Explosion-proof gas monitoring method and monitoring camera thereof

Abstract

The application relates to the technical field of gas monitoring cameras, in particular to an anti-explosion gas monitoring method and a monitoring camera thereof, which comprises the following steps: a patrol parameter presetting step, detection parameters corresponding to a gas type are called, and a patrol path of a laser detection holder is initialized; a patrol area identification step, the laser detection holder is driven to rotate and scan along the preset patrol path, each reflected echo signal is received, gas concentration information of a corresponding area is obtained through analysis, and a leakage area position is identified; a leakage point positioning step, gas concentration data of each detection point and corresponding three-dimensional position coordinates are collected to generate accurate leakage position information; a leakage alarm prompting step, a holder integrated camera is driven to collect on-site image information of the leakage point, the accurate leakage position information and the on-site image information are uploaded to a preset monitoring platform, and an alarm prompt is triggered. The application has the effect of improving the accuracy of combustible gas leakage position monitoring in industrial stations, pipe gallery equipment clusters and the like.

Description

Technical Field

[0001] This application relates to the field of gas monitoring camera technology, and in particular to an explosion-proof gas monitoring method and monitoring camera. Background Technology

[0002] Combustible gas leak monitoring systems are core monitoring equipment for early warning of leak risks and ensuring safe production in scenarios such as field oil and gas construction, chemical plants, and pipeline corridors. They are widely used in routine inspections and safety protection scenarios involving various flammable and explosive gases. These systems rely on the coordinated detection of gas concentration and location to identify leaks and issue early warnings. The accuracy of leak location, the accuracy of concentration detection, and environmental adaptability are key indicators for ensuring monitoring reliability. Any deviation in leak location or inaccurate concentration detection will directly delay leak response, leading to gas accumulation, combustion, explosion, poisoning, and other safety accidents, seriously affecting on-site operational safety and production efficiency.

[0003] In related technologies, Chinese invention patent with publication number CN119534763A discloses a control method for an outdoor combustible gas monitoring device. This scheme adopts a monitoring architecture that links a combustible gas monitor with a camera. By triggering the monitor to rotate and scan, the ambient gas concentration in different directions is collected at multiple points during the rotation. The approximate location of the leak source is determined by the monitor orientation corresponding to the maximum concentration. Then, the camera is driven to turn to the corresponding direction to collect images to assist in identifying the leak. This improves the automation level of gas leak inspection to a certain extent and reduces the operational risks of manual on-site inspection.

[0004] Regarding the aforementioned technologies, this type of rotating scanning gas monitoring solution can only achieve a rough directional location of the leak source by relying on the concentration gradient of gas diffusion. It cannot directly lock the precise spatial location of the leak point, nor can it distinguish the independent leak points of multiple devices in the same monitoring area. Furthermore, the identification of the leak point is highly dependent on the assistance of camera image recognition. The gas detection unit itself does not have point-level positioning capabilities, and the positioning accuracy and detection efficiency are significantly limited, making it difficult to meet the application requirements of fine-grained leak location in scenarios such as industrial sites and pipeline equipment clusters. Summary of the Invention

[0005] To further improve the accuracy of combustible gas leak location monitoring in scenarios such as industrial sites and pipeline equipment clusters, this application provides an explosion-proof gas monitoring method and its monitoring camera.

[0006] Firstly, this application provides a method for monitoring explosion-proof gases: A method for monitoring explosion-proof gases, comprising: The inspection parameter preset steps involve matching equipment parameters in the selected monitoring area, recording the position association information of each monitored device and the corresponding corner reflector, retrieving the detection parameters for the corresponding gas type, and initializing the inspection path of the laser detection pan-tilt unit. The inspection area identification step is equipped with a laser echo area analysis strategy, which drives the laser detection pan-tilt unit to rotate and scan along the preset inspection path, emits detection laser and receives the echo signals reflected by the corner reflectors at each device, and analyzes the gas concentration information of the corresponding area of ​​each device based on the principle of spectral absorption to identify the device with leakage anomaly and determine the location of its leakage area. The leak location process includes a connection point detection strategy. After identifying the location of the leak area and locating the leaking device, the laser detection pan-tilt unit is controlled to aim at the leak connection part of the device. Multiple discrete detection points are sequentially detected by laser along the connection point. Gas concentration data and corresponding three-dimensional position coordinates of each detection point are collected to generate accurate leak location information. The leakage alarm prompt steps are configured with a visual linkage control strategy, which drives the PTZ integrated camera to collect on-site image information of the leakage point, uploads the accurate leakage location information and on-site image information to the preset monitoring platform, and triggers an alarm prompt.

[0007] By adopting the above technical solutions, an explosion-proof gas monitoring process is constructed that sequentially connects inspection parameter presets, inspection area identification, leak location positioning, and leak alarm prompts. This process combines laser detection pan-tilt-zoom scanning with spectral absorption analysis to complete large-scale leak investigation, followed by refined discrete point detection at pipeline connection points. Simultaneously, video capture and output of multi-dimensional early warning information helps adapt to industrial monitoring scenarios with different equipment layouts, overcomes the deployment limitations of fixed optical path detection solutions, improves the efficiency of leak investigation over large areas, shortens the response time for leak anomaly detection and initial location, achieves step-by-step location from the leak area to the specific leak point, improves the accuracy of leak source location identification, enriches the information dimensions of leak early warning, provides intuitive location and image references for on-site operation and maintenance, and improves the efficiency of leak incident response.

[0008] Optionally, the inspection parameter preset step is configured with a device location mapping strategy, including: The database stores the installation coordinates of each monitored device within the monitoring area, the location of the corresponding corner reflectors, the device type, and the pipeline connection parameters. When a monitoring area is selected and inspection is started, the system automatically retrieves the associated information of the equipment and corner reflectors in the corresponding area, matches the detection operation parameters of the corresponding gas type, and generates the initial inspection path for the entire area of ​​the laser detection PTZ. The laser detection pan-tilt unit initializes the path based on the initial inspection path and performs gas concentration detection.

[0009] By adopting the above technical solution, the equipment location mapping strategy pre-stores the installation coordinates of each device, the placement of corner reflectors, and the pipeline connection structure parameters. When the inspection starts, it automatically retrieves the associated information and matches the detection parameters to generate the initial inspection path for the entire area and complete the initialization. This helps to improve the efficiency and accuracy of the inspection path initialization, reduce the workload of manual configuration and human error, adapt to the differences in equipment layout in different monitoring areas, and improve the scenario adaptability of the solution.

[0010] Optionally, the equipment location mapping strategy is further configured with a pipeline vibration interference correction sub-strategy, including: The laser feedback signals at each detection point are acquired in real time during the initialization of the laser detection pan-tilt-zoom path in order to identify and extract the fluctuation characteristic data of the echo signals. Based on the wave characteristics of the signal, the deviation direction and displacement value of the laser landing point are analyzed to determine the laser landing point offset information; The vibration interference coefficient corresponding to the laser landing point offset information is calculated using a preset vibration interference analysis model. When the preset reference interference threshold is exceeded, the laser landing point position is automatically corrected.

[0011] By adopting the above technical solution, the pipeline vibration interference correction sub-strategy collects the laser echo signal at each point during the path initialization process, extracts the wave characteristics to analyze the offset direction and displacement of the laser landing point, and combines the vibration interference coefficient to determine the trigger landing point position for automatic correction. This helps to reduce the impact of laser landing point offset caused by pipeline operation vibration, ensure the stability of echo signal acquisition, reduce the detection data deviation caused by spot offset, and improve the detection reliability of the inspection path.

[0012] Optionally, the vibration disturbance analysis model is calculated using the following formula: ; Where R is the vibration interference coefficient of the detection point, and is a dimensionless evaluation coefficient; The structural influence coefficient of the corresponding pipeline is a dimensionless preset constant, which is preset according to the pipeline material, pipe diameter and installation method. The cumulative interruption duration of the laser echo signal within a single sampling period is obtained by the system through real-time monitoring and statistical analysis of the continuity and intensity changes of the laser echo signal. The total sampling duration for a single test at this detection point is determined by the sampling duration in the detection operation parameters for the corresponding gas type. This represents the fluctuation amplitude of the echo intensity within a single sampling period; The reference echo intensity of the detection point under vibration-free conditions is preset and stored in the system.

[0013] By adopting the above technical solution, the vibration interference analysis model quantifies the vibration impact from two dimensions: the proportion of signal interruption duration and the amplitude of echo intensity fluctuation. Combined with the pipeline structure influence coefficient for correction, it helps to improve the accuracy and rationality of vibration interference degree judgment, provides a reliable quantitative basis for laser point correction, adapts to the vibration characteristics of pipelines with different materials and diameters, and improves the universality of correction logic.

[0014] Optionally, the device location mapping strategy is further configured with an environmental beam attenuation calibration sub-strategy, including: The laser detection pan-tilt unit is controlled to perform environmental calibration pre-scan along the initial inspection path of the entire area, and the laser echo intensity data of each detection point is collected. The data is then compared with the preset interference-free reference echo intensity to obtain the total laser attenuation at each point. The total attenuation was analyzed by combining spectral absorption characteristics with environmental temperature and humidity monitoring data. The target gas absorption attenuation component and the environmental scattering attenuation component were separated, and the environmental interference conditions caused by the scattering of the ambient light beam were identified. Based on the type of environmental interference, the corresponding preset scattering analysis model is adjusted, and the beam attenuation coefficient of the corresponding detection point is calculated using the environmental scattering attenuation component. The beam attenuation coefficient is fed back to the gas concentration analysis module to perform environmental compensation adjustment on the concentration calculation model.

[0015] By adopting the above technical solution, the environmental beam attenuation calibration sub-strategy obtains the total laser attenuation at each point through environmental calibration pre-scanning, separates the target gas absorption component and the environmental scattering attenuation component, identifies the type of interference condition and matches the corresponding model to calculate the beam attenuation coefficient, and feeds it back to the concentration analysis module for compensation and correction. This helps to reduce the interference of environmental scattering factors such as dust and water vapor on concentration detection, improves the accuracy of concentration detection results under different environmental conditions, and adopts appropriate compensation logic for different types of environmental interference to improve the accuracy of environmental correction.

[0016] Optionally, the connection point detection strategy is configured with an accurate positioning sub-strategy, including: Obtain the coordinate information of the spatial range of the leak area and the point cloud features of the pipeline, calculate the spatial distance between each pipeline connection point and the leak area, and filter out a subset of close-range detection point data with a distance less than a set threshold. The laser detection pan-tilt unit and integrated camera are controlled to simultaneously align with each point in the subset of close-range detection point data, and the on-site images and laser echo concentration data of the corresponding points are collected in sequence. Based on the on-site images, a visual leak feature comparison analysis is performed. If a visual leak feature is identified, the three-dimensional spatial coordinates of the visual leak feature point are collected and accurate leak location information is generated. If no visible leak features are detected, the laser detection pan-tilt unit is controlled to perform step-by-step scanning within the leak area. Based on the concentration data at each scanning point, a concentration gradient distribution is constructed, and combined with the gas diffusion and flow patterns, the accurate leak location information in the direction of continuous concentration increase is determined.

[0017] By adopting the above technical solution, the accurate positioning sub-strategy first filters out the close-range detection points near the leak area based on the point cloud feature coordinates to narrow the scope of fine inspection. Then, it adopts corresponding positioning methods for scenarios with visible leak features and scenarios without visible features. This helps to narrow the coverage of fine inspection, improve the efficiency of leak source positioning, adapt to different scenarios of visible damage and invisible internal leaks, and improve the accuracy and scenario adaptability of leak location identification.

[0018] Optionally, the laser echo region analysis strategy includes: The laser detection pan-tilt unit is controlled to rotate and scan along the full-area coarse inspection path at a set step angle, emitting detection lasers at each sampling angle and collecting the transmitted light signals. Based on the principle of spectral absorption, the gas concentration values ​​at each sampling angle are analyzed, and the range of sampling angles that continuously exceed the concentration threshold is defined as the leakage area. The monitored equipment corresponding to the leak area is determined by matching the angle range of the leak area with the preset equipment location information.

[0019] By adopting the above technical solution, the laser echo area analysis strategy detects and analyzes the gas concentration point by point by setting a step angle. The angle range that continuously exceeds the concentration threshold is defined as the leakage area. Then, it is matched with the preset equipment location information to determine the corresponding monitored equipment. This helps to quickly locate the equipment to which the leak belongs and the approximate spatial range, clarify the target area for subsequent fine positioning, ensure the objectivity of the leakage area delineation, and reduce the intervention cost of manual judgment.

[0020] Optionally, the laser echo region analysis strategy is further configured with a scanning speed adaptive sub-strategy, including: The gas concentration value in the leak area is used to determine the leak safety factor value within the preset concentration range; Based on the comparison between the leakage safety factor value and the preset benchmark safety factor, if it is greater than the preset benchmark safety factor, the step angle of the laser detection pan-tilt unit rotation scanning will be adaptively increased to improve the gas concentration detection speed at the point; if it is less than the preset benchmark step angle, the laser detection pan-tilt unit will be controlled to scan the point.

[0021] By adopting the above technical solution, the scanning speed adaptive sub-strategy matches the corresponding leakage safety factor according to the gas concentration value of the leakage area, and dynamically adjusts the scanning step angle after comparing it with the benchmark value. This helps to improve the area traversal speed in high-concentration leakage scenarios, quickly define the spatial boundary of the leakage, maintain the benchmark step accuracy in medium and low concentration scenarios, ensure the reliability of weak leakage signal detection, and balance positioning efficiency and detection accuracy.

[0022] Optionally, the leakage alarm notification step is further configured with a leakage classification strategy, including: Leakage level ranges are defined based on the concentration values ​​corresponding to the leakage concentration levels, the number of leakage points, and the concentration change trends. The detected leakage data is compared with each leakage level range to determine the corresponding leakage risk level, and the corresponding response measures are matched to generate handling guidance information.

[0023] By adopting the above technical solutions, the leakage classification strategy combines concentration values, the number of leakage points, and concentration change trends to divide leakage level ranges, and generates handling guidelines by matching corresponding risk levels and response measures. This helps to improve the pertinence of leakage emergency response, facilitates managers to take appropriate handling plans according to risk levels, standardizes response procedures under different leakage levels, and improves the orderliness of leakage incident handling.

[0024] Secondly, this application provides an explosion-proof gas monitoring camera, which adopts the following technical solution: An explosion-proof gas monitoring camera includes: an explosion-proof pan-tilt unit, a laser gas detection module, a camera acquisition module, a main control processing module, and a communication alarm module; The laser gas detection module and the camera acquisition module are fixedly integrated on the rotating end of the explosion-proof gimbal body, and the detection position and shooting angle are adjusted synchronously with the explosion-proof gimbal body. The main control processing module is built into the explosion-proof gimbal body and is electrically connected to the explosion-proof gimbal body, the laser gas detection module, and the camera acquisition module. It is used to pre-store detection operation parameters and inspection path information, drive the explosion-proof gimbal body to rotate and scan along the preset inspection path, control the laser gas detection module to emit detection laser and receive echo signals, and analyze the gas concentration information of each detection area based on the principle of spectral absorption to identify the equipment with leakage anomalies and the corresponding leakage area. The main control processing module is also used to control the camera acquisition module to acquire on-site images of the target device after locating the leaking device, identify the structural features of pipeline valves and flange connection points, generate a set of detection points, and control the laser gas detection module to perform laser detection on each discrete connection point in sequence, and generate accurate leak location information by combining the concentration data and spatial coordinates of each point. The communication alarm module is electrically connected to the main control processing module and is used to upload accurate leakage location information and on-site images to a preset monitoring platform and trigger corresponding alarm prompts.

[0025] By adopting the above technical solution, the laser gas detection module and the camera acquisition module are integrated into the rotating end of the explosion-proof pan-tilt unit. The main control processing module uniformly manages the entire process of inspection, detection, positioning, and alarm, while the communication alarm module completes data uploading and alarm triggering. This helps to achieve integrated collaboration between laser detection and visual acquisition, simplifies the deployment structure of on-site equipment, adapts to the installation and use requirements of flammable and explosive environments based on the explosion-proof body structure, expands the applicable scope of the equipment, ensures the directional synchronization of detection and shooting, and improves the accuracy of on-site image acquisition.

[0026] In summary, this application includes at least one of the following beneficial technical effects: 1. By constructing an explosion-proof gas monitoring process that includes preset inspection parameters, inspection area identification, leak location positioning, and leak alarm prompts, and combining laser detection pan-tilt-zoom scanning with spectral absorption analysis to complete large-scale leak investigation, and then conducting detailed discrete point detection at pipeline connection points, and simultaneously linking with cameras to collect and output multi-dimensional early warning information, this approach helps improve the efficiency of leak investigation in large areas, shortens the response time for the discovery and initial location of leak anomalies, and achieves step-by-step positioning from the leak area to the specific leak point, improving the accuracy of leak source location identification. Compared with the existing rotating scanning gas monitoring solution, which provides only a coarse directional positioning of the leak point, this approach has better application prospects in spaces where mobile robots are not available, providing intuitive location and image references for on-site operation and maintenance, and improving the efficiency of leak incident response. 2. The vibration interference analysis model quantifies the vibration impact from two dimensions: the proportion of signal interruption duration and the amplitude of echo intensity fluctuation. It is then corrected by combining the influence coefficient of pipeline structure, which helps to improve the accuracy and rationality of the vibration interference degree judgment, provides a reliable quantitative basis for laser landing point correction, adapts to the vibration characteristics of pipelines with different materials and diameters, and improves the universality of the correction logic. 3. The adaptive scanning speed sub-strategy matches the corresponding leakage safety factor based on the gas concentration value of the leakage area and dynamically adjusts the scanning step angle after comparing it with the baseline value. This helps to improve the area traversal speed in high-concentration leakage scenarios, quickly define the spatial boundary of the leakage, maintain the baseline step accuracy in medium and low-concentration scenarios, ensure the reliability of weak leakage signal detection, and balance positioning efficiency and detection accuracy. Attached Figure Description

[0027] Figure 1 This is a flowchart of steps S100 to S400 in this application.

[0028] Figure 2This is a flowchart of steps S101 to S103 in this application.

[0029] Figure 3 This is a flowchart of steps S104 to S106 in this application.

[0030] Figure 4 This is a flowchart of steps S107 to S110 in this application.

[0031] Figure 5 This is a flowchart of steps S301 to S304 in this application.

[0032] Figure 6 This is a flowchart of steps S201 to S205 in this application.

[0033] Figure 7 This is a flowchart of steps S401 to S402 in this application.

[0034] Figure 8 This is a schematic diagram of the overall structure of an explosion-proof gas monitoring camera according to an embodiment of this application.

[0035] Explanation of reference numerals in the attached diagram: 1. Explosion-proof pan-tilt rotating cylinder; 2. Camera housing; 3. Camera lens assembly; 4. Detection module housing; 5. Laser detection lens assembly; 6. Supplemental lighting assembly; 7. Explosion-proof mounting base. Detailed Implementation

[0036] To make the purpose, technical solution, and advantages of this application clearer, the following description is provided in conjunction with the appendix. Figures 1 to 8 The present application will be further described in detail below with reference to embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the application.

[0037] The embodiments of this application will now be described in further detail with reference to the accompanying drawings.

[0038] This application discloses an explosion-proof gas monitoring method. It constructs an explosion-proof gas monitoring process that sequentially connects inspection parameter presets, inspection area identification, leak location positioning, and leak alarm prompts. Combining laser detection pan-tilt-zoom scanning with spectral absorption analysis, it completes large-scale leak investigation. Then, it performs fine-grained detection at discrete points on pipeline connection areas, simultaneously linking with cameras to acquire and output multi-dimensional early warning information. This method helps adapt to industrial monitoring scenarios with different equipment layouts, overcomes the deployment limitations of fixed optical path detection schemes, improves the efficiency of leak investigation over large areas, and shortens the response time for detecting and initially locating leak anomalies.

[0039] Reference Figure 1 The procedure for monitoring explosion-proof gases includes the following steps: Step S100: Inspection parameter preset step, matching equipment parameters for the selected monitoring area, entering the position association information of each monitored device and the corresponding corner reflector, retrieving the detection parameters of the corresponding gas type, and initializing the inspection path of the laser detection pan-tilt unit; The monitoring area refers to the pre-set inspection space range where equipment prone to gas leakage, such as chemical pipelines, storage tanks, valves, and flanges, is laid out. In this embodiment, it specifically refers to the process pipe corridor and pump and valve operation area of ​​the petrochemical plant. The monitored equipment refers to process equipment such as pipelines, valves, flanges, and storage tanks that have the risk of gas leakage and is the core monitoring object of gas inspection.

[0040] A corner reflector is an optical device placed next to the monitored equipment to reflect the detection laser and enhance the echo signal intensity, thereby improving the signal-to-noise ratio and detection distance of laser detection. Detection parameters refer to operating parameters such as laser wavelength, sampling time, and concentration threshold, which vary depending on the type of gas being detected. The inspection path refers to the sequence of angle points that the laser detection pan-tilt unit must rotate sequentially to complete a full-area inspection, covering the detection positions of all monitored equipment.

[0041] After the staff selects the monitoring area to be inspected, the system automatically retrieves the location information of all monitored devices in the area, the layout coordinates of the corresponding corner reflectors, and the detection parameters of the target gas from the database. It completes the location association and matching between the devices and the reflectors, and then generates the initial inspection path of the laser detection pan-tilt unit according to the spatial orientation of each device, completing the parameter initialization configuration before inspection.

[0042] Step S200: Inspection area identification step, configured with a laser echo area analysis strategy, used to drive the laser detection pan-tilt unit to rotate and scan along the preset inspection path, emit detection laser and receive the echo signals reflected by the corner reflectors at each device, and analyze the gas concentration information of the corresponding area of ​​each device based on the principle of spectral absorption to identify the device with leakage abnormality and determine the location of its leakage area. The principle of spectral absorption refers to the detection principle that utilizes the selective absorption characteristics of target gas to laser of a specific wavelength, and inverses the gas concentration by analyzing the attenuation of the echo intensity. It is the core technology basis of laser gas detection. Gas concentration information refers to the volume concentration value of the target gas at each detection point, reflecting the degree of gas leakage in the area. The location of the leakage area refers to the directional range corresponding to the spatial area where the gas concentration exceeds the standard, which is used to narrow down the detection range for subsequent precise positioning.

[0043] Step S300: Leakage point location step, configured with a connection point detection strategy, after identifying the location of the leak area and locating the leaking device, control the laser detection pan-tilt unit to aim at the leak connection part of the device, and sequentially perform laser detection on multiple discrete detection points along the connection position, collect gas concentration data and corresponding three-dimensional position coordinates of each detection point to generate accurate leak location information; Leakage connection points refer to the connection structures on the monitored equipment that are prone to gas leaks, mainly including flange connections, valve sealing surfaces, and pipeline welding points; discrete detection points refer to multiple finely distributed detection points along the connection points, used for point-by-point detection to locate specific leak points; accurate leak location information refers to precise location data containing the three-dimensional spatial coordinates of the leak point, the corresponding equipment location, and the concentration value, which can provide accurate location guidance for subsequent leak handling.

[0044] In practice, after identifying the leaking device and the corresponding leak area, the system controls the laser detection pan-tilt unit to turn towards the leaking device, aiming at the easily leaking parts such as pipe connections and valve flanges on the device. It then sequentially selects multiple discrete detection points along the connection trajectory and emits detection lasers point by point, collecting gas concentration data and corresponding three-dimensional position coordinates at each point. By comparing the concentrations, the system locates the point with the highest concentration as the actual leak point and integrates them to generate accurate leak location information containing coordinates and concentration information.

[0045] Step S400: Leakage alarm prompt step, configured with a visual linkage control strategy, used to drive the PTZ integrated camera to collect on-site image information of the leakage point, upload the accurate leakage location information and on-site image information to the preset monitoring platform, and trigger an alarm prompt.

[0046] On-site image information refers to real-time video data of the leaking equipment and leak point collected by the pan-tilt integrated camera, which can intuitively present the on-site status of the leak location; the preset monitoring platform refers to the gas monitoring and control platform deployed in the plant monitoring center, which is used to centrally receive, display and store detection data and alarm information from various areas; alarm prompts refer to the sound, light and pop-up warning signals issued when an abnormal leak is detected, which are used to remind monitoring personnel to pay attention to and deal with the leak event in a timely manner.

[0047] In practice, after the system accurately locates the leak point, it drives the PTZ integrated camera to capture real-time images of the leak point. The accurate leak location information and the corresponding on-site image information are packaged and uploaded to the preset factory monitoring platform. At the same time, the system triggers a pop-up alarm and an on-site audible and visual warning on the platform, notifying maintenance personnel to carry out leak handling work in a timely manner.

[0048] Reference Figure 2 The inspection parameter preset steps are configured with a device location mapping strategy, including: Step S101: Store in the database the installation coordinates of each monitored device within the monitoring area, the layout location of the corresponding corner reflectors, the device type, and the pipeline connection structure parameters; Installation coordinates refer to the three-dimensional position data of the monitored equipment in the spatial coordinate system of the plant area, which is the basic positioning basis for matching the inspection direction; pipeline connection structural parameters refer to the structural information of the monitored equipment, such as pipe diameter, number of flanges, and valve position, which provide structural reference for subsequent refined point detection.

[0049] In practice, during the system deployment phase, staff will enter the three-dimensional installation coordinates of all monitored equipment in the monitoring area, the coordinates of the corresponding corner reflector locations, the equipment type, and the structural parameters of the pipeline connections into the system database one by one, forming a complete basic database of equipment locations, which will provide basic data support for subsequent inspection path generation and location detection.

[0050] Step S102: When a monitoring area is selected and the inspection is started, the device and corner reflector association information of the corresponding area are automatically retrieved, the detection operation parameters of the corresponding gas type are matched, and the initial inspection path of the entire area of ​​the laser detection pan-tilt unit is generated. The detection operation parameters refer to the operation configuration parameters such as the laser wavelength, sampling integration time, and concentration alarm threshold for the target gas. Different types of detection gases correspond to different parameter configuration schemes.

[0051] In practice, once the staff selects the target monitoring area and starts the inspection task, the system automatically retrieves the association information of all equipment and corner reflectors in the area from the database, matches the corresponding detection operation parameters according to the type of gas to be detected, and sorts each detection point according to the principle of optimal spatial orientation to generate the initial inspection path of the laser detection pan-tilt unit covering the entire area.

[0052] Step S103: Initialize the path based on the initial inspection path indication laser detection pan-tilt unit and perform gas concentration detection.

[0053] Path initialization refers to the process by which the laser detection pan-tilt unit rotates sequentially to each detection point according to the generated initial inspection path to complete angle calibration and pre-positioning, ensuring that the laser landing point can be accurately aligned with the corner reflector during subsequent inspections.

[0054] In practice, the system sends the generated initial inspection path to the control unit of the laser detection gimbal, controls the gimbal to rotate along the path to each detection point to complete angle calibration and landing point verification, and after the path initialization is completed, the full-area gas concentration detection scan is officially started.

[0055] Reference Figure 3 The equipment location mapping strategy is also configured with a pipeline vibration interference correction sub-strategy, including: Step S104: Real-time acquisition of laser feedback signals from each detection point during the initialization of the laser detection pan-tilt-zoom path, in order to identify and extract the fluctuation characteristic data of the echo signal; Fluctuation characteristic data refers to characteristic parameters that reflect the stability of the laser echo signal, such as the interruption duration and intensity fluctuation amplitude. These parameters can intuitively demonstrate the degree of interference of pipeline vibration on laser detection.

[0056] During the path initialization process of the laser detection pan-tilt unit, the system continuously collects the laser feedback signals from each detection point, performs real-time analysis on the continuity and intensity changes of the signals, identifies and extracts fluctuation characteristic data such as the cumulative interruption duration and intensity fluctuation amplitude of the echo signals, and uses them as the basis for vibration interference analysis.

[0057] Step S105: Analyze the deviation direction and displacement value of the laser landing point based on the wave characteristic data of the signal to determine the laser landing point offset information; Laser point offset information refers to the deviation direction and displacement distance of the actual laser point from the center of the corner reflector due to pipeline vibration, which is the direct cause of echo signal fluctuations.

[0058] During implementation, the system analyzes and calculates the deviation direction and displacement value of the laser landing point relative to the center of the corner reflector based on the extracted echo fluctuation characteristic data and the optical response characteristics of the corner reflector. It then integrates and generates complete laser landing point offset information to quantitatively characterize the degree of interference of vibration on laser detection.

[0059] Step S106: Calculate the vibration interference coefficient corresponding to the laser landing point offset information using the preset vibration interference analysis model. When the preset reference interference threshold is exceeded, trigger automatic correction of the laser landing point position.

[0060] The vibration interference analysis model is a mathematical model used to quantify the degree of vibration interference to laser detection. It can output a standardized vibration interference coefficient as the basis for analysis on whether to trigger correction. The reference interference threshold is a pre-set upper limit of the vibration interference coefficient. If the threshold is exceeded, it means that the vibration interference has affected the detection accuracy and correction needs to be initiated.

[0061] The vibration disturbance analysis model is calculated using the following formula: ; Where R is the vibration interference coefficient of the detection point, and is a dimensionless evaluation coefficient; The structural influence coefficient of the corresponding pipeline is a dimensionless preset constant, which is preset according to the pipeline material, pipe diameter and installation method. The cumulative interruption duration of the laser echo signal within a single sampling period is obtained by the system through real-time monitoring and statistical analysis of the continuity and intensity changes of the laser echo signal. The total sampling duration for a single test at this detection point is determined by the sampling duration in the detection operation parameters for the corresponding gas type. This represents the fluctuation amplitude of the echo intensity within a single sampling period; The reference echo intensity of the detection point under vibration-free conditions is preset and stored in the system.

[0062] Reference Figure 4 The equipment location mapping strategy is also configured with an environmental beam attenuation calibration sub-strategy, including: Step S107: Control the laser detection pan-tilt unit to perform environmental calibration pre-scan along the initial inspection path of the entire area, collect the laser echo intensity data of each detection point, compare it with the preset interference-free reference echo intensity, and obtain the total laser attenuation of each point. Environmental calibration pre-scan refers to the full-path echo intensity calibration scan carried out before the formal inspection, which is used to obtain the laser attenuation in the current environment; the total laser attenuation refers to the attenuation ratio of the actual echo intensity relative to the reference echo intensity, which includes both gas absorption attenuation and environmental scattering attenuation.

[0063] In practice, before the formal inspection begins, the system controls the laser detection pan-tilt unit to perform an environmental calibration pre-scan along the initial inspection path, and sequentially collects the actual laser echo intensity data of each detection point. The actual echo intensity of each point is compared with the preset interference-free reference echo intensity, and the total laser attenuation of each detection point is calculated.

[0064] Step S108: Combine spectral absorption characteristics with ambient temperature and humidity monitoring data to analyze the total attenuation, separate the target gas absorption attenuation component and the ambient scattering attenuation component, and identify the type of environmental interference condition caused by ambient beam scattering. The target gas absorption attenuation component refers to the laser attenuation caused by the selective absorption of the target gas, which is directly related to the gas concentration; the environmental scattering attenuation component refers to the laser attenuation caused by scattering from environmental media such as dust and water vapor in the air, which belongs to environmental interference factors; the environmental interference condition type refers to the environmental condition level classified according to the degree of scattering attenuation, such as clean condition, light dust condition, high humidity condition, etc.

[0065] In practice, the system combines the spectral absorption characteristics of the target gas with on-site temperature and humidity monitoring data to decompose the total laser attenuation into components, separating the attenuation component caused by the absorption of the target gas and the attenuation component caused by scattering from the environmental medium. At the same time, based on the degree and cause of scattering attenuation, the system identifies and determines the current type of environmental interference.

[0066] Step S109: Adjust the corresponding preset scattering analysis model based on the type of environmental interference, and calculate the beam attenuation coefficient of the corresponding detection point using the environmental scattering attenuation component; The scattering analysis model is a mathematical model preset for different types of environmental interference conditions, used to convert scattering attenuation components into concentration calculation compensation coefficients. Different operating conditions correspond to different model parameters. The beam attenuation coefficient is a correction coefficient used to compensate for environmental scattering interference, which can calibrate and correct the concentration calculation results.

[0067] Step S110: Feed back the beam attenuation coefficient to the gas concentration analysis module to adjust the concentration calculation model for environmental compensation.

[0068] During implementation, the system calls the corresponding preset scattering analysis model based on the identified environmental interference condition type, substitutes the environmental scattering attenuation component into the model for calculation, and obtains the beam attenuation coefficient corresponding to each detection point, which serves as the correction parameter for environmental compensation.

[0069] During implementation, the system synchronously feeds back the calculated beam attenuation coefficients at each point to the gas concentration analysis module, corrects the parameters of the original concentration calculation model, and completes the compensation and adjustment of environmental scattering interference. This ensures that the gas concentration calculation results during subsequent formal inspections are not affected by environmental dust, water vapor, or other factors, thereby improving detection accuracy.

[0070] Reference Figure 5 The connection point detection strategy is configured with an accurate positioning sub-strategy, including: Step S301: Obtain the coordinate information of the spatial range of the leak area and the point cloud features of the pipeline, calculate the spatial distance between each pipeline connection point and the leak area, and filter out a subset of close-range detection point data with a distance less than a set threshold. Pipeline point cloud features refer to the point cloud data of pipeline structure obtained through image recognition or 3D modeling, which can reconstruct the spatial location of pipelines and connection points; the near-distance detection point data subset refers to the set of connection points that are close to the leakage area, which is the key object of subsequent refined detection.

[0071] In practice, the system retrieves the spatial range data of the leak area and the pre-stored pipeline point cloud feature coordinate information, calculates the spatial distance between each pipeline connection point and the center of the leak area, and filters out the connection points with a distance less than the preset distance threshold to form a subset of close-range detection point data, thereby narrowing the range of points for refined detection.

[0072] Step S302: Control the laser detection pan-tilt unit and the integrated camera to synchronously align with each point in the near-field detection point data subset, and sequentially collect the on-site images and laser echo concentration data of the corresponding points; Synchronous alignment refers to the coaxial linkage between the laser detection optical path and the camera's field of view, ensuring that the laser landing point is consistent with the center position of the camera's image, and achieving a corresponding match between the detection point and the image position.

[0073] During implementation, the system controls the laser detection pan-tilt unit and the integrated camera to maintain coaxial linkage, and sequentially turns to each point in the subset of close-range detection point data. At each point, it synchronously collects on-site image data and laser echo concentration data to form a detection dataset with one-to-one correspondence between point, image, and concentration.

[0074] Step S303: Perform visual leakage feature comparison analysis based on on-site images. If visual leakage features are identified, collect the three-dimensional spatial coordinates of the points of the visual leakage features and generate accurate leakage location information. Visualized leak features refer to the visible characteristics of leaked gas in the image, such as white mist, deformation ripples, etc., which are leak appearances that can be identified through images and can directly help locate the leak point.

[0075] In practice, the system performs image recognition and analysis on the collected images of each location, compares them with the preset visual leakage feature library, and if obvious visual leakage features are identified, the system locates the position of the feature in the image, and calculates the three-dimensional spatial coordinates of the leakage point by combining the pan-tilt angle and distance information, thus directly generating accurate leakage location information.

[0076] Step S304: If no visible leak features are detected, control the laser detection pan-tilt unit to perform step scanning in the leak area, construct a concentration gradient distribution based on the concentration data of each scanning point, and determine the accurate leak location information of the direction of continuous concentration increase by combining the gas diffusion flow law.

[0077] Concentration gradient distribution refers to the spatial distribution of gas concentration values ​​at various points within the leak area. The higher the concentration, the closer the location is to the actual leak source. Gas diffusion flow law refers to the diffusion law of leaked gas spreading from the leak point to the surrounding areas, with the concentration gradually decreasing. It is the theoretical basis for inferring the leak point from the concentration gradient.

[0078] In practice, if no visible leak features are detected in the image, the system controls the laser detection pan-tilt unit to perform fine step-by-step scanning in the leak area with smaller step angles to obtain concentration data of dense points in the area. Based on this data, the concentration gradient distribution in the area is constructed. Combined with the gas diffusion and flow law, the peak concentration point is located by tracing along the direction of continuous increase in concentration, which is determined as the actual leak point and accurate leak location information is generated.

[0079] Reference Figure 6 Laser echo region analysis strategies include: Step S201: Control the laser detection pan-tilt unit to rotate and scan along the full-area coarse inspection path at a set step angle, emit detection laser at each sampling angle and collect the transmitted light signal; Step angle refers to the angular interval between two samplings of the laser detection pan-tilt unit. The smaller the step angle, the denser the sampling points, the higher the detection accuracy, but the slower the inspection speed. The full-area coarse inspection path refers to the inspection path used for large-scale rapid investigation. The point density is relatively low, focusing on inspection efficiency.

[0080] In practice, the system controls the laser detection pan-tilt unit to rotate and scan along the whole area coarse inspection path at preset initial step angles. At each sampling angle point, it emits detection lasers and collects the corresponding return light signals to complete rapid sampling coverage of the entire area.

[0081] Step S202: Analyze the gas concentration values ​​at each sampling angle based on the principle of spectral absorption, and define the range of sampling angles that continuously exceed the concentration threshold as the leakage area; The concentration threshold refers to the pre-set safe upper limit of gas concentration. If the concentration exceeds the threshold, it is determined that there is a leak. The leak area refers to the spatial orientation range corresponding to the sampling angle where the concentration exceeds the standard continuously, representing the diffusion coverage area of ​​the leaked gas.

[0082] In practice, the system analyzes the echo signal of each sampling angle sequentially based on the principle of spectral absorption, calculates the gas concentration value of the corresponding angle, marks the sampling angle with the concentration value exceeding the preset concentration threshold as an abnormal angle, and delineates the azimuth range corresponding to consecutive abnormal angles as the leakage area.

[0083] Step S203: Match the angle range of the leakage area with the preset equipment location information to determine the monitored equipment corresponding to the leakage area.

[0084] Pre-set equipment location information refers to the orientation angle and location information of each monitored device that is pre-stored in the database, which is used to associate and match the leak location with the specific device.

[0085] In practice, the system compares and matches the defined angle range of the leakage area with the preset location information of each device in the database, finds the monitored device within the angle range, identifies it as the device corresponding to the leakage anomaly, and completes the preliminary identification of the leaking device.

[0086] The laser echo region analysis strategy is also configured with a scan speed adaptive sub-strategy, including: Step S204: Query the gas concentration value in the leak area to determine the leak safety factor value within the preset concentration range; Leakage safety factor refers to the safety evaluation factor divided according to the gas concentration level. The higher the concentration, the lower the safety factor, which means that the leakage risk is higher. Preset concentration range refers to multiple pre-divided concentration level ranges, and each range corresponds to a leakage safety factor value.

[0087] In practice, the system queries and matches the peak gas concentration in the leak area obtained from the detection with a preset concentration range lookup table to determine the leakage safety factor value corresponding to the current leakage concentration, which serves as the basis for adjusting the scanning speed.

[0088] Step S205: Based on the comparison between the leakage safety factor value and the preset benchmark safety factor, if it is greater than the preset benchmark safety factor, the step angle of the laser detection pan-tilt unit rotation scanning is adaptively increased to improve the gas concentration detection speed at the point; if it is less than the preset benchmark step angle, the laser detection pan-tilt unit is controlled to scan the point.

[0089] The baseline safety factor refers to a pre-set safety factor threshold value used to distinguish whether the scanning speed can be increased; adaptive step angle improvement refers to increasing the number of sampling points by increasing the angle interval, thereby increasing the inspection speed while ensuring no missed detections.

[0090] In practice, the system compares the calculated leakage safety factor with the preset benchmark safety factor. If the safety factor is greater than the benchmark value, it indicates that the leakage risk is low. The system then adaptively increases the scanning step angle of the laser detection pan-tilt unit to improve the overall speed of the full-area inspection. If the safety factor is less than the benchmark value, it indicates that the leakage risk is high. The system then maintains the preset benchmark step angle to perform fine scanning and ensure the accuracy of leakage detection.

[0091] Reference Figure 7 The leak alarm notification process is also configured with a leak classification strategy, including: Step S401: Divide the leakage level range based on the concentration value corresponding to the leakage concentration level, the number of leakage points, and the concentration change trend; Leakage level ranges refer to multiple risk level ranges divided according to the severity of the leak. Each range corresponds to different leak characteristics and handling requirements. Concentration change trend refers to the rate of increase or decrease of the leak concentration per unit time, reflecting the development trend of the leak.

[0092] In practice, the system pre-determines multiple leakage risk zones based on the severity of the leak, combined with indicators from three dimensions: concentration magnitude, number of leak points, and concentration change trend. Each zone corresponds to specific judgment conditions and handling requirements, providing judgment criteria for leakage classification.

[0093] Step S402: Compare the detected leakage data with each leakage level range to determine the corresponding leakage risk level, and generate handling guidance information by matching the response measures corresponding to the leakage risk level.

[0094] Leakage risk level refers to the severity level of a leak determined based on leakage data, and can generally be divided into several levels such as minor leak, general leak, and severe leak; handling guidance information refers to the standardized handling measures descriptions corresponding to the risk level, which can provide on-site operation and maintenance personnel with handling references.

[0095] In practice, the system compares the data obtained from this detection, such as the leakage concentration, the number of leakage points, and the concentration change trend, with the preset judgment conditions for each leakage level range to determine the risk level corresponding to this leakage. Then, it matches the emergency response measures corresponding to the level and generates standardized handling guidance information, which is uploaded to the monitoring platform along with the alarm signal to guide the staff to carry out graded handling.

[0096] Reference Figure 8 Based on the same inventive concept, this application provides an explosion-proof gas monitoring camera, including: the explosion-proof gas monitoring camera of this application includes an explosion-proof pan-tilt body, a laser gas detection module, a camera acquisition module, a main control processing module, and a communication alarm module. The explosion-proof pan-tilt body includes an explosion-proof pan-tilt rotating cylinder 1 and an explosion-proof mounting base 7. The explosion-proof pan-tilt rotating cylinder 1 is rotatably mounted on the explosion-proof mounting base 7, which can drive the functional modules on both sides to complete the horizontal and pitch angle adjustment. The explosion-proof mounting base 7 is fixed to the on-site installation point by a flange bolt structure. The overall shell meets the corresponding explosion-proof level requirements and can be adapted to flammable and explosive gas monitoring scenarios.

[0097] The camera acquisition module is fixedly integrated on one side of the rotating end of the explosion-proof pan-tilt unit 1. It adjusts the shooting angle synchronously with the rotating end of the explosion-proof pan-tilt unit 1. It includes a camera cover 2 and a camera lens assembly 3. The camera cover 2 is placed on the outside of the camera lens assembly 3 and has dustproof, waterproof and explosion-proof protection capabilities. The camera lens assembly 3 is the optical acquisition end of the camera acquisition module, used to acquire on-site images of the monitoring area and identify the structural features of easily leaking points such as pipeline valves and flange connections.

[0098] The laser gas detection module is fixedly integrated on the other rotating end of the explosion-proof pan-tilt unit 1. It adjusts the detection position synchronously with the camera acquisition module and the explosion-proof pan-tilt unit. It includes a detection module cover 4 and a laser detection lens assembly 5. The detection module cover 4 is placed on the outside of the laser detection lens assembly 5 to provide explosion-proof and environmental protection for the internal optical components. The laser detection lens assembly 5 is the optical transceiver of the laser gas detection module, used to emit detection laser and receive echo signals.

[0099] The supplementary lighting component 6 is installed below the detection module cover 4 and is electrically linked with the camera acquisition module. It is used to supplement lighting in low light environments, thereby improving the image clarity and feature recognition accuracy of the camera acquisition module.

[0100] Both the main control processing module and the communication alarm module are built into the internal cavity of the explosion-proof pan-tilt unit rotating cylinder 1. The main control processing module is electrically connected to the explosion-proof pan-tilt unit body, the laser gas detection module, the camera acquisition module, and the supplementary lighting component 6, respectively. It is used to pre-store the detection operation parameters and inspection path information, drive the explosion-proof pan-tilt unit body to rotate and scan along the preset inspection path, control the laser gas detection module to emit detection laser and receive echo signals, and analyze the gas concentration information of each detection area based on the principle of spectral absorption to identify the equipment with leakage anomalies and the corresponding leakage area.

[0101] The main control processing module is also used to control the camera acquisition module to acquire on-site images of the target equipment after locating the leaking device, identify the structural features of pipeline valves and flange connection points to generate a set of detection points, and control the laser gas detection module to perform laser detection on each discrete connection point in sequence, and combine the concentration data and spatial coordinates of each point to generate accurate leak location information.

[0102] The communication alarm module is electrically connected to the main control processing module and is used to upload accurate leak location information and on-site images to the preset monitoring platform and trigger corresponding alarm prompts.

[0103] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0104] The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features unless specifically stated otherwise. That is, unless specifically stated otherwise, each feature is only one example of a series of equivalent or similar features.

Claims

1. A method for monitoring explosion-proof gases, applied to an explosion-proof gas monitoring camera, characterized in that, include: The inspection parameter preset steps involve matching equipment parameters in the selected monitoring area, recording the position association information of each monitored device and the corresponding corner reflector, retrieving the detection parameters for the corresponding gas type, and initializing the inspection path of the laser detection pan-tilt unit. The inspection area identification step is equipped with a laser echo area analysis strategy, which drives the laser detection pan-tilt unit to rotate and scan along the preset inspection path, emits detection laser and receives the echo signals reflected by the corner reflectors at each device, and analyzes the gas concentration information of the corresponding area of ​​each device based on the principle of spectral absorption to identify the device with leakage anomaly and determine the location of its leakage area. The leak location process includes a connection point detection strategy. After identifying the location of the leak area and locating the leaking device, the laser detection pan-tilt unit is controlled to aim at the leak connection part of the device. Multiple discrete detection points are sequentially detected by laser along the connection point. Gas concentration data and corresponding three-dimensional position coordinates of each detection point are collected to generate accurate leak location information. The leakage alarm prompt steps are configured with a visual linkage control strategy, which drives the PTZ integrated camera to collect on-site image information of the leakage point, uploads the accurate leakage location information and on-site image information to the preset monitoring platform, and triggers an alarm prompt.

2. The explosion-proof gas monitoring method according to claim 1, characterized in that, The inspection parameter preset steps are configured with a device location mapping strategy, including: The database stores the installation coordinates of each monitored device within the monitoring area, the location of the corresponding corner reflectors, the device type, and the pipeline connection parameters. When a monitoring area is selected and inspection is started, the system automatically retrieves the associated information of the equipment and corner reflectors in the corresponding area, matches the detection operation parameters of the corresponding gas type, and generates the initial inspection path for the entire area of ​​the laser detection PTZ. The laser detection pan-tilt unit initializes the path based on the initial inspection path and performs gas concentration detection.

3. The explosion-proof gas monitoring method according to claim 2, characterized in that, The equipment location mapping strategy is also configured with a pipeline vibration interference correction sub-strategy, including: The laser feedback signals at each detection point are acquired in real time during the initialization of the laser detection pan-tilt-zoom path in order to identify and extract the fluctuation characteristic data of the echo signals. Based on the wave characteristics of the signal, the deviation direction and displacement value of the laser landing point are analyzed to determine the laser landing point offset information; The vibration interference coefficient corresponding to the laser landing point offset information is calculated using a preset vibration interference analysis model. When the preset reference interference threshold is exceeded, the laser landing point position is automatically corrected.

4. The explosion-proof gas monitoring method according to claim 3, characterized in that, The vibration disturbance analysis model is calculated using the following formula: ； Where R is the vibration interference coefficient of the detection point, and is a dimensionless evaluation coefficient; The structural influence coefficient of the corresponding pipeline is a dimensionless preset constant, which is preset according to the pipeline material, pipe diameter and installation method. This represents the cumulative interruption duration of the laser echo signal within a single sampling period; This represents the total sampling time for a single test at this detection point; This represents the fluctuation amplitude of the echo intensity within a single sampling period; The reference echo intensity at this detection point is under vibration-free conditions.

5. The explosion-proof gas monitoring method according to claim 2, characterized in that, The device location mapping strategy is also configured with an environmental beam attenuation calibration sub-strategy, including: The laser detection pan-tilt unit is controlled to perform environmental calibration pre-scan along the initial inspection path of the entire area, and the laser echo intensity data of each detection point is collected. The data is then compared with the preset interference-free reference echo intensity to obtain the total laser attenuation at each point. The total attenuation was analyzed by combining spectral absorption characteristics with environmental temperature and humidity monitoring data. The target gas absorption attenuation component and the environmental scattering attenuation component were separated, and the environmental interference conditions caused by the scattering of the ambient light beam were identified. Based on the type of environmental interference, the corresponding preset scattering analysis model is adjusted, and the beam attenuation coefficient of the corresponding detection point is calculated using the environmental scattering attenuation component. The beam attenuation coefficient is fed back to the gas concentration analysis module to adjust the concentration calculation model for environmental compensation.

6. The explosion-proof gas monitoring method according to claim 1, characterized in that, The connection point detection strategy is configured with an accurate positioning sub-strategy, including: Obtain the coordinate information of the spatial range of the leak area and the point cloud features of the pipeline, calculate the spatial distance between each pipeline connection point and the leak area, and filter out a subset of close-range detection point data with a distance less than a set threshold. The laser detection pan-tilt unit and integrated camera are controlled to simultaneously align with each point in the subset of close-range detection point data, and the on-site images and laser echo concentration data of the corresponding points are collected in sequence. Based on the on-site images, a visual leak feature comparison analysis is performed. If a visual leak feature is identified, the three-dimensional spatial coordinates of the visual leak feature point are collected and accurate leak location information is generated. If no visible leak features are detected, the laser detection pan-tilt unit is controlled to perform step-by-step scanning within the leak area. Based on the concentration data at each scanning point, a concentration gradient distribution is constructed, and combined with the gas diffusion and flow patterns, the accurate leak location information in the direction of continuous concentration increase is determined.

7. The explosion-proof gas monitoring method according to claim 1, characterized in that, The laser echo region analysis strategy includes: The laser detection pan-tilt unit is controlled to rotate and scan along the full-area coarse inspection path at a set step angle, emitting detection lasers at each sampling angle and collecting the transmitted light signals. Based on the principle of spectral absorption, the gas concentration values ​​at each sampling angle are analyzed, and the range of sampling angles that continuously exceed the concentration threshold is defined as the leakage area. The monitored equipment corresponding to the leak area is determined by matching the angle range of the leak area with the preset equipment location information.

8. The explosion-proof gas monitoring method according to claim 7, characterized in that, The laser echo region analysis strategy is also configured with a scanning speed adaptive sub-strategy, including: The gas concentration value in the leak area is used to determine the leak safety factor value within the preset concentration range; Based on the comparison between the leakage safety factor value and the preset benchmark safety factor, if it is greater than the preset benchmark safety factor, the step angle of the laser detection pan-tilt unit rotation scanning will be adaptively increased to improve the gas concentration detection speed at the point; if it is less than the preset benchmark step angle, the laser detection pan-tilt unit will be controlled to scan the point.

9. The explosion-proof gas monitoring method according to claim 1, characterized in that, The leakage alarm notification step is also configured with a leakage classification strategy, including: Leakage level ranges are defined based on the concentration values ​​corresponding to the leakage concentration levels, the number of leakage points, and the concentration change trends. The detected leakage data is compared with each leakage level range to determine the corresponding leakage risk level, and the corresponding response measures are matched to generate handling guidance information.

10. An explosion-proof gas monitoring camera, using the method described in any one of claims 1-9, characterized in that, It includes an explosion-proof pan-tilt body, a laser gas detection module, a camera acquisition module, a main control processing module, and a communication alarm module; The laser gas detection module and the camera acquisition module are fixedly integrated on the rotating end of the explosion-proof gimbal body, and the detection position and shooting angle are adjusted synchronously with the explosion-proof gimbal body. The main control processing module is built into the explosion-proof gimbal body and is electrically connected to the explosion-proof gimbal body, the laser gas detection module, and the camera acquisition module. It is used to pre-store detection operation parameters and inspection path information, drive the explosion-proof gimbal body to rotate and scan along the preset inspection path, control the laser gas detection module to emit detection laser and receive echo signals, and analyze the gas concentration information of each detection area based on the principle of spectral absorption to identify the equipment with leakage anomalies and the corresponding leakage area. The main control processing module is also used to control the camera acquisition module to acquire on-site images of the target device after locating the leaking device, identify the structural features of pipeline valves and flange connection points, generate a set of detection points, and control the laser gas detection module to perform laser detection on each discrete connection point in sequence, and generate accurate leak location information by combining the concentration data and spatial coordinates of each point. The communication alarm module is electrically connected to the main control processing module and is used to upload accurate leakage location information and on-site images to a preset monitoring platform and trigger corresponding alarm prompts.

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