Tunnel harmful gas scanning type monitoring method and equipment

Abstract

The invention provides a tunnel harmful gas scanning type monitoring method and equipment, and relates to the technical field of tunnel construction safety monitoring. Comprising the following steps: S1, synchronously scanning by at least two monitoring devices, recording direction angle data and a gas concentration measurement value of each ray, and acquiring tunnel boundary point cloud data; s2, calculating potential intersection points of rays from different devices in the tunnel space, and screening effective intersection points; s3, based on the tunnel boundary point cloud data, constructing a three-dimensional network model of the tunnel surface through a Delaunay triangulation algorithm; s4, in the three-dimensional grid, performing grading treatment according to concentration values from low to high, assigning values to voxels through which effective laser rays penetrate, and reconstructing a three-dimensional concentration field; and S5, generating a tunnel harmful gas concentration distribution three-dimensional model. According to the method, the path integral concentration data is converted into accurate three-dimensional space distribution information, the three-dimensional coordinates of the gas escape source can be accurately identified, accurate positioning of the harmful gas escape source is realized, and the problems of missing detection and misjudgment caused by fuzzy positioning are effectively solved.

Description

Technical Field

[0001] This invention relates to the field of tunnel construction safety monitoring technology, and more specifically, to a scanning monitoring method and equipment for harmful gases in tunnels. Background Technology

[0002] During tunnel construction, effectively monitoring and controlling the concentration of harmful gases is a crucial aspect of ensuring construction safety. For example, keeping methane (CH4) concentration below safe thresholds can prevent combustion and explosion accidents, while strict monitoring of gases such as carbon monoxide (CO) and carbon dioxide (CO2) can avoid the risk of personnel poisoning. Therefore, accurate detection of harmful gas concentrations is a prerequisite for implementing effective gas management.

[0003] Currently, methods for detecting hazardous gases in tunnels are largely derived from coal mine gas monitoring technology. In coal mine environments, gas primarily originates from coal seams, and its emission points are closely related to the location of the coal seam. Therefore, gas detection in the coal seam area can cover the vast majority of risks. The corresponding monitoring methods mainly include manual detection and fixed pump-suction automatic monitoring equipment. However, as tunnel projects gradually advance into complex strata such as western mountainous areas, hazardous gas emissions are occurring in a large number of non-coal strata. These emissions exhibit poor regularity and random locations, making comprehensive coverage difficult with traditional methods. Missed detections can easily lead to serious accidents such as combustion and explosions.

[0004] In summary, conventional methods for detecting hazardous gases have several limitations: First, manual detection suffers from poor real-time performance, high costs, and is prone to blind spots due to limited detection range. Second, while fixed pump-driven automatic monitoring equipment can achieve continuous detection, the monitoring points are usually not flexibly adjustable, making it difficult to fully cover potential risk areas within the tunnel and resulting in detection blind spots. Although laser gas detection technology, which has emerged in recent years, has solved the problems of real-time and long-distance detection to some extent, the results measured by this method are the average or overall gas concentration in the laser beam path, only able to identify the maximum concentration value and its approximate area. In the complex construction environment of tunnels, this method may have significant deviations in locating the actual gas escape source, even leading to missed detections, and cannot accurately reflect the spatial distribution of the gas. Summary of the Invention

[0005] The purpose of this invention is to provide a scanning monitoring method and device for harmful gases in tunnels, which addresses the shortcomings of existing technologies and solves the problems mentioned in the background.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: A scanning method for monitoring harmful gases in tunnels includes the following steps: S1. Control monitoring devices located at at least two different positions within the tunnel to perform synchronous scanning. Each monitoring device emits laser beams at multiple azimuth and elevation angles, and synchronously records the azimuth angle data, elevation angle data, monitoring device number, and concentration integral value of each laser beam; simultaneously, acquire boundary point cloud data of the tunnel space. S2. Select laser rays with a concentration integral value greater than 0 as effective laser rays; Based on the azimuth and elevation angle data of effective laser rays, effective laser rays from different detection devices are paired up in pairs, and the potential intersection points and initial concentration estimates of the potential intersection points of each pair of effective laser rays are calculated within the spatial range defined by the tunnel design profile. S3. Based on the tunnel's 3D boundary point cloud data, a 3D network model of the tunnel surface is constructed using the Delaunay triangulation algorithm; S4. Define a three-dimensional mesh in the three-dimensional network model. Based on the concentration integral values ​​of all effective laser rays, perform hierarchical processing according to the order of concentration integral values ​​from low to high based on the stepwise projection algorithm. Assign a concentration value to the voxel through which the laser ray passes corresponding to each concentration integral value level to obtain the three-dimensional gas concentration field inside the tunnel. S5. Based on the three-dimensional gas concentration field, visualization is performed through isosurface, slice, or transparent volume drawing methods to generate a three-dimensional model of the distribution of harmful gas concentration in the tunnel.

[0007] Preferably, there are two monitoring devices, which are respectively installed on both sides of the same end of the tunnel.

[0008] Further, calculating potential intersection points in step S2 includes: calculating the three-dimensional direction vectors of multiple laser rays based on the position, azimuth, and elevation parameters of the monitoring equipment, and obtaining the closest intersection point in space between two laser rays from different monitoring equipment; setting an intersection point tolerance threshold, and identifying potential intersection points as those whose closest intersection point is less than or equal to the intersection point tolerance threshold.

[0009] Further, calculating the initial concentration estimate at the potential intersection point in step S2 includes: calculating the mean of the concentration integral values ​​of each pair of laser rays as the initial concentration estimate for that spatial point.

[0010] Furthermore, the graded processing described in step S4 specifically includes: dividing the gas concentration measurements of all laser rays into multiple concentration levels on a logarithmic scale; processing the rays within each concentration level sequentially from low to high concentration level, and judging the voxels passed through by each ray: if the voxel has not been assigned a value, then directly assigning the threshold of the concentration level; if it has been assigned a value, then comparing the threshold of the current concentration level with the assigned value, and taking the smaller value to reassign a value.

[0011] Furthermore, for voxels that have not been penetrated by any laser beams, the nearest neighbor interpolation algorithm is used to fill them based on the concentration values ​​of neighboring voxels that have already been assigned values.

[0012] The present invention also provides a scanning monitoring device utilizing the above-described scanning monitoring method, comprising a laser sensor module, a pitch angle adjustment component, a control component, an azimuth angle adjustment component, and a bracket. The azimuth angle adjustment component is mounted on the bracket, the control component is mounted on the azimuth angle adjustment component, and the laser sensor module is mounted on the control component via the pitch angle adjustment component. The laser sensor module, the pitch angle adjustment component, and the azimuth angle adjustment component are all electrically connected to the control component.

[0013] Preferably, the laser sensor module includes a methane laser sensor, a carbon monoxide laser sensor, a carbon dioxide laser sensor, and a laser rangefinder.

[0014] Preferably, the cleaning module includes a drive unit and a cleaning brush, the cleaning module is mounted on the laser sensor module and electrically connected to the control component.

[0015] The present invention has at least the following advantages or beneficial effects: 1. This invention provides a scanning monitoring method for hazardous gases in tunnels. By calculating the effective intersection points of laser rays from different monitoring devices within the tunnel space, it provides precise three-dimensional spatial constraints for gas concentration measurement data. Transforming path integral concentration data into precise three-dimensional spatial distribution information enables accurate identification of the three-dimensional coordinates of gas emission sources, thereby achieving precise location of hazardous gas emission sources and effectively solving the problems of missed detections and misjudgments caused by ambiguous positioning.

[0016] 2. The progressive assignment strategy from low to high concentration adopted in this invention follows the physical priors of gas diffusion. This strategy can effectively suppress reconstruction artifacts caused by measurement noise and sparse X-ray coverage, and shows stronger adaptability to interference data in complex tunnel environments, resulting in high stability, fewer artifacts, and more physical consistency in the reconstruction results.

[0017] 3. This invention transforms abstract measurement data into an intuitive three-dimensional gas concentration distribution model using isosurfaces, color mapping, and other methods. This enables construction and safety personnel to quickly grasp the overall and local risk status of the tunnel, providing efficient and powerful technical support for safety early warning, ventilation control, and emergency rescue, greatly improving the efficiency and accuracy of decision-making.

[0018] 4. The scanning monitoring device provided by this invention forms a tightly integrated whole with the scanning monitoring method. The structural design of the device ensures the availability of the data required by the method. This provides a technical foundation for realizing intelligent and precise tunnel gas safety monitoring. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A flowchart of a tunnel hazardous gas scanning monitoring method provided by the present invention; Figure 2 A front view of the device layout and scanning schematic diagram provided for a specific embodiment of the present invention; Figure 3 A side view of the device layout and scanning schematic diagram provided for a specific embodiment of the present invention; Figure 4 A top view of the device layout and scanning schematic diagram provided for a specific embodiment of the present invention; Figure 5 The image shows the three-dimensional reconstruction result of harmful gases according to a specific embodiment of the present invention. Figure 6 This is a schematic diagram of the monitoring device provided by the present invention.

[0021] Icons: 1. Laser sensor module; 2. Cleaning module; 3. Pitch angle adjustment component; 4. Azimuth angle adjustment component; 5. Control component; 6. Bracket. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0023] Please refer to Figure 1 As shown. A scanning method for monitoring harmful gases in tunnels utilizes a scanning laser monitoring device to acquire gas concentration integral data along multiple laser paths within the tunnel space. A stepwise projection 3D reconstruction algorithm is then employed to invert the one-dimensional path integral data into a 3D concentration distribution of harmful gases within the tunnel. Specifically, the method includes the following steps: S1. Control at least two monitoring devices located at different positions within the tunnel to perform synchronous scanning. Each monitoring device emits laser beams at multiple azimuth and elevation angles and synchronously records the measured values ​​of each laser beam (azimuth angle data, elevation angle data, monitoring device number, and concentration integral value). Simultaneously, acquire boundary point cloud data of the tunnel space, which includes the X, Y, and Z coordinates of each point on the tunnel surface, and store the above data in a CSV format file.

[0024] Preferably, there are two monitoring devices, which are respectively installed on both sides of the same end of the tunnel.

[0025] S2. Read the measured values ​​of laser rays and boundary point cloud data from the CSV file, and filter out laser rays with a concentration integral value greater than 0 as valid laser rays; Based on the azimuth and elevation angle data of effective laser rays, effective laser rays from different detection devices are paired up in pairs, and the potential intersection points and initial concentration estimates of the potential intersection points of each pair of effective laser rays are calculated within the spatial range defined by the tunnel design profile. The calculation of potential intersection points includes: calculating the three-dimensional direction vectors of multiple laser rays based on the position, azimuth, and elevation parameters of the monitoring equipment, and obtaining the closest intersection point in space between two laser rays from different monitoring equipment; setting an intersection point tolerance threshold, and identifying the closest intersection point as a potential intersection point if it is less than or equal to the intersection point tolerance threshold.

[0026] The calculation of the initial concentration estimate at the potential intersection point includes: calculating the mean of the concentration integral values ​​of each pair of laser rays, and using it as the initial concentration estimate for that spatial point.

[0027] S3. Based on the tunnel's 3D boundary point cloud data, a 3D network model of the tunnel surface is constructed using the Delaunay triangulation algorithm; S4. Define a three-dimensional mesh in the three-dimensional network model. Based on the concentration integral values ​​of all effective laser rays, perform hierarchical processing according to the order of concentration integral values ​​from low to high based on the stepwise projection algorithm. Assign a concentration value to the voxel through which the laser ray passes corresponding to each concentration integral value level to obtain the three-dimensional gas concentration field inside the tunnel. The graded processing specifically includes: dividing all gas concentration measurements of laser rays into multiple concentration levels on a logarithmic scale; processing the rays within each concentration level sequentially from low to high, and judging the voxels that each ray passes through: if the voxel has not been assigned a value, it is directly assigned the threshold of the concentration level; if it has been assigned a value, the threshold of the current concentration level is compared with the assigned value, and the smaller value is used to reassign the value.

[0028] For voxels that have not been penetrated by any laser beams, the nearest neighbor interpolation algorithm is used to fill them based on the concentration values ​​of neighboring voxels that have already been assigned values.

[0029] S5. Based on the three-dimensional gas concentration field, visualization is performed through isosurface, slice, or transparent volume drawing methods to generate a three-dimensional model of the distribution of harmful gas concentration in the tunnel.

[0030] The method described above by the present invention will be illustrated by a specific embodiment below. It should be understood that this embodiment is only for explaining the present invention and is not intended to limit the scope of the present invention.

[0031] This embodiment is conducted in a simulated tunnel environment. Please refer to [the relevant documentation]. Figures 2 to 5 As shown.

[0032] S1. System Deployment and Data Acquisition: The tunnel extends along the y-axis, from y=0 to y=20, with the working face at y=20. The tunnel cross-sectional region is defined by the inequality x. 2 +z 2 ≤100 and z≥ 5. Jointly defined. One monitoring device (numbered 1 on the left and 2 on the right) is installed on each of the two sides of the tunnel. Their coordinates are Detector1 (7.66,0,-4) and Detector2 (-7.66,0,-4) respectively, in meters.

[0033] Control the two monitoring devices to perform synchronous scanning, with the scanning parameters set as follows: Azimuth range: 80° to 170° for the left detector, and 10° to 100° for the right detector; Pitch angle range: -15° to 75°; Scan step size: 5°.

[0034] During the scanning process, the system synchronously records the measurement data of each laser beam, including: monitoring device number (1 or 2), azimuth angle (unit: degrees), elevation angle (unit: degrees), and methane concentration integral value (unit: ppm·m).

[0035] Simultaneously, point cloud data of the tunnel boundary is acquired, including the X, Y, and Z coordinates of each point on the tunnel surface. Both the laser beam measurement data and the tunnel boundary point cloud data are stored as CSV files.

[0036] S2: Data preprocessing and spatial intersection calculation: Data loading and filtering: Load all measurement data from the CSV file, including boundary point coordinates and laser beam measurements; filter valid measurement data with concentration values ​​greater than 0, and exclude laser beams with no gas signal.

[0037] Laser beam intersection calculation: For each pair of left and right detector beam combinations, based on the monitoring equipment position, azimuth angle and elevation angle data, calculate the three-dimensional direction vector of each laser beam, and calculate the nearest intersection point of the two beams in space; set the intersection tolerance threshold to 1.0m, and exclude beam pairs whose nearest intersection point distance exceeds this threshold.

[0038] Verify whether the intersection point is located within the valid tunnel area (judgment condition: x) 2 +z 2 ≤100, and 0≤y≤20, and 5≤z≤10 (unit: m).

[0039] Intersection Concentration Assignment: For each valid intersection point that passes verification, the arithmetic mean of the concentration integrals of its corresponding two rays is taken as the initial concentration estimate for that spatial point. The calculation formula is: C intersection =(C left +C right ) / 2, C left C represents the integral value of the gas concentration emitted by the laser beam from the left monitoring device. right This is the integral value of the gas concentration of the radiation emitted by the right monitoring device.

[0040] After the above processing, the system calculated a total of 284 valid spatial intersections from the example data.

[0041] S3: Tunnel geometry modeling: Based on the collected tunnel boundary point cloud data, Delaunay triangulation was performed on the boundary point cloud to construct a three-dimensional mesh model of the tunnel surface; finally, 512 surface triangular patches were extracted to form the geometric boundary of the tunnel; this model is used to define the physical range and boundary conditions of the reconstruction area.

[0042] S4: Three-dimensional concentration field reconstruction based on stepwise projection algorithm: S4.1: Grid space discretization: The reconstructed region is defined as: x∈[-10,10]m, y∈[0,20]m, z∈[-5,10]m; Set the grid resolution to 30×30×30; Generate a three-dimensional mesh lattice and initialize the three-dimensional concentration field as a zero-value matrix.

[0043] S4.2: Concentration Level Classification: The concentration integral values ​​of all effective laser rays (measurement range: 0~4843ppm·m) were extracted and divided into 20 concentration levels on a logarithmic scale; the level thresholds covered the entire range from the minimum detection value to the maximum measurement value.

[0044] S4.3: Stepwise projection reconstruction: Process according to concentration level from low to high: Low-level processing (threshold of 85 ppm·m): Process all laser rays with an integral concentration value ≤ 85 ppm·m, identify all grid voxels that each laser ray passes through, assign the current threshold concentration value to these voxels, and mark them as already assigned. Intermediate level iteration (threshold range of 85~2500ppm·m): The rays within each concentration level are processed sequentially, and the voxels passed by each ray are judged: if the voxel has not been assigned a value, the current threshold is directly assigned; if it has been assigned a value, the threshold of the current concentration level is compared with the assigned value, and the smaller value is taken to reassign the value.

[0045] Advanced processing (threshold > 2500 ppm·m): Focus on processing high-concentration radiation (mainly distributed near the Y=20m working face), identify areas of abnormal concentration, and locate potential methane emission sources.

[0046] S4.4: Spatial Interpolation Completion For grid voxels that have not been penetrated by any rays (mainly located in areas with sparse ray coverage). The nearest neighbor interpolation algorithm is used to fill in the values ​​based on the concentration values ​​of neighboring already assigned voxels; Ensure that a continuous and complete concentration distribution field is formed throughout the three-dimensional space.

[0047] S5: Results Analysis and Visualization After reconstruction, the system generates the following output: Maximum reconstruction concentration: approximately 3200 ppm; Average concentration: approximately 450 ppm; High concentration areas account for approximately 12%.

[0048] 3D visualization: Generate a 3D distribution model of tunnel methane concentration; use isosurface rendering to display the spatial distribution of different concentration levels; and use color mapping to intuitively present the concentration gradient (blue to red indicates increasing concentration).

[0049] Hazardous gas concentration identification: Automatically identifies three main areas with high concentrations; accurately locates the spatial coordinates of potential methane escape points; calculates the influence range and intensity of each escape source.

[0050] Example effect verification: To verify the effectiveness of this embodiment, the reconstruction results are compared with manually detected data: Location positioning error: <0.8m; relative error of concentration estimation: <15%; total reconstruction time: <10min.

[0051] Please refer to Figure 6As shown, the present invention also provides a scanning monitoring device utilizing the above-described scanning monitoring method, comprising a laser sensor module 1, a pitch angle adjustment component 3, an azimuth angle adjustment component 4, a control component 5, and a support 6. The laser sensor module 1 is used for long-distance detection of gas concentration and distance measurement. In this embodiment, the laser sensor module 1 includes, but is not limited to, a methane laser sensor, a carbon monoxide laser sensor, a carbon dioxide laser sensor, and a laser rangefinder. The laser sensor module 1 is mounted on the control component 5 via the pitch angle adjustment component 3, and both the laser sensor module 1 and the pitch angle adjustment component 3 are electrically connected to the control component 5. The concentration data and distance data detected by the laser sensor module 1 are transmitted to the control component 5 for storage. The control component 5 can control the operation of the pitch angle adjustment component 3, thereby adjusting the rotation of the laser sensor module 1 in the vertical plane. The control component 5 is mounted on the top of the bracket 6 via the azimuth adjustment component 4. The azimuth adjustment component 4 is electrically connected to the control component 5. The control component 5 controls the operation of the azimuth adjustment component 4, thereby adjusting its rotation in the horizontal plane, which in turn drives the laser sensor module 1 mounted on the control component 5 via the pitch adjustment component 3 to rotate.

[0052] The control component 5 includes a battery, a processor, a transmission module, and a storage module. The battery powers the laser sensor module 1, the pitch adjustment component 3, the azimuth adjustment component 4, and the control component 5 itself. The processor transmits action commands to the laser sensor module 1, the pitch adjustment component 3, and the azimuth adjustment component 4 via the transmission module. The laser sensor module 1 can transmit monitoring data to the storage module for storage via the transmission module.

[0053] Support 6 is an existing telescopic tripod used to fix the scanning monitoring device, ensuring that the scanning monitoring device can be placed stably on uneven ground.

[0054] It should be noted that both the pitch angle adjustment component 3 and the azimuth angle adjustment component 4 are existing pitch angle and azimuth angle adjustment products, such as the ZAY240 gas detection pan-tilt unit.

[0055] Preferably, the cleaning module 2 includes a drive unit and a cleaning brush. The cleaning module 2 is mounted on the laser sensor module 1 and electrically connected to the control component 5. The drive unit is installed inside the laser sensor module 1 and is a servo motor. The output end of the drive unit is located outside the laser sensor module 1 and is fixedly connected to one end of the cleaning brush. The control component 5 controls the operation of the drive unit. The cleaning brush reciprocates under the drive unit's rotation, sweeping across the lenses of various laser sensors to clean the lenses and ensure the accuracy of the monitoring data.

[0056] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A scanning monitoring method for harmful gases in tunnels, characterized in that, Includes the following steps: S1. Control monitoring devices located at at least two different positions within the tunnel to perform synchronous scanning. Each monitoring device emits laser beams at multiple azimuth and elevation angles, and synchronously records the azimuth angle data, elevation angle data, monitoring device number, and concentration integral value of each laser beam; simultaneously, acquire boundary point cloud data of the tunnel space. S2. Select laser rays with a concentration integral value greater than 0 as effective laser rays; Based on the azimuth and elevation angle data of effective laser rays, effective laser rays from different detection devices are paired up in pairs, and the potential intersection points and initial concentration estimates of the potential intersection points of each pair of effective laser rays are calculated within the spatial range defined by the tunnel design profile. S3. Based on the tunnel's 3D boundary point cloud data, a 3D network model of the tunnel surface is constructed using the Delaunay triangulation algorithm; S4. Define a three-dimensional mesh in the three-dimensional network model. Based on the concentration integral values ​​of all effective laser rays, perform hierarchical processing according to the order of concentration integral values ​​from low to high based on the stepwise projection algorithm. Assign a concentration value to the voxel through which the laser ray passes corresponding to each concentration integral value level to obtain the three-dimensional gas concentration field inside the tunnel. S5. Based on the three-dimensional gas concentration field, visualization is performed through isosurface, slice, or transparent volume drawing methods to generate a three-dimensional model of the distribution of harmful gas concentration in the tunnel.

2. The method for scanning and monitoring harmful gases in tunnels according to claim 1, characterized in that, There are two monitoring devices, which are installed on both sides of the same end of the tunnel.

3. The tunnel hazardous gas scanning monitoring method according to claim 1, characterized in that, The calculation of potential intersection points in step S2 includes: calculating the three-dimensional direction vectors of multiple laser rays based on the position, azimuth and elevation parameters of the monitoring equipment, and obtaining the closest intersection point in space between two laser rays from different monitoring equipment; setting an intersection point tolerance threshold, and identifying the closest intersection point as a potential intersection point if it is less than or equal to the intersection point tolerance threshold.

4. The tunnel hazardous gas scanning monitoring method according to claim 1, characterized in that, The calculation of the initial concentration estimate at the potential intersection point in step S2 includes: calculating the mean value of the concentration integral of each pair of laser rays, and using it as the initial concentration estimate for that spatial point.

5. The tunnel hazardous gas scanning monitoring method according to claim 4, characterized in that, The graded processing described in step S4 specifically includes: dividing all the gas concentration measurements of the laser rays into multiple concentration levels on a logarithmic scale; processing the rays within each concentration level sequentially from low to high concentration level, and judging the voxels that each ray passes through: if the voxel has not been assigned a value, then directly assigning the threshold of the concentration level; if it has been assigned a value, then comparing the threshold of the current concentration level with the assigned value, and taking the smaller value to reassign a value.

6. The method for scanning and monitoring harmful gases in tunnels according to claim 5, characterized in that, For voxels that have not been penetrated by any laser beams, the nearest neighbor interpolation algorithm is used to fill them based on the concentration values ​​of neighboring voxels that have already been assigned values.

7. A scanning monitoring device utilizing the scanning monitoring method according to any one of claims 1-6, characterized in that, The device includes a laser sensor module, a pitch angle adjustment component, a control component, an azimuth angle adjustment component, and a bracket. The azimuth angle adjustment component is mounted on the bracket, and the control component is mounted on the azimuth angle adjustment component. The laser sensor module is mounted on the control component via the pitch angle adjustment component. The laser sensor module, the pitch angle adjustment component, and the azimuth angle adjustment component are all electrically connected to the control component.

8. The scanning monitoring device according to claim 7, characterized in that, The laser sensor module includes a methane laser sensor, a carbon monoxide laser sensor, a carbon dioxide laser sensor, and a laser rangefinder.

9. The scanning monitoring device according to claim 7, characterized in that, It also includes a cleaning module, which includes a drive device and a cleaning brush. The cleaning module is mounted on the laser sensor module and is electrically connected to the control component.

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