55results about How to "Increase the effective range" patented technology

The present invention belongs to the radar imaging technology field, and especially relates to a terahertz frequency band aperture coding high-resolution middle and long distance staring imaging device and method. The imaging device comprises a terahertz transmission module 1, a transmission antenna 2, an electric control secondary reflector array 3, a paraboloid primary mirror 4, a receiving antenna 5, a terahertz receiving module 6, a memory 7 and a system control host 8. The terahertz transmission module is connected with the transmission antenna, and the electric control secondary reflector array is connected with a system control host; the paraboloid primary mirror is configured to perform reflection and alignment of the terahertz coding wave beam; the receiving antenna collects the scattering echo signals of the surface of a target; the terahertz receiving module is configured to perform low noise amplification, frequency mixing and quadrature demodulation processing of the scattering echo signals; and the system control host performs relation imaging processing of the echo signals and the reference signals to obtain a target reconstruction image. The terahertz frequency band aperture coding high-resolution middle and long distance staring imaging device and method obtain the high-resolution capability in the wave beam of the identical caliber traditional radar diffraction limit and are fast in mode switching.

The invention provides a reflective gas sensing system based on a hollow-core photonic crystal fiber. The reflective gas sensing system consists of a light source 1, a circulator 2, a sensing probe 3 and a spectrum demodulation unit 4, and is characterized in that light signals emitted by the light source 1 enter a port A of the circulator 2 at first and are then output from a port B of the circulator 2 to enter the sensing probe 3; when sequentially passing through a single-mode fiber 31, a hollow-core photonic crystal fiber 32 and a multi-mode fiber 33 in the sensing probe 3, the light signals are reflected at a high-reflectivity mirror 34 at the tail end of the multi-mode fiber 33, and the reflected signals sequentially pass through the multi-mode fiber 33, the hollow-core photonic crystal fiber 32 and the single-mode fiber and then return to the port B of the circulator 2, and after that, are output from a port C of the circulator 2 to enter the spectrum demodulation unit 4 for data processing, so that the concentration of a gas to be detected in the hollow-core photonic crystal fiber 32 can be calculated. The invention provides a feasible method for remote real-time on-line monitoring of a gas sensor based on the hollow-core photonic crystal fiber.

The invention provides an optical fiber gas cascaded Raman laser capable of realizing 3-5-micron band tuning. The laser comprises a 1-micron band tunable Raman pump source, a first level gas Raman laser generation device and a second level gas Raman laser generation device, the first level gas Raman laser generation device converts 1-micron pump laser generated by the 1-micron band tunable Raman pump source into first level Raman scattering laser, and the first level Raman scattering laser is laser of 1.5-micron band or 2-micron band; and the second level gas Raman laser generation device converts the first level Raman scattering laser into second level Raman scattering laser, and the second level Raman scattering laser is 3-5-micron band tunable mid-infrared laser. According to the optical fiber gas cascaded Raman laser provided by the invention, the output of 3-5-micron band tunable mid-infrared laser is realized in an anti-resonant hollow fiber with a negative curvature by employing a gas Raman cascading manner for the first time.

The invention relates to active mixed acid plugging removal solution applicable to a low permeability reservoir and mainly solves the problems of short period of validity and poor plugging removal and augmented injection effects when conventional mud acid and composite acid methods are adopted for plugging removal treatment on low permeability formation. The active mixed acid plugging removal solution consists of the following components in proportions according to weight percent: 9-10% of acetic acid, 5-7% of formic acid, 2%-3% of bifluorid acid ammonium, 2%-4% of boric acid, 1.0-2.0% of corrosion inhibitor, 2.0-4.0% of mutual solvent, 2.0% of clay stabilizer, 0.5-1.0% of dewetting active agent and 67.0-76.5% of water. The active mixed acid plugging removal solution applicable to the low permeability reservoir can delay the reaction rate of acid rock, increase the effective operating distance of acid solution, and realize the acidification of deep formation, and simultaneously can improve the oil and water seepage characteristics and increase the water phase permeability.

The invention provides a polymer viscous acid. The polymer viscous acid comprises acid, a hydrophobic associative polymer thickener, a corrosion inhibitor and an iron ion stabilizer. According to the invention, the hydrophobic associative polymer thickener is adopted as a thickening agent of the viscous acid. Hydrophobic groups of the polymer are associated together in the acid liquid, such that a huge space network structure is formed in the solution, and solution thickening property is improved. The diffusion speed of hydrogen ions in the acid liquid to cracks and gaps is reduced. Also, a formed associated network structure assists in effectively limiting the activity of hydrogen ions. Therefore, acid liquid consumption rate is greatly reduced, effective action distance is increased, acid rock reaction is retarded, crack width is increased, and stratum permeability is improved. The association of hydrophobic groups also assists in improving the temperature resistance and salt resistance of the solution. The formed associative polymer has lower hydrogen ion mass transfer coefficient under high temperature and better high-temperature resistance. The prepared viscous acid has the characteristics of low filtration loss, low friction resistance and high fine sand suspension capacity, such that secondary stratum damage can be retarded.

The invention relates to a system and method for detecting a fault of a DC grounding electrode line, and the system and method achieve the fault discrimination and range finding of the DC grounding electrode line. The system comprises a high-voltage reactor, a high-voltage capacitor, an impedance matching module, an overvoltage protection module, a fault detection device, and a connection cable. The fault detection device can transmit a common mode pulse signal and a differential mode pulse signal, and the common mode pulse signal and the differential mode pulse signal are injected into two conductors of the DC grounding electrode line through the impedance matching module and the high-voltage capacitor. Moreover, a fault reflection traveling wave is detected through the above loop. The high-voltage reactor is disposed at a split part of the grounding electrode line so as to prevent a DC field from affecting a common mode signal traveling wave. The system can reduce the mutual counteracting of differential mode signal traveling waves, and also can enable a differential mode traveling wave method not to be limited by an installation site. The method can improve the amplitude and signal to noise ratio of the traveling wave signals, and can improve the reliability and range finding precision of fault detection of the DC grounding electrode line.

The invention discloses a method for improving coal seam permeability based on an acidification means. The method comprises the steps that before working face stoping, a downward consequent layer along a coal seam and tending to parallel construction in a working face return air roadway and an upward consequent layer along the coal seam and tending to parallel construction in a working face transportation roadway are drilled at intervals of equal hole pitches, drill holes sealed through guiding pipes are filled with an acid solution; the acid solution is prepared from hydrochloric acid, hydrofluoric acid, an acidizing retardance agent, an acidizing corrosion inhibitor, a ferrous stability, an anti-swelling agent and water; after acidification, the acid solution is discharged. By the adoption of the method, the coal seam permeability is improved, carbonate mineral components are dissolved by adopting the hydrochloric acid, and ferric hydroxide precipitate generation is inhibited. Silicate mineral components contained in a coal seam are dissolved by adopting the hydrofluoric acid. The acidizing retardance agent is absorbed on the surface of the coal seam to retard the reaction of the acid solution and the coal seam surface, inhibit the mass transfer velocity of H<+>, prolong the reaction time of the acid solution and the coal seam, increase an effective action distance of the acid and coal seam reaction and achieve the deep acidification purpose.

The invention discloses a small-wavelet-packet-based 24GHz LFMCW (Linear Frequency Modulation Continuous Wave) radar ranging method which comprises the following steps of: carrying out frequency mixing and filtering on an echo signal and a transmission signal of an LFMCW radar to obtain a beat signal; treating the beat signal by utilizing a decomposition algorithm and a single-node reconstruction algorithm of a small wavelet packet to obtain a sing-node reconstructed signal; and carrying out fast Fourier transform on the reconstructed signal of the small wavelet packet to obtain frequency spectrum information of the signal; and finding a frequency corresponding to the maximum amplitude of a frequency spectrum and substituting the frequency into a distance formula to compute a target distance. The ranging method provided by the invention is capable of extracting long-distance target information under low signal to noise ratio so as to enlarge the effective action distance of the radar.

The invention provides a method for enhancing an air curtain separating function. A slot-shaped air outlet flow guiding device is arranged at a spraying-out opening of an air curtain machine, pressing, reshaping and flow guiding are carried out on an air curtain through the air outlet flow guiding device, so that the air curtain is in a flat shape, and the air curtain is sprayed out by a set angle oblique towards outdoor space from a vertical direction. According to the method, air pressure of the air curtain can be increased, the air curtain can be thin and erect and be oblique towards the outdoor space, and indoor space and the outdoor space are separated effectively. The invention further discloses the air curtain machine utilizing the method, the air curtain machine comprises an air curtain machine shell, a plurality of fans arranged in the air curtain machine shell and the air outlet flow guiding device arranged at the lower end of the air curtain machine shell, the air curtain is sprayed out by the air outlet flow guiding device, and the set angle is formed between the air curtain and the vertical direction. The air outlet flow guiding device is arranged at the lower end of the air curtain machine, and under the condition that air curtain machine power is not increased, separating effect of the air curtain is greatly improved.

The invention discloses a gas-containing coal permeation-increasing method adopting joint action of carbon dioxide detonation and acidification. According to working face parameters, the coal seam thickness, the gas content and the like, the drilling hole arranging mode of a permeation-increasing unit is comprehensively confirmed, and a plurality of permeation-increasing units are arranged on a working face; and drilling holes in the permeation-increasing unit are adopted with the following measures that firstly, carbon dioxide detonation is conducted through a detonation hole, then acid liquid is injected through an acidification hole, the setting time is maintained, and finally, the detonation hole and the acidification hole are connected into an extraction system to conduct gas extraction. According to the permeation-increasing method of the coals containing the gas through the joint action of detonation and acidification of the carbon dioxide, while coal seam breathability is increased, the content of the carbon dioxide is greatly improved through early carbon dioxide detonation and later-period acidification, and additionally, the adsorption capacity of the coals on the carbon dioxide is further larger than that of methane, so that the replacement and displacement effects on the methane are achieved. According to the gas-containing coal permeation-increasing method adopting the joint action of carbon dioxide detonation and acidification, through sufficient combination of the advantages of carbon dioxide detonation and acidification, coal seam breathability is greatly improved, and the gas extraction rate is improved.

The invention discloses a composite acid fracturing method for supporting the front edge of a fracture by utilizing a phase change material. The method includes the following steps that a prepad fracturing fluid is injected, a reservoir is fractured to form the hydraulic fracture, and meanwhile, the temperature of the reservoir is reduced to be the phase change temperature T of the reversed phasechange material or below; a mixed fluid of the liquid reversed phase change material and the fracturing fluid is injected, and part of the hydraulic fracture space is filled with the mixed fluid; an acid fluid is injected, the hydraulic fracture is etched, and the acid fluid further continues to flow into the deeper part of the reservoir; a displacement fluid is injected, so that all the acid fluid enters the hydraulic fracture; a well is continuously closed until the temperature of the reservoir is restored to be the phase change temperature T or above, the phase change material is changed into a solid state, and the front edge of the hydraulic fracture is supported; the well is opened, pressure relief is carried out, and the injected prepad fracturing fluid, a fracturing fluid, the acidfluid and the displacement fluid flow back. The injected fluids do not contain solid-phase particles, so that equipment abrasion is reduced; the reversed phase change material becomes liquid when injected, and after the reversed phase change material is heated and cured, the front edge of the fracture is effectively supported.

The invention relates to a chemical plugging remover suitable for a ternary composite flooding injection well. The method mainly solves problems of poor effect and short validity period when measuressuch as changing stratum injection fluid, acidizing and blocking removal of a common water injection well and the like are applied to a ternary compound flooding injection well. The chemical pluggingagent consists of three parts, namely a precursor, a main agent and an after agent, wherein the precursor consists of 10-15 percent of a polymer degradation agent and 90-85 percent of water; the mainagent consists of 7-10 percent of hydrochloric acid, 3-5 percent of acetic acid, 3-5 percent of ammonium fluoride, 1.0-2.0 percent of triethanolamine, 0.5-1.0 percent of an imidazoline quaternary ammonium salt corrosion inhibitor and 85.5-77 percent of water; the after agent consists of 1.0-3.0 percent of organic phosphonic acid, 0.5-1.0 percent of hexamethylene tetraammonium and 98.5-96.0 percentof water, wherein the components are measured in percentage by weight. The chemical plugging remover suitable for the ternary composite flooding injection well aims at various plugging substances such as scale, polymer, alkali and the like in the ternary composite flooding injection well, has functions of degrading polymer, dissolving scale, complexing, metal ions and the like, and has the advantages of good stability, low corrosivity and safe use.

The invention relates to a type critical illumination system for extreme ultra-violet lithography, belonging to the field of a critical illumination system in an extreme ultra-violet lithography system. The type critical illumination system comprises a light condensing system, a relay system, a photoetching system vacuum tank body and a corrugated pipe, wherein the light condensing system comprises a light source, a light condensing primary mirror, a light condensing system secondary mirror, a scrap removing system and a light condensing system vacuum tank body; the scrap removing system is arranged on a symmetry axis of a light source emergent sector along a light path; the light condensing system secondary mirror and the light condensing primary mirror are sequentially arranged behind the scrap removing system, and the light source, the light condensing system secondary mirror and the light condensing primary mirror commonly form a Schwartz-Kierard system; the light condensing system secondary mirror and the light condensing primary mirror are both arranged in the light condensing system vacuum tank body; the front end of the scrap removing system is close to the light source, and the rear end of the scrap removing system is fixedly connected with the rear end of the light condensing system secondary mirror. According to the type critical illumination system, the light source collecting solid angle can reach 0.48Sr, the shielded center area is less than 25%, the luminous energy collecting efficiency is greatly improved, an effective action distance of the scrap removing system can be increased and the scrap removing effect can be well achieved.

The invention discloses a carbon dioxide acid fracturing method for a low permeability heterogeneous carbonate gas reservoir. The carbon dioxide acid fracturing method comprises the following steps that (1) CO2 tank trucks, a CO2 pump truck and fracturing trucks A are connected into a wellhead in series; (2) liquid tanks, acid tanks A and acid tanks B are directly connected with a low pressure manifold; (3) the low pressure manifold, a sand mixing truck, fracturing trucks B and a high pressure manifold are connected into the wellhead in series; (4) resistance reducing acid is subjected to pumpinjection with the displacement of 1.0-1.5m<3> / min; (5) CO2 is subjected to pump injection with the displacement of 1.5-3.0m<3> / min; (6) slickwater is subjected to pump injection with the displacement of 3.0-8.0m<3> / min; (7) the resistance reducing acid is subjected to pump injection with the displacement of 3.0-8.0m<3> / min; (8) steering acid is subjected to pump injection with the displacement of 2.0-6.0m<3> / min; (9) the steps (6)-(8) are repeated for 0-2 times, and the steps(6)-(7) are repeated for 1 time; and (10) the slickwater is subjected to pump injection. According to the carbon dioxide acid fracturing method, the acid fracturing effect can be improved, and the daily gas production quantity is increased.

The invention discloses a temperature-sensitive acid liquid thickening agent for acid fracturing, which belongs to the technical field of oilfield development, is a quadripolymer, and is formed by quaternary copolymerization of acrylamide, a bio-based cationic monomer, a temperature-resistant salt-resistant monomer and a temperature-sensitive monomer. The thickening agent has good solubility in acid liquor and has thermosensitivity and pH sensitivity, wherein the viscosity of the solution is greatly increased along with temperature rising and acid rock reaction, so that the crack width is increased, and the stratum permeability is improved, and the invention further discloses a preparation method of the thickening agent.

The present invention discloses a compound acid solution blocking remover for oilfield clogging. The blocking remover comprises the following components by weight: 10-15% of hydrochloric acid, 8-12% of succinic acid, 2-5% of a stabilizer, 0.3-0.8% of a corrosion inhibitor, 0.5-1% of an additive and 70-80% of water. The product provided by the invention is a composite acid compounded from a plurality of organic and inorganic acids, corrosion inhibitor, stabilizer, and additives through the scientific process conditions, has the characteristics of chemical stability, high dissolution rate, low damage and corrosion resistance, can effectively relieve the blockage and damage caused by inorganic and organic matters in the formation, increase the permeability of the formation and reach the effect of increasing yield and injection of oil wells.

The invention relates to a kitchen smoke discharge facility, in particular to a method and a device for realizing an all-closed air curtain by adopting strip air ports on four edges of a stove on a cooking bench plate. The device comprises a fan, the cooking bench plate, angle-adjustable strip air ports, the stove, the all-closed air curtain and a range hood. The angle-adjustable strip air ports are arranged on four edges of the stove on the cooking bench plate; a cross flow fan or a centrifugal fan is used for supplying air to the strip air ports to form uniform and stable strip air curtains;the angles of the air curtains are inwards deflected to an air sucking port of the range hood; and four surfaces are closed to form the closed air curtain. The cooking bench plate, the four-surface closed air curtain and the range hood form total-closed space; lampblack is totally locked in the space; and meanwhile, the direction of the air curtain is from bottom to top, so that escaped part in the lampblack can be taken to the air sucking port of the range hood, and is totally discharged from a kitchen with the lampblack directly rising to the upper part through the range hood, and the kitchen pollution and the human harm caused by the lampblack are thoroughly solved.

The invention discloses a long range active response loop wire set, which is used in the field of railway signal automatic control to account for the difficulty of changing the command of controlling vehicles and answering machine receiving, detecting and maintaining system in the existing technology. This set includes electrical design which is compatible to European standard about the basic function of the active answering machine, and the elongated active response loop wire design. In this invention, the active response loop wire set is installed in the middle of two steel rails to replace standard answering machine, the loop wire of this set is as long as 4 meters, the parameter of electric resonance point is 4.23 MHz, this set can send 4.23 MHz FSK carrier frequencies semaphore which is compatible to standard answering machine to railway engine. After using this invention, the rigor request of railway engine positional accuracy can be relaxed, which is indicated that as long as the railway engine stops at the active response loop wire set of 4 meters long, information continuously received can be implemented, greatly reduces the railway engine position request when change the command of controlling machine and the answering machine implements receiving, detecting, maintaining and employing.

The invention discloses a one-dimensional galvanometer scanning type laser eyepiece device. The laser eyepiece device is characterized in that the one-dimensional galvanometer scanning type laser eyepiece device comprises a laser device, an optical lens group, a galvanometer scanning system and an emission optical system which are arranged in sequence, and the laser device is a semiconductor green laser device with tail fiber output and used for emitting laser; the optical lens group is used for converting laser emitted by the laser into linear light spots; the galvanometer scanning system is used for converting the linear light spots into square light spots; and the emission optical system is used for expanding the beam diameter of the square light spots to realize adjustment of the far and near field square light spots. According to the laser eyepiece device, the operating distance is increased, the environment adaptability is improved, and the eyepiece effect is guaranteed.

The invention provides a liquid wormhole acid system, which is composed of the following substances in percentage by weight: 10 to 25% of organic acid, 1 to 5% of clay stabilizing agent, 15 to 20% of polyglucoheptonate, 1 to 5% of surfactant, and the balance being water. The provided liquid wormhole acid system has a good retarding performance. The used organic acid is a polyatomic acid. The H<+> ionization speed is slow, thus the H<+> concentration is low, the acid-rock reaction speed is reduced from the source, the deep penetration of liquid acid is realized, a longer distance of useful effect is formed, and the flow conductivity is enhanced.

The invention relates to the technical field of fracturing in oil and gas fields, in particular to a large-displacement composite acid fracturing method for carbonate rock reservoirs, which reduces the acid reaction rate by using slick water, gelling acid, and viscous acid for multi-stage alternate injection , increase the length of acid-etched fractures, which is conducive to the communication of natural fractures and increase the volume of reservoir acid fracturing; the use of wormhole acid-acid system can realize the deep penetration of acid in fractures, forming a longer effective distance and improving Conductivity; the use of resistance-reducing acid in the later stage can expand the acid erosion degree of the reservoir around the wellbore and further improve the reservoir conductivity in the near-wellbore zone; volumetric acid fracturing of carbonate reservoirs with well-developed fractures can make full use of The natural fractures of the reservoir, with the help of acid solution on the dissolution of carbonate minerals, expand and extend the fractures and caves, at the same time, communicate with natural fractures, increase the diversion capacity of seepage channels, and achieve the purpose of maximizing production increase.

The present invention discloses an electrical eddy current electro-mechanical transformation apparatus and method. The electrical eddy current electro-mechanical transformation apparatus comprises a partially metallized disk, a printed circuit board, several induction coil pairs, an excitation device, and a measurement apparatus. The partially metallized disk is suitable for connecting to an external to-be-detected rotating part and synchronous rotation. The printed circuit board and the partially metallized disk are disposed in parallel and opposite to each other. The induction coil pair comprises a primary coil and a secondary coil. The primary coil and the secondary coil are separately coaxially disposed on both sides of the printed circuit board, and a central axis of each induction coil pair is parallel to a central axis of the partially metallized disk. The excitation device is electrically connected to the primary coil, and the secondary coil is electrically connected to the measurement apparatus. The primary coil and the secondary coil are coupled by means of a mutual induction effect. The measurement apparatus outputs a measurement signal according to an induction amount variation of the secondary coil. The electrical eddy current electro-mechanical transformation apparatus is simple in structure and convenient for installation. Further, a coefficient of mutual induction between the primary coil and the secondary coil is large, and power consumption is low.

The invention discloses a tight oil reservoir high-viscosity strong-corrosion acid liquid system, which comprises the following components by mass percentage: 6%-12% of hydrochloric acid, 1%-3% of betaine, 4%-8% of a reinforcing agent, 0.05%-0.2% of citric acid, 0.5%-2% of ammonium chloride, 0.5%-2% of a corrosion inhibitor, 0.1%-0.4% of a cleanup additive, 0.05%-0.2% of a demulsifier and the balance water. During acidification of the acid liquid system, the rise of the acid liquid viscosity reduces the acid liquid filtrate loss, thus forcing more fresh acid to enter deep stratum, and increasing the effective action distance of the acid liquid, and at the end of acidification, high-viscosity fluid undergoes automatic gel breaking into a low-viscosity fluid when encountering crude oil in the stratum, so that the stratum is exempt from secondary damage.

The invention discloses a transportation robot. Under the control of an electric control module, torque output by a steering assembly is transmitted to an inner shaft sleeve, the inner shaft sleeve transmits the torque to a sliding column, a driving wheel is driven by the sliding column to steer, and therefore, independent steering control over all wheels is achieved, and steering is flexible; each driving wheel is provided with an independent suspension mechanism, the suspension mechanisms are located over the driving wheels, so that the effective action distance of the suspension mechanismsis increased, and the lateral rigidity is good; the load state and the speed are designed in a matched mode, so that it is guaranteed that the robot can rapidly run in a no-load state, and good obstacle crossing capacity is achieved; when the robot is in full load, the robot operates at a low speed, and all the driving wheels have good ground attaching performance, so that the suspension phenomenon is avoided, it is ensured that the robot has sufficient power performance; and the robot has good stability and accurate positioning performance when the robot is in full load.

The invention belongs to the technical field of oil and gas exploitation, and specifically relates to a mud acid cross-linking agent and a preparation method thereof. The mud acid cross-linking agent is prepared from the following materials in parts by weight: 1000 parts of 3-pyrrolidinol, 400-600 parts of glyoxal, 330 parts of water-soluble phenolic resin, 1000 parts of alcohol and 1000 parts of water, wherein the water-soluble phenolic resin comprises 94 parts of phenol, 9.2 parts of catalyst and 225 parts of formaldehyde aqueous liquor with concentration of 40%l and the catalyst is one of sodium hydroxide or potassium hydroxide. The mud acid cross-linking agent disclosed by the invention is strong in adaptive capacity and is capable of lowering acid liquor reaction speed and improving effective acting distance of the acid liquor.

The invention relates to an acidizing blockage remover, aiming to solve the problem that an existing blockage remover is poor in acidizing effect of oil formations in farther zones. The acidizing blockage remover comprises, by weight, 1-30% of inorganic acid, 0.5-2.0% of organic acid, 0.5-2.0% of complexing agent, 0.5-1.5% of scrubbing agent, 0.5-1.5% of corrosion inhibitor, 1-3% of clay stabilizer, 0.3-0.5% of demulsifying agent, 0.3-0.5% of penetrating agent, 0.3-2% of mutual solvent, 0.1-0.5% of surfactant and the balance water. The acidizing blockage remover is long in effective period and excellent in acidizing blockage removal effect when used for acidizing the farther zones.

The invention relates to a depth camera for an autonomous underwater robot. The depth camera comprises a sensor imaging module, a blue-green light source, a light source driving module, a power supply module, a lens matched with the light source, a processing and communication module, an external interface and a sealing shell. The depth camera is installed on the autonomous underwater robot, a blue-green light source of the depth camera emits a modulated blue or green light pulse, the modulated blue or green light pulse is reflected to a lens matched with the light source after being reflected by an underwater target and propagated by an underwater light field, and the lens can filter interference signals outside a light source wave band. The sensor imaging module receives light source modulation light reflected by a scene to generate original image data, the original image data are processed and corrected by the processing and communication module to generate a three-dimensional point cloud picture containing depth information, and the three-dimensional point cloud picture is sent to a control system of the autonomous underwater robot through an external interface so that the autonomous underwater robot can sense underwater environment information. The method has the advantages of large depth measurement range, low cost, high frame rate, convenience in use and the like.

The invention provides an optical fiber gas laser generation device used for generating 1.5-micron laser. Pumped laser is in stimulated Raman scattering interaction with a working gas filling a hollow photonic crystal optical fiber, so that laser of a 1.5-micron band can be outputted.