Gas pipeline safety condition evaluation method and system and storage medium

Abstract

The invention provides a gas pipeline safety condition evaluation method and system and a storage medium, and the method comprises the steps: transmitting a generated angle control instruction to a pan-tilt camera, so that the pan-tilt camera rotates to a target angle in response to the angle control instruction; at the target angle, the pan-tilt camera directly faces the well lid hole; after the pan-tilt camera rotates to the target angle, the pan-tilt camera is controlled to perform line scanning on the to-be-detected area, and image data are collected; starting a laser methane detection module, and collecting methane concentration data; and sending the image data and the methane concentration data to a control terminal, so that the control terminal evaluates the safety condition of the gas pipeline according to the methane concentration data and the image data. In the technical scheme provided by the embodiment of the invention, the target detection training model can quickly process the image information in a complex environment background, and accurately identify the manhole cover hole. And the detection accuracy is improved while the detection time is shortened, so that the gas leakage detection efficiency is greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of gas maintenance, in particular to a gas pipeline safety condition evaluation method and system and a storage medium. BACKGROUND

[0002] In the urban underground pipe network system, various types of manhole covers, rainwater gratings and other facilities are often arranged above the gas pipeline. When the gas pipeline leaks, fire or explosion accidents are likely to occur, causing serious casualties and property losses. Therefore, gas leakage detection within the five-meter line range around the manhole cover and rainwater grating and other facilities is crucial. The five-meter line range refers to the range composed of five meters on both sides of the center line of the gas pipeline. The traditional gas leakage detection mainly relies on manual operation. The detection personnel need to carry heavy detection equipment and walk to the manhole cover and rainwater grating area for detection one by one. They also need to maintain concentration and accuracy for a long time during the detection process. The physical and mental strength of the detection personnel is a great test. Moreover, there are a large number of manhole covers and rainwater gratings in the city. The detection personnel need to spend a lot of time on the journey between each monitoring point and equipment debugging, resulting in slow detection speed and low detection efficiency.

[0003] In addition, in some dangerous areas, such as places where toxic gases exist, the terrain is complex, the space is narrow, or it is difficult to reach, the traditional detection method has great safety hazards. For example, in the underground area of the manhole cover, harmful gases may accumulate. At this time, if the detection personnel perform gas leakage detection in the traditional way, they are likely to face the risk of poisoning and collapse.

[0004] With the continuous progress of science and technology, robotic dogs are gradually applied to gas pipeline inspection. Robotic dogs can flexibly traverse various complex terrains and reach areas that are difficult for humans to reach for detection. At the same time, robotic dogs can carry various advanced detection equipment to achieve efficient detection of safety hazards such as gas leakage. However, there is still a key problem to be solved in using robotic dogs for gas pipeline inspection, i.e., how to accurately direct the detection equipment towards the manhole hole for gas leakage detection. SUMMARY

[0005] In view of the above problems, the present application embodiment provides a gas pipeline safety condition evaluation method, system and storage medium to solve the problem of how to accurately direct the detection equipment towards the manhole hole for gas leakage detection in the prior art.

[0006] In a first aspect, the present application embodiment provides a gas pipeline safety condition evaluation method, which comprises:

[0007] sending the generated angle control instruction to the gimbal camera, so that the gimbal camera rotates to a target angle in response to the angle control instruction; at the target angle, the gimbal camera is directly opposite the manhole hole;

[0008] after the gimbal camera rotates to the target angle, controlling the gimbal camera to perform line scanning on the to-be-detected area to collect image data; starting a laser methane detection module to collect methane concentration data; and sending the image data and the methane concentration data to a control terminal, so that the control terminal evaluates a gas pipeline safety condition according to the methane concentration data and the image data.

[0009] In a possible implementation, the angle control instruction is used to indicate a horizontal rotation angle and a vertical rotation angle, and before the generated angle control instruction is sent to the gimbal camera, the method further includes:

[0010] controlling the gimbal camera to rotate according to the horizontal rotation angle and the vertical rotation angle based on a proportional-integral-derivative (PID) control algorithm;

[0011] judging whether an angle difference between an actual angle after rotation and the target angle is within a preset accuracy range;

[0012] if it is judged that the angle difference is within the accuracy range, it is determined that the gimbal camera rotates to the target angle, and the step of controlling the gimbal camera to perform line scanning on the to-be-detected area is performed;

[0013] if it is judged that the angle difference is outside the accuracy range, the step of controlling the gimbal camera to rotate according to the horizontal rotation angle and the vertical rotation angle based on the PID control algorithm is continuously performed.

[0014] In a possible implementation, before the generated angle control instruction is sent to the gimbal camera, the method further includes:

[0015] controlling the gimbal camera to collect an environment image;

[0016] inputting the environment image into a target detection training model to output a target frame and a target frame coordinate;

[0017] constructing a geometric model according to the target frame, the target frame coordinate, and system installation parameters;

[0018] converting the target frame coordinate in a camera coordinate system into a position coordinate in a gimbal coordinate system through a coordinate transformation matrix;

[0019] calculating a horizontal rotation angle and a vertical rotation angle based on the position coordinate and a geometric relationship in the geometric model to generate an angle control instruction.

[0020] In a possible implementation, the control terminal evaluates the safety status of the gas pipeline according to the methane concentration data and the image data, including:

[0021] determining whether the methane concentration data is within a preset safety range;

[0022] if it is determined that the methane concentration data is outside the safety range, determining that the safety status of the gas pipeline is high risk;

[0023] if it is determined that the methane concentration data is within the safety range, determining, according to the image data, whether there is a construction phenomenon in the to-be-detected area;

[0024] if it is determined that there is a construction phenomenon in the to-be-detected area, determining that the safety status of the gas pipeline is medium risk;

[0025] if it is determined that there is no construction phenomenon in the to-be-detected area, determining, according to the image data, whether there is pipeline occupation in the to-be-detected area;

[0026] if it is determined that there is pipeline occupation in the to-be-detected area, determining that the safety status of the gas pipeline is low risk;

[0027] if it is determined that there is no pipeline occupation in the to-be-detected area, determining that the safety status of the gas pipeline is no risk.

[0028] In a possible implementation, the method further includes:

[0029] determining a leakage risk coefficient of the manhole cover according to a pressure level of a pipeline to which the manhole cover belongs, a service life of the manhole cover, and a historical leakage situation of the manhole cover;

[0030] adjusting a scanning speed and a scanning range of the pan-tilt camera according to the leakage risk coefficient.

[0031] In a possible implementation, the adjusting of the scanning speed and the scanning range of the pan-tilt camera according to the leakage risk coefficient includes:

[0032] the greater the leakage risk coefficient, the lower the scanning speed and the greater the scanning range;

[0033] the smaller the leakage risk coefficient, the higher the scanning speed and the smaller the scanning range.

[0034] In a second aspect, an embodiment of the present application provides a gas pipeline safety status evaluation system, which includes a robot dog, a pan-tilt camera, a laser methane detection module, and a control terminal.

[0035] The machine dog comprises a main controller configured to send the generated angle control instruction to the pan-tilt camera.

[0036] The pan-tilt camera is configured to rotate to a target angle in response to the angle control instruction; at the target angle, the pan-tilt camera is directly opposite the manhole hole.

[0037] The main controller is further configured to control the pan-tilt camera to perform line scanning on the to-be-detected area and collect image data after the pan-tilt camera rotates to the target angle; start the laser methane detection module to collect methane concentration data; and send the image data and the methane concentration data to the control terminal.

[0038] The control terminal is configured to evaluate the safety condition of the gas pipeline according to the methane concentration data and the image data.

[0039] In a possible implementation, the pan-tilt camera is installed on the machine dog, and the laser methane detection module is installed on the pan-tilt camera.

[0040] In a possible implementation, the laser methane detection module is configured to emit laser beams of a specific wavelength, measure the remaining light intensity after the laser beams are absorbed, and determine the methane concentration data according to the remaining light intensity.

[0041] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, which comprises a stored program, wherein the program controls a device where the computer-readable storage medium is located to perform the gas pipeline safety condition evaluation method as described in the first aspect or any possible implementation manner of the first aspect when the program is running.

[0042] In the technical solution provided by the embodiment of the present application, the target detection training model has strong target detection capability and can quickly process image information and accurately identify the manhole hole in a complex environment background. By identifying the manhole hole through the target detection training model, the detection time is shortened, the invalid detection is reduced, and the detection accuracy is improved, thereby greatly improving the gas leakage detection efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0043] Figure 1 A flowchart of a gas pipeline safety condition evaluation method provided by an embodiment of the present application is provided.

[0044] Figure 2 A flowchart of another gas pipeline safety condition evaluation method provided by an embodiment of the present application is provided. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical scheme and advantages of the present application more clear, apparent and understandable, the present application will be further described below in conjunction with the drawings and specific embodiments. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0046] Figure 1 A flow chart of a gas pipeline safety condition evaluation method provided by the embodiments of the present application is shown in FIG. 1, and the method comprises the following steps. Figure 1

[0047] In step 101, the generated angle control instruction is sent to the gimbal camera, so that the gimbal camera rotates to the target angle in response to the angle control instruction.

[0048] In the embodiments of the present application, each step is executed by the main controller carried on the robot dog.

[0049] In the embodiments of the present application, before step 101, the method further comprises: controlling the gimbal camera to collect an environment image; inputting the environment image into a target detection training model to output a target frame and target frame coordinates; constructing a geometric model according to the target frame, the target frame coordinates and system installation parameters; converting the target frame coordinates in the camera coordinate system into position coordinates in the gimbal coordinate system through a coordinate transformation matrix; calculating a horizontal rotation angle and a vertical rotation angle based on the position coordinates and the geometric relationship in the geometric model to generate the angle control instruction. The system installation parameters include the relative position, installation height and installation angle between the robot dog, the gimbal camera and the laser methane detection module. In actual application, a ranging device such as a laser radar or an ultrasonic sensor can be used to assist in measuring the distance and relative position between the robot dog and the manhole cover.

[0050] Specifically, the target detection model is obtained by deep training and optimization of a large number of sample images. The sample images include a plurality of different types of manhole cover images, and the manhole cover images are marked with manhole cover hole positions. The target detection training model has strong target detection capability and can quickly process image information and accurately identify manhole cover holes in a complex environment background. Through the identification of the manhole cover holes by the target detection training model, the detection time is shortened, the invalid detection is reduced, the detection accuracy is improved, and the gas leakage detection efficiency is greatly improved.

[0051] In the embodiments of the present application, the target frame coordinates in the camera coordinate system are converted into the position coordinates in the gimbal coordinate system by the following formula:

[0052] P b =R*P c +t ​

[0053] wherein P b denotes the target frame coordinates in the camera coordinate system, P c denotes the position coordinates in the gimbal coordinate system, R denotes a coordinate conversion matrix, t denotes a translation vector, and is used to describe the offset of the camera coordinate system origin in the gimbal coordinate system.

[0054] In the embodiment of the application, the angle control instruction is used to indicate the horizontal rotation angle and the vertical rotation angle. Before step 101, the method further comprises: controlling the gimbal camera to rotate according to the horizontal rotation angle and the vertical rotation angle based on a proportional-integral-derivative (PID) control algorithm; determining whether the angle difference between the actual angle after rotation and the target angle is within a preset accuracy range; if it is determined that the angle difference is within the accuracy range, it is determined that the gimbal camera is rotated to the target angle, and the step of controlling the gimbal camera to perform line scanning on the to-be-detected region is executed; if it is determined that the angle difference is outside the accuracy range, the step of controlling the gimbal camera to rotate according to the horizontal rotation angle and the vertical rotation angle based on the PID control algorithm is continuously executed. The to-be-detected region refers to a region composed of five meters on both sides of the center line of the gas pipeline.

[0055] In the embodiment of the application, the gimbal camera is driven to rotate by a high-precision motor driving system, and the actual angle after rotation is obtained by the encoder of the gimbal. The sensitive angle feedback and correction are realized based on the encoder of the gimbal camera itself, so that the precise control of the gimbal camera is realized, and the scanning angle accuracy in the horizontal direction and the vertical direction is extremely high.

[0056] In the embodiment of the application, at the target angle, the gimbal camera directly faces the manhole hole. The laser methane detection module mainly based on Tunable Diode Laser Absorption Spectroscopy (TDLAS) technology emits laser of a specific wavelength, and methane molecules will absorb the laser of the specific wavelength, resulting in weakening of the intensity of the absorbed laser. The laser methane detection module measures the remaining light intensity after the laser is absorbed, and determines the methane concentration data according to the remaining light intensity. Therefore, the laser beam needs to directly pass through the path where gas leakage may occur, so as to detect the absorption of the laser by the methane molecules, and further calculate the methane concentration data.

[0057] The manhole cover hole is one of the main channels of gas leakage. When the gas pipeline leaks, the leaked methane gas will escape through the manhole cover hole. Directly facing the manhole cover hole can ensure that the laser beam passes through the area with the highest concentration of leaked methane gas. If the laser methane detection module does not face the manhole cover hole, it may miss the main path of gas leakage, resulting in too low methane concentration data detected, and the gas pipeline cannot be accurately judged whether it leaks. By detecting the methane concentration by directly facing the manhole cover hole with the laser methane detection module, the accuracy of the methane concentration detection is improved, so that the safety status of the gas pipeline can be accurately and efficiently evaluated based on the methane concentration data.

[0058] Step 102, after the gimbal camera is rotated to the target angle, the gimbal camera is controlled to perform line scanning on the to-be-detected area to collect image data; the laser methane detection module is started to collect methane concentration data; and the image data and the methane concentration data are sent to the control terminal for the control terminal to evaluate the safety status of the gas pipeline according to the methane concentration data and the image data.

[0059] In the embodiment of the application, the method further comprises: determining a leakage risk coefficient of the manhole cover according to a pressure grade of a pipeline to which the manhole cover belongs, a service life of the manhole cover, and a historical leakage situation of the manhole cover; and adjusting a scanning speed and a scanning range of the gimbal camera according to the leakage risk coefficient. Specifically, the higher the pressure grade of the pipeline to which the manhole cover belongs, the longer the service life of the manhole cover, and the more serious the historical leakage situation, the higher the leakage risk coefficient of the manhole cover; the lower the pressure grade of the pipeline to which the manhole cover belongs, the shorter the service life of the manhole cover, and the more slight the historical leakage situation, the lower the leakage risk coefficient of the manhole cover. The greater the leakage risk coefficient, the lower the scanning speed and the larger the scanning range; the smaller the leakage risk coefficient, the higher the scanning speed and the smaller the scanning range.

[0060] In the embodiment of the application, the scanning range and the scanning speed of the gimbal camera line scanning are dynamically adjusted based on the leakage risk coefficient, and the gas leakage situation around the manhole cover is detected in an all-round, multi-level and refined manner, thereby effectively improving the quality and reliability of the gas leakage detection.

[0061] In the technical scheme provided by the embodiment of the application, the target detection training model has strong target detection capability, can quickly process image information in a complex environment background, and accurately identify the manhole cover hole. By identifying the manhole cover hole through the target detection training model, the detection time is shortened, the invalid detection is reduced, and the detection accuracy is improved, thereby greatly improving the gas leakage detection efficiency.

[0062] In the embodiment of the present application, after the gimbal camera rotates to the target angle, the methane concentration detection and the gimbal camera line scanning are synchronously performed, so that the methane concentration data and the image data can be collected at the same time, the data collection efficiency is improved, the control terminal can quickly and accurately evaluate the safety condition of the gas pipeline based on the methane concentration data and the image data, and the safety inspection work of the gas facility is effectively ensured.

[0063] Figure 2 The flowchart of another method for evaluating the safety condition of a gas pipeline provided by the embodiment of the present application is shown in Figure 2 The step 102 includes:

[0064] In step 1021, it is judged whether the methane concentration data is within a preset safety range. If it is judged that the methane concentration data is outside the safety range, step 1022 is performed. If it is judged that the methane concentration data is within the safety range, step 1023 is performed.

[0065] In this step, when the methane concentration is outside the safety range, the methane concentration is too high, which may cause the oxygen gas concentration in the air to be too low, resulting in an oxygen-deficient environment. In addition, when the methane concentration is too high, a fire or an explosion may occur when encountering an open flame, causing serious consequences. If the methane concentration data is outside the safety range, it indicates that the possibility of gas leakage is high and needs to be handled as soon as possible. If the methane concentration data is within the safety range, it indicates that the possibility of gas leakage is low.

[0066] In step 1022, it is determined that the safety condition of the gas pipeline is high risk.

[0067] In step 1023, it is judged whether there is a construction phenomenon in the to-be-detected region according to the image data. If it is judged that there is a construction phenomenon in the to-be-detected region, step 1024 is performed. If it is judged that there is no construction phenomenon in the to-be-detected region, step 1025 is performed.

[0068] In step 1024, it is determined that the safety condition of the gas pipeline is medium risk.

[0069] In step 1025, it is judged whether there is pipe occupation in the to-be-detected region according to the image data. If it is judged that there is pipe occupation in the to-be-detected region, step 1026 is performed. If it is judged that there is no pipe occupation in the to-be-detected region, step 1027 is performed.

[0070] In this step, pipe occupation refers to planting deep-rooted plants, building buildings, structures or piling up other facilities or sundries, etc. within a regional range of 5 meters on both sides of the center line of the pipeline. If there is pipe occupation in the to-be-detected region, it may cause the gas pipeline to be unevenly stressed, which may cause the gas pipeline to be damaged over time, and further cause gas leakage and explosion accidents, threatening personal safety and property safety.

[0071] Step 1026, determining that the gas pipeline safety situation is low risk.

[0072] Step 1027, determining that the gas pipeline safety situation is no risk.

[0073] In the technical scheme provided by the embodiment of the present application, the safety situation of the gas pipeline is evaluated by multiple dangerous factors, the risk level of the gas pipeline is determined, and corresponding solutions are provided for different dangerous factors and risk levels. The rapid identification of dangerous factors facilitates the rapid elimination of dangerous factors, thereby improving the safety in the safety situation evaluation process of the gas pipeline.

[0074] The embodiment of the present application provides a gas pipeline safety situation evaluation system, which comprises a robot dog, a cloud platform camera, a laser methane detection module and a control terminal. The robot dog is equipped with a main controller, which is used to send the generated angle control instruction to the cloud platform camera; the cloud platform camera is used to rotate to the target angle in response to the angle control instruction; at the target angle, the cloud platform camera is opposite to the manhole hole; the main controller is also used to control the cloud platform camera to perform line scanning on the detection area after the cloud platform camera rotates to the target angle, and collect image data; start the laser methane detection module to collect methane concentration data; send the image data and the methane concentration data to the control terminal; the control terminal is used to evaluate the safety situation of the gas pipeline according to the methane concentration data and the image data.

[0075] In the embodiment of the present application, the cloud platform camera is installed on the robot dog, and the laser methane detection module is installed on the cloud platform camera. The laser methane detection module is used to emit laser of a specific wavelength, measure the remaining light intensity after the laser is absorbed, and determine the methane concentration data according to the remaining light intensity.

[0076] In the technical scheme provided by the embodiment of the present application, after the cloud platform camera rotates to the target angle, methane concentration detection and cloud platform camera line scanning are performed synchronously, which can collect methane concentration data and image data at the same time, improve the data collection efficiency, and enable the control terminal to quickly and accurately evaluate the safety situation of the gas pipeline based on the methane concentration data and the image data, thereby effectively guaranteeing the safety inspection work of the gas facility.

[0077] The embodiment of the present application provides a computer readable storage medium, which comprises a stored program, wherein when the program runs, the main controller where the computer readable storage medium is located executes each step of the above-mentioned embodiment of the gas pipeline safety situation evaluation method, and the specific description can be referred to the above-mentioned embodiment of the gas pipeline safety situation evaluation method.

[0078] The above merely describes preferred specific embodiments of the present application, but the protection scope of the present application is not limited thereto, any changes or replacements within the technical scope disclosed by the present application, which can be easily thought by those skilled in the art, should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for assessing the safety status of a gas pipeline, characterized in that: The method comprises: Sending the generated angle control instruction to the pan-tilt camera, so that the pan-tilt camera responds to the angle control instruction and rotates to a target angle; at the target angle, the pan-tilt camera faces the hole of the manhole cover; After the pan-tilt camera rotates to the target angle, the pan-tilt camera is controlled to perform a line scan on the area to be detected to collect image data; the laser methane detection module is started to collect methane concentration data; the image data and the methane concentration data are sent to the control terminal, so that the control terminal can evaluate the safety status of the gas pipeline based on the methane concentration data and the image data.

2. The method according to claim 1, characterized in that The angle control instruction is used to indicate the horizontal rotation angle and the vertical rotation angle. Before sending the generated angle control instruction to the pan-tilt camera, the method further includes: Based on the proportional integral differential PID control algorithm, the rotation of the pan-tilt camera is controlled according to the horizontal rotation angle and the vertical rotation angle; Determine whether the angle difference between the actual angle after rotation and the target angle is within a preset accuracy range; If it is determined that the angle difference is within the accuracy range, the pan-tilt camera is determined to be rotated to the target angle, and the step of controlling the pan-tilt camera to perform a line scan of the area to be inspected is executed; If it is determined that the angle difference is outside the accuracy range, the step of controlling the rotation of the pan-tilt camera based on the PID control algorithm according to the horizontal rotation angle and the vertical rotation angle is continued.

3. The method according to claim 1, characterized in that Before sending the generated angle control instruction to the pan-tilt camera, the method further includes: Control the PTZ camera to collect environmental images; Input the environment image into the target detection training model, and output the target frame and target frame coordinates; Constructing a geometric model according to the target frame, the target frame coordinates and system installation parameters; The coordinates of the target frame in the camera coordinate system are converted into position coordinates in the gimbal coordinate system through a coordinate transformation matrix; A horizontal rotation angle and a vertical rotation angle are calculated based on the position coordinates and the geometric relationship in the geometric model, and an angle control instruction is generated.

4. The method according to claim 1, wherein The control terminal evaluates the safety status of the gas pipeline according to the methane concentration data and the image data, including: Determining whether the methane concentration data is within a preset safety range; If it is determined that the methane concentration data is outside the safety range, the gas pipeline safety condition is determined to be high risk; If it is determined that the methane concentration data is within the safety range, determining whether there is construction in the area to be detected based on the image data; If it is determined that there is construction in the area to be inspected, the gas pipeline safety condition is determined to be medium risk; If it is determined that there is no construction in the area to be detected, determining whether there is pipeline occupation in the area to be detected based on the image data; If it is determined that there is pipeline occupation in the area to be detected, the safety status of the gas pipeline is determined to be low risk; If it is determined that there is no pipeline occupation in the area to be detected, it is determined that the safety status of the gas pipeline is risk-free.

5. The method according to claim 1, wherein The method further comprises: Determine the leakage risk coefficient of the manhole cover according to the pressure level of the pipeline to which the manhole cover belongs, the service life of the manhole cover and the historical leakage of the manhole cover; The scanning speed and scanning range of the pan-tilt camera are adjusted according to the leakage risk coefficient.

6. The method according to claim 5, characterized in that The adjusting the scanning speed and scanning range of the pan-tilt camera according to the leakage risk coefficient includes: The greater the leakage risk factor, the lower the scanning speed and the wider the scanning range; The smaller the leakage risk coefficient is, the higher the scanning speed is and the smaller the scanning range is.

7. A gas pipeline safety status assessment system, characterized in that: The system includes a robot dog, a pan-tilt camera, a laser methane detection module and a control terminal; The robot dog is equipped with a main controller, which is used to send the generated angle control instructions to the pan-tilt camera; The pan-tilt camera is configured to rotate to a target angle in response to the angle control instruction; at the target angle, the pan-tilt camera faces the hole in the manhole cover; The main controller is further configured to control the pan-tilt camera to perform a line scan of the area to be inspected and collect image data after the pan-tilt camera rotates to a target angle; Starting the laser methane detection module to collect methane concentration data; sending the image data and the methane concentration data to a control terminal; The control terminal is used to evaluate the safety status of the gas pipeline based on the methane concentration data and the image data.

8. The system according to claim 7, characterized in that The pan-tilt camera is installed on the robot dog, and the laser methane detection module is installed on the pan-tilt camera.

9. The system according to claim 7, wherein: The laser methane detection module is used to emit laser light of a specific wavelength, measure the residual light intensity after the laser light is absorbed, and determine the methane concentration data based on the residual light intensity.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the gas pipeline safety status assessment method according to any one of claims 1 to 6.

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