change region and establish the dataset used for the gas recognition model.

[0042] Specifically, the frame difference method calculation formula is as follows: diff t = gray (x，y，t) - gray (x，y，t-1) ×k Among them, gray (x，y，t) and gray (x，y，t-1) respectively represent the gray values of the pixel points ( t and t+1 ) in the infrared image at the x， y th moments of the video; diff t represents the frame difference result at the t th moment; k represents the correction coefficient, and its value range is 0.75 to 1.0; It can be understood that after obtaining the frame difference result, the frame difference result can also be filtered for noise and enhanced in features by means of percentage stretching.

[0043] Among them, the implementation process of percentage linear stretching is as follows: A. Determine the percentage stretching coefficient per, sort the gray values of the frame difference result, find the data values corresponding to the minimum percentage per and the maximum percentage (1 - per), and mark them as the a value and the b value respectively; B. Update the a value and the b value by using the minimum adjustment percentage 0.01 and the maximum adjustment percentage 0.5 to obtain the new a' and b', and mark the values less than a' and greater than b' as the minimum noise and the maximum noise; Among them, the update formula for the a value is: a’ = a - (b - a) * 0.01; The update formula for the b value is: b’ = b + (b - a) * 0.5; C. Stretch the infrared image and remove the noise; The formulas used for stretching and noise removal are: D. Save all the infrared images after being processed by stretching and noise removal, screen the infrared images with typical gas leakage characteristics for gas leakage annotation, obtain the gas leakage recognition model dataset and use the target segmentation algorithm to train the gas leakage recognition model.

[0044] Step S3: Receive the laser scanning backlight data collected by the micro - mirror laser telemetry component during traversing detection of the suspected leakage area, calculate the gas concentration of each detection spot in the suspected leakage area according to the laser scanning backlight data, and calculate the leakage concentration of the suspected leakage area in combination with the gray - scale change value of the pixel area corresponding to each detection spot in the infrared radiation image.

[0045] Specifically, in one implementation, calculating the leakage concentration of the suspected leakage area in combination with the gray - scale change value of the pixel area corresponding to each detection spot in the infrared radiation image includes: Taking the gray-scale change value of the pixel region corresponding to each detection light spot in the infrared radiation image as the independent variable, and the gas concentration of each detection light spot in the suspected leakage region as the dependent variable for linear fitting, the following formula is obtained: C (x,y) =Gain (x,y) × DN (x,y) +Offset (x,y) Wherein, C (x,y) is the leakage concentration of the pixel point (x,y), and Gain (x,y) is the gray-scale concentration relationship coefficient, DN (x,y) is the gray-scale change value, Offset (x,y) is the concentration offset value; Obtain the gray-scale change value of each pixel in the suspected leakage region, and substitute it into the above formula to obtain the leakage concentration of the suspected leakage region.

[0046] Furthermore, since the proportion of the leakage region in the region to be detected is small and the inspection work takes a long time, in order to reduce the workload, it is only necessary to detect the regions where pipelines, sealing devices, pressure relief elements, etc. that are prone to gas leakage in the region to be detected as the regions to be inspected. Specifically, the steps for obtaining the position information of the regions to be inspected include: Perform a panoramic scan on the region to be detected, obtain the infrared image of the region to be detected and perform panoramic image stitching, and perform image segmentation processing on the stitched infrared image to obtain the sub-regions to be detected; Perform background segmentation on the sub-regions to be detected to obtain the infrared image of the regions to be inspected, and the scanning azimuth angle associated with the infrared image is the position information of the regions to be inspected.

[0047] Thus, the specific working steps of this embodiment include: Preparation work: Turn on the system, the user specifies the region to be detected, the system performs a panoramic scan on the region to be detected, collects the infrared image and performs panoramic image stitching; then, the user selects the specific inspection region in the panoramic infrared image, and the system performs image segmentation processing on the infrared image to subdivide the inspection region, as shown in Figure 4 and Figure 5 ; Finally, the system uses the laser ranging function to measure the relative distance of each subdivided inspection sub-region, and stores the relevant parameters of each sub-inspection region in the data processing and control unit to facilitate the infrared gas imager and the galvanometer laser scanning module to select appropriate registration parameters.

[0048] Inspection work: After the inspection work starts, the system traverses and inspects the area to be inspected. Taking Figure 4 as an example, when the system reaches the No. 1 area to be inspected, the infrared gas imager starts to collect the infrared image of this area, performs image preprocessing and gas leakage identification steps. If a suspected leakage target is found, the contour information of the suspected leakage target is obtained, and the driving voltage value corresponding to the suspected leakage target is found based on the built-in two-dimensional voltage matrix, and then it is transmitted to the micro-vibrating mirror laser telemetry component. The micro-vibrating mirror laser telemetry component loads the pre-stored registration parameters to obtain the gas concentration of each detection spot. In one example, the schematic diagram of the galvanometer laser scanning path of the micro-vibrating mirror laser telemetry component is as Figure 6 shown.

[0049] Subsequently, taking the gray-scale change value of the pixel area corresponding to each detection spot in the infrared radiation image as the independent variable and the gas concentration of each detection spot as the dependent variable for linear fitting, the following formula is obtained: C (x,y) =Gain (x,y) × DN (x,y) +Offset (x,y) Among them, C (x,y) is the leakage concentration of the pixel point (x,y), Gain (x,y) is the gray-scale concentration relationship coefficient, DN (x,y) is the gray-scale change value, Offset (x,y) is the concentration offset value.

[0050] Finally, the gray-scale change value of each pixel in the suspected leakage area is obtained and substituted into the above formula to obtain the leakage concentration of the suspected leakage area, and it is rendered into pseudo-color for display.

[0051] Embodiment 2 The difference between this embodiment and Embodiment 1 is that: When calculating the central gas concentration of each detection spot in the suspected leakage area according to the laser scanning return light data, the ranging return light data of the suspected leakage area from the micro-vibrating mirror laser telemetry component is also received at the same time, and the relative distance between each detection spot and the infrared gas imager component is calculated based on the ranging return light data.

[0052] In specific implementation, the laser ranging beam and the laser gas measurement beam share the same set of transmitting equipment and receiving equipment, and the ranging laser selects a wavelength that is not absorbed by the target gas, and the gas measurement beam selects a wavelength that can be absorbed by the target gas.

[0053] Furthermore, the steps for obtaining the relative distance are as follows: While controlling the micro-vibrating mirror laser telemetry component to traverse and detect the suspected leakage area, control the micro-vibrating mirror laser telemetry component to emit ranging laser at the same time. The ranging laser is reflected by the background reflector after passing through the target gas. The photodetector receives the return light signal of the ranging laser and converts it into an electrical signal through photoelectric conversion. The electrical signal is amplified and filtered, and then based on the filtered electrical signal, the relative distance between the telemetry component and the background reflector is calculated, that is, the relative distance between the detection spot and the infrared gas imager component is obtained.

[0054] Further, after calculating the relative distance between each detection spot and the infrared gas imager component, correct the gas concentration of each detection spot based on the relative distance.

[0055] Specifically, correcting the gas concentration of each detection spot based on the relative distance includes the following steps: Preset the gas concentration calibration curve at different relative distances; According to the relative distance between the detection spot measured in real time and the infrared gas imager component, select different gas concentration calibration curves to reduce the interference of distance on gas concentration.

[0056] In this embodiment, the laser ranging beam and the laser gas detection beam are emitted and received in a combined beam manner, which further simplifies the system design, improves the operation convenience, and corrects the gas concentration data by synchronously measuring the distance information obtained in real time, improving the data accuracy and the system response speed.

[0057] Embodiment 3 The difference between this embodiment and Embodiment 2 is that while calculating the leakage concentration of each detection spot, the area of the suspected leakage area is further determined based on the laser scanning return light data.

[0058] Specifically, the steps to obtain the area of the suspected leakage area are as follows: After obtaining the relative distance of each detection spot, further calculate the average distance of the suspected leakage area from the infrared gas imager component. The formula is as follows: Among them, D average is the average distance, N is the number of detection spots corresponding to the suspected leakage area, D i is the relative distance of the i-th detection spot; According to the number of pixels N pix in the suspected leakage area, the focal length f of the infrared gas imager component, and the size A pixAnd the average distance between the suspected leakage area and the infrared gas imager assembly D avreage Calculate the leakage area: 。

[0059] It can be understood that after obtaining the area of the suspected leakage area A voc After that, A voc It is displayed together with the pseudo-color rendered by the aforementioned leakage concentration.

[0060] Embodiment 4 This embodiment provides a gas detection system combining laser galvanometer telemetry and infrared imaging. As Figure 7 And 8 Shown, it includes: a micro-galvanometer laser telemetry component 2, which is used to emit detection laser to the area to be inspected, and receive the return light signal absorbed by the target gas; An infrared gas imager component 1, which is used to capture the infrared radiation signal of the area to be inspected; A position adjustment mechanism, on which the micro-galvanometer laser telemetry component and the infrared gas imager component are arranged, and is used to adjust the positions of the micro-galvanometer laser telemetry component and the infrared gas imager component so that they are aligned with the area to be inspected; specifically, the position adjustment mechanism adopts a pan-tilt or other mechanism that can realize three-dimensional position adjustment. In this embodiment, the position adjustment structure selects a pan-tilt 3, and the micro-galvanometer laser telemetry component 2 and the infrared gas imager component 1 are arranged on the pan-tilt 3 and rotate with the rotation of the pan-tilt 3.

[0061] A data processing and control device, which is respectively connected to the position adjustment mechanism, the micro-galvanometer laser telemetry component, and the infrared gas imager component, and is used to execute the gas detection method combining laser galvanometer telemetry and infrared imaging described in the first aspect to obtain gas leakage information. Specifically, the gas leakage information at least includes leakage concentration and leakage area.

[0062] An input / output and display component, which is used to display the gas leakage information.

[0063] Specifically, the pan-tilt unit 3 includes an X-axis rotation axis, a Y-axis rotation axis, a motor drive system, sensors, encoders, a control unit, a mechanical structure, a power supply, and interfaces. Among them, the X-axis and Y-axis rotation axes are responsible for horizontal and vertical rotations to ensure accurate observation directions. The motor drive system provides power and controls the rotation speed and angle. The sensors and encoders monitor the positions of the rotation axes in real time to ensure accuracy. The control unit receives instructions sent by the data processing and control device and adjusts the rotation actions of the X-axis and Y-axis. The mechanical structure ensures the stability and durability of the pan-tilt unit, while the power supply and interfaces provide power support and data communication. These components work together to enable the pan-tilt unit to flexibly adjust the angles and paths of the infrared gas imager and the laser ranging module, improving the overall measurement accuracy and operation convenience.

[0064] Specifically, the micro-vibrating mirror laser telemetry component 2 includes a semiconductor laser, a time measurement unit, a aiming laser, a laser combiner, a collimation system, a reflector, a MEMS micro-vibrating mirror, a receiving lens, and a photodetector array. It can be understood that the detection laser and the aiming laser emitted by the semiconductor laser are combined by the laser combiner, collimated by the collimation system, reflected by the reflector onto the micro-vibrating mirror, and then irradiated onto the area to be inspected after being reflected by the micro-vibrating mirror. The detection laser passes through the target gas and is reflected by the background reflector. The photodetector receives the reflected light signal after being absorbed by the target gas, and after photoelectric conversion, it is transmitted to the subsequent data processing and control device to amplify and filter the signal and calculate the concentration information of the target gas in the target area.

[0065] Specifically, the infrared gas imager component 1 includes at least an infrared detector, a refrigeration system, an optical system, an imaging processing unit, a data storage, and a communication module.

[0066] Furthermore, to improve the gas detection ability of the infrared gas imager component, the infrared detector uses a high-performance cooled infrared detector, and thus the gas detection system is also equipped with the refrigeration system. The refrigeration system reduces the temperature of the infrared detector by means of Stirling cycle refrigeration. The optical system consists of an adjustable-focus lens and an optical filter (filter) and is used to collect and focus infrared radiation signals and filter out unnecessary wavelengths. The imaging processing unit receives the infrared signal, quantizes it into an electrical signal, and finally converts it into image data for storage and transmission to the processor. The data storage and communication module is used to store the collected data and transmit it to other systems or networks for further analysis and recording.

[0067] Specifically, the data processing and control device includes a data storage unit, a processing unit, a control unit, and an interface module; the data storage unit is used to store the original infrared data and the telemetry results of the micro-laser galvanometer module; the processing unit performs various data processing tasks, such as correcting the dark current and lens non-uniformity of the original infrared data, image enhancement, gas leakage area identification, etc., and at the same time analyzes the micro-galvanometer laser scanning data; the processing unit is also responsible for the inversion of gas concentration leakage and the color rendering of the results to provide more intuitive detection information; the control unit is used to perform control responses according to the parameters input by the user or the suspected leakage areas detected by the system, and control parts such as the pan-tilt and the micro-laser galvanometer telemetry module to rotate or collect data; the interface module is responsible for data communication with other systems to ensure the effective transmission and processing of data. These functional components work together to enable the data storage and processing module to efficiently process and analyze data, supporting the performance improvement of the infrared gas imager and the laser ranging module.

[0068] Specifically, the input / output and display component includes an input interface, a display screen, and an operation control unit. The input interface allows the user to input instructions and parameter settings through buttons, touch screens, or other input devices; the display screen displays the system status, gas detection results, image processing results, and other important information in real time for the user to monitor and analyze; the operation control unit provides an interaction function with the system, enabling the user to easily perform operations and adjustments; these functions enable the user to effectively interact with the system, obtain clear detection results, and make necessary operation adjustments.

[0069] It can be understood that the gas detection system further includes a power control component, which is responsible for providing stable power for each part of the entire system. Specifically, the power control component includes a power distribution unit, a voltage regulator, and a power management interface; among them, the power distribution unit distributes the power to different modules and components to ensure that each part obtains the required power; the voltage regulator ensures the voltage stability and avoids the impact of power fluctuations on the system performance; the power management interface provides power status monitoring and adjustment functions. These functions ensure the stable operation of the system and support the efficient operation of other modules.

[0070] The working steps of the gas detection system are as follows: (1) The system initializes data collection. For a newly set area to be detected, the user can perform a panoramic scan of the area to be detected through the input / output and display component to obtain an infrared image of the area to be detected, and then the user performs image segmentation processing on the area to be detected to obtain specific inspection areas; After the user sets the initialization parameters through the input / output and display components, the system starts the inspection mode. The pan-tilt control unit controls the X and Y axes of the pan-tilt to rotate to the inspection area or the initial position according to the preset parameters and starts to collect the infrared radiation information of the inspection area. (3)The infrared radiation information of the inspection area is transmitted into the infrared gas imager, and the radiation information is converted into image data after digital conversion and then transmitted to the data processing and control unit; among them, the infrared image acquisition range is as Figure 8 label 5 in (4)The data processing and control unit analyzes the original infrared image data and executes algorithms such as dark current correction, lens non-uniformity correction, image enhancement, and leakage gas detection. If the gas detection algorithm finds a suspected leak, it transmits the contour coordinates of the leak point to the micro-vibrating mirror laser telemetry component; if no suspected leak area is found, it controls the pan-tilt to continue the inspection according to the preset route; the leakage gas is as Figure 8 label 4 in (5)When the micro-vibrating mirror laser telemetry component receives the contour coordinates of the leak point, it traverses and scans the leak point to obtain the gas concentration and relative distance of the leak point. (6)The data processing and control device further performs concentration inversion of the leak area based on the leak area and the concentration and relative distance information measured by the micro-laser vibrating mirror telemetry module, and finally renders the fused result into pseudo-color and sends it to the input / output and display components for display.

[0071] It should be noted that when using the micro-vibrating mirror laser telemetry component and the infrared gas imager component for gas detection, sensor registration needs to be performed first to accurately align the data of the two different sensors.

[0072] Specifically, sensor registration means: by adjusting and calibrating the parameters of the micro-vibrating mirror laser telemetry component and the infrared gas imager component, ensuring that the position of each laser scan can be accurately matched with the corresponding pixel points on the infrared gas imager. This process can also be called spatial registration or geometric registration, and the purpose is to achieve spatial alignment between the laser point cloud and the infrared image, facilitate subsequent data fusion and analysis, and obtain more accurate gas distribution and concentration information.

[0073] In this embodiment, the selected micro-vibrating mirror laser telemetry component is a piezoelectric MEMS micro-vibrating mirror, with a mirror size of φ3mm, an angular resolution of ±0.005°, a deflection angle of ±8°, a driving voltage of -16V~+16V, a gold film plated on the mirror, and a reflectivity of more than 90% for the 1653.7nm or 3260.2nm band laser; the selected infrared gas imager is a type II superlattice mid-wave refrigeration type core, with a detector pixel size of 15um, a resolution of 640*512 (unit: pixel), and a band range of 3.2um~3.5um.

[0074] Before the registration work is carried out, ensure that the main optical axis of the initial position of the micromirror is parallel to the main optical axis of the infrared imager. Then, at a typical working distance (50m - 150m), perform spatial registration respectively. The registration schematic diagram is as follows Figure 2 shown. The red circle represents the effective laser spot. X: -15 to X: +15 and Y: -15 to Y: +15 respectively represent the driving voltages of the X-axis and Y-axis of the galvanometer. To ensure the registration effect and the reliability of the micro-laser galvanometer scanning result, in this embodiment, each laser spot covers 32 * 32 pixel units of the image (as shown in Figure 3 the figure).

[0075] After the registration work is completed, store the two-dimensional voltage matrix in the data processing and control device, so as to facilitate subsequent searching for the two-dimensional voltage matrix according to the contour information of the suspected leakage area, and sending corresponding driving voltage instructions to the base of the micromirror laser telemetry component to form corresponding spots for gas concentration detection.

[0076] Embodiment 5 This embodiment provides a computer storage medium. The computer storage medium stores a gas detection program. When the gas detection program is executed by the processor, it realizes the steps of the gas detection method combining laser galvanometer telemetry and infrared imaging as described in any one of Embodiments 1 - 3.

[0077] Embodiment 6 This embodiment provides a computer storage medium. The computer storage medium stores a gas detection program. When the gas detection program is executed by the processor, it realizes the steps of the gas detection method combining laser galvanometer telemetry and infrared imaging as described in any one of Embodiments 1 - 3.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that it is still possible to modify the specific implementation manners of the present invention or perform equivalent replacements for some technical features; without departing from the spirit of the technical solutions of the present invention, they should all be covered within the scope of the technical solutions claimed by the present invention.

Claims

1. A gas detection method combining laser galvanometer telemetry and infrared imaging, characterized in that: The following steps are involved: Acquire the position information of the area to be inspected, and control the micro-vibration mirror laser telemetry component and the infrared gas imager component to align with the area to be inspected according to the position information of the area to be inspected, wherein the micro-vibration mirror laser telemetry component and the infrared gas imager component are spatially aligned; Receive infrared radiation image data collected by the infrared gas imaging component, perform leak detection on the infrared radiation image data based on the infrared gas detection algorithm, and when a suspected leak area is found, obtain contour information of the suspected leak area and control the micro-vibration mirror laser telemetry component to traverse and detect the suspected leak area based on the contour information of the suspected leak area; The laser scanning echo data collected by the micro-vibration mirror laser telemetry component during traversal detection of the suspected leakage area is received, and the gas concentration of each detection spot in the suspected leakage area is calculated based on the laser scanning echo data. The leakage concentration of the suspected leakage area is calculated based on the grayscale change value of the pixel area corresponding to each detection spot in the infrared radiation image.

2. A gas detection method combining laser galvanometer telemetry and infrared imaging according to claim 1, characterized in that: The leakage concentration of the suspected leakage area is calculated by combining the grayscale change value of the pixel area corresponding to each detection spot in the infrared radiation image, including: The grayscale change value of the pixel area corresponding to each detection spot in the infrared radiation image is used as the independent variable, and the gas concentration of each detection spot in the suspected leakage area is used as the dependent variable for linear fitting, and the following formula is obtained: C (x,y) =Gain (x,y) × DN (x,y) +Offset (x,y) in, C (x,y) is the leakage concentration of the pixel (x, y), Gain (x,y) is the grayscale concentration relationship coefficient, DN (x,y) is the grayscale change value, Offset (x,y) is the concentration offset value; Obtain the grayscale change value of each pixel in the suspected leakage area and substitute it into the above formula to obtain the leakage concentration of the suspected leakage area.

3. The gas detection method combining laser galvanometer telemetry and infrared imaging according to claim 2 is characterized in that: When calculating the central gas concentration of each detection spot in the suspected leakage area based on the laser scanning echo data, the ranging echo data of the suspected leakage area by the micro-vibration mirror laser telemetry component is also received simultaneously, and the relative distance between each detection spot and the infrared gas imaging component is calculated based on the ranging echo data.

4. The gas detection method combining laser galvanometer telemetry and infrared imaging according to claim 3 is characterized in that: After obtaining the relative distance of each detection light spot, the average distance between the suspected leakage area and the infrared gas imaging device assembly is further calculated; Based on the number of pixels in the suspected leak area N pix , focal length of infrared gas imaging device assembly f , the size of a single pixel of an infrared gas imaging component A pix and the average distance of the suspected leak area from the infrared gas imaging camera assembly D avreage Calculate the leakage area: Where N is the number of detection spots corresponding to the suspected leakage area; D x，y is the relative distance of each detection spot; A VOC is the area of ​​the suspected leak area.

5. The gas detection method combining laser galvanometer telemetry and infrared imaging according to claim 4 is characterized in that: After calculating the relative distance between each detection light spot and the infrared gas imaging device, the gas concentration of each detection light spot is corrected based on the relative distance.

6. A gas detection method combining laser galvanometer telemetry and infrared imaging according to any one of claims 1 to 5, characterized in that: The steps of obtaining the location information of the area to be inspected include: Perform a panoramic scan on the area to be detected, obtain an infrared image of the area to be detected and perform panoramic image stitching, perform image segmentation processing on the stitched infrared image, and obtain a sub-area to be detected; Perform background segmentation on the sub-area to be detected to obtain the area to be inspected and the corresponding location information.

7. The gas detection method combining laser galvanometer telemetry and infrared imaging according to claim 5 is characterized in that: Based on the contour information of the suspected leakage area, the micro-vibration mirror laser telemetry component is controlled to traverse the suspected leakage area, including: Determine the detection spot that needs to be scanned by the micro-vibration mirror laser telemetry component based on the contour information of the suspected leakage area; According to a preset scanning sequence, the deflection voltage value corresponding to each detection light spot is searched in the two-dimensional voltage matrix, and sent to the micro-vibration mirror laser telemetry component; The two-dimensional voltage matrix is ​​stored after the micro-vibration mirror laser telemetry component and the infrared gas imager component are spatially aligned.

8. A gas detection system combining laser galvanometer telemetry and infrared imaging, characterized in that: include: The micro-vibration mirror laser telemetry component is used to transmit the detection laser to the area to be inspected and receive the return light signal after being absorbed by the target gas; Infrared gas imaging device, used to capture infrared radiation signals of the area to be inspected; A position adjustment mechanism, on which the micro-vibration mirror laser telemetry assembly and the infrared gas imager assembly are arranged, and used to adjust the positions of the micro-vibration mirror laser telemetry assembly and the infrared gas imager assembly so that they are aligned with the area to be inspected; A data processing and control device, connected to the position adjustment mechanism, the micro-vibration mirror laser telemetry component and the infrared gas imager component, respectively, for executing the gas detection method combining laser galvanometer telemetry and infrared imaging as described in any one of claims 1 to 7 to obtain gas leakage information; Input / output and display components are used to display gas leakage information.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the gas detection method combining laser galvanometer telemetry and infrared imaging as described in any one of claims 1 to 7 are implemented.

10. A computer storage medium, characterized in that: The computer storage medium stores a gas detection program, and when the gas detection program is executed by the processor, the steps of the gas detection method combining laser galvanometer telemetry and infrared imaging as described in any one of claims 1 to 7 are implemented.

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