A gas detection system and method combining laser galvanometer telemetry and infrared imaging

Abstract

The present invention provides a gas detection method combining laser galvanometer telemetry and infrared imaging, comprising the following steps: obtaining position information of an area to be inspected, controlling a micro-galvanometer laser telemetry component and an infrared gas imaging device component to align with the area to be inspected according to the position information of the area to be inspected, performing leakage detection on infrared radiation image data based on an infrared gas detection algorithm, obtaining contour information of the suspected leakage area when a suspected leakage area is found, and controlling 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, receiving laser scanning return light data collected by the micro-galvanometer laser telemetry component during the traversal detection of the suspected leakage area, calculating the gas concentration of each detection light spot in the suspected leakage area according to the laser scanning return light data, and calculating the leakage concentration of the suspected leakage area in combination with the grayscale 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, and in particular to a gas detection system and method combining laser galvanometer telemetry with infrared imaging. Background Art

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

[0003] Currently, numerous gas sensing technologies exist. Laser telemetry sensors are widely used due to their high measurement accuracy and efficiency. However, they require the reflective surface of the gas being measured to have good reflectivity and can only detect single points. To increase the usability of laser telemetry, many researchers have combined it with pan-tilt (PTZ) technology. This flexible detection angle and range improves the comprehensiveness and flexibility of detection. However, these systems still suffer from a lack of flexibility, primarily due to their point-by-point or pre-set detection methods, resulting in low overall detection efficiency and a degree of blindness. Even when a leak is detected, the system struggles to accurately determine its location, extent, and direction within a short period of time. Furthermore, laser telemetry's limited capabilities for multi-component gas detection further restrict its application in complex environments. While PTZ technology enhances system operability, overall improvements are still needed to achieve more efficient and comprehensive leak monitoring. Therefore, a novel approach is urgently needed to overcome the limitations of these traditional technologies and achieve more efficient and comprehensive gas detection.

[0004] As a passive detection method, infrared imaging technology does not require active signal emission and has the advantages of non-contact, long-distance monitoring, strong environmental adaptability and visualization. It is currently one of the research hotspots in VOCs gas leak detection. For example, CN116862887A proposes a quantitative gas leak detection method and system based on laser scanning and infrared imaging. The laser multi-point scanning is used to measure the gas concentration. The infrared imaging algorithm then uses the gas concentration at the laser measurement point as a reference and combines the grayscale changes 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. In particular, when facing gas leaks with low concentrations and low flow rates, the existing systems and detection methods have a high false detection rate and are difficult to determine the leakage concentration. In order to overcome these challenges and improve detection accuracy and efficiency, the infrared gas imaging system needs to be further optimized and improved to meet actual detection needs.

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

[0006] The present invention addresses the shortcomings of existing technologies by providing a gas detection system and method that combines laser galvanometer telemetry with infrared imaging. This system combines the advantages of infrared imaging for visualizing gas leaks with the precise inversion of gas concentrations using laser scanning, enabling visualization of gas leak locations and concentration distribution.

[0007] In order to achieve the above object, the technical solution adopted by the present invention is:

[0008] A first aspect provides a gas detection method combining laser galvanometer telemetry and infrared imaging, comprising the following steps:

[0009] Obtaining location information of the area to be inspected, and controlling the micro-vibration mirror laser telemetry component and the infrared gas imager component to align with the area to be inspected based on the location information of the area to be inspected, wherein the micro-vibration mirror laser telemetry component and the infrared gas imager component are spatially aligned;

[0010] 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 the suspected leak area based on the contour information of the suspected leak area;

[0011] The laser scanning return light data collected by the micro-vibration mirror laser telemetry component during traversal detection of the suspected leakage area is received. The gas concentration of each detection spot in the suspected leakage area is calculated based on the laser scanning return light data, and 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.

[0012] Furthermore, 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:

[0013] A linear fit is performed with the grayscale 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, and the following formula is obtained:

[0014] C (x,y) =Gain (x,y) × DN (x,y) +Offset (x,y)

[0015] 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;

[0016] 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.

[0017] Furthermore, when calculating the central gas concentration of each detection spot in the suspected leakage area based on the laser scanning return light data, the ranging return light data of the suspected leakage area by the micro-vibration mirror laser telemetry component is also received at the same time, and the relative distance between each detection spot and the infrared gas imaging component is calculated based on the ranging return light data.

[0018] Furthermore, after obtaining the relative distance of each detection spot, the average distance between the suspected leakage area and the infrared gas imaging device assembly is further calculated;

[0019] Based on the number of pixels within the suspected leakage area N pix , focal length of infrared gas imaging assembly f , the size of a single pixel of the infrared gas imaging component A pix and the average distance between the suspected leak area and the infrared gas imaging camera assembly D avreage Calculate the leakage area:

[0020]

[0021]

[0022] 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.

[0023] The second aspect provides a gas detection system combining laser galvanometer telemetry and infrared imaging, comprising:

[0024] 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;

[0025] Infrared gas imaging device, used to capture infrared radiation signals from the area to be inspected;

[0026] a position adjustment mechanism on which the micro-vibration mirror laser telemetry assembly and the infrared gas imager assembly are provided, for adjusting the positions of the micro-vibration mirror laser telemetry assembly and the infrared gas imager assembly so as to align them with the area to be inspected;

[0027] a data processing and control device, connected to the position adjustment mechanism, the micro-galvanometer laser telemetry assembly, and the infrared gas imager assembly, respectively, for executing the gas detection method combining laser galvanometer telemetry and infrared imaging as described in the first aspect to obtain gas leakage information;

[0028] Input / output and display components are used to display gas leakage information.

[0029] The third aspect provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and 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.

[0030] The fourth aspect provides a computer storage medium, which 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.

[0031] This invention offers outstanding substantive features and significant advancements over existing technologies. Specifically, it utilizes an infrared gas imaging module to capture thermal infrared images of the target area to identify suspected leaks. A micro-galvanometer laser telemetry assembly is then used to scan the suspected leak area, acquiring gas concentration and relative distance. Based on the measured relative distance and gas concentration, the area and concentration of the VOC leak zone are calculated. This method combines the advantages of infrared imaging systems for visualizing gas leaks with the precise inversion of gas concentrations using laser scanning detection, enabling highly accurate gas concentration analysis and visualization of gas leak locations and concentration distributions.

[0032] Furthermore, in terms of relative distance measurement, the laser ranging beam and the laser gas measurement beam are combined to further simplify the system design and improve the convenience of operation. The gas concentration data is corrected by synchronously measuring the distance information obtained in real time, thereby improving data accuracy and system response speed.

[0033] Micro-vibration mirrors utilize voltage to achieve dynamic angle adjustment, enhancing measurement flexibility and reducing reliance on traditional pan / tilt pivots. This reduces mechanical wear and failure rates, thereby reducing maintenance frequency and costs. This approach not only improves inspection efficiency and reliability, but also optimizes the long-term cost of the equipment.

[0034] In terms of inspection area route planning, the solution of first performing a panoramic scan of the image and then subdividing the inspection area is used. This not only improves inspection efficiency and accuracy, but also enhances the intelligence of the system. In addition, the subdivision of the inspection area can effectively reduce the frequency of false alarms in the system and reduce system operating costs.

[0035] In summary, this method not only improves detection efficiency and reliability, but also optimizes the long-term use benefits of the equipment, expands functional applications, and provides a more comprehensive gas leak detection solution. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic flow diagram of the present invention.

[0037] Figure 2 It is a schematic diagram of the alignment of the micro-vibrator laser micro-vibrator laser telemetry assembly and the infrared imager of the present invention.

[0038] Figure 3 It is a schematic diagram of the laser spot coverage range of the present invention.

[0039] Figure 4 It is a schematic diagram of dividing the inspection area into sub-areas of the present invention.

[0040] Figure 5 It is a schematic diagram of the secondary division of the inspection area sub-areas of the present invention.

[0041] Figure 6 It is a schematic diagram of the galvanometer scanning of the present invention.

[0042] Figure 7 It is a structural schematic diagram of the gas detection system of the present invention.

[0043] Figure 8 It is a schematic diagram of the inspection of the present invention.

[0044] In the figure: 1. Infrared gas imager assembly; 2. Micro-mirror laser scanning module; 3. Pan / tilt; 4. Leaking gas; 5. Infrared image acquisition range. DETAILED DESCRIPTION

[0045] At present, the following problems exist in gas leak detection:

[0046] 1) Portable, pan-tilt, and through-beam laser gas detection equipment have low inspection efficiency, are prone to missed inspections, have high pan-tilt maintenance costs, and are difficult to accurately locate leaks in wide-area scenarios.

[0047] 2) Leakage concentration distribution and leakage direction are difficult to visualize;

[0048] 3) Gas leak detection in complex environments is susceptible to environmental interference, and conventional methods have low detection accuracy and sensitivity;

[0049] 4) The ability to identify weak gas leaks is weak, image algorithms such as interference removal are complex and computationally intensive, and real-time data processing is difficult to guarantee;

[0050] Small flow gas leakage cannot accurately reflect the gas location and area, and the visualization effect is poor, which cannot truly reflect the gas leakage situation.

[0051] To address these issues, the present invention utilizes an infrared gas imager module to capture thermal infrared images of the target area to identify suspected leaks. A micro-galvanometer laser telemetry assembly is then used to scan the suspected leak area, determining gas concentration and relative distance. The area and concentration of the VOC leak are then calculated based on the measured relative distance and gas concentration. This method effectively integrates the infrared gas imager and galvanometer laser scanning telemetry, leveraging the strengths of both detection devices while addressing their respective shortcomings, ultimately improving the accuracy and reliability of leak detection.

[0052] The technical solution of the present invention is further described in detail below through specific implementation methods.

[0053] Example 1

[0054] This embodiment provides a gas detection method that combines laser galvanometer telemetry with infrared imaging. Figure 1 As shown, the following steps are included:

[0055] Step S1, obtain 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.

[0056] It should be noted that when using the micro-vibration mirror laser telemetry component and the infrared gas imager component for gas detection, sensor alignment is required first to accurately align the data from the two different sensors.

[0057] Specifically, sensor registration involves adjusting and calibrating the parameters of the micro-galvanometer laser telemetry assembly and the infrared gas imager assembly to ensure that the position of each laser beam scan accurately matches the corresponding pixel on the infrared gas imager. This process, also known as spatial registration or geometric registration, aims to achieve spatial alignment between the laser point cloud and the infrared image, facilitating subsequent data fusion and analysis to obtain more accurate gas distribution and concentration information.

[0058] The micro-vibration mirror laser telemetry component selected in this embodiment is a piezoelectric MEMS micro-vibration 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-plated film on the reflector, and a reflectivity of more than 90% for lasers in the 1653.7nm or 3260.2nm band; the selected infrared gas imager is a type-II superlattice medium-wave cooling type movement, with a detector pixel size of 15um, a resolution of 640*512 (unit: pixel), and a band range of 3.2um~3.5um.

[0059] Before the registration work is carried out, ensure that the main optical axis of the initial position of the micro-vibration mirror is parallel to the main optical axis of the infrared imager, and then perform spatial registration at the typical working distance (50~150m). The registration diagram is as follows Figure 2 As shown in the figure, the red circle represents the effective laser spot, X:-15~X:+15 and Y:-15~Y:+15 represent the driving voltage of the X-axis and Y-axis of the galvanometer, respectively. To ensure the registration effect and the reliability of the micro-laser galvanometer scanning results, in this embodiment, each laser spot is set to cover the 32*32 pixel unit of the image, as shown in the figure. Figure 3 shown.

[0060] After the registration work is completed, the two-dimensional voltage matrix is ​​stored, which facilitates the subsequent search for the two-dimensional voltage matrix based on the contour information of the suspected leakage area, and sends the corresponding driving voltage instructions to the micro-vibration mirror laser telemetry component base to form the corresponding light spot for gas concentration detection.

[0061] Step S2: 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 leakage area is found, obtain the contour information of the suspected leakage area and control the micro-vibration mirror laser telemetry component to traverse and detect the suspected leakage area based on the contour information of the suspected leakage area.

[0062] In one embodiment, before leak detection is performed on infrared radiation image data based on an infrared gas detection algorithm, two preparatory tasks are required: image preprocessing and gas recognition model training.

[0063] 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 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.

[0064] The gas recognition model training mainly combines deep learning methods to focus on identifying leakage areas. The specific steps are as follows:

[0065] Taking into account the weakness and mobility of gas changes, the idea of ​​motion change area recognition is adopted to identify the leakage area; therefore, before training the gas recognition model, a dataset is first constructed.

[0066] Specifically, the infrared gas imaging component is used to collect raw image data. Taking VOCs gas as an example, hydrocarbon volatile organic compounds are selected as the VOCs leakage gas simulation data; then, the frame difference method is used to extract the changed area and establish the data set used for the gas recognition model.

[0067] Specifically, the calculation formula of the frame difference method is as follows:

[0068] diff t = gray (x，y，t) - gray (x，y，t-1) × k

[0069] in, gray (x，y，t) and gray (x，y，t-1) Respectively represent the video t and t+1 The pixel point in the infrared image at the moment ( x， y ) at the gray value; diff t Indicates the t Frame difference result at the moment; k Indicates the correction coefficient, the value range is 0.75~1.0;

[0070] It is understandable that after obtaining the frame difference result, the frame difference result can be subjected to noise filtering and feature enhancement by using a percentage stretching method.

[0071] The implementation process of percentage linear stretching is:

[0072] A. Determine the percentage stretch coefficient per, sort the frame difference results by grayscale value, find the data values ​​corresponding to the minimum percentage per and the maximum percentage (1-per), and mark them as a value and b value respectively;

[0073] B. Update the a and b values ​​using the minimum adjustment percentage of 0.01 and the maximum adjustment percentage of 0.5 to obtain new a' and b'. Mark the b' values ​​that are less than a' and greater than a' as the minimum noise and maximum noise;

[0074] Among them, the update formula of a value is: a'=a-(ba)*0.01;

[0075] The update formula of b value is: b'=b+(ba)*0.5;

[0076] C. Stretching and noise removal of infrared images;

[0077] The formula used for stretching and noise removal is:

[0078]

[0079] D. Save all infrared images after stretching and noise removal, screen infrared images with typical gas leakage characteristics for gas leakage annotation, obtain a gas leakage recognition model dataset, and use the target segmentation algorithm to train the gas leakage recognition model.

[0080] Step S3: Receive the laser scanning echo data collected by the micro-vibration mirror laser telemetry component when traversing the suspected leakage area for detection, calculate the gas concentration of each detection spot in the suspected leakage area based on the laser scanning echo data, and calculate the leakage concentration of the suspected leakage area in combination with the grayscale change value of the pixel area corresponding to each detection spot in the infrared radiation image.

[0081] Specifically, in one embodiment, 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:

[0082] A linear fit is performed with the grayscale 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, and the following formula is obtained:

[0083] C (x,y) =Gain (x,y) × DN (x,y) +Offset (x,y)

[0084] 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;

[0085] 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.

[0086] Furthermore, since the leakage area accounts for a small proportion of the area to be inspected and the inspection work takes a long time, in order to reduce the workload, only the areas where the pipelines, sealing devices, and pressure relief components that are prone to gas leakage are located in the area to be inspected need to be inspected. Specifically, the steps for obtaining the location information of the area to be inspected include:

[0087] Perform a panoramic scan of the area to be detected, obtain an infrared image of the area to be detected, perform panoramic image stitching, perform image segmentation processing on the stitched infrared image, and obtain the sub-area to be detected;

[0088] The background of the sub-area to be detected is segmented to obtain the infrared image of the area to be inspected. The scanning azimuth angle associated with the infrared image is the location information of the area to be inspected.

[0089] Therefore, the specific working steps of this embodiment include:

[0090] Preparation: Turn on the system, the user specifies the area to be inspected, the system performs a panoramic scan of the area to be inspected, collects infrared images and performs panoramic image stitching; then, the user selects a specific inspection area in the panoramic infrared image, and the system segments the infrared image to subdivide the inspection area, such as Figure 4 and Figure 5 As shown; finally, the system uses the laser ranging function to measure the relative distance of each sub-inspection area, and stores the relevant parameters of each sub-inspection area in the data processing and control unit, which makes it convenient for the infrared gas imager and the galvanometer laser scanning module to select appropriate alignment parameters.

[0091] Inspection work: After the inspection work starts, the system will conduct a traversal inspection of the inspection area. Figure 4 For example, when the system arrives at the No. 1 inspection area, the infrared gas imager starts to collect infrared images of the area, performs image preprocessing and gas leak identification steps, and if a suspected leak target is found, obtains the contour information of the suspected leak target, and searches for the driving voltage value corresponding to the suspected leak target based on the built-in two-dimensional voltage matrix, and then transmits it to the micro-galvanometer laser telemetry component. The micro-galvanometer laser telemetry component loads the pre-stored alignment parameters and obtains the gas concentration of each detection spot. In one example, the schematic diagram of the galvanometer laser scanning path of the micro-galvanometer laser telemetry component is as follows: Figure 6 shown.

[0092] Subsequently, a linear fit was performed with the grayscale 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, and the following formula was obtained:

[0093] C (x,y) =Gain (x,y) × DN (x,y) +Offset (x,y)

[0094] 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.

[0095] Finally, the grayscale 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, which is then rendered into pseudo-color for display.

[0096] Example 2

[0097] The difference between this embodiment and embodiment 1 is that:

[0098] When calculating the central gas concentration of each detection spot in the suspected leakage area based on the laser scanning return light data, the ranging return light 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 return light data.

[0099] In specific implementation, the laser ranging beam and the laser gas detection beam share the same set of transmitting equipment and receiving equipment, and the ranging laser uses a wavelength that is not absorbed by the target gas, and the gas detection beam uses a wavelength that can be absorbed by the target gas.

[0100] Furthermore, the steps for obtaining the relative distance are as follows:

[0101] While controlling the micro-vibration mirror laser telemetry component to traverse and detect the suspected leakage area, the micro-vibration mirror laser telemetry component is controlled to emit a ranging laser at the same time. The ranging laser passes through the target gas and is reflected by the background reflector. The photoelectric detector receives the return light signal of the ranging laser, converts it into an electrical signal through photoelectric conversion, amplifies and filters the electrical signal, and then calculates the relative distance between the telemetry component and the background reflector based on the filtered electrical signal, that is, the relative distance between the detection light spot and the infrared gas imaging component is obtained.

[0102] Furthermore, after calculating the relative distance between each detection light spot and the infrared gas imaging device assembly, the gas concentration of each detection light spot is corrected based on the relative distance.

[0103] Specifically, correcting the gas concentration of each detection spot based on the relative distance includes the following steps:

[0104] Pre-set gas concentration calibration curves at different relative distances;

[0105] According to the relative distance between the detection spot and the infrared gas imager component measured in real time, different gas concentration calibration curves are selected to reduce the interference of distance on gas concentration.

[0106] In this embodiment, the laser ranging beam and the laser gas measurement beam are transmitted and received in a combined beam manner, which further simplifies the system design and improves the convenience of operation. The gas concentration data is corrected by synchronously measuring the distance information obtained in real time, thereby improving data accuracy and system response speed.

[0107] Example 3

[0108] The difference between this embodiment and embodiment 2 is that: while calculating the leakage concentration of each detection light spot, the area of ​​the suspected leakage region is further determined based on the laser scanning return light data.

[0109] Specifically, the steps for obtaining the area of ​​the suspected leakage area are as follows:

[0110] After obtaining the relative distance of each detection spot, the average distance between the suspected leak area and the infrared gas imager assembly is further calculated using the following formula:

[0111]

[0112] in, 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;

[0113] Based on the number of pixels within the suspected leakage area N pix , focal length of infrared gas imaging assembly f , the size of a single pixel of the infrared gas imaging component A pix and the average distance between the suspected leak area and the infrared gas imaging camera assembly D avreage Calculate the leakage area:

[0114] .

[0115] It is understandable that in obtaining the area of ​​the suspected leakage area A voc Afterwards, A voc Displayed together with the pseudo-color rendering of the leakage concentration mentioned above.

[0116] Example 4

[0117] This embodiment provides a gas detection system that combines laser galvanometer telemetry with infrared imaging. Figure 7 and 8 As shown, it includes: a micro-vibration mirror laser telemetry component 2, which is used to transmit detection laser to the area to be inspected and receive the return light signal after being absorbed by the target gas;

[0118] Infrared gas imaging device 1, used to capture infrared radiation signals from the area to be inspected;

[0119] A position adjustment mechanism, on which the micro-vibration mirror laser telemetry assembly and the infrared gas imager assembly are mounted, is 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 inspection area. Specifically, the position adjustment mechanism employs a mechanism capable of three-dimensional position adjustment, such as a pan-tilt platform. In this embodiment, the position adjustment structure employs a pan-tilt platform 3, on which the micro-vibration mirror laser telemetry assembly 2 and the infrared gas imager assembly 1 are mounted, rotating with the pan-tilt platform 3.

[0120] A data processing and control device is connected to the position adjustment mechanism, the micro-galvanometer laser telemetry assembly, and the infrared gas imaging assembly, respectively, and is configured to execute the gas detection method combining laser galvanometer telemetry with infrared imaging as described in the first aspect to obtain gas leakage information. Specifically, the gas leakage information includes at least leakage concentration and leakage area.

[0121] Input / output and display components are used to display gas leakage information.

[0122] Specifically, the gimbal 3 has an X-axis rotation axis, a Y-axis rotation axis, a motor drive system, a sensor, an encoder, a control unit, a mechanical structure, a power supply and an interface; among them, the X-axis and Y-axis rotation axes are responsible for horizontal rotation and vertical rotation to ensure accurate observation direction; the motor drive system provides power to control the rotation speed and angle; the sensor and encoder monitor the position of the rotation axis in real time to ensure accuracy; the control unit receives instructions issued by the data processing and control device and adjusts the rotation movement of the X-axis and Y-axis; the mechanical structure ensures the stability and durability of the gimbal, and the power supply and interface provide power support and data communication; these components work together to enable the gimbal to flexibly adjust the angle and path of the infrared gas imager and laser ranging module, thereby improving the overall measurement accuracy and ease of operation.

[0123] Specifically, the micro-vibration mirror laser telemetry assembly 2 includes a semiconductor laser, a time measurement unit, an aiming laser, a laser combiner, a collimation system, a reflector, a MEMS micro-vibration mirror, a receiving lens, and a photodetector array. It is understood that the detection laser and aiming laser emitted by the semiconductor laser are combined by the laser combiner, collimated by the collimation system, and reflected by the reflector onto the micro-vibration mirror. After being reflected by the micro-vibration mirror, they are irradiated onto the area to be inspected. After passing through the target gas, the detection laser is reflected by background reflectors. The photodetector receives the return light signal absorbed by the target gas and, after photoelectric conversion, transmits it to the subsequent data processing and control device, which amplifies and filters the signal to calculate the concentration of the target gas in the target area.

[0124] Specifically, the infrared gas imager assembly 1 includes at least an infrared detector, a cooling system, an optical system, an imaging processing unit, and a data storage and communication module.

[0125] Furthermore, in order to improve the gas detection capability of the infrared gas imager assembly, the infrared detector adopts a high-performance refrigerated infrared detector, and for this purpose, the gas detection system is also equipped with the refrigeration system; the refrigeration system reduces the temperature of the infrared detector through Stirling cycle refrigeration; the optical system consists of a focusable lens and an optical filter (filter), which 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 storage and transmits it 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.

[0126] 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 raw infrared data and the telemetry results of the micro-laser galvanometer module; the processing unit performs various data processing tasks, such as dark current and lens non-uniformity correction, image enhancement, and gas leakage area identification on the raw infrared data, and also parses the micro-galvanometer laser scanning data; the processing unit is also responsible for the inversion of gas concentration leakage and color rendering of the results to provide more intuitive detection information; the control unit is used to control the response based on the parameters input by the user or the suspected leakage area detected by the system, and control the pan-tilt head, micro-laser galvanometer telemetry module and other parts 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 laser ranging module.

[0127] Specifically, the input / output and display components include an input interface, a display screen, and an operation control unit. The input interface allows users to input commands and parameter settings through buttons, a touch screen, or other input devices; the display screen displays system status, gas detection results, image processing results, and other important information in real time for user monitoring and analysis; the operation control unit provides interactive functions with the system, allowing users to easily operate and adjust. These functions enable users to effectively interact with the system, obtain clear detection results, and make necessary operational adjustments.

[0128] As you can understand, the gas detection system also includes a power control component, which is responsible for providing stable power to all components of the system. Specifically, the power control component includes a power distribution unit, a voltage regulator, and a power management interface. The power distribution unit distributes power to different modules and components, ensuring that each component receives the required power. The voltage regulator ensures voltage stability to prevent power fluctuations from affecting system performance. The power management interface provides power status monitoring and regulation. These functions ensure stable system operation and support the efficient operation of other modules.

[0129] The working steps of the gas detection system are as follows:

[0130] (1) The system initializes data acquisition. For a newly set area to be inspected, the user can use the input / output and display components to perform a panoramic scan of the area to be inspected, obtain an infrared image of the area to be inspected, and then perform image segmentation processing on the area to be inspected to obtain a specific inspection area;

[0131] (2) After the user sets the initialization parameters through the input / output and display components, the system starts the inspection mode. The PTZ control unit controls the X and Y axes of the PTZ to rotate to the inspection area or the initial position according to the preset parameters and starts to collect infrared radiation information of the inspection area.

[0132] (3) The infrared radiation information of the inspection area is transmitted to the infrared gas imager, and the radiation information is converted into image data after being digitized and transmitted to the data processing and control unit; wherein, the infrared image acquisition range is as follows: Figure 8 The number 5 in the

[0133] (4) The data processing and control unit analyzes the raw infrared image data and executes algorithms such as dark current correction, lens non-uniformity correction, image enhancement, and gas leakage detection;

[0134] If the gas detection algorithm finds a suspected leak, the leak point contour coordinates will be transmitted to the micro-vibration mirror laser telemetry component; if no suspected leak area is found, the pan-tilt control will continue to inspect according to the preset route; if the leaked gas is detected, Figure 8 Number 4 in the

[0135] (5) After the micro-vibration mirror laser telemetry component receives the coordinates of the leak point contour, it traverses and scans the leak point to obtain the gas concentration and relative distance of the leak point;

[0136] (6) The data processing and control device further performs concentration inversion of the leakage area based on the concentration and relative distance information measured by the leakage area and the micro-laser galvanometer telemetry module, and finally renders the fused result into pseudo-color and sends it to the input / output and display components for display.

[0137] It should be noted that when using the micro-vibration mirror laser telemetry component and the infrared gas imager component for gas detection, sensor alignment is required first to accurately align the data from the two different sensors.

[0138] Specifically, sensor registration involves adjusting and calibrating the parameters of the micro-galvanometer laser telemetry assembly and the infrared gas imager assembly to ensure that the position of each laser beam scan accurately matches the corresponding pixel on the infrared gas imager. This process, also known as spatial registration or geometric registration, aims to achieve spatial alignment between the laser point cloud and the infrared image, facilitating subsequent data fusion and analysis to obtain more accurate gas distribution and concentration information.

[0139] The micro-vibration mirror laser telemetry component selected in this embodiment is a piezoelectric MEMS micro-vibration 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-plated film on the reflector, and a reflectivity of more than 90% for lasers in the 1653.7nm or 3260.2nm band; the selected infrared gas imager is a type-II superlattice medium-wave cooling type movement, with a detector pixel size of 15um, a resolution of 640*512 (unit: pixel), and a band range of 3.2um~3.5um.

[0140] Before the registration work is carried out, ensure that the main optical axis of the initial position of the micro-vibration mirror is parallel to the main optical axis of the infrared imager, and then perform spatial registration at the typical working distance (50m~150m). The registration diagram is as follows Figure 2 As shown in the figure, the red circle represents the effective laser spot, X:-15~X:+15 and Y:-15~Y:+15 represent the driving voltage of the X-axis and Y-axis of the galvanometer, respectively. In order to ensure the registration effect and the reliability of the micro-laser galvanometer scanning results, in this embodiment, each laser spot is set to cover the 32*32 pixel unit of the image (such as Figure 3 shown).

[0141] After the registration work is completed, the two-dimensional voltage matrix is ​​stored in the data processing and control device, which facilitates the subsequent search for the two-dimensional voltage matrix based on the contour information of the suspected leakage area, and sends the corresponding driving voltage instructions to the micro-vibration mirror laser telemetry component base to form the corresponding light spot for gas concentration detection.

[0142] Example 5

[0143] This embodiment provides a computer storage medium, which 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 any one of Examples 1-3 are implemented.

[0144] Example 6

[0145] This embodiment provides a computer storage medium, which 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 any one of Examples 1-3 are implemented.

[0146] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention and not to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present invention. They should all be included in the scope of the technical solution for protection of the present invention.

Claims

1. A gas detection method combining laser galvanometer telemetry and infrared imaging, characterized in that: The following steps are involved: Obtaining location information of the area to be inspected, and controlling the micro-vibration mirror laser telemetry component and the infrared gas imager component to align with the area to be inspected based on the location 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 the suspected leak area based on the contour information of the suspected leak area; The laser scanning return light data collected by the micro-vibration mirror laser telemetry component during traversal detection of the suspected leakage area is received. The gas concentration of each detection spot in the suspected leakage area is calculated based on the laser scanning return light data, and 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: A linear fit is performed with the grayscale 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, 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, characterized in that: When calculating the central gas concentration of each detection spot in the suspected leakage area based on the laser scanning return light data, the ranging return light 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 return light 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 spot, the average distance between the suspected leakage area and the infrared gas imager component is further calculated; Based on the number of pixels within the suspected leakage area N pix , focal length of infrared gas imaging assembly f , the size of a single pixel of the infrared gas imaging component A pix and the average distance between the suspected leak area and 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 leakage area.

5. The gas detection method combining laser galvanometer telemetry and infrared imaging according to claim 4, characterized in that: After calculating the relative distance between each detection light spot and the infrared gas imager component, 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 for obtaining the location information of the area to be inspected include: Perform a panoramic scan of the area to be detected, obtain an infrared image of the area to be detected, perform panoramic image stitching, perform image segmentation processing on the stitched infrared image, and obtain the 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, characterized in that: Based on the contour information of the suspected leak area, the micro-vibrator laser telemetry component is controlled to traverse the suspected leak area, including: Determine the detection spot that needs to be scanned by the micro-galvanometer 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 spot is searched in the two-dimensional voltage matrix and sent to the micro-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 from 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 provided, for adjusting the positions of the micro-vibration mirror laser telemetry assembly and the infrared gas imager assembly so as to align them with the area to be inspected; a data processing and control device, connected to the position adjustment mechanism, the micro-galvanometer 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 according to 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, which, when executed by a processor, implements the steps of the gas detection method combining laser galvanometer telemetry and infrared imaging as described in any one of claims 1 to 7.

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