Gas concentration distribution detection device and method based on multi-sensor collaborative sensing

Abstract

The invention provides a gas concentration distribution detection device based on multi-sensor collaborative sensing, which can be applied to the technical field of measuring instruments. The device comprises a thermal infrared imager, a visible light camera, a telemetering sensor, a laser radar, a data acquisition system, a control system, a central processing unit, a holder group and an automatic moving platform, the holder group comprises a plurality of holders, and each holder is used for respectively controlling the detection angles of the thermal infrared imager, the visible light camera, the telemetering sensor and the laser radar; the holder group is mounted on the automatic moving platform; the data acquisition system is used for data acquisition and transmission; the central processing unit is used for receiving and processing data acquired by the data acquisition system; and the control system is used for setting parameters of the thermal infrared imager, the visible light camera, the telemetering sensor and the laser radar.

Description

Technical Field

[0001] This invention relates to the field of measuring instrument technology, and more specifically to a gas concentration distribution detection device and method based on multi-sensor collaborative sensing. Background Technology

[0002] The importance of gas detection in many critical fields such as industrial production, environmental monitoring, and safety protection is self-evident. Accurate and timely access to gas concentration information plays an irreplaceable role in preventing accidents, protecting human health and safety, and maintaining ecological stability. With continuous technological advancements, some gas detection technologies have achieved significant breakthroughs, with minimum detection limits as low as ppm and ppb. This achievement makes precise detection of trace gases possible, meeting the high-precision gas detection needs of numerous industries.

[0003] Tunable Diode Laser Absorption Spectroscopy (TDLAS) technology is based on the principle of infrared absorption laser spectroscopy. Because different gases possess unique fingerprint-like characteristics in their infrared absorption spectra, much like a person's fingerprint is unique, when a laser beam passes through a gas, specific types of gas molecules selectively absorb light of specific wavelengths. This specific absorption phenomenon provides a reliable basis for identifying gas types. This technology typically includes two detection methods: direct absorption and harmonic methods. The direct absorption method is relatively simple to operate. It obtains the intensity of the absorbed light by the gas by measuring the difference between the transmitted light intensity and the incident light intensity, and then calculates the concentration of the gas. This method is suitable for scenarios where extremely high detection accuracy is not required and the gas concentration is relatively stable. The harmonic method employs modulation spectroscopy, precisely scanning the laser's output wavelength near the gas absorption peak. After the beam passes through a gas cell containing the gas to be tested, the signal is received by a photodetector. The second harmonic signal obtained after demodulation is proportional to the concentration of the gas to be tested. This method effectively improves detection sensitivity and anti-interference capabilities, and is particularly suitable for detecting low-concentration gases. One of the major advantages of TDLAS technology is that it enables remote gas measurement, allowing the testing of the concentration of the gas to be measured in open spaces without direct contact with the gas being measured. This reduces interference factors in the detection process and improves the safety and convenience of the detection.

[0004] Besides TDLAS technology, infrared thermal imaging gas detection technology is also an important gas detection method. It is based on the selective absorption characteristics of gases to infrared radiation and is a non-contact detection technology. Gas molecules have characteristic absorption peaks in specific infrared bands. When infrared radiation passes through leaking gas, the gas molecules absorb energy in that band, causing the radiation intensity to attenuate, thus creating a temperature or radiation difference with the surrounding environment. Infrared thermal imagers acquire infrared radiation images of the target area through detectors, and determine the presence and distribution of gas based on the radiation differences in different areas of the image. This technology can achieve large-scale monitoring, quickly scanning large areas to promptly detect the location and extent of gas leaks, making it suitable for gas monitoring in large areas. However, infrared thermal imaging gas detection technology also has significant limitations. Its selectivity is relatively poor, and it is easily interfered with by other gases in the environment, light, temperature, humidity changes, and other factors. For example, the presence of multiple gases with infrared absorption characteristics in the environment may lead to deviations in the detection results; changes in light intensity can also affect the imaging quality of infrared thermal imagers, thus affecting the accuracy of gas detection.

[0005] In addition, LiDAR technology has wide applications in multiple fields. It is a high-precision 3D sensing technology based on laser pulses. By measuring the time difference (ToF) or phase difference between laser emission and reflection, and combining this with spatial angle information, it can accurately generate 3D models of target objects. LiDAR plays a crucial role in autonomous mobile platforms such as robots, and can be used for path planning and obstacle avoidance navigation. By acquiring real-time 3D information about the surrounding environment, robots can autonomously plan their routes, avoid obstacles, and ensure safe and efficient task completion. However, LiDAR technology is mainly used for 3D perception and target modeling, and its application in gas detection is relatively limited. It does not have the ability to directly detect gas concentration; it needs to be combined with other gas detection technologies to achieve gas monitoring, which undoubtedly increases the complexity and cost of the system.

[0006] However, in practical applications, we face numerous complex and severe challenges. Especially in hazardous areas, which may be filled with flammable, explosive, toxic, and harmful gases, detection equipment must not only possess extremely high sensitivity but also excellent reliability and safety to adapt to harsh and dangerous environmental conditions and ensure that no new safety hazards are introduced during the detection process. In complex operating environments, parameters such as temperature, pressure, and humidity fluctuate frequently, interfering with the gas detection process and affecting the accuracy of the results, making it difficult for single gas detection methods to cope. Therefore, in hazardous areas, large-scale inspections, and complex operating conditions, existing single gas detection methods cannot achieve real-time online monitoring around the clock, which has become a pressing problem to be solved in the current gas detection field. Summary of the Invention

[0007] (a) Technical problems to be solved

[0008] To address the aforementioned issues, this invention provides a gas concentration distribution detection device and method based on multi-sensor collaborative sensing. It combines infrared thermal imaging and TDLAS technology for gas detection, fully leveraging the technical advantages of TDLAS and infrared thermal imaging in the field of gas detection. This solves the problem of real-time online monitoring of target gases in hazardous areas, large-area inspections, and complex operating conditions. Multiple sensors are mounted on an automated mobile platform (robot, drone, etc.) to work collaboratively, dynamically adjusting the position and angle of sensor detection, enabling close-range and accurate detection of suspected leak areas.

[0009] (II) Technical Solution

[0010] To address the aforementioned technical problems, embodiments of the present invention propose a gas concentration distribution detection device and method based on multi-sensor collaborative sensing.

[0011] According to a first aspect of the present invention, a gas concentration distribution detection device based on multi-sensor collaborative sensing is provided, comprising: an infrared thermal imager, a visible light camera, a telemetry sensor, a lidar, a data acquisition system, a control system, a central processing unit, a pan-tilt unit assembly, and an automatic moving platform. The infrared thermal imager, visible light camera, telemetry sensor, and lidar are mounted on the pan-tilt unit assembly; the pan-tilt unit assembly includes multiple pan-tilt units, each used to control the detection angle of the infrared thermal imager, visible light camera, telemetry sensor, and lidar respectively; the pan-tilt unit assembly is mounted on the automatic moving platform; the data acquisition system is connected to the infrared thermal imager, visible light camera, telemetry sensor, and lidar, and is used for data acquisition; the data acquisition system is connected to the central processing unit and is used to transmit the data acquired by the data acquisition system to the central processing unit; the control system is used to set parameters for the infrared thermal imager, visible light camera, telemetry sensor, and lidar.

[0012] In some exemplary embodiments, an infrared thermal imager is used to detect the infrared radiation energy of a target area and convert the infrared radiation energy into a visible thermal image; based on the visible thermal image, combined with image recognition technology, a leak warning is given, a suspected leak area is initially identified, and the target position of the automatic mobile platform and the target detection area of ​​the telemetry sensor are determined according to the identified suspected leak area. The detection band of the infrared thermal imager covers the absorption peaks of all gases to be tested.

[0013] In some exemplary embodiments, a visible light camera is used to acquire an image of the target detection area and fuse it with concentration distribution data to form a concentration distribution visualization image.

[0014] In some exemplary embodiments, a telemetry sensor is used to detect the concentration of the gas to be measured within the coverage area of ​​the optical path, and the wavelength of the telemetry sensor light source is locked to the center of the absorption spectrum of the gas to be measured.

[0015] In some exemplary embodiments, lidar is used for 3D modeling, navigation, and obstacle avoidance of the target detection area.

[0016] In some exemplary embodiments, the data acquisition system is used to acquire detection data from infrared thermal imagers, visible light cameras, telemetry sensors, and lidar.

[0017] In some exemplary embodiments, the central processing unit (CPU) is used to identify leakage areas in a visible thermal image to determine the target location for the autonomous mobile platform to move to; the CPU is used to process data acquired by the lidar and perform 3D modeling, navigation, and obstacle avoidance to control the autonomous mobile platform to move to the target location; the CPU is used to acquire test data from telemetry sensors and form a visualized gas distribution map based on images acquired by a visible light camera and fuse it with the visible light image.

[0018] In some exemplary embodiments, the gimbal group includes four gimbals, each of which is used to control the angles of the infrared thermal imager, the visible light camera, the telemetry sensor, and the lidar.

[0019] In some exemplary embodiments, the automatic moving platform is used to carry an infrared thermal imager, a visible light camera, a telemetry sensor, a lidar, a gimbal assembly, a data acquisition system, and a central processing unit; the automatic moving platform moves to the target position based on the 3D modeling data and algorithms acquired by the lidar; after the automatic moving platform moves to the target position, it adjusts the angle of the telemetry sensor by controlling the direction of the gimbal assembly, so as to realize the detection of gas concentration in the target detection area by the telemetry sensor.

[0020] According to a second aspect of the present invention, a gas concentration distribution detection method based on the aforementioned gas concentration distribution detection device based on multi-sensor collaborative sensing is provided, comprising: adjusting the viewing angle of an infrared thermal imager; using the infrared thermal imager to detect the infrared radiation energy of a target area and converting the infrared radiation energy into a visible thermal image; based on the visible thermal image, combining image recognition technology to perform a leak warning, determining whether there is a suspected leak area; if not, returning to the step of adjusting the viewing angle of the infrared thermal imager; if so, proceeding to the next step; determining the target position of an automatic moving platform and the target detection area of ​​a telemetry sensor based on the identified suspected leak area; the automatic moving platform moving to the target position according to the three-dimensional modeling data and algorithm acquired by a lidar; using a telemetry sensor to detect the concentration of the gas to be measured within the coverage area of ​​the optical path, wherein the wavelength of the light source of the telemetry sensor is locked to the center of the absorption spectrum line of the gas to be measured; and a central processing unit forming a visualized gas distribution map based on the test data of the telemetry sensor and the image acquired by a visible light camera.

[0021] (III) Beneficial Effects

[0022] As can be seen from the above technical solutions, the gas concentration distribution detection device and method based on multi-sensor collaborative sensing provided by the embodiments of the present invention have at least the following beneficial effects:

[0023] (1) Combining infrared thermal imaging and TDLAS technology for gas detection combines the advantages of both, enabling early warning of gas leaks in large areas, quickly and timely locking of suspected leak areas, and further conducting precise gas detection to determine the type and concentration of the gas to be tested.

[0024] (2) Multiple sensors are mounted on an automated mobile platform (robot, drone, etc.) to work together to dynamically adjust the position and angle of sensor detection, thereby achieving close-range and accurate detection of suspected leak areas. Attached Figure Description

[0025] The above-described features, other objects, and advantages of the present invention will become clearer from the following description of embodiments of the invention with reference to the accompanying drawings, in which:

[0026] Figure 1 The schematic diagram illustrates the structure of a gas concentration distribution detection device based on multi-sensor collaborative sensing according to an embodiment of the present invention.

[0027] Figure 2 The flowchart illustrates a gas concentration distribution detection method based on a gas concentration distribution detection device using multi-sensor collaborative sensing according to an embodiment of the present invention. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0029] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. The terms “comprising,” “including,” etc., as used herein indicate the presence of features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0030] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0031] Figure 1 The diagram illustrates the structure of a gas concentration distribution detection device based on multi-sensor collaborative sensing according to an embodiment of the present invention.

[0032] like Figure 1 As shown, a gas concentration distribution detection device based on multi-sensor collaborative sensing according to an embodiment of the present invention includes: an infrared thermal imager, a visible light camera, a telemetry sensor, a lidar, a data acquisition system, a control system, a central processing unit, a pan-tilt unit (PTZ) assembly, and an automatic moving platform. The infrared thermal imager, visible light camera, telemetry sensor, and lidar are mounted on the PTG assembly. The PTG assembly includes multiple PTG units, each used to control the detection angle of the infrared thermal imager, visible light camera, telemetry sensor, and lidar respectively. The PTG assembly is mounted on the automatic moving platform. The data acquisition system is connected to the infrared thermal imager, visible light camera, telemetry sensor, and lidar, and is used for data acquisition. The data acquisition system is connected to the central processing unit (CPU) and is used to transmit the data acquired by the data acquisition system to the CPU. The control system is used to set parameters for the infrared thermal imager, visible light camera, telemetry sensor, and lidar.

[0033] In some exemplary embodiments, an infrared thermal imager is used to detect the infrared radiation energy of a target area and convert the infrared radiation energy into a visible thermal image; based on the visible thermal image, combined with image recognition technology, a leak warning is given, a suspected leak area is initially identified, and the target position of the automatic mobile platform and the target detection area of ​​the telemetry sensor are determined according to the identified suspected leak area. The detection band of the infrared thermal imager covers the absorption peaks of all gases to be tested.

[0034] By utilizing infrared thermal imagers, rapid screening of gas leaks over a wide area can be achieved. By taking advantage of the selective absorption characteristics of gases to infrared radiation, potential gas leak hazards can be detected at an early stage, providing a clear direction and target area for subsequent accurate detection, improving detection efficiency, reducing unnecessary detection range, and making it particularly suitable for preliminary inspections of large areas.

[0035] In some exemplary embodiments, a visible light camera is used to acquire images of the target detection area and fuse them with concentration distribution data to form a concentration distribution visualization image. The images acquired by the visible light camera provide intuitive on-site visual information. Combined with other information such as gas concentration data, this helps operators better understand the actual situation of the detection area, providing a more comprehensive reference for subsequent analysis and decision-making. It can also be used to fuse with the final generated visualized gas distribution map, enhancing the readability of the information.

[0036] In some exemplary embodiments, the telemetry sensor is used to detect the concentration of the analyte gas within the coverage area of ​​the optical path, and the wavelength of the telemetry sensor's light source is locked to the center of the absorption spectral line of the analyte gas. Optionally, the telemetry sensor is a TDLAS (Tunable Diode Laser Absorption Spectroscopy) telemetry sensor. The telemetry sensor can accurately measure the concentration of a specific gas. Because the wavelength is locked to the center of the absorption spectral line, it has high selectivity and high sensitivity, avoids interference from other gases, accurately obtains the concentration information of the target gas, provides reliable data for the quantitative analysis of gas leaks, and is suitable for scenarios requiring high detection accuracy.

[0037] In some exemplary embodiments, LiDAR is used for 3D modeling, navigation, and obstacle avoidance of the target detection area. 3D modeling provides a clear understanding of the terrain and environmental structure of the detection area, offering accurate map information for the navigation of the automated mobile platform. It also enables obstacle avoidance, ensuring the automated mobile platform can safely and accurately reach the target location, thus improving the device's autonomous operation capability and safety, and making it suitable for detection tasks in complex environments.

[0038] In some exemplary embodiments, the data acquisition system is used to collect detection data from infrared thermal imagers, visible light cameras, telemetry sensors, and lidar. As the central hub for data aggregation, the data acquisition system ensures the complete collection and orderly transmission of data from various sensors, providing a foundation for subsequent data processing and analysis. This enables unified management and utilization of data from different sensors, improving the efficiency and accuracy of data processing.

[0039] In some exemplary embodiments, the central processing unit (CPU) is used to identify leak areas in the visible thermal image, thereby determining the target location for the automated mobile platform (AMP). The CPU also processes data collected by the lidar and performs 3D modeling, navigation, and obstacle avoidance to control the AMP to move to the target location. Furthermore, the CPU collects test data from telemetry sensors and generates a visualized gas distribution map based on images acquired by a visible light camera, fusing it with the visible light image. The CPU enables intelligent control and data processing of the entire detection system, effectively integrating and analyzing data from various sensors. This not only achieves precise navigation and positioning of the AMP but also generates an intuitive visualized gas distribution map, providing operators with comprehensive and accurate detection results and improving the automation and intelligence level of the detection system.

[0040] In some exemplary embodiments, the gimbal assembly includes four gimbals, each used to control the angles of the infrared thermal imager, visible light camera, telemetry sensor, and lidar. By controlling each detector individually, the viewing angle of each sensor can be flexibly adjusted to cover a wider detection area, meeting the needs of different detection scenarios, improving sensor utilization and detection flexibility, and ensuring that each sensor can accurately align with the target detection area to acquire effective data.

[0041] In some exemplary embodiments, an automated moving platform is used to carry an infrared thermal imager, a visible light camera, a telemetry sensor, a lidar, a gimbal assembly, a data acquisition system, and a central processing unit. The automated moving platform moves to the target location based on the 3D modeling data and algorithms acquired by the lidar. After moving to the target location, the platform adjusts the angle of the telemetry sensor by controlling the direction of the gimbal assembly, thereby enabling the telemetry sensor to detect the gas concentration in the target detection area. As the mobile carrier of the entire detection system, the automated moving platform allows the detection equipment to flexibly reach different detection locations, expanding the detection range and achieving automated detection of large areas. Simultaneously, combined with the control of the gimbal assembly, the angle of the telemetry sensor can be precisely adjusted, ensuring the accuracy and effectiveness of the detection, and improving detection efficiency and convenience.

[0042] Figure 2 The flowchart illustrates a gas concentration distribution detection method based on a gas concentration distribution detection device using multi-sensor collaborative sensing according to an embodiment of the present invention.

[0043] like Figure 2 As shown, the gas concentration distribution detection method includes steps S1 to S7.

[0044] In step S1, the viewing angle of the infrared thermal imager is adjusted.

[0045] In step S2, an infrared thermal imager is used to detect the infrared radiation energy of the target area and convert the infrared radiation energy into a visible thermal image.

[0046] In step S3, based on the visible thermal image and combined with image recognition technology, a leak warning is issued to determine if there is a suspected leak area. If not, return to step S1; if so, proceed to step S4.

[0047] In step S4, the target location of the automated mobile platform and the target detection area of ​​the telemetry sensor are determined based on the identified suspected leakage area.

[0048] In step S5, the automatic moving platform moves to the target position based on the 3D modeling data and algorithm obtained by the lidar.

[0049] In step S6, the concentration of the gas to be measured within the coverage area of ​​the optical path is detected using a telemetry sensor, wherein the wavelength of the light source of the telemetry sensor is locked to the center of the absorption spectrum of the gas to be measured.

[0050] In step S7, the central processing unit generates a visualized gas distribution map based on the test data from the telemetry sensor and the images acquired by the visible light camera.

[0051] Those skilled in the art will understand that the features described in the various embodiments of the present invention can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in the present invention. In particular, the features described in the various embodiments of the present invention can be combined and / or combined in various ways without departing from the spirit and teachings of the present invention. All such combinations and / or combinations fall within the scope of the present invention.

Claims

1. A gas concentration distribution detection device based on multi-sensor collaborative sensing, characterized in that, include: Infrared thermal imager, visible light camera, telemetry sensor, lidar, data acquisition system, control system, central processing unit, gimbal assembly, and automatic moving platform. The infrared thermal imager, the visible light camera, the telemetry sensor, and the lidar are mounted on the gimbal assembly. The gimbal assembly includes multiple gimbals, each of which is used to control the detection angles of the infrared thermal imager, the visible light camera, the telemetry sensor, and the lidar, respectively. The gimbal assembly is installed on the automatic mobile platform; The data acquisition system is connected to the infrared thermal imager, the visible light camera, the telemetry sensor, and the lidar, and is used to acquire data. The data acquisition system is connected to the central processing unit and is used to transmit the data acquired by the data acquisition system to the central processing unit; The control system is used to set parameters for the infrared thermal imager, the visible light camera, the telemetry sensor, and the lidar.

2. The gas concentration distribution detection device based on multi-sensor collaborative sensing according to claim 1, characterized in that, The infrared thermal imager is used to detect the infrared radiation energy of the target area and convert it into a visible thermal image. Based on the visible thermal image, combined with image recognition technology, a leak warning is issued, and a suspected leak area is initially identified. Based on the identified suspected leak area, the target location of the automated mobile platform and the target detection area of ​​the telemetry sensor are determined. The infrared thermal imager's detection band covers the absorption peaks of all gases being tested.

3. The gas concentration distribution detection device based on multi-sensor collaborative sensing according to claim 2, characterized in that, The visible light camera is used to acquire images of the target detection area and fuse them with concentration distribution data to form a concentration distribution visualization image.

4. The gas concentration distribution detection device based on multi-sensor collaborative sensing according to claim 2, characterized in that, The telemetry sensor is used to detect the concentration of the gas to be measured within the coverage area of ​​the optical path, and the wavelength of the light source of the telemetry sensor is locked to the center of the absorption spectrum of the gas to be measured.

5. The gas concentration distribution detection device based on multi-sensor collaborative sensing according to claim 2, characterized in that, The lidar is used for 3D modeling, navigation, and obstacle avoidance of the target detection area.

6. The gas concentration distribution detection device based on multi-sensor collaborative sensing according to claim 1, characterized in that, The data acquisition system is used to collect detection data from infrared thermal imagers, visible light cameras, telemetry sensors, and lidar.

7. The gas concentration distribution detection device based on multi-sensor collaborative sensing according to claim 2, characterized in that, The central processing unit is used to identify the leakage area in the visible thermal image, thereby determining the target location for the movement of the automated mobile platform; The central processing unit is used to process the data collected by the lidar and perform 3D modeling, navigation and obstacle avoidance, thereby controlling the automatic mobile platform to move to the target location. The central processing unit is used to collect test data from the telemetry sensor and to form a visualized gas distribution map based on the image collected by the visible light camera, and then fuse it with the visible light image.

8. The gas concentration distribution detection device based on multi-sensor collaborative sensing according to claim 1, characterized in that, The gimbal assembly includes four gimbals, each of which is used to control the angles of the infrared thermal imager, visible light camera, telemetry sensor, and lidar.

9. The gas concentration distribution detection device based on multi-sensor collaborative sensing according to claim 2, characterized in that, The automated mobile platform is used to carry an infrared thermal imager, a visible light camera, a telemetry sensor, a lidar, a gimbal assembly, a data acquisition system, and a central processing unit; The automated mobile platform moves to the target location based on the 3D modeling data and algorithm acquired by the lidar; After the automatic mobile platform moves to the target location, it adjusts the angle of the telemetry sensor by controlling the direction of the gimbal group, so as to realize the detection of gas concentration in the target detection area by the telemetry sensor.

10. A method for detecting gas concentration distribution based on the gas concentration distribution detection device based on multi-sensor collaborative sensing as described in any one of claims 1-9, characterized in that, include: Adjust the viewing angle of the infrared thermal imager; The infrared thermal imager is used to detect the infrared radiation energy of the target area and convert the infrared radiation energy into a visible thermal image; Based on the visible thermal image, combined with image recognition technology, a leak warning is issued to determine if there is a suspected leak area. If not, the process returns to the step of adjusting the viewing angle of the infrared thermal imager. If so, proceed to the next step; The target location of the automated mobile platform and the target detection area of ​​the telemetry sensor are determined based on the identified suspected leakage area. The automated mobile platform moves to the target location based on the 3D modeling data and algorithms obtained by the lidar; The concentration of the gas to be measured within the coverage area of ​​the optical path is detected by a telemetry sensor, wherein the wavelength of the light source of the telemetry sensor is locked to the center of the absorption spectrum of the gas to be measured. The central processing unit generates a visualized gas distribution map based on the test data from the telemetry sensor and the images captured by the visible light camera.

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