Research on gas concentration field reconstruction method based on laser SLAM and TDLAS

Abstract

A method for gas concentration field reconstruction is proposed, which integrates laser Simultaneous Localization and Mapping (SLAM) with Tunable Diode Laser Absorption Spectroscopy (TDLAS). This approach aims to address the reconstruction limitations of TDLAS in complex scenarios due to the lack of depth information. By introducing the spatial perception and autonomous localization capabilities of SLAM, a single TDLAS telemetry device mounted on a mobile robotic platform is utilized to achieve scanning and reconstruction of gas concentration fields over a large area (approximately 500 square meters). During the experimental validation conducted in an underground garage, the distribution positions of high-concentration gas bags were accurately reconstructed with an error margin within 0.6 m. Furthermore, the distribution and differences between methane and carbon dioxide gas bags of varying concentrations were successfully reflected, demonstrating the effectiveness and feasibility of the proposed method. In the future, this method holds promise for widespread applications in pipeline inspection, personnel detection, and other fields.