Gas leakage detection device, gas leakage detection method, equipment and medium

Abstract

The invention relates to the technical field of gas leakage detection, and discloses a gas leakage detection device, a gas leakage detection method, equipment and a medium, the device comprises a holder main body, a multi-mode sensing unit and a fusion processing unit, the multi-mode sensing unit is arranged on a shell of the holder main body; the multi-mode sensing unit comprises an ultrasonic leakage detection module; an infrared thermal imaging module; a laser ranging module; a visible light imaging module; the fusion processing unit is in communication connection with the multi-mode sensing unit and is used for analyzing the acoustic characteristic signal through a detection model to obtain an analysis result; if the suspected leakage point exists, analyzing the image feature signal, and determining a leakage area; and performing temperature compensation calibration and space positioning on the leakage area through the distance information to obtain positioning information, and mapping the positioning information to the visible light area for marking to obtain a detection result containing a space coordinate mark. The invention aims to improve the efficiency and accuracy of gas leakage detection.

Description

Technical Field

[0001] This invention relates to the field of gas leak detection technology, and in particular to a gas leak detection device, gas leak detection method, equipment and medium. Background Technology

[0002] Gas leak detection technology is widely used in nuclear industry, pressure vessel and confined space safety monitoring, especially in high-safety-level scenarios such as nuclear reactor containment, where leak detection results directly affect the operational safety of the equipment and accident prevention capabilities. Currently, gas leak detection typically relies on manual inspections or portable detection equipment. Personnel must enter confined spaces and rely on visual observation, auditory judgment, or other methods to investigate leaks, resulting in complex procedures, low detection efficiency, and significant personnel safety risks.

[0003] Furthermore, during nuclear reactor containment leak rate tests and related inspections, the detection environment is often under pressure. Existing gas leak detection devices, when used under such conditions, may be affected by factors such as structural stability, environmental noise, and temperature changes, leading to reduced reliability of the detection signal. In addition, many related technologies rely on a single detection signal for leak assessment, making it difficult to accurately identify the leak area under complex background noise and temperature disturbances. They also lack the ability to precisely locate and visualize the leak position, resulting in low detection accuracy. Therefore, it is necessary to propose a gas leak detection device to improve the efficiency and accuracy of gas leak detection. Summary of the Invention

[0004] The main objective of this application is to provide a gas leak detection device, gas leak detection method, equipment, and medium, aiming to improve the efficiency and accuracy of gas leak detection.

[0005] In a first aspect, this application provides a gas leak detection device, comprising: The gimbal consists of a main body, a multimodal sensing unit, and a fusion processing unit. The multimodal sensing unit is disposed on the outer shell of the gimbal body and includes: The ultrasonic leak detection module is used to collect ultrasonic signals generated by leaking gas and output corresponding acoustic characteristic signals. The infrared thermal imaging module is used to acquire infrared radiation images of the detection area and output image feature signals that identify areas with abnormal temperatures. A laser ranging module is used to determine the distance information from the gas leak detection device to the temperature anomaly area; The visible light imaging module is used to acquire visible light images of the detection area; The fusion processing unit, communicatively connected to the multimodal sensing unit, is used to analyze the acoustic feature signals through a detection model to obtain analysis results. The analysis results are used to indicate whether there is a suspected leak point. If the analysis results indicate the existence of the suspected leak point, the image feature signals are analyzed to determine the leak area. The leak area is temperature-compensated and spatially located using the distance information to obtain positioning information. The positioning information is then mapped to the visible light area for marking to obtain a detection result containing spatial coordinate markings.

[0006] Secondly, this application provides a gas leak detection method, applied to any of the gas leak detection devices described in this application, comprising: The acoustic feature signal is analyzed using the detection model to obtain the analysis result; the analysis result is used to indicate whether the suspected leak point exists. If the analysis results indicate the existence of the suspected leak point, the image feature signals are analyzed to determine the leak area; The leakage area is temperature-compensated and spatially located using the distance information to obtain the location information. The location information is then mapped onto the visible light area for marking to obtain the detection result containing the spatial coordinate marking.

[0007] Thirdly, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the gas leak detection method described above.

[0008] Fourthly, a computer-readable storage medium is provided, which stores a computer program that, when executed by a processor, implements the steps of the above-described gas leak detection method.

[0009] This application provides a gas leak detection device, a gas leak detection method, equipment, and medium. The gas leak detection device includes a pan-tilt unit, a multimodal sensing unit, and a fusion processing unit. The multimodal sensing unit is disposed on the outer shell of the pan-tilt unit and includes: an ultrasonic leak detection module for acquiring ultrasonic signals generated by leaking gas and outputting corresponding acoustic feature signals; an infrared thermal imaging module for acquiring infrared radiation images of the detection area and outputting image feature signals that identify areas with abnormal temperatures; a laser ranging module for determining the distance information from the gas leak detection device to the area with abnormal temperatures; a visible light imaging module for acquiring visible light images of the detection area; and a fusion processing unit, communicatively connected to the multimodal sensing unit, for analyzing the acoustic feature signals through a detection model to obtain analysis results. The analysis results are used to indicate whether there is a suspected leak point. If the analysis results indicate the existence of a suspected leak point, the image feature signals are analyzed to determine the leak area. The leak area is temperature-compensated and spatially located using the distance information to obtain positioning information, which is then mapped onto a visible light area for marking, resulting in a detection result containing spatial coordinate markings. This application integrates an ultrasonic leak detection module, an infrared thermal imaging module, a laser ranging module, and a visible light imaging module onto the main body of a gimbal. A fusion processing unit performs phased processing and fusion analysis of multimodal information based on a detection model, enabling multi-dimensional and complementary detection of gas leaks. Firstly, the acoustic feature signals output by the ultrasonic leak detection module are analyzed to quickly determine the presence of suspected leak points, thus filtering out environmental noise and non-leakage interference in the early stages and reducing the probability of false alarms. Secondly, only when the analysis results indicate the presence of a suspected leak point is the image feature signals acquired by the infrared thermal imaging module further analyzed, effectively reducing computational resource consumption and improving overall detection efficiency and real-time performance. This hierarchical decision-making and on-demand analysis approach significantly improves the accuracy and stability of gas leak identification compared to single-sensor or simple superposition of multi-sensor signals. Furthermore, this application introduces a laser ranging module to acquire distance information, and combines temperature compensation calibration and spatial positioning processing to accurately locate the identified leak area in three dimensions. The positioning information is then mapped onto the visible light image acquired by the visible light imaging module for intuitive marking. This allows the detection results to not only indicate whether a leak exists, but also to clearly define the spatial coordinates of the leak point in the actual scene. This helps maintenance personnel quickly understand the leak location, reduces the time cost of manual judgment and secondary confirmation, and improves handling efficiency.

[0010] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0011] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a schematic diagram of the structure of a gas leak detection device in one embodiment of the present invention; Figure 2 This is a schematic flowchart of a gas leak detection method according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of a computer device according to an embodiment of the present invention; Figure 4 This is another structural schematic diagram of a computer device according to one embodiment of the present invention.

[0013] Label Explanation: 100. Gas Leakage Device; 10. Multimodal Sensing Unit; 1. Pan-Tilt-Tilt Main Unit; 2. Laser Ranging Module; 3. Infrared Thermal Imaging Module; 4. Illumination Module; 5. Ultrasonic Leakage Detection Module; 6. Visible Light Imaging Module. Detailed Implementation

[0014] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0015] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0016] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0017] It should be understood that, in order to clearly describe the technical solutions of the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish identical or similar items with essentially the same function and effect. For example, the first identification model and the second identification model are only used to distinguish different callback functions and do not limit their order. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and the terms "first" and "second" do not necessarily mean they are different.

[0018] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0019] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0020] Please see Figure 1 , Figure 1 This is a schematic diagram of the structure of a gas leak detection device according to an embodiment of the present invention. Figure 1 As shown, the gas leak detection device 100 includes a pan-tilt main body 1, a multimodal sensing unit 10, and a fusion processing unit (not shown).

[0021] The multimodal sensing unit 10 is mounted on the outer shell of the gimbal body 1 and includes an ultrasonic leak detection module 5, an infrared thermal imaging module 3, a laser ranging module 2, and a visible light imaging module 6. By integrating the above modules, the gas leak detection device 100 can collect information about the target detection area from multiple dimensions such as acoustics, thermal radiation, distance, and visible light imaging.

[0022] The ultrasonic leak detection module 5 is used to collect ultrasonic signals generated by the leaking gas and output corresponding acoustic feature signals to characterize the typical acoustic characteristics of the gas leak. The infrared thermal imaging module 3 is used to acquire infrared radiation images of the detection area and output image feature signals that identify areas with abnormal temperatures to reflect the impact of the leaking gas on the surrounding temperature field. The laser ranging module 2 is used to determine the distance information from the gas leak detection device 100 to the area with abnormal temperatures, thereby providing distance information for subsequent spatial positioning and calibration of the leak area. The visible light imaging module 6 is used to acquire visible light images of the detection area so that the identified leak area and its spatial location information can be intuitively mapped and marked in the visible light image in subsequent processing, realizing the visualization of the leak location.

[0023] The fusion processing unit is communicatively connected to the multimodal sensing unit 10. It is used to analyze acoustic feature signals through a detection model to obtain analysis results. The analysis results are used to indicate whether there is a suspected leak point. If the analysis results indicate that there is a suspected leak point, the image feature signals are analyzed to determine the leak area. The leak area is temperature compensated and spatially located using distance information to obtain positioning information. The positioning information is then mapped to the visible light area for marking to obtain a detection result containing spatial coordinate markings.

[0024] For example, the acoustic feature signal output by the ultrasonic leak detection module 5 is first analyzed using a detection model to obtain analysis results for determining whether there is a suspected leak point in the detection area. When the analysis result indicates the presence of a suspected leak point, the image feature signal output by the infrared thermal imaging module 3 is further analyzed to determine the corresponding leak area, thereby avoiding unnecessary image processing in the absence of a leak. After determining the leak area, the fusion processing unit performs temperature compensation calibration and spatial positioning processing on the leak area based on the distance information provided by the laser ranging module 2 to obtain the positioning information of the leak area. The positioning information is then mapped onto the visible light image acquired by the visible light imaging module 6 for marking, thereby generating a detection result containing spatial coordinate markings for intuitive display and accurate indication of the leak location.

[0025] In some embodiments, the outer shell of the gimbal body 1 is integrally molded, eliminating any seams between the parts and structurally improving the sealing performance and overall strength of the gimbal body 1. The internal cavity of the gimbal body 1 is completely filled with cured encapsulation material to eliminate compressible gas spaces. This prevents residual gas or pressure changes from affecting the stability of the internal structure and the working state of the sensor, and reduces the risk of external gas entering the interior of the gimbal body 1. This improves the safety, reliability, and long-term operational stability of the gas leak detection device 100 in gas leak detection environments.

[0026] In some embodiments, the fusion processing unit is further configured to: perform correlation analysis on acoustic feature signals and image feature signals, and identify the leakage area when the acoustic feature signals and image feature signals are successfully matched; determine the three-dimensional spatial coordinates of the leakage area based on distance information, and map the three-dimensional spatial coordinates onto the visible light image to obtain a detection result including spatial coordinate markers.

[0027] For example, the consistency of acoustic feature signals and image feature signals in terms of temporal characteristics, spatial distribution, or feature similarity can be used to determine whether the two match. When the acoustic feature signals and image feature signals match successfully, the fusion processing unit identifies and confirms the corresponding leakage area, thereby further reducing the risk of misjudgment. On this basis, the fusion processing unit uses the distance information provided by the laser ranging module 2 to perform three-dimensional spatial positioning of the leakage area, determine the three-dimensional coordinates of the leakage area in space, and map the three-dimensional spatial coordinates onto the visible light image acquired by the visible light imaging module 6 for annotation, finally obtaining the detection result containing spatial coordinate markings, so as to achieve accurate indication and intuitive display of the leakage location.

[0028] Based on the above embodiments, the fusion processing unit is further configured to: perform frequency band energy analysis on the acoustic feature signal to extract a first feature vector, perform regional temperature gradient analysis on the image feature signal to extract a second feature vector, and perform similarity calculation on the first feature vector and the second feature vector. If the calculated similarity exceeds a preset threshold, it is determined that the acoustic feature signal and the image feature signal are successfully matched.

[0029] For example, the fusion processing unit can extract a first feature vector that characterizes the acoustic properties of gas leakage by statistically analyzing and calculating the energy distribution in different frequency bands. At the same time, it performs regional temperature gradient analysis on the image feature signal output by the infrared thermal imaging module 3, and extracts a second feature vector that reflects the temperature anomaly by analyzing the spatial trend and gradient distribution of temperature. After obtaining the first and second feature vectors, the fusion processing unit performs similarity calculation on the two to evaluate the correlation between the acoustic features and the temperature anomaly features. When the calculated similarity exceeds a preset threshold (which can be set according to requirements, such as 80% or 90%), it is determined that the acoustic feature signal and the image feature signal are successfully matched, thus serving as an important basis for confirming the leak area, which helps to improve the accuracy of leak identification and reduce the probability of misjudgment.

[0030] In some embodiments, the laser emission axis of the laser ranging module 2 is set parallel to the optical imaging axis of the infrared thermal imaging module 3, so that the laser ranging direction is consistent with the observation direction of the infrared thermal imaging, thereby ensuring that the ranging data can accurately correspond to the target area captured by the infrared thermal imaging module 3; and the target point corresponding to the distance measured by the laser ranging module 2 is located in the center area of ​​the field of view of the infrared thermal imaging module 3, ensuring that the laser ranging data and infrared image features can be accurately matched when performing three-dimensional spatial positioning and calibration of the leak area, thereby improving the spatial positioning accuracy and the reliability of the overall detection.

[0031] In some embodiments, the multimodal sensing unit 10 further includes an attitude adjustment mechanism (not shown). The attitude adjustment mechanism is used to adjust the pitch and azimuth angles of the gimbal body 1 according to the position of the temperature anomaly area in the infrared radiation image, so that the temperature anomaly area is kept in the center of the field of view of the infrared thermal imaging module 3. This ensures that during the detection process, no matter how the target position changes, the infrared thermal imaging module 3 can always accurately observe the leak area, improve the accuracy and real-time performance of leak identification, and provide a stable data foundation for subsequent three-dimensional spatial positioning and visualization marking.

[0032] In some embodiments, the multimodal sensing unit 10 further includes an ambient air pressure sensor (not shown), which is used to monitor the ambient air pressure of the gimbal body 1; the fusion processing unit is also used to perform air refractive index compensation on the distance information according to the ambient air pressure, thereby correcting the laser propagation error caused by changes in atmospheric pressure, ensuring spatial positioning accuracy and the accuracy of three-dimensional coordinate calculation, and improving the reliability and accuracy of gas leak detection under different environmental conditions.

[0033] In some embodiments, the multimodal sensing unit 10 further includes an illumination module 4, which provides illumination to the visible light imaging module 6 when the ambient brightness is lower than a preset brightness threshold, thereby ensuring that the visible light imaging module 6 can still clearly acquire images of the detection area in low light or nighttime environments, enabling the fusion processing unit to accurately mark and intuitively display the leakage area based on the visible light image, thereby improving the overall detection visualization effect and operational reliability.

[0034] As can be seen, the above scheme, by integrating an ultrasonic leak detection module 5, an infrared thermal imaging module 3, a laser ranging module 2, and a visible light imaging module 3 onto the gimbal body 1, and having the fusion processing unit perform phased processing and fusion analysis of multimodal information based on the detection model, enables multi-dimensional and complementary detection of gas leaks. On the one hand, the acoustic feature signals output by the ultrasonic leak detection module 5 are analyzed first to quickly determine whether there are suspected leak points, thereby filtering environmental noise and non-leakage interference in the early stages and reducing the probability of false alarms. On the other hand, only when the analysis results indicate the presence of a suspected leak point is the image feature signals acquired by the infrared thermal imaging module 3 further analyzed, effectively reducing computational resource consumption and improving overall detection efficiency and real-time performance. Through this hierarchical decision-making and on-demand analysis approach, compared to schemes using single sensors or simple superposition of multiple sensor signals, the accuracy and stability of gas leak identification are significantly improved. Furthermore, this application introduces a laser ranging module 2 to acquire distance information, and combines temperature compensation calibration and spatial positioning processing to accurately locate the identified leakage area in three dimensions. The positioning information is then mapped onto the visible light image acquired by the visible light imaging module 6 for intuitive marking. This allows the detection results to not only indicate whether a leak exists, but also to clearly define the spatial coordinates of the leak point in the actual scene. This helps maintenance personnel quickly understand the leak location, reduces the time cost of manual judgment and secondary confirmation, and improves handling efficiency.

[0035] Please see Figure 2 , Figure 2 This is a schematic flowchart of a gas leak detection method according to an embodiment of the present invention. Figure 2 As shown, this application also provides a gas leak detection method, applied to a gas leak detection device, the method comprising: S10: The acoustic feature signals are analyzed using a detection model to obtain analysis results; the analysis results are used to indicate whether there are any suspected leak points.

[0036] S20: If the analysis results indicate the existence of a suspected leak point, analyze the image feature signals to determine the leak area.

[0037] S30: Temperature compensation calibration and spatial positioning of the leak area are performed using distance information to obtain positioning information, and the positioning information is mapped to the visible light area for marking to obtain detection results containing spatial coordinate markings.

[0038] For example, the acoustic feature signals acquired by the multimodal sensing unit are first analyzed using a detection model to obtain analysis results for determining whether there are suspected leak points within the detection area. When the analysis results indicate the presence of a suspected leak point, the image feature signals acquired by the infrared thermal imaging module are further analyzed. By identifying the spatial distribution and feature information of the temperature anomaly area, the specific leak area is determined. Subsequently, based on the distance information provided by the laser ranging module, temperature compensation calibration and three-dimensional spatial positioning are performed on the leak area to obtain the spatial coordinate information of the leak area. The spatial coordinates are then mapped onto the visible light image acquired by the visible light imaging module for marking, ultimately generating a detection result containing three-dimensional spatial coordinate markings, thereby achieving accurate indication and intuitive visualization of the leak location.

[0039] As can be seen, in the above scheme, the acoustic feature signals output by the ultrasonic leak detection module are first analyzed to quickly determine whether there is a suspected leak point, thereby filtering out environmental noise and non-leakage interference in the early stage and reducing the probability of false alarms. On the other hand, only when the analysis results indicate the presence of a suspected leak point is the image feature signals acquired by the infrared thermal imaging module further analyzed, effectively reducing computational resource consumption and improving overall detection efficiency and real-time performance. Through this hierarchical decision-making and on-demand analysis approach, compared with single-sensor or simple superposition of multi-sensor signals, the accuracy and stability of gas leak identification are significantly improved. In addition, this application introduces a laser ranging module to obtain distance information and combines it with temperature compensation calibration and spatial positioning processing to accurately locate the identified leak area in three-dimensional space. The positioning information is then mapped onto the visible light image acquired by the visible light imaging module for intuitive marking, so that the detection results can not only indicate whether a leak exists, but also clearly define the spatial coordinates of the leak point in the actual scene. This helps maintenance personnel to quickly understand the leak location, reduces the time cost of manual judgment and secondary confirmation, and improves handling efficiency.

[0040] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 3 As shown, the computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile and / or volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface is used to communicate with external clients via a network connection. When the computer program is executed by the processor, it implements the functions or steps of a gas leak detection method on the server side.

[0041] In one embodiment, a computer device is provided, which may be a client, and its internal structure diagram may be as follows: Figure 4 As shown, the computer device includes a processor, memory, network interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The network interface is used to communicate with an external server via a network connection. When executed by the processor, the computer program implements the functions or steps of a gas leak detection method on the client side. In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to perform the following steps: The acoustic feature signal is analyzed using the detection model to obtain the analysis result; the analysis result is used to indicate whether the suspected leak point exists. If the analysis results indicate the existence of the suspected leak point, the image feature signals are analyzed to determine the leak area; The leakage area is temperature-compensated and spatially located using the distance information to obtain the location information. The location information is then mapped onto the visible light area for marking to obtain the detection result containing the spatial coordinate marking.

[0042] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor: The acoustic feature signal is analyzed using the detection model to obtain the analysis result; the analysis result is used to indicate whether the suspected leak point exists. If the analysis results indicate the existence of the suspected leak point, the image feature signals are analyzed to determine the leak area; The leakage area is temperature-compensated and spatially located using the distance information to obtain the location information. The location information is then mapped onto the visible light area for marking to obtain the detection result containing the spatial coordinate marking.

[0043] It should be noted that the functions or steps that can be implemented by the computer-readable storage medium or computer device described above can be referred to the relevant descriptions on the server side and client side in the foregoing method embodiments. To avoid repetition, they will not be described one by one here.

[0044] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0045] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0046] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0047] The embodiments described above are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. 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 of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention. In the description of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a mechanical connection or an electrical connection. They can refer to a direct connection or an indirect connection through an intermediate medium, and can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0048] In this application, unless otherwise expressly specified and limited, "above" or "below" a second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of a second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" a second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature. The foregoing disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure of this application, the components and arrangements of specific examples are described above. Of course, these are merely examples and are not intended to limit this application.

[0049] Furthermore, reference numerals and / or reference letters may be repeated in different examples in this application. Such repetition is for simplification and clarity purposes and does not in itself indicate a relationship between the various embodiments and / or settings discussed. In addition, this application provides examples of various specific processes and materials, but those skilled in the art will recognize the application of other processes and / or the use of other materials. In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0050] The above embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of protection of this application. Any non-substantial changes and substitutions made by those skilled in the art based on this application shall fall within the scope of protection claimed by this application.

Claims

1. A gas leak detection device, characterized in that, include: The gimbal consists of a main body, a multimodal sensing unit, and a fusion processing unit. The multimodal sensing unit is disposed on the outer shell of the gimbal body and includes: The ultrasonic leak detection module is used to collect ultrasonic signals generated by leaking gas and output corresponding acoustic characteristic signals. The infrared thermal imaging module is used to acquire infrared radiation images of the detection area and output image feature signals that identify areas with abnormal temperatures. A laser ranging module is used to determine the distance information from the gas leak detection device to the temperature anomaly area; The visible light imaging module is used to acquire visible light images of the detection area; The fusion processing unit, communicatively connected to the multimodal sensing unit, is used to analyze the acoustic feature signals through a detection model to obtain analysis results. The analysis results are used to indicate whether there is a suspected leak point. If the analysis results indicate the existence of the suspected leak point, the image feature signals are analyzed to determine the leak area. The leak area is temperature-compensated and spatially located using the distance information to obtain positioning information. The positioning information is then mapped to the visible light area for marking to obtain a detection result containing spatial coordinate markings.

2. The gas leakage device according to claim 1, characterized in that, The outer shell of the gimbal body is integrally molded, and the internal cavity of the gimbal body is completely filled with cured encapsulation material to eliminate compressible gas space.

3. The gas leak detection device according to claim 1, characterized in that, The fusion processing unit is also used for: The acoustic feature signal and the image feature signal are correlated and analyzed, and the leakage area is identified when the acoustic feature signal and the image feature signal are successfully matched. Based on the distance information, the three-dimensional spatial coordinates of the leakage area are determined, and the three-dimensional spatial coordinates are mapped onto the visible light image to obtain a detection result including the spatial coordinate markers.

4. The gas leak detection device according to claim 3, characterized in that, The fusion processing unit is also used for: The acoustic feature signal is subjected to frequency band energy analysis to extract a first feature vector, the image feature signal is subjected to regional temperature gradient analysis to extract a second feature vector, and the first feature vector and the second feature vector are compared for similarity. If the calculated similarity exceeds a preset threshold, the acoustic feature signal and the image feature signal are determined to be a successful match.

5. The gas leak detection device according to claim 1, characterized in that, The laser emission axis of the laser ranging module is set parallel to the optical imaging axis of the infrared thermal imaging module, and the target point corresponding to the distance measured by the laser ranging module is located in the center area of ​​the field of view of the infrared thermal imaging module.

6. The gas leak detection device according to claim 1, characterized in that, The multimodal sensing unit also includes an attitude adjustment mechanism, which is used to adjust the pitch and azimuth angles of the gimbal body according to the position of the temperature anomaly region in the infrared radiation image, so that the temperature anomaly region is kept at the center of the field of view of the infrared thermal imaging module.

7. The gas leak detection device according to claim 1, characterized in that, The multimodal sensing unit also includes an ambient air pressure sensor, which is used to monitor the ambient air pressure of the gimbal body; the fusion processing unit is also used to perform air refractive index compensation on the distance information based on the ambient air pressure.

8. A gas leak detection method, applied to the gas leak detection device as described in any one of claims 1-7, characterized in that, include: The acoustic feature signal is analyzed using the detection model to obtain the analysis results; The analysis results are used to indicate whether the suspected leak point exists; If the analysis results indicate the existence of the suspected leak point, the image feature signals are analyzed to determine the leak area; The leakage area is temperature-compensated and spatially located using the distance information to obtain the location information. The location information is then mapped onto the visible light area for marking to obtain the detection result containing the spatial coordinate marking.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the gas leak detection method as described in claim 8.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the gas leak detection method as described in any one of claims 8.

Images