CN117516812A - Gas leakage monitoring system, method and device - Google Patents
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Abstract
The application provides a gas leakage monitoring system, method and device, wherein the system comprises: the system comprises a cradle head, a gas cloud imaging module, a laser detection module, a ranging module and a server; the system comprises a cloud imaging module, a laser detection module, a distance measuring module, a server and a cloud platform, wherein the cloud imaging module, the laser detection module and the distance measuring module are all carried on the cloud platform, and the cloud imaging module, the laser detection module, the distance measuring module and the cloud platform are respectively in signal connection with the server. The gas leakage monitoring system can accurately monitor the concentration of leakage gas and accurately position the leakage position.
Description
Technical Field
The present disclosure relates to the field of gas monitoring, and in particular, to a gas leakage monitoring system, method, and apparatus.
Background
In industrial parks, gas leak monitoring is of great importance for many aspects of personnel safety, environmental protection, operational compliance, etc.
Gas sensors are currently commonly used for gas leak monitoring to find potential sources of leakage. The following are some of the commonly used gas sensors: the first is leakage gas monitoring by a gas monitor, but the coverage of the gas monitor is limited, and only nearby gas is usually monitored, so that comprehensive monitoring cannot be provided. The second is monitoring of the leakage gas by an infrared sensor, but the infrared sensor is only sensitive to a specific gas; in addition, the temperature and humidity in the atmosphere can affect the sensitivity of its monitoring. The third is the monitoring of the leakage gas by a thermal imaging camera, but thermal imaging cameras are not sensitive enough for low concentration or small range leakage monitoring.
Therefore, there is a need to provide a leakage gas monitoring method that is less affected by the environment and is more sensitive to various gas monitoring.
Disclosure of Invention
In view of the above problems of the prior art, the present application provides a gas leakage monitoring system, method and apparatus that allows for accurate monitoring of the concentration and location of a leaking gas in various environments.
To achieve the above object, an aspect of the present application provides a gas leakage monitoring system, including: the system comprises a cradle head, a gas cloud imaging module, a laser detection module, a ranging module and a server; the air cloud imaging module, the laser detection module and the ranging module are all carried on the holder, and the air cloud imaging module, the laser detection module, the ranging module and the holder are respectively in signal connection with the server; the gas cloud imaging module is used for acquiring a first image corresponding to a subarea where gas leakage occurs in a region to be monitored, and transmitting the first image to the server; wherein the first image comprises a complete air mass of leaked air; the server is used for determining the maximum leakage point position according to the received first image; the distance measuring module is used for acquiring a first distance, and the first distance represents the distance between the center of the optical axis of the gas cloud imaging module and the maximum leakage point; the server is further used for determining a first angle according to the first distance and controlling the cradle head to rotate according to the first angle; the first angle represents an angle that the cradle head needs to rotate when the optical axis center of the laser detection module is aligned with the maximum leakage point; the laser detection module is used for obtaining the concentration of the leakage gas at the maximum leakage point.
By the above, the gas leakage monitoring system provided by the aspect monitors leakage gas through the optical gas imaging camera (the gas cloud imaging module) and obtains the first image, so that the maximum leakage point position is determined, then the distance between the optical axis center of the gas cloud imaging module and the maximum leakage point position (the first distance) is measured through the range finder (the range finding module), and the rotation of the holder is controlled based on the first distance, so that the laser (the laser detection module) is positioned in the optimal monitoring direction, then the laser detection module is used for monitoring the concentration of the leakage gas, and based on the gas leakage monitoring system provided by the aspect, each sensor can play respective advantages through fusion of multiple sensors, and thus accurate monitoring and positioning of the leakage gas can be realized.
As an optional implementation manner of the first aspect, the server is further configured to calculate a first coordinate of the maximum leakage point in a coordinate system corresponding to the pan-tilt, and convert the first coordinate into a second coordinate of the maximum leakage point in the coordinate system corresponding to the area to be monitored, so as to determine a position of the maximum leakage point in the area to be monitored; the coordinate system corresponding to the holder and the coordinate system corresponding to the region to be monitored are both established in advance.
By the above, through the mode of the coordinate conversion, the maximum leakage point can be accurately positioned, so that the inspection by workers is facilitated.
As an optional implementation manner of the first aspect, the method further includes: and the temperature measurement thermal imaging module is carried on the cradle head and used for acquiring the temperature around the leaked gas.
Therefore, the temperature around the leaked gas can be obtained through the temperature-measuring thermal imaging module, and the leakage degree can be judged according to the temperature condition.
As an optional implementation manner of the first aspect, the method further includes: the visible light camera is carried on the holder and is used for acquiring a second image corresponding to the subarea where the gas leakage occurs in the area to be monitored, and the background area of the subarea where the gas leakage occurs is obtained by superposing the first image and the second image; wherein the second image is a visible light image of a subregion of the gas leak.
By the above, by superimposing the first image and the second image on the visible light image photographed by the visible light camera, it is possible to more intuitively reflect the leakage situation.
A second aspect of the present application provides a method of gas leak monitoring, comprising: acquiring a first image corresponding to a subarea where gas leakage occurs in a region to be monitored, and determining a maximum leakage point position based on the first image; wherein the first image comprises a complete air mass of leaked air; acquiring a first distance, and determining a first angle according to the first distance; the first distance represents the distance between the optical axis center of the gas cloud imaging module and the maximum leakage point, and the first angle represents the angle of the holder to be rotated when the optical axis center of the laser detection module is aligned with the maximum leakage point; and controlling the cradle head to rotate according to the first angle, enabling the center of the optical axis of the laser detection module to be aligned with the maximum leakage point position, and obtaining the concentration of the leakage gas at the maximum leakage point position by utilizing the laser detection module.
By the method, the laser detection module is driven to rotate through the cradle head, and the laser detection module is aligned to the maximum leakage point position through accurately calculating the rotation angle, so that the concentration of the leaked gas is accurately measured. Based on the method provided by the invention, based on the fusion of various sensors, the various sensors can exert respective advantages, and the accurate monitoring and positioning of the leaked gas can be realized.
As an optional implementation manner of the second aspect, the method further includes: calculating a first coordinate of the maximum leakage point in a coordinate system corresponding to the holder, and converting the first coordinate into a second coordinate of the maximum leakage point in the coordinate system corresponding to the area to be monitored, so as to determine the position of the maximum leakage point in the area to be monitored; the coordinate system corresponding to the holder and the coordinate system corresponding to the region to be monitored are both established in advance.
As an optional implementation manner of the second aspect, the acquiring a first image corresponding to a subarea where gas leakage occurs in the area to be monitored includes: and acquiring a third image corresponding to the subarea by utilizing a gas cloud imaging module, controlling the cradle head to rotate along the gas flow direction based on the gas flow direction when the gas mass of the leaked gas is positioned at the edge position of the third image, acquiring a fourth image when the acquired image comprises the complete gas mass of the leaked gas, and taking the fourth image as the first image.
From the above, the image obtained by the gas imaging camera may have the case that only part of leaked gas is captured, in order to overcome this problem and obtain an image of the leaked complete air mass, the air flow direction may be considered, so as to obtain a complete air mass image, and the determination of the maximum leakage point is facilitated by making the first image include the complete air mass according to the air flow direction.
As an optional implementation manner of the second aspect, the determining a first angle according to the first distance includes: determining a second distance according to a curve fitted in advance, wherein the second distance represents the distance between the gas cloud imaging module and the laser detection module; and determining an angle required to be rotated by the holder when the optical axis center of the laser detection module is aligned with the maximum leakage point according to the first distance and the second distance, and taking the angle as the first angle.
By determining the angle through the combination of the first distance and the second distance, the angle can be more accurate, so that the optical axis center of the laser is aligned with the maximum leakage point, and more accurate gas concentration is obtained.
As an optional implementation manner of the second aspect, the fitting process of the curve includes: changing the first distance for multiple times to obtain multiple first distance values; calculating a second distance value corresponding to each first distance value by using a sparse optical flow method to obtain a plurality of arrays, wherein each array comprises a first distance value and a second distance value corresponding to the first distance value; and based on the plurality of arrays, fitting by using a least square method to obtain the curve.
From the above, the second distance value is obtained by the sparse optical flow method, so that a plurality of arrays are obtained, and a fitting curve can be obtained by fitting the plurality of arrays, so that the rotation angle value is determined.
As an optional implementation manner of the second aspect, acquiring a second image corresponding to a subarea where gas leakage occurs in the area to be monitored, and obtaining a background area of the subarea where gas leakage occurs by superposing the first image and the second image; wherein the second image is a visible light image of a subregion of the gas leak.
By the above, visual display is provided through the visible light image, so that a user can conveniently check the leakage condition.
As an optional implementation manner of the second aspect, the method further includes: and acquiring the temperature around the leaked gas, and determining the maximum leakage point position according to the temperature.
A third aspect of the present application provides a gas leakage monitoring device comprising: the device comprises a cradle head, an optical gas imaging camera mounted on the cradle head, a laser mounted on the cradle head, a range finder mounted on the cradle head and a server; the optical gas imaging camera, the laser and the range finder are vertically aligned in the center of the optical axis; the optical gas imaging camera, the laser and the range finder are all in signal connection with the server.
As an optional implementation manner of the third aspect, the method further includes: the temperature measurement thermal imaging equipment is carried on the cradle head; the temperature measurement thermal imaging device is in signal connection with the server.
As an optional implementation manner of the third aspect, the method further includes: the visible light camera is carried on the cradle head; the visible light camera is vertically aligned with the center of the optical axis of the temperature measurement thermal imaging device; the visible light camera is in signal connection with the server.
Advantageous effects of the present aspect can be seen from the description of the advantageous effects of the first aspect described above.
These and other aspects of the application will be apparent from and elucidated with reference to the embodiment(s) described hereinafter.
Drawings
The individual technical features of the present application and their relationships are further described below with reference to the accompanying drawings. The drawings are exemplary, some technical features are not shown in actual proportion, and some drawings may omit technical features that are conventional in the art to which the present application pertains and are not essential to understanding and realizing the present application, or additionally show technical features that are not essential to understanding and realizing the present application, that is, combinations of the technical features shown in the drawings are not limiting the present application. In addition, throughout this application, like reference numerals refer to like elements. The specific drawings are as follows:
Fig. 1 is a schematic structural diagram of a gas leakage monitoring system according to an embodiment of the present disclosure;
FIG. 2 is a flow chart of a method for monitoring gas leakage according to an embodiment of the present application;
fig. 3a is a first schematic diagram of a gas cloud imaging module, a laser detection module, and a maximum leakage point according to an embodiment of the present disclosure;
fig. 3b is a second schematic diagram of the gas cloud imaging module, the laser detection module, and the maximum leakage point according to the embodiment of the present application;
FIG. 4 is a schematic diagram of gas leakage monitoring according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of another embodiment of a gas leakage monitoring and positioning system according to the present disclosure;
fig. 6 is a schematic structural diagram of a computing device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
It should be understood that, since the principles of solving the problems in these technical solutions are the same or similar, in the following description of the specific embodiments, some repetition may not be described, but it should be considered that these specific embodiments have been mutually referred to and may be combined with each other.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. If there is a discrepancy, the meaning described in the present specification or the meaning obtained from the content described in the present specification is used. In addition, the terminology used herein is for the purpose of describing embodiments of the present application only and is not intended to be limiting of the present application.
A gas leakage monitoring system according to an embodiment of the present application will be described below with reference to the accompanying drawings.
As shown in fig. 1, which is a schematic diagram of a gas leakage monitoring system 10, the gas leakage monitoring system 10 includes a cradle head 110, a gas cloud imaging module 120, such as an optical gas imaging camera (Optical Gas Imaging, OGI), a laser detection module 130, such as a laser (Tunable Diode Laser Absorption Spectroscopy, TDLAS), a ranging module 140, such as a range finder, and a server 150. In some embodiments, the head 110 is a 360 degree rotatable head.
In some embodiments, the gas leak monitoring system 10 may also include a thermal imaging module 160, and/or a visible light camera 170.
In this embodiment, the gas cloud imaging module 120, the laser detection module 130, the ranging module 140, the thermometry thermal imaging module 160, and the visible light camera (VIS) 170 may be mounted on the cradle head 110. The optical axis centers of the air cloud imaging module 120, the laser detection module 130 and the ranging module 140 are vertically aligned; the optical axis centers of both the thermal imaging module 160 and the visible light camera 170 are disposed in vertical alignment. The gas cloud imaging module 120, the laser detection module 130, the ranging module 140, the thermometry thermal imaging module 160, and the visible light camera 170 are all in signal connection with the server 150 to transmit the data collected by each to the server 150 for relevant processing.
As one implementation, the visible light camera 170 transmits the visible light video data captured by the visible light camera into the server 150 through the Mipi protocol; the temperature measurement thermal imaging module 160 transmits the acquired temperature thermal image data to the server 150 through the ethernet; the gas cloud imaging module 120 transmits the gas cloud image shot by the gas cloud imaging module into the server 150 through a Mipi protocol; the laser detection module 130 and the ranging module 140 may each transmit the data collected by each to the server 150 through a serial port.
In this embodiment, the gas cloud imaging module 120 is configured to obtain a first image corresponding to a subarea where gas leakage occurs in a region to be monitored, and transmit the first image to the server 150, where the first image includes a complete air mass of the leaked gas;
the server 150 is configured to determine a maximum leak point for the gas leak based on the first image.
The ranging module 140 is configured to measure a first distance d between an optical axis center of the obtained gas cloud imaging module 120 and a maximum leakage point, and transmit the distance d to the server 150, the server 150 calculates a second distance Δy between the obtained gas cloud imaging module 120 and the laser detection module 130 based on the first distance d and a curve fitted in advance, and then the server 150 calculates an angle θ required to rotate to align the optical axis center of the laser detection module 130 with the maximum leakage point based on the first distance d and the second distance Δy, and then the server 150 controls the pan-tilt 110 to rotate according to the angle θ, so as to align the optical axis center of the laser detection module 130 with the maximum leakage point.
The laser detection module 130 is used to measure the concentration of the leakage gas at the point of maximum leakage.
In this embodiment, the gas leakage monitoring system 10 can accurately measure the concentration of the gas leaked from the largest leakage point, and also can accurately locate the leakage point, and the location calculation is completed in the server 150, and the specific location calculation can be referred to as the following method embodiment.
In some embodiments, ranging module 140 may be a laser range finder, an ultrasonic range finder, a radar range finder, or the like.
In some embodiments, server 150 may be an edge computing platform, a cloud computing platform, or the like.
In the gas leakage monitoring system provided by the embodiment, not only the concentration of the leaked gas can be accurately monitored, but also the leakage position can be accurately positioned, so that the inspection work of inspection personnel is facilitated.
A method for monitoring gas leakage provided in the present application will be described in detail with reference to the specific embodiment, and reference may be made to the flowchart shown in fig. 2, and the method for monitoring gas leakage includes the following steps S210 to S230:
s210: acquiring a first image corresponding to a subarea where gas leakage occurs in a region to be monitored, and determining a maximum leakage point position based on the first image; wherein the first image comprises a complete air mass of leaked air.
In some embodiments, an image in the sub-area is acquired by using a gas cloud imaging module and recorded as a third image, then whether a gas pocket formed by leaked gas in the third image is a complete gas pocket is determined, and if the gas pocket is the complete gas pocket, the third image is used as the first image to perform subsequent processing. If the air mass formed by the leaked air in the obtained third image is located at the edge position of the third image, only a part of the leaked air is shot in the third image at the moment, the cradle head is required to be controlled to rotate along the air flow direction based on the air flow direction at the moment, until the image obtained by the optical air imaging camera mounted on the cradle head comprises the complete air mass of the leaked air, the image at the moment is obtained and recorded as a fourth image, and the fourth image at the moment is the first image.
The gas cloud imaging module typically uses infrared spectral imaging technology to display radiant energy of different gases in different colors, and higher concentration gas leaks typically display brighter or brighter colors, while lower concentration gas leaks may display lighter or darker colors, so as to determine the largest leak point in the area contained in the first image by observing the color change in the first image, as an implementation. As yet another implementation, the maximum leak point may also be determined based on the diffusion path of the gas. In general, gas leakage will diffuse in the surrounding environment to form a visible gas cloud, so the concentration is generally higher at the source of the gas leakage, and then gradually weakens with diffusion, so the maximum leakage point can also be deduced from the path and shape of the gas diffusion in the first image.
S220: acquiring a first distance, and determining a first angle according to the first distance;
the first distance represents a distance between the optical axis center of the gas cloud imaging module and the maximum leakage point, and the first angle represents an angle at which the holder needs to rotate when the optical axis center of the laser detection module is aligned with the maximum leakage point.
In this step, first, a method for calculating the angle θ by which the optical axis of the laser detection module is aligned with the maximum leakage point is described.
Referring to fig. 3a, a first schematic diagram of a gas cloud imaging module, a laser detection module and a maximum leakage point is shown, where a represents an optical axis center of the gas cloud imaging module, B represents an optical axis center of the laser detection module, C represents the maximum leakage point, and D represents a laser direction of the laser detection module.
Wherein AC// BD, ++acb= ++cbd=θ, ac=bd=d=distance between the optical axis center of the air cloud imaging module and the maximum leakage point, and the length of CD is denoted as Δy.
Referring to fig. 3b, a second schematic diagram of the gas cloud imaging module, the laser detection module and the maximum leakage point is shown, in which the position of the point C is changed to C 1 、C 2 It is known that the magnitude of θ is related to the distance between ACs (i.e., d).
Wherein,thus (S)>
As can be seen from the above formula, the angle θ can be obtained by solving an arctangent function, so that the value of Δy and d needs to be obtained when solving θ, where d is the distance between the center of the optical axis of the gas cloud imaging module and the point of maximum leakage, and in this embodiment, the distance is recorded as a first distance, and the first distance can be obtained by measurement of a ranging module mounted on the holder.
The following describes the method of calculating Δy. In this embodiment, Δy is determined by a pre-fitted curve, which is fitted by:
the first distance d between the center of the optical axis of the gas cloud imaging module and the maximum leakage point is changed for a plurality of times, so that a plurality of first distance values can be obtained. For example: starting to place the laser target at a distance of 30m from the point of maximum leakage, then d=30 at this time; calculating a delta y value corresponding to the d value by a sparse optical flow method, wherein delta y is marked as a second distance in the embodiment; then, experiments are carried out every 1m, so that a plurality of arrays comprising the first distance and the corresponding second distance can be obtained; and performing second-order fitting by using a least square method based on the obtained plurality of data, thereby obtaining a fitting curve. In this embodiment, the fitted curve is a second order function of Δy with respect to d, namely: Δy=ad 2 +bd+c, where a, b, c are parameters, can be obtained by fitting.
In some embodiments, the server stores a fitted curve Δy=ad 2 +bd+cAfter the first distance d is obtained through measurement of the ranging module, the value of the second distance deltay can be obtained by taking d into a fitting curve, and then the value of deltay and the value of d are taken into a calculation formula of theta, so that the first angle theta can be calculated and obtained.
In some embodiments, a method for calculating the second distance Δy by a sparse optical flow method is also provided, specifically:
the center position of the image is selected as a feature point, denoted as q= (x, y), where x represents the horizontal position of the feature point in the image and y represents the vertical position of the feature point in the image. And tracking the characteristic points between the continuous frames to establish the corresponding relation of the characteristic points in the continuous two-frame images. It is assumed that in the next frame image, the position of the feature point becomes p= (x ', y'). According to the principle of the sparse optical flow method, assuming that the pixel gray value around the whole point is not changed much, the following formula exists:
I(x,y,t)≈I(x',y',t+Δt)
where I represents the gray value of the image, t represents time, Δt represents the time interval between successive frames.
The following equation can be obtained by taylor expansion of the above equation:
I(x,y,t)≈I(x',y',t)+Ix(x',y',t)Δx+Iy(x',y',t)Δy≈I(x',y',
t)+Ix(x',y',t)Δx+Iy(x',y',t)Δy
Where Ix represents the horizontal gradient of the image, iy represents the vertical gradient of the image, Δx represents the horizontal displacement of the feature point between successive frames, and Δy represents the vertical displacement of the feature point between successive frames.
Since the displacement of the image between successive frames is mainly in the vertical direction, the displacement in the horizontal direction, Δx≡0, can be ignored, and the following formula can be obtained:
I(x,y,t)≈I(x',y',t)+Iy(x',y',t)Δy
namely: Δy≡ (I (x, y, t) -I (x ', y', t))/Iy (x ', y', t)
According to the above equation, the up-shift distance (Δy) of the feature can be calculated by using the gray values of the previous frame and the current frame and the positions of the feature points.
S230: and controlling the cradle head to rotate according to the first angle, enabling the center of the optical axis of the laser detection module to be aligned with the maximum leakage point position, and obtaining the concentration of the leakage gas at the maximum leakage point position by utilizing the laser detection module.
After the first angle is calculated, the cradle head can be controlled to rotate according to the angle theta, so that the center of the optical axis of a laser detection module mounted on the cradle head is aligned with the maximum leakage point, the concentration of the leakage gas of the maximum leakage point is obtained by using the laser detection module, and the work of measuring the concentration of the leakage gas of the maximum leakage point is completed after the concentration of the leakage gas of the maximum leakage point is obtained.
In some embodiments, the method of gas leak monitoring further comprises a process of locating a maximum leak point. The process of locating the maximum leak point is described in detail below.
Specific: and calculating a first coordinate of the maximum leakage point in a coordinate system corresponding to the holder, and converting the first coordinate into a second coordinate of the maximum leakage point in the coordinate system corresponding to the region to be monitored, so as to determine the position of the maximum leakage point in the region to be monitored.
The coordinate system corresponding to the holder and the coordinate system corresponding to the region to be monitored are both established in advance. For example, the coordinate system corresponding to the region to be monitored may be a world coordinate system, and the coordinate system corresponding to the pan-tilt may be a relative coordinate system.
In this embodiment, a chemical industry park is taken as an example for the area to be monitored. Exemplary:
first two coordinate systems are established: the first coordinate system is: the world coordinate system of the chemical industry park is established by taking the top point of the fence corresponding to the southwest angle of the chemical industry park as the origin (0, 0), taking the eastern surface of the top point as the x axis, the north surface as the y axis, the height as the z axis and the coordinate unit length as 1 m. The second coordinate system is: the cradle head of the gas leakage monitoring system is used as the origin (0, 0) of the coordinate system, and the direction and the scale of the coordinate system corresponding to the chemical industry park are kept consistent to establish a relative coordinate system corresponding to the cradle head.
Then, the gas leakage monitoring system provided by the application is utilized to carry out inspection in the chemical industry park, when gas leakage occurs, the gas cloud imaging module captures that gas is leaked and feeds back leakage images to the server, and then the server aims the optical axis center of the laser detection module at the maximum leakage point position and measures the gas leakage concentration of the maximum leakage point position according to the method in the steps S210-S230.
Then the server collects the horizontal rotation angle alpha and the vertical rotation angle beta of the cradle head. Wherein the horizontal rotation angle α and the vertical rotation angle β are obtained based on θ described above.
And calculating the coordinates (x ', y ', z ') of the maximum leakage point relative to a holder coordinate system based on the horizontal rotation angle alpha and the vertical rotation angle beta, and marking the coordinates as a first coordinate, wherein a specific calculation formula is as follows:
x'＝d*sin(α)
y'＝d*sin(β)
z'＝d*cos(α)*cos(β)
where x ' is the horizontal coordinate of the largest leakage point with respect to the holder coordinate system (in this embodiment, the eastern coordinate of the chemical industry park), y ' is the vertical coordinate of the largest leakage point with respect to the holder coordinate system (in this embodiment, the north coordinate of the chemical industry park), and z ' is the vertical coordinate of the largest leakage point with respect to the holder coordinate system.
The coordinates (x ', y ', z ') of the largest leak point relative to the holder coordinate system are then converted to coordinates (noted as second coordinates) relative to the chemical industry park, where translational, rotational, and/or scaling transformations may exist, and a transformation matrix is constructed based on the translational, rotational, and/or scaling transformations, converting the first coordinates to the second coordinates. Specific:
the translation matrix t_translate represents translating the coordinates to align the coordinates in the first coordinate system with the coordinates in the second coordinate system, specifically:
the rotation matrix t_rotation indicates that the coordinates are rotated so that the coordinates in the first coordinate system and the coordinates in the second coordinate system have the same orientation, specifically:
T_rotate＝T_rotate_y*T_rotate_x
scaling matrix t_scale represents scaling coordinates such that the coordinates in the first coordinate system are the same as the coordinates in the second coordinate system, where s represents a scaling parameter, specifically:
as an implementation, the transform matrix T is constructed according to the translation matrix t_transform, the rotation matrix t_rotate, and the scaling matrix t_scal by:
T＝T_scale*T_translate*T_rotate
in this embodiment, the coordinates [ x, y, z,1] in the second coordinate system can be obtained by multiplying the coordinates [ x ', y ', z ',1] in the first coordinate system by the transformation matrix T.
And after the coordinates under the second coordinate system (namely, the coordinates under the coordinate system corresponding to the chemical industry park, namely, the coordinates under the coordinate system corresponding to the area to be monitored) are obtained, the positioning work of the maximum leakage point is completed.
In some embodiments, the temperature around the leaked gas may also be monitored using a thermometry thermal imaging device mounted on the cradle head, thereby assisting in the determination of gas leakage.
In some embodiments, a second image corresponding to a subarea where gas leakage occurs in the area to be monitored can be obtained by using a visible light camera mounted on the holder, the second image is a visible light image, at this time, a first image obtained by shooting an optical gas imaging camera is superimposed on the second image, and the background of the area where the leaked gas is located can be determined, so that inspection personnel can conveniently inspect the area.
Referring to the gas leakage monitoring schematic diagram shown in fig. 4, another embodiment of the present application provides a method for monitoring gas leakage of a chemical pipeline or the like by using the gas leakage monitoring system 10. It should be appreciated that the pan-tilt head 110 is not illustrated in fig. 4.
As shown in fig. 4, the visible light camera 170 (VIS) photographs the leaked gas to obtain a visible light image of the leaked gas, the gas cloud imaging module 120 (OGI) photographs the leaked gas to obtain a gas cloud image of the leaked gas, the thermometric thermal imaging module 160 photographs the leaked gas to obtain an infrared image of the leaked gas, the laser detection module 130 (TDLAS) monitors the leakage concentration of the maximum leakage point, the ranging module 140 monitors the distance d between the optical axis center of the optical gas imaging camera 120 and the maximum leakage point, and these data are all sent to the server 150 (the edge computing platform in fig. 4) for processing, so as to realize the positioning and concentration measurement of the leakage point.
In the above embodiment provided by the present application, the gas leakage image is photographed by the gas cloud imaging module (optical gas imaging camera), and the leakage point concentration is monitored by the laser detection module, so that the accurate gas leakage concentration can be obtained. And through the ranging module, different coordinate systems are constructed to position the leakage point, so that the accurate positioning of the leakage position is realized.
Another embodiment of the present application provides another gas leakage monitoring and positioning system, which may be implemented by a software system, may be implemented by a hardware device, or may be implemented by a combination of the software system and the hardware device.
It should be appreciated that fig. 5 is merely a schematic diagram illustrating a gas leakage monitoring and positioning system 50, and the present application is not limited to the division of functional modules in a gas leakage monitoring and positioning system. As shown in fig. 5, the data gas leak monitoring and positioning system may be logically divided into a plurality of modules, each of which may have different functions, the functions of each module being implemented by a processor in a computing device that reads and executes instructions in a memory. Illustratively, the gas leak monitoring and positioning system 50 includes an image acquisition module 510, a pan-tilt module 520, and a monitoring module 530.
In one embodiment, the gas leakage monitoring and positioning system is configured to execute the descriptions in steps S210 to S230 shown in fig. 2, where the specific implementation manner of each functional module in this embodiment may be referred to the description in the foregoing method embodiment, and this embodiment will not be repeated.
Another embodiment of the present application provides a body leakage monitoring device, including a cradle head, an optical gas imaging camera mounted on the cradle head, a laser mounted on the cradle head, a range finder mounted on the cradle head, and a server; the optical gas imaging camera, the laser and the range finder are vertically aligned in the center of the optical axis; the optical gas imaging camera, the laser and the range finder are all in signal connection with the server.
In some embodiments, the monitoring device further includes a thermal imaging device carried on the cradle head; the temperature measurement thermal imaging device is in signal connection with the server.
In some embodiments, the monitoring device further includes a visible light camera mounted on the pan-tilt; the visible light camera is vertically aligned with the center of the optical axis of the temperature measurement thermal imaging device; the visible light camera is in signal connection with the server.
Fig. 6 is a schematic diagram of a computing device 900 provided by an embodiment of the present application. The computing device, which may be a terminal or a chip or chip system within the terminal, may perform various alternative embodiments of the gas leakage monitoring methods described above. As shown in fig. 6, the computing device 900 includes: processor 910, memory 920, and communication interface 930.
It should be appreciated that the communication interface 930 in the computing device 900 shown in fig. 6 may be used to communicate with other devices and may include, in particular, one or more transceiver circuits or interface circuits.
Wherein the processor 910 may be coupled to a memory 920. The memory 920 may be used to store the program codes and data. Accordingly, the memory 920 may be a storage unit internal to the processor 910, an external storage unit independent of the processor 910, or a component including a storage unit internal to the processor 910 and an external storage unit independent of the processor 910.
Optionally, computing device 900 may also include a bus. The memory 920 and the communication interface 930 may be connected to the processor 910 through a bus. The bus may be a peripheral component interconnect standard (Peripheral Component Interconnect, PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, or the like. The buses may be classified as address buses, data buses, control buses, etc. For ease of illustration, an unbiased line is shown in FIG. 5, but does not represent only one bus or one type of bus.
It should be appreciated that in embodiments of the present application, the processor 910 may employ a central processing unit (central processing unit, CPU). The processor may also be other general purpose processors, system On Chip (SOC), application specific integrated circuits (application specific integrated circuit, ASIC), off-the-shelf programmable gate arrays (field programmable gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. Or the processor 910 may employ one or more integrated circuits for executing associated programs to perform the techniques provided in the embodiments of the present application.
The memory 920 may include read only memory and random access memory and provide instructions and data to the processor 910. A portion of the processor 910 may also include nonvolatile random access memory. For example, the processor 910 may also store information of the device type.
When the computing device 900 is running, the processor 910 executes computer-executable instructions in the memory 920 to perform any of the operational steps of the methods described above, as well as any of the alternative embodiments.
It should be understood that the computing device 900 according to the embodiments of the present application may correspond to a respective subject performing the methods according to the embodiments of the present application, and that the foregoing and other operations and/or functions of the respective modules in the computing device 900 are respectively for implementing the respective flows of the methods of the embodiments, and are not described herein for brevity.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or as computer software, or as a combination of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application. For example, the apparatus described in the foregoing embodiments, or each unit or module included in each apparatus, may be implemented by a process or a software module, where the software module may be a unit split according to functional logic. It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.
In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Embodiments of the present application also provide a computer-readable storage medium having stored thereon a computer program for performing the above-described method when executed by a processor, the method comprising at least one of the aspects described in the above-described embodiments.
Any combination of one or more computer readable media may be employed as the computer storage media of the embodiments herein. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present application may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
In addition, the terms "first, second, third, etc." or module a, module B, module C, etc. in the description and the claims are used solely for distinguishing between similar objects and not necessarily for a specific ordering of objects, it being understood that a specific order or sequence may be interchanged if allowed to enable the embodiments of the application described herein to be practiced otherwise than as specifically illustrated and described herein.
In the above description, reference numerals indicating steps such as S110, S120, … …, etc. do not necessarily indicate that the steps are performed in this order, and the order of the steps may be interchanged or performed simultaneously as the case may be.
The term "comprising" as used in the description and claims should not be interpreted as being limited to what is listed thereafter; it does not exclude other elements or steps. Thus, it should be interpreted as specifying the presence of the stated features, integers, steps or components as referred to, but does not preclude the presence or addition of one or more other features, integers, steps or components, or groups thereof. Thus, the expression "a device comprising means a and B" should not be limited to a device consisting of only components a and B.
Reference in the specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. Thus, appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment, but may. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments as would be apparent to one of ordinary skill in the art from this disclosure.
Note that the above is only a preferred embodiment of the present application and the technical principle applied. Those skilled in the art will appreciate that the present application is not limited to the particular embodiments described herein, but is capable of numerous obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the present application. Thus, while the present application has been described in terms of the foregoing embodiments, the present application is not limited to the foregoing embodiments, but may include many other equivalent embodiments without departing from the spirit of the present application, all of which fall within the scope of the present application.
Claims (14)
1. A gas leak monitoring system, comprising: the system comprises a cradle head, a gas cloud imaging module, a laser detection module, a ranging module and a server; the air cloud imaging module, the laser detection module and the ranging module are all carried on the holder, and the air cloud imaging module, the laser detection module, the ranging module and the holder are respectively in signal connection with the server;
the gas cloud imaging module is used for acquiring a first image corresponding to a subarea where gas leakage occurs in a region to be monitored, and transmitting the first image to the server; wherein the first image comprises a complete air mass of leaked air;
the server is used for determining the maximum leakage point position according to the received first image;
the distance measuring module is used for acquiring a first distance, and the first distance represents the distance between the center of the optical axis of the gas cloud imaging module and the maximum leakage point;
the server is further used for determining a first angle according to the first distance and controlling the cradle head to rotate according to the first angle; the first angle represents an angle that the cradle head needs to rotate when the optical axis center of the laser detection module is aligned with the maximum leakage point;
The laser detection module is used for obtaining the concentration of the leakage gas at the maximum leakage point.
2. The monitoring system according to claim 1, wherein the server is further configured to calculate a first coordinate of the maximum leakage point in a coordinate system corresponding to the pan-tilt, and convert the first coordinate into a second coordinate of the maximum leakage point in the coordinate system corresponding to the area to be monitored, so as to determine a position of the maximum leakage point in the area to be monitored; the coordinate system corresponding to the holder and the coordinate system corresponding to the region to be monitored are both established in advance.
3. The monitoring system according to claim 1 or 2, further comprising:
and the temperature measurement thermal imaging module is carried on the cradle head and used for acquiring the temperature around the leaked gas.
4. A monitoring system according to any one of claims 1-3, further comprising:
the visible light camera is carried on the holder and is used for acquiring a second image corresponding to the subarea where the gas leakage occurs in the area to be monitored, and the background area of the subarea where the gas leakage occurs is obtained by superposing the first image and the second image; wherein the second image is a visible light image of a subregion of the gas leak.
5. A method of gas leak monitoring using the gas leak monitoring system of any one of claims 1-4, comprising:
acquiring a first image corresponding to a subarea where gas leakage occurs in a region to be monitored, and determining a maximum leakage point position based on the first image; wherein the first image comprises a complete air mass of leaked air;
acquiring a first distance, and determining a first angle according to the first distance; the first distance represents the distance between the optical axis center of the gas cloud imaging module and the maximum leakage point, and the first angle represents the angle of the holder to be rotated when the optical axis center of the laser detection module is aligned with the maximum leakage point;
and controlling the cradle head to rotate according to the first angle, enabling the center of the optical axis of the laser detection module to be aligned with the maximum leakage point position, and obtaining the concentration of the leakage gas at the maximum leakage point position by utilizing the laser detection module.
6. The method as recited in claim 5, further comprising:
calculating a first coordinate of the maximum leakage point in a coordinate system corresponding to the holder, and converting the first coordinate into a second coordinate of the maximum leakage point in the coordinate system corresponding to the area to be monitored, so as to determine the position of the maximum leakage point in the area to be monitored; the coordinate system corresponding to the holder and the coordinate system corresponding to the region to be monitored are both established in advance.
7. The method according to claim 5 or 6, wherein the acquiring the first image corresponding to the subarea where the gas leakage occurs in the area to be monitored includes:
and acquiring a third image corresponding to the subarea by utilizing a gas cloud imaging module, controlling the cradle head to rotate along the gas flow direction based on the gas flow direction when the gas mass of the leaked gas is positioned at the edge position of the third image, acquiring a fourth image when the acquired image comprises the complete gas mass of the leaked gas, and taking the fourth image as the first image.
8. The method of claim 5 or 6, wherein said determining a first angle from said first distance comprises:
determining a second distance according to a curve fitted in advance, wherein the second distance represents the distance between the gas cloud imaging module and the laser detection module;
and determining an angle required to be rotated by the holder when the optical axis center of the laser detection module is aligned with the maximum leakage point according to the first distance and the second distance, and taking the angle as the first angle.
9. The method of claim 8, wherein the curve fitting process comprises:
Changing the first distance for multiple times to obtain multiple first distance values;
calculating a second distance value corresponding to each first distance value by using a sparse optical flow method to obtain a plurality of arrays, wherein each array comprises a first distance value and a second distance value corresponding to the first distance value;
and based on the plurality of arrays, fitting by using a least square method to obtain the curve.
10. The method according to claim 5 or 6, further comprising:
acquiring a second image corresponding to a subarea where gas leakage occurs in the area to be monitored, and acquiring a background area of the subarea where the gas leakage occurs by superposing the first image and the second image; wherein the second image is a visible light image of a subregion of the gas leak.
11. The method according to claim 5 or 6, further comprising:
and acquiring the temperature around the leaked gas, and determining the maximum leakage point position according to the temperature.
12. A gas leakage monitoring device, comprising:
the device comprises a cradle head, an optical gas imaging camera mounted on the cradle head, a laser mounted on the cradle head, a range finder mounted on the cradle head and a server;
The optical gas imaging camera, the laser and the range finder are vertically aligned in the center of the optical axis;
the optical gas imaging camera, the laser and the range finder are all in signal connection with the server.
13. The apparatus as recited in claim 12, further comprising:
the temperature measurement thermal imaging equipment is carried on the cradle head;
the temperature measurement thermal imaging device is in signal connection with the server.
14. The apparatus as recited in claim 13, further comprising:
the visible light camera is carried on the cradle head;
the visible light camera is vertically aligned with the center of the optical axis of the temperature measurement thermal imaging device;
the visible light camera is in signal connection with the server.
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