Method and system for designing scanning track of quick scanning type detector

Abstract

The embodiment of the invention provides a scanning track design method and system for a fast scanning detector, and the method comprises the steps: constructing a three-dimensional model of an urban gas station, integrating a combustible gas diffusion simulation module, recognizing and grading potential leakage points in the station, and generating a gas cloud picture of each leakage point through CFD simulation; a coverage rate target value of the detector is defined, the number and the installation position of the detector are preliminarily determined based on the gas cloud picture and the effective detection distance and the installation height of the detector, and the layout scheme is evaluated and verified through the coverage rate target value; iteratively adjusting the number and the installation positions of the detectors according to an evaluation verification result until the coverage rate of the detectors on all leaked gas clouds meets a coverage rate target value; and based on the detector layout meeting the coverage rate target value and the gas cloud picture, generating a polygonal scanning track of each quick scanning detector, calculating a pan-tilt top view angle corresponding to the vertex of the track, and controlling the detector to scan along the generated polygonal scanning track.

Description

Technical Field

[0001] This document relates to the field of gas monitoring technology, and in particular to a scanning trajectory design method and system for a rapid scan detector. Background Technology

[0002] With the promotion of regionalized management and operation models and unmanned stations in urban gas stations, the demand for real-time detection of gas leaks in open-air process areas has greatly increased. If natural gas leaks are not detected in time during non-inspection periods at the stations, it may lead to very serious consequences.

[0003] Currently, commonly used combustible gas detection devices in open-air areas of urban gas stations include fixed-point detectors, open-circuit detectors, and quick-scan detectors. These detectors are typically programmed manually by operators based on experience and subjective judgment, with scanning trajectories set for key equipment and leak points, lacking sufficient basis for judgment.

[0004] Among them, the fast-scan combustible gas detector has a large detection range, high accuracy, and reliable technology, and performs well in field applications, but its construction investment is relatively high. Therefore, it is necessary to fully consider the uncertainties of gas leakage and diffusion, as well as the influence of factors such as the site's terrain and seasonal wind changes. Within a limited investment, the detector location and scanning trajectory should be selected as accurately as possible to detect combustible gas leaks in open areas, with a detection range that fully covers the entire site. The design method for the detector's location and scanning trajectory is of great significance.

[0005] This invention provides a rapid-scan detector based on combustible gas diffusion simulation for detecting combustible gas leaks in open-air areas of a gas station. This invention offers a safe, economical, reliable, and accurate leak detection and alarm method. Furthermore, it utilizes combustible gas diffusion simulation software to simulate the gas cloud formation during diffusion, guiding the setting of the rapid-scan combustible gas detector's scanning trajectory. This aligns with the trend of natural gas station leak detection moving towards detecting minute leaks. Simultaneously, due to its effective detection radius of at least 100m, it can achieve comprehensive coverage of the entire open-air process unit area. Summary of the Invention

[0006] This specification provides one or more embodiments of a method for designing the scanning trajectory of a fast-scanning detector, including: S1. Construct a three-dimensional model of the urban gas station, integrate a combustible gas diffusion simulation module, identify and classify potential leak points within the station, and generate gas cloud maps of each leak point through CFD simulation. S2. Define the target coverage value of the detectors. Based on the weather cloud map, the effective detection distance of the detectors and the installation height, preliminarily determine the number of detectors and their installation positions, and evaluate and verify the layout scheme through the target coverage value. S3. Based on the evaluation and verification results, iteratively adjust the number and installation position of the detectors until their coverage of all leaked gas clouds meets the coverage target value. S4. Based on the detector layout that meets the coverage target value and the atmospheric cloud map, generate the polygonal scanning trajectory of each rapid scan detector, and calculate the gimbal viewing angle corresponding to the trajectory vertex, so as to control the detector to scan along the generated polygonal scanning trajectory.

[0007] Furthermore, the three-dimensional model is constructed using Smart 3D software and includes process natural gas pipelines, launcher and receiver tubes, filters, flow meters, valves, and instrumentation equipment.

[0008] Furthermore, the leak points include at least flanges, valve assemblies, sampling ports, and vent ports; the leak points are classified according to their risk probability.

[0009] Furthermore, the generation of polygonal scanning trajectories for each rapid-scan detector based on the detector layout that meets the coverage target value and the atmospheric cloud map specifically includes: Define the rotation mode data of the rapid scan detector, including the vertex coordinates and step distance of the initial motion trajectory; Calculate the vertex coordinates of multiple polygonal motion trajectories based on the vertex coordinates and step distance of the initial motion trajectory.

[0010] Furthermore, the specific method for calculating the vertex coordinates of multiple polygonal motion trajectories based on the vertex coordinates and step distance of the initial motion trajectory is as follows: Based on the vertex coordinates of the current polygon's motion trajectory, calculate the first parallel line of each edge of the polygon corresponding to the current polygon's motion trajectory. The distance between the first parallel line and the corresponding edge of the polygon is equal to the step distance. Obtain the coordinates of the intersection point of the first parallel line of every two adjacent sides of the polygon corresponding to the current polygon's motion trajectory, and use the obtained multiple intersection point coordinates as the vertex coordinates of the next polygon's motion trajectory. Iterate through the above process to calculate multiple polygonal motion trajectories covering the area to be detected.

[0011] Furthermore, the method further includes: The coordinates of multiple vertices of a polygonal trajectory are stored in an array, with each array element representing the coordinates of a single vertex. The calculation is performed on an array-by-array basis to calculate the coordinates of all vertices of the next polygonal trajectory at once.

[0012] Furthermore, the method for calculating the gimbal's downward angle 'a' is as follows: a = 90° - arctan(D / H); Where D is the horizontal distance between the target detection point and the detector column, and H is the height of the gimbal above the ground.

[0013] This specification provides one or more embodiments of a scanning trajectory design system for a high-speed scanning detector, including: Model simulation module: used to build a 3D model of urban gas stations, integrate combustible gas diffusion simulation module, identify and classify potential leak points in the station, and generate gas cloud maps of each leak point through CFD simulation. Detector layout module: used to define the target coverage value of the detectors, and based on the weather cloud map, the effective detection distance of the detectors and the installation height, to initially determine the number and installation position of the detectors, and to evaluate and verify the layout scheme through the target coverage value; Location optimization module: used to iteratively adjust the number and installation location of detectors based on the evaluation and verification results until their coverage of all leaked gas clouds meets the coverage target value; The trajectory generation module is used to generate polygonal scanning trajectories for each rapid scan detector based on the detector layout that meets the coverage target value and the atmospheric cloud map, and to calculate the pan-tilt-zoom angle corresponding to the trajectory vertex, so as to control the detector to scan along the generated polygonal scanning trajectory.

[0014] This specification provides one or more embodiments of an electronic device, including: Processor; and, A memory is configured to store computer-executable instructions, which, when executed, cause the processor to implement the steps of the scanning trajectory design method for the aforementioned high-speed scan detector.

[0015] This specification provides one or more embodiments of a storage medium for storing computer-executable instructions that, when executed, implement the steps of the scanning trajectory design method for the above-described high-speed scan detector.

[0016] By constructing a three-dimensional model of a town gas station, the diffusion of combustible gas is simulated and evaluated using software. Based on the generated gas cloud map and detector layout, the scanning trajectory of the preset rapid-scan detectors is precisely guided, achieving full-coverage detection of the area to be detected. This rationally and optimally optimizes the detection layout and scanning trajectory of the rapid-scan combustible gas detectors, significantly improving the accuracy and efficiency of gas leak detection. It not only reduces the number of detectors per station but also saves on equipment investment, reduces the use of instrument cables, shortens the cable laying and wiring period, and relieves the workload of station monitoring personnel. It effectively reduces the emergency response workload of remote monitoring personnel and the future operational and maintenance workload, while accurately providing alarms to meet user needs and effectively eliminating potential hazards caused by combustible gas leaks.

[0017] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in one or more embodiments of this specification or in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A flowchart illustrating a scanning trajectory design method for a high-speed scan detector provided for one or more embodiments of this specification; Figure 2 A schematic diagram illustrating a gas leak detection process provided for one or more embodiments of this specification; Figure 3 This is a schematic diagram illustrating the calculation of polygon vertex coordinates during a gas leak detection process, provided for one or more embodiments of this specification. Figure 4 A schematic diagram illustrating the composition of a scanning trajectory design system for a high-speed scan detector provided in one or more embodiments of this specification; Figure 5 This is a schematic diagram of an electronic device structure provided for one or more embodiments of this specification. Detailed Implementation

[0020] To enable those skilled in the art to better understand the technical solutions in one or more embodiments of this specification, the technical solutions in one or more embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of the embodiments. Based on one or more embodiments of this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this document.

[0021] Method Implementation Examples According to an embodiment of the present invention, a method for designing the scanning trajectory of a high-speed scan detector is provided. Figure 1 A flowchart illustrating a scanning trajectory design method for a high-speed scan detector provided in one or more embodiments of this specification is shown below. Figure 1 As shown, the scanning trajectory design method of the high-speed scanning detector according to an embodiment of the present invention specifically includes: S1. Construct a three-dimensional model of the urban gas station, integrate a combustible gas diffusion simulation module, identify and classify potential leak points within the station, and generate gas cloud maps of each leak point through CFD simulation.

[0022] A 3D model of a typical urban gas station is constructed using Smart 3D software, including all equipment in the Process and Instrumentation Control (P&ID) flow chart, such as process natural gas pipelines, pylon launchers and receivers, filters, flow meters, valves, and instruments. Based on this 3D model, a combustible gas diffusion simulation module is integrated to establish a simulation model of combustible gas leakage. Gas components, temperature, and pressure are defined, and potential leakage points in the typical urban gas station are identified, including at least frequently disassembled flanges, regularly operated valve assemblies, sampling ports, vents, and equipment or flanges / valve assemblies that may leak during abnormal operation. These are then classified according to their risk probability.

[0023] Define detector sensitivity and alarm threshold, cloud size, and environmental variables. Cloud size is defined according to space type, as follows: 5 meters for enclosed areas, 7 meters for semi-enclosed areas, and 10 meters for open areas; environmental variables include atmospheric pressure, wind speed, wind direction, and average temperature.

[0024] CFD simulations were performed at each leak point, and the simulation results were imported into 3D software to generate gas clouds. Based on the diameter of the gas cloud at each leak point, combined with environmental variables and LEL concentration levels, the amount of gas leakage required to form a gas cloud of the target diameter was calculated.

[0025] S2. Define the target coverage value of the detectors. Based on the weather cloud map, the effective detection distance of the detectors and the installation height, initially determine the number of detectors and their installation positions, and evaluate and verify the layout scheme through the target coverage value.

[0026] In a typical 3D model of a town gas station, the integrated evaluation and verification function module first needs to clearly define the target value of coverage. The definition of this target value is usually based on the specific detection needs of different areas. In the absence of special requirements, the default coverage target value is no less than 80% in 1ooN mode and no less than 60% in 2ooN mode.

[0027] Subsequently, based on the possible distribution of leak points, combined with the effective detection distance, installation height, and other relevant technical parameters of the rapid-scan detectors, a preliminary estimation of the number of detectors and a reasonable planning of their installation locations were conducted. By simulating changes in other concentrations under multiple scenarios and the dynamic response of the detector sensitivity, the actual coverage rate was calculated. Finally, using coverage rate as a quantitative evaluation indicator, a comprehensive and scientific evaluation and effectiveness verification of the detector installation layout and scanning trajectory scheme were performed to ensure the efficiency and reliability of the detection system.

[0028] S3. Based on the evaluation and verification results, iteratively adjust the number and installation location of the detectors until their coverage of all leaked gas clouds meets the target coverage value.

[0029] Based on the specific coverage assessment results of each leak point, the number and installation location of detector units are systematically adjusted to ensure that the layout can fully cover key leak areas. On this basis, multiple rounds of simulation verification and field testing are conducted to continuously optimize the detector configuration until the final deployment scheme can effectively cover all potential leaking gas clouds in accordance with the target requirements. Simultaneously, a gas cloud distribution map of leak points within a typical urban gas station is generated. Based on the spatial morphology, diffusion range, and concentration gradient changes of the gas clouds, the scanning path and trajectory of each rapid-scan detector are precisely planned, enabling it to efficiently and comprehensively monitor gas cloud dynamics.

[0030] S4. Based on the detector layout that meets the coverage target value and the atmospheric cloud map, generate the polygonal scanning trajectory of each rapid scan detector, and calculate the gimbal viewing angle corresponding to the trajectory vertex, so as to control the detector to scan along the generated polygonal scanning trajectory.

[0031] First, the rotation mode data of the high-speed scan detector is defined, specifically covering two key parameters: the vertex coordinates of the initial motion trajectory and the step distance. These parameters are used to determine the basic motion frame of the detector and the movement interval during the scanning process.

[0032] In implementation, for polygonal field areas, refer to Figure 2Based on the vertex coordinates and step distance set in the initial motion trajectory, the vertex coordinates of multiple polygonal motion trajectories are calculated and generated, thereby constructing a series of scanning paths covering the area to be detected. The detector is then controlled to rotate, allowing it to detect along each polygonal motion trajectory, achieving efficient and comprehensive detection of the polygonal area to be detected. After obtaining the vertex coordinates of multiple polygonal motion trajectories, the fast-scan detector can calculate the pan-tilt-zoom (PTZ) angle based on the vertex coordinates of each polygonal motion trajectory and the coordinates of the column. The PTG angle is then controlled based on the calculated angle. Taking a vertex of a polygonal motion trajectory as the target detection point, the distance between the target detection point and the column is calculated as D, the height of the PTG from the ground as H, and the distance between the target detection point and the PTG as L. The calculation method for the PTG angle is as follows: a = 90° - arctan(D / H); Where D is the horizontal distance between the target detection point and the detector column, and H is the height of the gimbal above the ground. For a certain polygonal motion trajectory, the pan-tilt angle corresponding to each vertex of the polygon is calculated. The rapid-scan detector controls the pan-tilt angle to change gradually according to the pan-tilt angle corresponding to each vertex, so as to realize the laser gas detector to detect gas along the polygonal trajectory.

[0033] like Figure 4 The specific method for calculating the vertex coordinates of multiple polygonal motion trajectories based on the vertex coordinates and step distance of the initial motion trajectory is as follows: Based on the vertex coordinate information of the current polygon motion trajectory, the first parallel line corresponding to each edge of the polygon is further calculated. Each first parallel line maintains a fixed distance from its corresponding polygon edge, which is equal to the pre-set step distance, to ensure the systematicness and consistency of the scanning path. Next, obtain the coordinates of the first parallel lines corresponding to every two adjacent sides of the polygon in the current polygonal motion trajectory, and use these calculated intersection coordinates as the vertex coordinates of the next polygonal motion trajectory to realize the gradual inward or outward expansion of the path.

[0034] The coordinates of the intersection point of the first parallel line of every two adjacent sides of the polygon corresponding to the current polygon's motion trajectory can be obtained through the following process: Suppose the current polygonal trajectory is bounded by vertices P1→P2→……Pi→……Pn→P1. For any vertex Pi, it is the intersection of edge (Pi, Pi+1) and edge (Pi-1, Pi), where i=1, 2……n. When i=n, ​​let i+1=1. Let Qi be the intersection of the first parallel line of edge (Pi, Pi+1) and edge (Pi-1, Pi), and let the step distance be d. The explanation will be based on the example where the first parallel line is located inside the current polygonal trajectory. For vertex Pi, its corresponding point vector relative to the origin O is: Similarly, point vectors can be obtained. and ; Calculate edge vectors and edge vectors ; Calculate the normalized edge vectors and ,but ; The point vector corresponding to the intersection point Qi of the first parallel lines of edge PiPi+1 and edgePi-1Pi is calculated using the following formula: ; Based on a similar process, the coordinates of each vertex of the next polygonal motion trajectory can be calculated sequentially based on the vertex coordinates of the current polygonal trajectory.

[0035] By continuously iterating the above calculation process, new polygonal motion trajectories are continuously generated until multiple polygonal motion trajectories that can completely cover the entire field to be detected are finally formed, thereby ensuring that the detection range reaches the preset coverage target value.

[0036] In one embodiment, the method further includes storing the coordinates of multiple vertices of a polygonal trajectory in a specific array data structure, where each element of the array corresponds to a vertex of the polygon and stores the coordinate value of that vertex. In this way, the system can perform efficient computational operations using the entire array as the basic processing unit. Specifically, when calculating the next polygonal trajectory, this method can process all vertex coordinates in the entire array at once, thereby simultaneously obtaining the positions of all vertices of the next polygonal trajectory, eliminating the need for individual point-by-point calculations and improving computational efficiency and overall performance.

[0037] In one embodiment, the initial motion trajectory can be the minimum motion trajectory. Similarly, the vertex coordinates of multiple polygonal motion trajectories can be calculated based on a similar process. Specifically, let Zi be the intersection point of the second parallel lines of edges (Pi, Pi+1) and (Pi-1, Pi). The second parallel lines are located outside the current polygonal trajectory, and the distance between each second parallel line and its corresponding edge of the current polygonal trajectory is equal to the step distance d. Then, the point vector corresponding to the intersection point Zi of edges (Pi, Pi+1) and (Pi-1, Pi) is calculated using the following formula: .

[0038] After the rapid-scan detector acquires the vertex coordinates of multiple polygonal motion trajectories, it can calculate the pan-tilt angle of each vertex coordinate of each polygonal motion trajectory. For any two adjacent vertex coordinates of any polygonal motion trajectory, the rapid-scan detector controls the pan-tilt to change the pan-tilt angle corresponding to one vertex coordinate to the pan-tilt angle corresponding to the next vertex coordinate by a certain step angle. At the same time, the detector rotates at a certain angular velocity, thereby enabling the detector to detect gas along the line connecting the two adjacent vertices.

[0039] The beneficial effects of this invention are as follows: By constructing a three-dimensional model of a town gas station, the diffusion of combustible gas is simulated and evaluated using software. Based on the generated gas cloud map and detector layout, the scanning trajectory of the preset rapid-scan detectors is precisely guided, achieving full-coverage detection of the area to be detected. This rationally and optimally optimizes the detection layout and scanning trajectory of the rapid-scan combustible gas detectors, significantly improving the accuracy and efficiency of gas leak detection. It not only reduces the number of detectors per station but also saves on equipment investment, reduces the use of instrument cables, shortens the cable laying and wiring period, and relieves the workload of station monitoring personnel. It effectively reduces the emergency response workload of remote monitoring personnel and the future operational and maintenance workload, while accurately providing alarms to meet user needs and effectively eliminating potential hazards caused by combustible gas leaks.

[0040] System Implementation Examples According to embodiments of the present invention, a scanning trajectory design system for a high-speed scanning detector is provided. Figure 4 This specification provides a schematic diagram illustrating the composition of a scanning trajectory design system for a high-speed scan detector, as shown in one or more embodiments. Figure 4 As shown, the scanning trajectory design system for a high-speed scanning detector according to an embodiment of the present invention specifically includes: Model Simulation Module 40: Used to construct a three-dimensional model of a town gas station, integrates a combustible gas diffusion simulation module, identifies and classifies potential leak points within the station, and generates gas cloud maps of each leak point through CFD simulation. Detector layout module 42: used to define the target coverage value of the detectors, and based on the weather cloud map, the effective detection distance of the detectors and the installation height, to initially determine the number and installation position of the detectors, and to evaluate and verify the layout scheme through the target coverage value; Location optimization module 44: Iteratively adjusts the number and installation location of detectors based on the evaluation and verification results until the coverage of all leaked gas clouds meets the coverage target value; The trajectory generation module 46 is used to generate polygonal scanning trajectories for each rapid scan detector based on the detector layout that meets the coverage target value and the atmospheric cloud map, and to calculate the pan-tilt-zoom angle corresponding to the trajectory vertex, so as to control the detector to scan along the generated polygonal scanning trajectory. The embodiments of the present invention are system embodiments corresponding to the above method embodiments. The specific operation of each module can be understood by referring to the description of the method embodiments, and will not be repeated here.

[0041] Device Example 1 This invention provides an electronic device, such as... Figure 5 As shown, it includes: a memory 50, a processor 52, and a computer program stored in the memory 50 and executable on the processor 52. When the computer program is executed by the processor 52, it performs the following method steps: S1. Construct a three-dimensional model of the urban gas station, integrate a combustible gas diffusion simulation module, identify and classify potential leak points within the station, and generate gas cloud maps of each leak point through CFD simulation. S2. Define the target coverage value of the detectors. Based on the weather cloud map, the effective detection distance of the detectors and the installation height, preliminarily determine the number of detectors and their installation positions, and evaluate and verify the layout scheme through the target coverage value. S3. Based on the evaluation and verification results, iteratively adjust the number and installation position of the detectors until their coverage of all leaked gas clouds meets the coverage target value. S4. Based on the detector layout that meets the coverage target value and the atmospheric cloud map, generate the polygonal scanning trajectory of each rapid scan detector, and calculate the gimbal viewing angle corresponding to the trajectory vertex, so as to control the detector to scan along the generated polygonal scanning trajectory.

[0042] Device Example 2 This invention provides a computer-readable storage medium storing an information transmission implementation program. When executed by a processor 52, the program performs the following method steps: S1. Construct a three-dimensional model of the urban gas station, integrate a combustible gas diffusion simulation module, identify and classify potential leak points within the station, and generate gas cloud maps of each leak point through CFD simulation. S2. Define the target coverage value of the detectors. Based on the weather cloud map, the effective detection distance of the detectors and the installation height, preliminarily determine the number of detectors and their installation positions, and evaluate and verify the layout scheme through the target coverage value. S3. Based on the evaluation and verification results, iteratively adjust the number and installation position of the detectors until their coverage of all leaked gas clouds meets the coverage target value. S4. Based on the detector layout that meets the coverage target value and the atmospheric cloud map, generate the polygonal scanning trajectory of each rapid scan detector, and calculate the gimbal viewing angle corresponding to the trajectory vertex, so as to control the detector to scan along the generated polygonal scanning trajectory.

[0043] The computer-readable storage media described in this embodiment include, but are not limited to, ROM, RAM, disk, or optical disk.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for designing the scanning trajectory of a high-speed scanning detector, characterized in that, include: S1. Construct a three-dimensional model of the urban gas station, integrate a combustible gas diffusion simulation module, identify and classify potential leak points within the station, and generate gas cloud maps of each leak point through CFD simulation. S2. Define the target coverage value of the detectors. Based on the weather cloud map, the effective detection distance of the detectors and the installation height, preliminarily determine the number of detectors and their installation positions, and evaluate and verify the layout scheme through the target coverage value. S3. Based on the evaluation and verification results, iteratively adjust the number and installation position of the detectors until their coverage of all leaked gas clouds meets the coverage target value. S4. Based on the detector layout that meets the coverage target value and the atmospheric cloud map, generate the polygonal scanning trajectory of each rapid scan detector, and calculate the gimbal viewing angle corresponding to the trajectory vertex, so as to control the detector to scan along the generated polygonal scanning trajectory.

2. The method according to claim 1, characterized in that, The three-dimensional model was constructed using Smart 3D software and includes process natural gas pipelines, launcher and receiver tubes, filters, flow meters, valves, and instrumentation equipment.

3. The method according to claim 1, characterized in that, The leak points include at least flanges, valve assemblies, sampling ports, and vent ports; the leak points are classified according to their risk probability.

4. The method according to claim 1, characterized in that, The generation of polygonal scanning trajectories for each rapid-scan detector, based on the detector layout that meets the coverage target value and the atmospheric cloud map, specifically includes: Define the rotation mode data of the rapid scan detector, including the vertex coordinates and step distance of the initial motion trajectory; Calculate the vertex coordinates of multiple polygonal motion trajectories based on the vertex coordinates and step distance of the initial motion trajectory.

5. The method according to claim 4, characterized in that, The specific method for calculating the vertex coordinates of multiple polygonal motion trajectories based on the vertex coordinates and step distance of the initial motion trajectory is as follows: Based on the vertex coordinates of the current polygon's motion trajectory, calculate the first parallel line of each edge of the polygon corresponding to the current polygon's motion trajectory. The distance between the first parallel line and the corresponding edge of the polygon is equal to the step distance. Obtain the coordinates of the intersection point of the first parallel line of every two adjacent sides of the polygon corresponding to the current polygon's motion trajectory, and use the obtained multiple intersection point coordinates as the vertex coordinates of the next polygon's motion trajectory. Iterate through the above process to calculate multiple polygonal motion trajectories covering the area to be detected.

6. The method according to claim 1, characterized in that, The method further includes: The coordinates of multiple vertices of a polygonal trajectory are stored in an array, with each array element representing the coordinates of a single vertex. The calculation is performed on an array-by-array basis to calculate the coordinates of all vertices of the next polygonal trajectory at once.

7. The method according to claim 1, characterized in that, The method for calculating the pan-tilt angle 'a' is as follows: a = 90° - arctan(D / H); Where D is the horizontal distance between the target detection point and the detector column, and H is the height of the gimbal above the ground.

8. A scanning trajectory design system for a high-speed scanning detector, characterized in that, include: Model simulation module: used to build a 3D model of urban gas stations, integrate combustible gas diffusion simulation module, identify and classify potential leak points in the station, and generate gas cloud maps of each leak point through CFD simulation. Detector layout module: used to define the target coverage value of the detectors, and based on the weather cloud map, the effective detection distance of the detectors and the installation height, to initially determine the number and installation position of the detectors, and to evaluate and verify the layout scheme through the target coverage value; Location optimization module: used to iteratively adjust the number and installation location of detectors based on the evaluation and verification results until their coverage of all leaked gas clouds meets the coverage target value; The trajectory generation module is used to generate polygonal scanning trajectories for each rapid scan detector based on the detector layout that meets the coverage target value and the atmospheric cloud map, and to calculate the pan-tilt-zoom angle corresponding to the trajectory vertex, so as to control the detector to scan along the generated polygonal scanning trajectory.

9. An electronic device, characterized in that, include: processor; as well as, A memory configured to store computer-executable instructions, which, when executed, cause the processor to implement the steps of the scanning trajectory design method for a speed-scanning detector as described in any one of claims 1 to 7.

10. A storage medium, characterized in that, Used to store computer-executable instructions, which, when executed, implement the steps of the scanning trajectory design method for the speed-scanning detector as described in any one of claims 1 to 7.

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