Laser remote sensing instrument and intelligent response speed adjusting method thereof

Abstract

The invention provides a laser remote sensing instrument and an intelligent response speed adjusting method thereof. The method comprises the steps that the detection distance between the laser remote sensing instrument and an inspection pipeline is measured; measuring the angular velocity of the laser telemeter in the inspection process; calculating the moving speed of the laser spot of the laser telemeter according to the detection distance and the angular speed; and according to the moving speed of the laser spot of the laser remote measuring instrument, the data refreshing speed of the laser remote measuring instrument is fed back and adjusted by adopting a segmentation method. The invention further provides a laser remote measuring instrument for realizing the process, the laser remote measuring instrument is provided with a laser ranging module, a front-end accelerometer and a rear-end accelerometer, and all the components are in signal connection with a main control module. According to the invention, intelligent adjustment of the response speed of the laser remote sensing instrument can be realized, the problem of deterioration of the spatial resolution of leakage detection caused by the change of the speed of the inspection light spot in the inspection process is avoided, the spatial resolution of leakage detection of the laser remote sensing instrument is ensured, and the data reliability of the laser remote sensing instrument is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of Tunable Diode Laser Absorption Spectroscopy (TDLAS), and particularly to a laser telemeter and an intelligent adjustment method for its response speed. Background Art

[0002] Laser spectroscopic telemetry technology has the advantages of high sensitivity, strong anti-interference ability, small volume, etc., and is widely used in the field of gas leakage detection. This technology expands and collimates the laser beam and then irradiates it to the inspection position, collects the diffuse reflection light at the inspection position, and can obtain the concentration information of the target gas at the inspection position after photoelectric conversion and signal processing of the collected diffuse reflection light, so as to judge the gas leakage position.

[0003] In telemetry applications, the data refresh speed of the laser telemeter usually remains constant. The laser telemetry area is fan-shaped with the telemeter as the center, and the telemetry distance can reach hundreds of meters. Due to the irregular distribution of the inspection pipelines in terms of distance, when the telemetry angular velocity is constant, the farther the pipeline is from the telemeter, the longer the pipeline length scanned by the laser spot in the same time, resulting in a deterioration of the spatial resolution of the laser telemeter for leakage detection and a risk of loss or invalidation of inspection data.

[0004] Based on this, the present invention provides a laser telemeter and an intelligent adjustment method for its response speed to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to overcome the deficiencies in the prior art, and provide a laser telemeter and an intelligent adjustment method for its response speed to achieve intelligent adjustment of the response speed of the laser telemeter, avoid the problem of deterioration of the spatial resolution of leakage detection caused by the change of the inspection spot speed during the inspection process, help ensure the spatial resolution of the laser telemeter for leakage detection, and improve the data reliability of the laser telemeter.

[0006] To achieve the above technical objectives, the present invention adopts the following technical solutions:

[0007] (1) The present invention provides an intelligent adjustment method for the response speed of a laser telemeter, including the following steps: measuring the detection distance between the laser telemeter and the inspection pipeline; measuring the angular velocity of the laser telemeter during the inspection process; calculating the moving speed of the laser spot of the laser telemeter according to the detection distance and the angular velocity; adjusting the data refresh speed of the laser telemeter according to the moving speed of the laser spot of the laser telemeter.

[0008] Further, a laser ranging module is integrated on the laser telemeter, and the detection distance between the laser telemeter and the inspection pipeline is measured by the laser ranging module.

[0009] Furthermore, accelerometers are respectively installed at the front end and the rear end of the laser telemeter, and the angular velocity of the laser telemeter during the inspection process is calculated from the acceleration values measured by the accelerometers.

[0010] Furthermore, the instantaneous angular velocity ω of the laser telemeter at time T is:

[0011]

[0012] where t is the single data reading time of the laser telemeter; D is the distance between the front and rear accelerometers; Ax n , Ay n and Az n are respectively the acceleration values of the front accelerometer in each direction of the three-dimensional space at the nth time; Bx n , By n and Bz n are respectively the acceleration values of the rear accelerometer in each direction of the three-dimensional space at the nth time.

[0013] Furthermore, the average moving speed ν of the laser spot of the laser telemeter within a period of time t' is:

[0014]

[0015] where L n is the distance measured by the laser ranging module at the nth time; a is the number of measurements within the time t', and a = t' / t.

[0016] Furthermore, the method for adjusting the data refresh speed of the laser telemeter is: when the spot moving speed ν is lower than 1 m / s, the data refresh speed of the laser telemeter is Δx is the preset spatial resolution; when the spot moving speed ν is higher than 1 m / s and lower than 25 m / s, the data refresh speed of the laser telemeter is When the spot moving speed ν is higher than 25 m / s, pause the data refresh of the laser telemeter and send an alarm message indicating that the inspection speed of the laser telemeter is too fast.

[0017] Furthermore, when the spot moving speed ν is higher than 1 m / s and lower than 25 m / s, control the data refresh speed not to exceed 100 Hz.

[0018] (2) The present invention also provides a laser telemeter capable of intelligently adjusting the response speed. A laser ranging module, a front accelerometer, and a rear accelerometer are provided on the laser telemeter; the laser ranging module is installed on the laser telemeter and is used to measure the detection distance between the laser telemeter and the inspection pipeline; the front accelerometer and the rear accelerometer are respectively arranged at the front end and the rear end of the laser telemeter and are used to detect the accelerations at the front end and the rear end of the laser telemeter during the inspection process; the laser telemeter, the laser ranging module, the front accelerometer, and the rear accelerometer are respectively connected to the main control module in signal. The main control module is used to receive the distance data measured by the laser ranging module and the acceleration data measured by the front and rear accelerometers, calculate the rotational angular velocity of the laser telemeter and the moving speed of the laser spot of the laser telemeter, and adjust the data refresh speed of the laser telemeter.

[0019] Further, the laser ranging module is arranged at the left front end or the right front end of the laser telemeter; the ranging beam of the laser ranging module is parallel to the outgoing beam of the laser telemeter.

[0020] Further, both the front accelerometer and the rear accelerometer are located on the central axis of the laser telemeter.

[0021] Advantageous Effects

[0022] Compared with the prior art, the technical solution of the present invention has the following advantageous effects:

[0023] The present invention provides a laser telemeter and an intelligent adjustment method for its response speed. A laser ranging module, a front accelerometer, and a rear accelerometer are arranged on the laser telemeter. The instantaneous distance data of the laser rangefinder is measured by the laser ranging module, the instantaneous acceleration values of the front and rear accelerometers are read by the two accelerometers, and the instantaneous moving speed of the measurement spot of the laser telemeter is calculated. According to the moving speed of the laser spot of the laser telemeter, the data refresh speed of the laser telemeter is feedback-adjusted by the segmentation method. The present invention can realize the intelligent adjustment of the response speed of the laser telemeter, avoid the problem of deterioration of the leakage detection spatial resolution caused by the change of the inspection spot speed during the inspection process, help to ensure the spatial resolution of the laser telemeter leakage detection, and improve the data reliability of the laser telemeter. Description of the Drawings

[0024] Figure 1 It is a system block diagram of the laser telemeter of the present invention;

[0025] Figure 2 It is a flowchart of the self-adjustment method for the response rate of the laser telemeter of the present invention;

[0026] The marks in the drawings are:

[0027] 1. Laser telemeter; 2. Laser ranging module; 3. Front-end accelerometer; 4. Rear-end accelerometer. Specific embodiments

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0029] An embodiment of the present invention provides a laser telemeter, as Figure 1 shown, including a laser telemeter 1, a laser ranging module 2, a front-end accelerometer 3, and a rear-end accelerometer 4.

[0030] The laser ranging module 2 is installed at the left front end of the laser telemeter 1. The ranging beam of the laser ranging module 2 is parallel to the outgoing beam of the laser telemeter 1 and is used to measure the detection distance between the laser telemeter 1 and the inspection pipeline. The measured distance data is transmitted to the main control module of the laser telemeter at a frequency of 1 kHz. The front-end accelerometer 3 and the rear-end accelerometer 4 are respectively installed at the very front end and the very rear end of the laser telemeter 1. Both the front-end accelerometer 3 and the rear-end accelerometer 4 are located on the central axis of the laser telemeter 1. The distance between the two is D, which can be approximately regarded as the length of the laser telemeter 1. Also, the measured acceleration data is transmitted to the main control module of the laser telemeter at a frequency of 1 kHz.

[0031] During the inspection process, the distance between the inspection pipeline can be measured based on the laser ranging module 2, and the angular velocity of the laser telemeter 1 during the inspection process can be measured based on the front-end accelerometer 3 and the rear-end accelerometer 4 installed at the front and rear. By combining the measured distance and angular velocity, the moving speed of the laser spot can be calculated. According to this moving speed, the data refresh speed of the laser telemeter is adjusted in real time according to the segmentation method, ensuring the spatial resolution of the leakage detection of the laser telemeter.

[0032] The method for intelligently adjusting the response speed of the above laser telemeter is as Figure 2 shown, and specifically includes the following steps:

[0033] Step 1: Measure the detection distance between the laser telemeter and the inspection pipeline:

[0034] Read the distance data measured by the laser ranging module 2 for the nth time and record it as L n , and the data reading frequency is 1 kHz.

[0035] Step 2: Measure the angular velocity of the laser telemeter during the inspection process:

[0036] Read the values of the front accelerometer 3 and the rear accelerometer 4. The data reading frequency is 1 kHz, and the corresponding single data reading time t is 0.001 s.

[0037] Among them, the acceleration values of the front accelerometer 3 in each direction of the three-dimensional space at the nth time are recorded as Ax n 、Ay n and Az n , and the acceleration values of the rear accelerometer 4 in each direction of the three-dimensional space at the nth time are recorded as Bx n 、By n and Bz n . When the laser telemeter 1 is turned on, the initial moving speed is usually zero. Then, the instantaneous speeds of the front end of the laser telemeter in each direction of the three-dimensional space at time T can be calculated as and The instantaneous speeds of the rear end of the laser telemeter in each direction of the three-dimensional space are and The instantaneous displacements of the front end of the laser telemeter in each direction of the three-dimensional space at time T are and The instantaneous displacements of the rear end of the laser telemeter in each direction of the three-dimensional space are and The instantaneous angular velocity ω of the rotation of the laser telemeter can be further calculated as:

[0038]

[0039] where D is the distance between the two accelerometers.

[0040] Step 3: Calculate the moving speed of the laser spot of the laser telemeter according to the detected distance and the angular velocity:

[0041] Combined with the distance data L of the laser ranging module 2 n , the average moving speed ν of the laser spot of the laser telemeter within 0.01 s can be calculated as:

[0042]

[0043] Step 4: Adjust the data refresh speed of the laser telemeter according to the moving speed of the laser spot of the laser telemeter:

[0044] According to the moving speed of the laser telemeter spot, the data refresh speed of the laser telemeter 1 is feedback-regulated by the segmentation method, and the data refresh speed is achieved by adjusting the data accumulation times of a single spectrum. Set the single-spectrum scanning frequency of the laser telemeter 1 to f, with the unit of Hz. Using the parallel computing method, the fastest data refresh speed of the laser telemeter can be obtained as f Hz. To achieve high spatial resolution under high-speed inspection, the spectral scanning frequency usually needs to exceed 10 kHz. The detailed segmentation adjustment method is as follows:

[0045] When the spot moving speed ν is lower than 1 m / s, set the constant spectral averaging times to f×Δx times, and the corresponding data refresh speed of the laser telemeter is where Δx is the preset spatial resolution, with the unit of m. If Δx takes the value of 0.25 m, the corresponding data refresh speed is 4 Hz. Within this speed range, the inspection spatial resolution of the laser telemeter is better than 0.25 m, which can meet the position judgment requirements of most leakage detection application scenarios.

[0046] When the spot moving speed ν is higher than 1 m / s and lower than 25 m / s, this inspection speed range can meet the inspection speed requirements of vehicle-mounted and airborne inspections. Then set the spectral averaging times to At this time, the data refresh speed of the laser telemeter is where the spectral averaging times and the data refresh speed are rounded to the nearest integer, and it is necessary to control the data refresh speed not to exceed 100 Hz. The data refresh speed of the laser telemeter set under this condition ensures that the inspection spatial resolution is constantly Δx.

[0047] When the spot moving speed ν is higher than 25 m / s, limited by the spectral scanning frequency of the laser telemeter, the spectral averaging times are further reduced, the spectral measurement signal-to-noise ratio is further reduced, the telemetry spatial resolution becomes poor, and the validity of the inspection data is greatly reduced. At this time, the data refresh of the laser telemeter is paused, and an alarm message indicating that the inspection speed of the laser telemeter is too fast is prompted.

[0048] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered by the protection scope of the present invention.

Claims

1. An intelligent adjustment method for the response speed of a laser telemeter, characterized in that, It includes the following steps: Determine the detection distance between the laser telemeter and the pipeline to be inspected; Determine the angular velocity of the laser telemeter during the inspection process; Calculate the moving speed of the laser spot of the laser telemeter according to the detection distance and the angular velocity; Adjust the data refresh speed of the laser telemeter according to the moving speed of the laser spot of the laser telemeter.

2. The intelligent adjustment method for the response speed of the laser telemeter according to claim 1, characterized in that A laser ranging module is integrated on the laser telemeter, and the detection distance between the laser telemeter and the pipeline to be inspected is obtained by measuring with the laser ranging module.

3. The intelligent adjustment method for the response speed of the laser telemeter according to claim 1, characterized in that Accelerometers are respectively installed at the front end and the rear end of the laser telemeter, and the angular velocity of the laser telemeter during the inspection process is calculated from the acceleration values measured by the accelerometers.

4. The intelligent adjustment method for the response speed of the laser telemeter according to claim 3, characterized in that The instantaneous angular velocity ω of the laser telemeter at time T is: where t is the single data reading time of the laser telemeter; D is the distance between the front and rear accelerometers; Ax n , Ay n and Az n are respectively the acceleration values of the front accelerometer in the three-dimensional space in each direction at the nth time; Bx n 、By n and Bz n are respectively the acceleration values of the rear - end accelerometer in the n - th time in each direction of the three - dimensional space.

5. The intelligent adjustment method for the response speed of the laser telemeter according to claim 4, characterized in that The average moving speed ν of the laser spot of the laser telemeter within a period of time t' is: Among them, L n is the distance measured by the laser ranging module for the nth time; a = t’ / t.

6. The intelligent adjustment method for the response speed of the laser telemeter according to claim 1, characterized in that The method for adjusting the data refresh speed of the laser telemeter is: When the moving speed ν of the light spot is lower than 1 m / s, the data refresh rate of the laser telemeter is Hz, where Δx is the preset spatial resolution; When the moving speed ν of the light spot is higher than 1 m / s and lower than 25 m / s, the data refresh speed of the laser telemeter is When the spot moving speed ν is higher than 25 m / s, pause the data refresh of the laser telemeter and send an alarm message indicating that the inspection speed of the laser telemeter is too fast.

7. The intelligent adjustment method for the response speed of the laser telemeter according to claim 6, characterized in that When the spot moving speed ν is higher than 1 m / s and lower than 25 m / s, control the data refresh speed not to exceed 100 Hz.

8. A laser telemeter capable of intelligently adjusting the response speed, characterized in that A laser ranging module, a front-end accelerometer and a rear-end accelerometer are provided on the laser telemeter; The laser ranging module is installed on the laser telemeter and is used to measure the detection distance between the laser telemeter and the pipeline to be inspected; The front-end accelerometer and the rear-end accelerometer are respectively arranged at the front end and the rear end of the laser telemeter and are used to detect the accelerations at the front end and the rear end of the laser telemeter during the inspection process; The laser telemeter, the laser ranging module, the front-end accelerometer and the rear-end accelerometer are respectively connected to the main control module in signal, and the main control module is used to receive the distance data measured by the laser ranging module and the acceleration data measured by the front-end and rear-end accelerometers, calculate the rotational angular velocity of the laser telemeter and the moving speed of the laser spot of the laser telemeter, and adjust the data refresh speed of the laser telemeter.

9. The laser telemeter capable of intelligently adjusting the response speed according to claim 8, characterized in that The laser ranging module is arranged at the left front end or the right front end of the laser telemeter; The ranging beam of the laser ranging module is parallel to the outgoing beam of the laser telemeter.

10. The laser telemeter capable of intelligently adjusting the response speed according to claim 8, characterized in that Both the front accelerometer and the rear accelerometer are located on the central axis of the laser telemeter.

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