Small spectrum detection gas cloud imaging device based on galvanometer and cassette telescope

Abstract

The invention discloses a small spectrum detection gas cloud imaging device based on a galvanometer and a cassette telescope, and relates to the technical field of spectrum detection devices. The small spectrum detection gas cloud imaging device based on the galvanometer and the cassette telescope comprises an identification scanning module, a two-dimensional tracking galvanometer and an imaging module, the identification scanning module comprises the cassette telescope and a two-dimensional scanning galvanometer, and the imaging module comprises a Fourier interference module and a high-speed photoelectric point detector. According to the invention, through combination of the cassette telescope and the two-dimensional scanning galvanometer, high-precision positioning and spectral data acquisition of a to-be-measured scene are realized, so that the problem of spectral data inconsistency or loss caused by uncertain target position in the prior art is avoided; therefore, the spectral data of each target position can be effectively collected and transmitted.

Description

Technical Field

[0001] The invention relates to the technical field of spectrum detection devices, and in particular to a small spectrum detection gas cloud imaging device based on a galvanometer and a cassette telescope. Background Art

[0002] Spectral detection gas cloud imaging technology is a perfect combination of spectral technology and imaging technology, and has spectral and spatial resolution capabilities. Spectral detection gas cloud imaging is more conducive to the identification, capture and tracking of gas targets. Gas cloud imaging technology is widely used in remote sensing, environmental monitoring and other fields. Gas cloud imaging technology can be divided into two categories according to its spectroscopic method: interference type and dispersion type. Traditional dispersion type spectral imaging technology mostly uses prisms and gratings as spectroscopic elements, and the technology is relatively mature, and then spectral imaging is achieved through scanning. However, traditional grating spectral imaging uses gratings and gratings of array detectors, and the scanning system is relatively large and slow.

[0003] The limitations of the existing technology include at least the following problems. First, in the existing gas cloud imaging equipment, fixed observation methods and traditional scanning methods are usually used, which easily leads to difficulty in accurately tracking the target area and acquiring spectral data in real time. The limitation is that when the target area changes dynamically, the response ability of the traditional equipment is weak, and it is difficult to accurately capture the spectral data of each moving position point. Secondly, the existing technology has efficiency problems in spectral data transmission and processing. Usually, the gas cloud imaging device needs to rely on multiple components for data collection, transmission and analysis. This complex multi-level data flow is prone to cause information loss or delay, which in turn affects the real-time analysis and imaging quality. Especially when facing a large range and complex meteorological environment, the efficient coordination and data synchronization capabilities of the existing equipment are insufficient, and it is difficult to ensure high-quality spectral image generation. In addition, the existing spectral gas cloud imaging equipment has low accuracy and sensitivity when detecting irregular targets or complex background environments, and it is difficult to accurately identify and locate each specific target. This limitation easily leads to blurring or errors in the gas cloud imaging image, thereby affecting the accurate evaluation of key parameters such as gas cloud composition and concentration. Summary of the invention

[0004] In view of the deficiencies of the prior art, the present invention provides a small spectral detection gas cloud imaging device based on a galvanometer and a cassette telescope, which solves the problem that in the existing gas cloud imaging equipment, a fixed observation method and a traditional scanning method are usually adopted, which easily leads to difficulty in real-time accurate tracking of the target area and acquisition of spectral data. The limitation is that when the target area changes dynamically, the response ability of the traditional equipment is weak, and it is difficult to accurately capture the spectral data of each moving position point. Secondly, the prior art has efficiency problems in spectral data transmission and processing. Usually, the gas cloud imaging device needs to rely on multiple components for data collection, transmission and analysis. This complex multi-level data flow is prone to cause information loss or delay, which in turn affects the real-time analysis and imaging quality. Especially in the face of a large range and complex meteorological environment, the efficient coordination and data synchronization capabilities of the existing equipment are insufficient, and it is difficult to ensure high-quality spectral image generation. In addition, the existing spectral gas cloud imaging equipment has low accuracy and sensitivity when detecting irregular targets or complex background environments, and it is difficult to accurately identify and locate each specific target. This limitation easily leads to blurring or errors in gas cloud imaging images, thereby affecting the accurate evaluation of key parameters such as gas cloud composition and concentration.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a small spectral detection gas cloud imaging device based on a galvanometer and a cassette telescope, comprising: an identification scanning module, a two-dimensional tracking galvanometer, and an imaging module, wherein the identification scanning module comprises a cassette telescope and a two-dimensional scanning galvanometer, and the imaging module comprises a Fourier interference module and a high-speed photoelectric point detector, and an aperture is arranged between the two-dimensional tracking galvanometer and the imaging module; it is assembled as follows: the identification scanning module performs trajectory identification scanning processing on the scene to be measured based on a preset moving trajectory to obtain the spectral data of the target to be measured at several moving position points, and synchronously adjusts the position of the two-dimensional tracking galvanometer so that the two-dimensional tracking galvanometer receives the spectral data of the target to be measured at each moving position point, and vertically transmits the received spectral data of the target to be measured at each moving position point through the aperture to the Fourier interference module for interference processing, and inputs the interference processing result into the high-speed photoelectric point detector for inversion analysis to obtain a concentration curve of the target to be measured (leaking gas).

[0006] Furthermore, the spectrum data of the measured target includes the reflection intensity value of the measured target at each wavelength, and the comprehensive spectrum image of the measured target includes the comprehensive reflection intensity value of the measured target at each wavelength.

[0007] Furthermore, the identification and scanning module performs trajectory identification and scanning processing on the scene to be measured based on a preset moving trajectory, and the specific steps of obtaining spectral data of the target to be measured at several moving position points are as follows: at each moving position point, the image data of the scene to be measured is obtained through a card telescope, and the position information of the target to be measured is determined by analysis, and the image data of the scene to be measured includes the pixel value and two-dimensional pixel coordinates of each pixel to be measured in the image of the scene to be measured; after determining the position information of the target to be measured, the target to be measured is scanned and processed by a two-dimensional scanning galvanometer to obtain the spectral data of the target to be measured at each moving position point.

[0008] Furthermore, the specific steps of acquiring the image data of the scene to be tested through the card telescope and analyzing and determining the position information of the target to be tested are as follows: the image of the scene to be tested is divided into several image areas, and the data of each image area includes several pixels to be tested; for each image area, the pixel value of each pixel to be tested is comprehensively analyzed to obtain the pixel mean and pixel standard deviation of each image area; the pixel mean and pixel standard deviation of each image area are comprehensively analyzed to obtain the pixel threshold of each image area; the pixel threshold of each image area and the pixel value of each pixel to be tested are comprehensively analyzed to obtain several pixels of the target to be tested in the image of the scene to be tested; the pixel values ​​and two-dimensional pixel coordinates of several pixels of the target to be tested in the image of the scene to be tested are comprehensively analyzed to obtain the initial center pixel coordinates of the target to be tested in the image of the scene to be tested; the initial center pixel coordinates of the target to be tested in the image of the scene to be tested are spatially transformed to obtain the three-dimensional spatial coordinates of the center of the target to be tested in the image of the scene to be tested, and marked as the position information of the target to be tested.

[0009] Furthermore, the specific formulas for calculating the pixel mean, pixel standard deviation, pixel threshold, and initial center pixel coordinates of the target to be measured in the scene image to be measured are as follows: Among them, XsJ u is the pixel mean of the u-th image region, XsZ ut is the pixel value of the tth pixel to be tested in the uth image area, XsB u is the pixel standard deviation of the u-th image region, XyZ u is the pixel threshold of the u-th image region, δ u is the threshold adjustment coefficient of the u-th image region, u=1, 2, 3, …, u 0 ,u 0 is the number of image regions, t = 1, 2, 3, ..., t 0 , t 0 is the number of pixels to be tested, x′ is the horizontal coordinate of the initial center two-dimensional pixel of the target to be tested in the scene image to be tested, DxS iis the pixel value of the i-th target pixel in the scene image to be tested, x i is the 2D pixel abscissa of the i-th pixel of the target to be measured in the scene image to be measured, y′ is the 2D pixel ordinate of the initial center of the target to be measured in the scene image to be measured, and y i is the two-dimensional pixel ordinate of the i-th target pixel in the scene image to be tested, i = 1, 2, 3, ..., i 0 ,i 0 is the number of pixels of the target being measured.

[0010] Furthermore, the specific steps of obtaining the three-dimensional spatial coordinates of the center of the target under test in the scene image to be tested are as follows: obtaining the center coordinates of the scene image to be tested, the horizontal focal length value, the vertical focal length value of the scene image to be tested, and the distance value between the target under test in the scene image to be tested and the telescope, and performing a comprehensive analysis in combination with the initial center pixel coordinates of the target under test in the scene image to be tested, to obtain the three-dimensional spatial coordinates of the center of the target under test in the scene image to be tested; wherein, the specific formula for calculating the three-dimensional spatial coordinates of the center of the target under test in the scene image to be tested is as follows: Where x″ is the three-dimensional spatial horizontal coordinate of the center of the target to be measured in the scene image to be measured, x′ is the two-dimensional pixel horizontal coordinate of the initial center of the target to be measured in the scene image to be measured, x″′ is the two-dimensional horizontal coordinate of the center of the scene image to be measured, and f x is the horizontal focal length of the scene image to be tested, JLz is the distance between the target to be tested and the telescope in the scene image to be tested, y″ is the three-dimensional spatial ordinate of the center of the target to be tested in the scene image to be tested, y′ is the two-dimensional pixel ordinate of the initial center of the target to be tested in the scene image to be tested, y″′ is the two-dimensional ordinate of the center of the scene image to be tested, and f y is the vertical focal length of the scene image to be tested, and z″ is the three-dimensional depth coordinate of the center space of the target to be tested in the scene image to be tested.

[0011] Furthermore, the specific steps of synchronously adjusting the position of the two-dimensional tracking galvanometer so that the two-dimensional tracking galvanometer receives the spectral data of the measured target at each moving position point through the aperture are as follows: for each moving position point, respectively, the three-dimensional position coordinates of the two-dimensional scanning galvanometer and the initial three-dimensional position coordinates of the two-dimensional tracking galvanometer are acquired in real time, and the three-dimensional position adjustment value of the two-dimensional tracking galvanometer is analyzed, and the three-dimensional position adjustment amount includes a horizontal direction adjustment value, a vertical direction adjustment value, and a depth direction adjustment value; based on the three-dimensional position adjustment amount, the initial three-dimensional position coordinates of the two-dimensional tracking galvanometer are adjusted to obtain the adjusted three-dimensional position coordinates of the two-dimensional tracking galvanometer.

[0012] Furthermore, the specific steps of calculating the three-dimensional position adjustment value of the two-dimensional tracking galvanometer and adjusting the three-dimensional position coordinates are as follows: Among them, Δx is the horizontal adjustment value of the two-dimensional tracking galvanometer, X is the three-dimensional position abscissa of the two-dimensional scanning galvanometer, X′ is the initial three-dimensional position abscissa of the two-dimensional tracking galvanometer, ξ 1 is the horizontal adjustment coefficient stored in the database, Δy is the vertical adjustment value of the two-dimensional tracking galvanometer, Y is the three-dimensional position ordinate of the two-dimensional scanning galvanometer, Y′ is the initial three-dimensional position ordinate of the two-dimensional tracking galvanometer, ξ 2 is the vertical adjustment coefficient stored in the database, Δz is the depth adjustment value of the two-dimensional tracking galvanometer, Z is the three-dimensional position depth coordinate of the two-dimensional scanning galvanometer, Z′ is the initial three-dimensional position depth coordinate of the two-dimensional tracking galvanometer, ξ 3 is the depth adjustment coefficient stored in the database, X″ is the horizontal coordinate of the adjusted three-dimensional position of the two-dimensional tracking galvanometer, Y″ is the vertical coordinate of the adjusted three-dimensional position of the two-dimensional tracking galvanometer, and Z″ is the depth coordinate of the adjusted three-dimensional position of the two-dimensional tracking galvanometer.

[0013] Furthermore, the specific steps for obtaining the concentration curve diagram of the measured target are as follows: in the Fourier interference module, for each moving position point, based on the reflection intensity value of the measured target at each wavelength, the weighting coefficient of each moving position point is analyzed; the reflection intensity value of the measured target at each moving position point at each wavelength is comprehensively analyzed in combination with the weighting coefficient of each wavelength of each moving position point to obtain a comprehensive spectral image of the measured target, that is, the comprehensive reflection intensity value of the measured target at each wavelength; the comprehensive reflection intensity value of the measured target at each wavelength is input into the Fourier interference module for interference processing to obtain the interference fringe information of the measured target, and Fourier transform analysis is performed to obtain the spectrum information of the measured target; the spectrum information of the measured target is input into the high-speed photoelectric point detector for inversion analysis processing to obtain the concentration curve diagram of the measured target (leaking gas).

[0014] Furthermore, the specific formula for calculating the comprehensive reflection intensity value of the measured target at each wavelength is as follows: Among them, ZfS(λ) is the comprehensive reflection intensity value of the measured target at wavelength λ, FsQ r (λ) is the reflection intensity value of the measured target at the rth moving position under wavelength λ, ω r (λ) is the weighting coefficient of the wavelength λ of the rth moving position, r = 1, 2, 3, ..., r 0 , r 0 is the number of moving position points.

[0015] The present invention has the following beneficial effects:

[0016] (1) The small spectral detection gas cloud imaging device based on the galvanometer and the cassette telescope realizes high-precision positioning and spectral data collection of the scene to be measured by combining the cassette telescope with the two-dimensional scanning galvanometer. Specifically, first, the image data of the scene to be measured is obtained by the cassette telescope, and the target position in each image area is determined by analyzing the mean and standard deviation of the pixel values. Then, the target to be measured is accurately scanned by the two-dimensional scanning galvanometer to obtain the spectral data of each moving position point, thereby avoiding the problem of inconsistent or lost spectral data due to uncertain target position in traditional technology, thereby ensuring that the spectral data of each target position is effectively collected and transmitted.

[0017] (2) After the target is located, the small spectral detection gas cloud imaging device based on the galvanometer and the cassette telescope performs real-time dynamic tracking of the target through the two-dimensional tracking galvanometer, ensuring that even if the target is moving, the device can accurately adjust its position and continuously monitor the target's spectral information. By synchronously adjusting the three-dimensional position coordinates of the two-dimensional tracking galvanometer, the accuracy of spectral data transmission can be always guaranteed. This real-time adjustment and precise control solves the problem of information deviation caused by spectral data transmission errors in traditional spectral detection devices, and effectively improves the stability of the system and the reliability of data acquisition.

[0018] (3) The small spectral detection gas cloud imaging device based on the galvanometer and the cassette telescope significantly improves the sensitivity and accuracy of gas cloud imaging by combining the Fourier interferometer module with a high-speed photoelectric point detector and utilizing the technical advantages of interference processing and inversion analysis. The Fourier interferometer module combines two infrared light beams with different optical path differences through the principle of light interference to produce interference phenomenon, and converts the time domain signal represented by the infrared spectrum into the frequency domain through Fourier transform to obtain the frequency distribution of the spectrum, thereby analyzing and inverting the gas concentration curve information. The introduction of the aperture effectively adjusts and controls the passage path of the light, ensuring the transmission quality and stability of the spectral data. The setting of the aperture not only optimizes the data acquisition process, but also reduces the interference of background light, so that the Fourier interferometer module can focus on the spectral characteristics of the target object, thereby improving the signal-to-noise ratio of the entire system and ensuring the accuracy of the imaging results.

[0019] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 The present invention is a schematic structural diagram of a small-scale spectral detection gas cloud imaging device based on a galvanometer and a cassette telescope.

[0021] Figure 2The present invention is a flowchart of the specific steps of obtaining the spectral data of the target to be measured at several moving position points in a small spectral detection gas cloud imaging device based on a galvanometer and a cassette telescope.

[0022] In the figure: 1. Two-dimensional scanning galvanometer; 2. Two-dimensional tracking galvanometer; 3. Cassette telescope; 4. Aperture; 5. Photoelectric point detector. DETAILED DESCRIPTION

[0023] The embodiment of the present application solves the problem that the existing gas cloud imaging equipment usually adopts a fixed observation method and a traditional scanning method, which easily leads to difficulty in real-time accurate tracking of the target area and acquisition of spectral data. The limitation is that when the target area changes dynamically, the response ability of the traditional equipment is weak, and it is difficult to accurately capture the spectral data of each moving position point. Secondly, the existing technology has efficiency problems in spectral data transmission and processing. Usually, the gas cloud imaging device needs to rely on multiple components for data collection, transmission and analysis. This complex multi-level data flow is prone to cause information loss or delay, which in turn affects the real-time analysis and imaging quality. Especially when facing a large-scale and complex meteorological environment, the efficient coordination and data synchronization capabilities of the existing equipment are insufficient, and it is difficult to ensure high-quality spectral image generation. In addition, the existing spectral gas cloud imaging equipment has low accuracy and sensitivity when detecting irregular targets or complex background environments, and it is difficult to accurately identify and locate each specific target. This limitation easily leads to blurring or errors in the gas cloud imaging image, thereby affecting the accurate evaluation of key parameters such as gas cloud composition and concentration.

[0024] The overall idea of ​​the problem in the embodiment of this application is as follows:

[0025] First, the image data of the scene to be tested is obtained through a cassette telescope, and the specific position of the target to be tested is determined by analyzing the value of each pixel point in the image and its standard deviation. Then, the target is scanned by a two-dimensional scanning galvanometer to obtain the spectral data of each moving position point. After obtaining the target position data, its position is dynamically adjusted by a two-dimensional tracking galvanometer to ensure accurate tracking of each target point and real-time data transmission. At this time, the spectral data transmission is controlled by the aperture to ensure that the data is not interfered by the outside world and is accurately transmitted to the high-speed photoelectric point detector. Finally, in the imaging module, the spectral data of each moving position point is comprehensively analyzed according to the reflection intensity value at different wavelengths combined with the weighting coefficient, and interference analysis and inversion analysis are performed to generate a concentration curve of the target to be tested (leaking gas) to provide accurate data for subsequent analysis.

[0026] See also Figure 1The embodiment of the present invention provides a technical solution: a small spectral detection gas cloud imaging device based on a galvanometer and a cassette telescope, comprising: an identification scanning module, a two-dimensional tracking galvanometer 2, and a high-speed photoelectric point detector 5, wherein the identification scanning module comprises a cassette telescope 3, a two-dimensional scanning galvanometer 1, and an aperture 4 is arranged between the two-dimensional tracking galvanometer 2 and the high-speed photoelectric point detector 5; it is assembled as follows: the identification scanning module performs trajectory identification scanning processing on the scene to be measured based on the preset moving trajectory in this embodiment, obtains the spectral data of the measured target at several moving position points, and synchronously adjusts the position of the two-dimensional tracking galvanometer 2 so that the two-dimensional tracking galvanometer 2 receives the spectral data of the measured target at each moving position point, and vertically transmits the received spectral data of the measured target at each moving position point through the aperture 4 to the high-speed photoelectric point detector 5 for comprehensive analysis, so as to obtain a comprehensive spectral image of the measured target.

[0027] It includes: an identification scanning module, a two-dimensional tracking galvanometer 2, and an imaging module. The identification scanning module includes a cassette telescope 3 and a two-dimensional scanning galvanometer 1. The imaging module includes a Fourier interference module and a high-speed photoelectric point detector 5, and an aperture 4 is arranged between the two-dimensional tracking galvanometer 2 and the imaging module; it is assembled as follows: the identification scanning module performs trajectory identification scanning processing on the scene to be measured based on a preset moving trajectory to obtain the spectral data of the measured target at several moving position points, and synchronously adjusts the position of the two-dimensional tracking galvanometer 2 so that the two-dimensional tracking galvanometer 2 receives the spectral data of the measured target at each moving position point, and vertically transmits the received spectral data of the measured target at each moving position point through the aperture 4 to the Fourier interference module for interference processing, and inputs the interference processing result into the high-speed photoelectric point detector 5 for inversion analysis to obtain a concentration curve of the measured target (leaking gas).

[0028] The preset moving trajectory in this embodiment is a spherical motion trajectory, and the focal length of the telescope is equal to the radius of the sphere, and the focus coincides with the center of the sphere, and the two-dimensional tracking galvanometer 2 is located at the center of the sphere.

[0029] The spectrum data of the measured target includes the reflection intensity value of the measured target at each wavelength.

[0030] Among them, the center of the two-dimensional tracking galvanometer 2 coincides with the third focus of the card telescope; the target light passes through the primary and secondary focuses of the card telescope 3 and the two-dimensional scanning galvanometer 1 in sequence and is detected by the high-speed photoelectric point detector 5, and two-dimensional scanning is performed by the two-dimensional scanning galvanometer 1, and the optical path is deflected by the two-dimensional tracking galvanometer 2, and spectral gas cloud imaging is realized in combination with the high-speed photoelectric point detector 5.

[0031] The two-dimensional scanning galvanometer 1 can realize the rotation of the X and Y axes (realized by a rotating motor); the two-dimensional tracking galvanometer 2 can compensate for the rotation angle of the two-dimensional scanning galvanometer 2 (realized by a rotating motor), so that the light paths of different fields of view pass through the rotation of the X and Y axes of the two-dimensional tracking galvanometer 2 and are reflected along the same angle to the inside of the high-speed photoelectric point detector 5.

[0032] Aperture 4 is used to prevent the influence of undesired diffraction wavelengths on spectral scanning and to enhance spectral resolution and spectral measurement accuracy.

[0033] Specifically, Figure 2 As shown, the identification and scanning module performs trajectory identification and scanning processing on the scene to be tested based on a preset moving trajectory, and the specific steps of obtaining the spectral data of the target to be tested at several moving position points are as follows: at each moving position point, the image data of the scene to be tested is obtained through the cassette telescope 3, and the position information of the target to be tested is analyzed and determined, and the image data of the scene to be tested includes the pixel value and two-dimensional pixel coordinates of each pixel to be tested in the image of the scene to be tested; after determining the position information of the target to be tested, the target to be tested is scanned and processed by the two-dimensional scanning galvanometer 1 to obtain the spectral data of the target to be tested at each moving position point.

[0034] In this embodiment, the image data of the scene to be measured is obtained by a card telescope, and the pixel value and two-dimensional pixel coordinates of each pixel point to be measured are analyzed, so that the target to be measured can be accurately positioned. In traditional spectral imaging, the accurate positioning of the target is usually affected by factors such as the movement of the target itself and the change of the light source. However, this comprehensive analysis method based on pixel values ​​and coordinates can more stably and accurately determine the target position, especially in dynamic scenes. It can ensure the correct collection of spectral data of the target at different moving positions, laying a solid foundation for subsequent spectral image analysis. Traditional spectral detection devices may miss some valid data due to inaccurate scanning accuracy or target position judgment. By combining the image data processing of the card telescope with the precise control of the two-dimensional scanning galvanometer, the spectral data of each moving position point can be stably and continuously collected. Especially when the target is displaced, the card telescope can quickly analyze and determine the position of the target, so that the scanning galvanometer can adjust the scanning angle at any time to ensure that the spectral data of each position point can be accurately collected. This continuity ensures the integrity of data collection. The problem of data loss or repeated acquisition is avoided. The image data and pixel coordinate analysis provided by the cassette telescope can more efficiently guide the scanning process of the two-dimensional scanning galvanometer, reduce unnecessary scanning areas, and improve the accuracy and efficiency of scanning. The target position of each scan will be accurately analyzed to ensure that no time or resources will be wasted in irrelevant areas during the scanning process. This greatly improves the efficiency of overall data acquisition, which is especially important for gas cloud imaging or dynamic target detection that requires fast real-time response. It avoids the problems of inefficient scanning and error accumulation that may occur in traditional methods. After the target position is determined, the two-dimensional scanning galvanometer is used to accurately scan the target so that the spectral data of each moving position point can be fully acquired. This combination of precise positioning and scanning ensures the consistency and accuracy of the spectral data of the target at different positions. In traditional methods, if the target position changes greatly or the scanning process fails to accurately align with the target, it may cause errors in the spectral data. Through this method, the target position and scanning action can be accurately controlled, which greatly reduces this error and ensures the high quality of the spectral data.

[0035] Specifically, the specific steps of acquiring the image data of the scene to be tested through the card telescope 3 and analyzing and determining the position information of the target to be tested are as follows: the image of the scene to be tested is divided into a plurality of image areas, and the data of each image area includes a plurality of pixels to be tested; for each image area, the pixel value of each pixel to be tested is comprehensively analyzed to obtain the pixel mean and pixel standard deviation of each image area; the pixel mean and pixel standard deviation of each image area are comprehensively analyzed to obtain the pixel threshold of each image area; the pixel threshold of each image area and the pixel value of each pixel to be tested are comprehensively analyzed to obtain the pixel value of the target to be tested. The invention relates to a plurality of pixel points of the target to be measured in the scene image, and the specific steps are as follows: the pixel value of each pixel point to be measured in each image area is compared with the corresponding pixel threshold value, and the pixel points to be measured whose pixel value is greater than or equal to the pixel threshold value are marked as the pixel points to be measured; the pixel values ​​and two-dimensional pixel coordinates of the plurality of pixel points to be measured in the scene image to be measured are comprehensively analyzed to obtain the initial center pixel coordinates of the target to be measured in the scene image to be measured; the initial center pixel coordinates of the target to be measured in the scene image to be measured are spatially transformed to obtain the three-dimensional spatial coordinates of the center of the target to be measured in the scene image to be measured, and are marked as the position information of the target to be measured.

[0036] The specific formulas for calculating the pixel mean, pixel standard deviation, pixel threshold, and initial center pixel coordinates of the target in the scene image to be tested are as follows: Among them, XsJ u is the pixel mean of the u-th image region, XsZ ut is the pixel value of the tth pixel to be tested in the uth image area, XsB u is the pixel standard deviation of the u-th image region, XyZ u is the pixel threshold of the u-th image region, δ u is the threshold adjustment coefficient of the u-th image region, u=1, 2, 3, …, u 0 ,u 0 is the number of image regions, t = 1, 2, 3, ..., t 0 , t 0 is the number of pixels to be tested, x′ is the horizontal coordinate of the initial center two-dimensional pixel of the target to be tested in the scene image to be tested, DxS i is the pixel value of the i-th target pixel in the scene image to be tested, x i is the 2D pixel abscissa of the i-th pixel of the target to be measured in the scene image to be measured, y′ is the 2D pixel ordinate of the initial center of the target to be measured in the scene image to be measured, and y i is the two-dimensional pixel ordinate of the i-th target pixel in the scene image to be tested, i = 1, 2, 3, ..., i 0 ,i 0is the number of pixels of the target being measured.

[0037] It should be explained that the specific calculation formula of the threshold adjustment coefficient of each image area is: Among them, δ u is the threshold adjustment coefficient of the u-th image region, XsB u is the pixel standard deviation value of the u-th image area, XsJ u is the pixel mean of the u-th image region, ε is a correction constant stored in the database to prevent division by zero or to avoid problems when the brightness mean is zero. For example, it is set to 0.01, u = 1, 2, 3, ..., u 0 ,u 0 is the number of image regions.

[0038] In this embodiment, the image data of the scene to be measured is obtained by a card telescope, and the pixel value and two-dimensional pixel coordinates of each pixel point to be measured are analyzed, so that the target to be measured can be accurately positioned. In traditional spectral imaging, the accurate positioning of the target is usually affected by factors such as the movement of the target itself and the change of the light source. However, this comprehensive analysis method based on pixel values ​​and coordinates can more stably and accurately determine the target position, especially in dynamic scenes. It can ensure the correct collection of spectral data of the target at different moving positions, laying a solid foundation for subsequent spectral image analysis. Traditional spectral detection devices may miss some valid data due to inaccurate scanning accuracy or target position judgment. By combining the image data processing of the card telescope with the precise control of the two-dimensional scanning galvanometer, the spectral data of each moving position point can be stably and continuously collected. Especially when the target is displaced, the card telescope can quickly analyze and determine the position of the target, so that the scanning galvanometer can adjust the scanning angle at any time to ensure that the spectral data of each position point can be accurately collected. This continuity ensures the integrity of data collection. The problem of data loss or repeated acquisition is avoided. The image data and pixel coordinate analysis provided by the cassette telescope can more efficiently guide the scanning process of the two-dimensional scanning galvanometer, reduce unnecessary scanning areas, and improve the accuracy and efficiency of scanning. The target position of each scan will be accurately analyzed to ensure that no time or resources will be wasted in irrelevant areas during the scanning process. This greatly improves the efficiency of overall data acquisition, which is especially important for gas cloud imaging or dynamic target detection that requires fast real-time response. It avoids the problems of inefficient scanning and error accumulation that may occur in traditional methods. After the target position is determined, the two-dimensional scanning galvanometer is used to accurately scan the target so that the spectral data of each moving position point can be fully acquired. This combination of precise positioning and scanning ensures the consistency and accuracy of the spectral data of the target at different positions. In traditional methods, if the target position changes greatly or the scanning process fails to accurately align with the target, it may cause errors in the spectral data. Through this method, the target position and scanning action can be accurately controlled, which greatly reduces this error and ensures the high quality of the spectral data.

[0039] Specifically, the specific steps for obtaining the three-dimensional spatial coordinates of the center of the target to be measured in the scene image to be measured are as follows: obtain the center coordinates of the scene image to be measured. In this embodiment, the center coordinate position is half of the width and height of the scene image to be measured, the horizontal focal length value of the scene image to be measured, that is, the pixel scale, the vertical focal length value, that is, the pixel scale, and the distance value between the target to be measured in the scene image to be measured and the card telescope 3, and perform a comprehensive analysis in combination with the initial center pixel coordinates of the target to be measured in the scene image to obtain the three-dimensional spatial coordinates of the center of the target to be measured in the scene image to be measured.

[0040] The specific formula for calculating the three-dimensional spatial coordinates of the center of the target to be measured in the scene image to be measured is as follows: Where x″ is the three-dimensional spatial horizontal coordinate of the center of the target to be measured in the scene image to be measured, x′ is the two-dimensional pixel horizontal coordinate of the initial center of the target to be measured in the scene image to be measured, x″ is the two-dimensional horizontal coordinate of the center of the scene image to be measured, and f x is the horizontal focal length of the scene image to be tested, JLz is the distance between the target to be tested in the scene image to be tested and the cassette telescope 3, y″ is the three-dimensional spatial ordinate of the center of the target to be tested in the scene image to be tested, y′ is the two-dimensional pixel ordinate of the initial center of the target to be tested in the scene image to be tested, y″′ is the two-dimensional ordinate of the center of the scene image to be tested, and f y is the vertical focal length value of the scene image to be tested, and z″ is the three-dimensional depth coordinate of the center space of the target to be tested in the scene image to be tested, that is, in the vertical direction of the scene image to be tested.

[0041] In this embodiment, the three-dimensional spatial coordinates of the target are calculated by combining the initial center pixel coordinates of the target in the image of the scene to be measured, the focal length value and the distance between the target and the telescope. This method converts the two-dimensional image data into actual three-dimensional spatial data, which helps to accurately determine the specific position of the target. Especially in complex scenes, the target may have changes in the depth direction, and the two-dimensional image cannot provide enough spatial information. The calculation of the three-dimensional coordinates can fully restore the spatial position of the target, greatly improving the accuracy of target positioning, especially in dynamic tracking and high-precision measurement. In this embodiment, when calculating the three-dimensional spatial coordinates of the target to be measured, the image center coordinates are taken into account. , horizontal and vertical focal length values, distance values ​​between the target and the telescope, etc. The combination of these parameters can effectively eliminate the errors introduced by image distortion, focal length error or distance change, ensuring that the calculation of the target position has high accuracy. By considering the combined influence of these parameters, the reliability of the measurement results can be significantly improved, and position deviations caused by environmental factors or equipment errors can be avoided. This precise three-dimensional positioning method is particularly suitable for precision measurement and real-time monitoring systems. By calculating the three-dimensional spatial coordinates, the system can more accurately determine the depth position of the target (such as the front and back positions of the target), which is crucial for target scanning and tracking in complex scenes. For example, in a In scenes where multiple objects or targets overlap in depth, relying solely on two-dimensional coordinates may lead to errors, while three-dimensional coordinates can clarify the actual position of the target in space and help the tracking system accurately adjust the scanning trajectory. Especially in dynamic gas cloud detection or fast-moving target monitoring, the calculation of three-dimensional spatial coordinates can update the spatial position of the target in real time, thereby ensuring efficient scanning and tracking. Through the calculation of three-dimensional spatial coordinates, the system can not only cope with two-dimensional changes in the plane, but also handle changes in the depth direction of the target. This three-dimensional spatial positioning capability makes the system more flexible when facing different types of measurement requirements. For example, if the target distance changes or is at different physical levels (such as The three-dimensional spatial coordinates can reflect the relative position changes of the target in real time. In this way, the system can adjust adaptively without being restricted by the complexity of the environment, thereby improving the measurement performance in irregular or dynamic scenes. Accurate three-dimensional spatial coordinate calculation provides reliable spatial positioning information for subsequent spectral data acquisition. The system can accurately control the movement of the scanning device (such as the galvanometer) according to the three-dimensional coordinates of the target to ensure more accurate spectral data acquisition. Especially in tasks that require fine adjustment of the direction and angle of the scan, the calculation of the three-dimensional coordinates can provide accurate target position reference for spectral data acquisition, further improving the quality and efficiency of data acquisition.

[0042] Specifically, the specific steps of synchronously adjusting the position of the two-dimensional tracking galvanometer 2 so that the two-dimensional tracking galvanometer 2 receives the spectral data of the target under test at each moving position point through the aperture 4 are as follows: for each moving position point, the three-dimensional position coordinates of the two-dimensional scanning galvanometer 1 and the initial three-dimensional position coordinates of the two-dimensional tracking galvanometer 2, that is, the three-dimensional coordinates at the previous time point, are respectively acquired in real time; if it is at the first moving position point, then it is the initial three-dimensional position coordinate, that is, the three-dimensional position coordinate when not moving, and the three-dimensional position adjustment value of the two-dimensional tracking galvanometer 2 is analyzed, and the three-dimensional position adjustment amount includes a horizontal adjustment value, a vertical adjustment value, and a depth adjustment value; based on the three-dimensional position adjustment amount, the initial three-dimensional position coordinates of the two-dimensional tracking galvanometer 2 are adjusted to obtain the adjusted three-dimensional position coordinates of the two-dimensional tracking galvanometer 2.

[0043] The specific steps of calculating the three-dimensional position adjustment value of the two-dimensional tracking galvanometer 2 and adjusting the three-dimensional position coordinates are as follows: Among them, Δx is the horizontal adjustment value of the two-dimensional tracking galvanometer 2, X is the three-dimensional position abscissa of the two-dimensional scanning galvanometer 1, X′ is the initial three-dimensional position abscissa of the two-dimensional tracking galvanometer 2, ξ 1 is the horizontal adjustment coefficient stored in the database, Δy is the vertical adjustment value of the two-dimensional tracking galvanometer 2, Y is the three-dimensional position ordinate of the two-dimensional scanning galvanometer 1, Y′ is the initial three-dimensional position ordinate of the two-dimensional tracking galvanometer 2, ξ 2 is the vertical adjustment coefficient stored in the database, Δz is the depth direction adjustment value of the two-dimensional tracking galvanometer 2, Z is the three-dimensional position depth coordinate of the two-dimensional scanning galvanometer 1, Z′ is the initial three-dimensional position depth coordinate of the two-dimensional tracking galvanometer 2, ξ 3 is the depth adjustment coefficient stored in the database, X″ is the horizontal coordinate of the adjusted three-dimensional position of the two-dimensional tracking galvanometer 2, Y″ is the vertical coordinate of the adjusted three-dimensional position of the two-dimensional tracking galvanometer 2, and Z″ is the depth coordinate of the adjusted three-dimensional position of the two-dimensional tracking galvanometer 2.

[0044] In this implementation, by acquiring the three-dimensional position coordinates of the two-dimensional scanning galvanometer 1 and the initial position coordinates of the two-dimensional tracking galvanometer 2 and calculating the position adjustment amount, the position of the galvanometer can be adjusted in real time, and the precise position change of each moving position point can be dynamically adjusted to the new target position. This real-time adjustment function ensures that when the target position changes, the galvanometer can always be aimed at the target to be measured, avoiding spectral data collection errors caused by inaccurate equipment position, especially for fast-moving or uncertain targets, real-time adjustment greatly improves measurement accuracy and stability. By subdividing the adjustments in the horizontal, vertical and depth directions, the system can accurately control each direction of the galvanometer in three-dimensional space. This multi-dimensional adjustment ensures It ensures that the two-dimensional tracking galvanometer 2 can accurately align with each scanning position point, avoiding data loss or deviation caused by incomplete scanning or misaligned targets. In spectral detection applications, accurate target alignment is crucial, because deviation will affect the quality of spectral acquisition, thereby affecting the final analysis results. The adjustment of the three-dimensional position coordinates of the two-dimensional tracking galvanometer 2 ensures that it can accurately receive the spectral data of each moving position point through the aperture. The acquisition of spectral data is crucial for subsequent analysis. If the spectral acquisition position is inaccurate, it may cause data inconsistency and affect the final spectral image analysis effect. By accurately adjusting the galvanometer position, the system can ensure that each target position is accurately captured, thereby improving the accuracy of the collected spectral data. and consistency. In complex dynamic scenes, targets may change frequently or be at different depth levels. Through three-dimensional position adjustment, the system can accurately track these targets to ensure effective monitoring and data collection in complex environments. Regardless of whether the target is far away from or close to the device, the three-dimensional position adjustment can ensure that the galvanometer can always be adjusted to the correct position to capture the target's spectral information. The system automatically adjusts the galvanometer position without manual intervention, greatly improving the efficiency and accuracy of the operation. This automated process can reduce human operating errors and avoid errors caused by manual intervention. It also speeds up the data collection process. When high-frequency data collection or multi-target scanning is required, automated position adjustment ensures that the system can respond quickly and in a timely manner. After completing the target scanning, the system can adapt to the characteristics of different devices and various measurement scenarios by adjusting the position based on the adjustment coefficient stored in the database. The application of the adjustment coefficient ensures that the system can still maintain stable performance under different experimental conditions. Whether it is a change in the scanning environment or a different light source, the system can maintain the best spectral acquisition state through reasonable adjustment, enhancing the adaptability and stability of the system. The precise three-dimensional position adjustment makes the position of each target in the scanning process smoother and more efficient. By optimizing the adjustment process of the galvanometer, the time of invalid or repeated scanning is reduced, and the efficiency of the scanning process is improved. In dynamic detection, the scanning path and direction can be adjusted quickly to avoid delays in the scanning process.This improves data acquisition speed and overall system performance.

[0045] Specifically, the specific steps for obtaining the concentration curve of the measured target are as follows: in the Fourier interference module, for each moving position point, based on the reflection intensity value of the measured target at each wavelength, the weighting coefficient of each wavelength of each moving position point is analyzed; the reflection intensity value of the measured target at each moving position point at each wavelength is comprehensively analyzed in combination with the weighting coefficient of each wavelength of each moving position point to obtain a comprehensive spectral image of the measured target, that is, the comprehensive reflection intensity value of the measured target at each wavelength; the comprehensive reflection intensity value of the measured target at each wavelength is respectively input into the Fourier interference module for interference processing to obtain the interference fringe information of the measured target, and Fourier transform analysis processing is performed to obtain the spectrum information of the measured target; the spectrum information of the measured target is input into the high-speed photoelectric point detector 5 for inversion analysis processing to obtain the concentration curve of the measured target (leaking gas).

[0046] The specific formula for calculating the comprehensive reflection intensity value of the measured target at each wavelength is as follows: Among them, ZfS(λ) is the comprehensive reflection intensity value of the measured target at wavelength λ, FsQ r (λ) is the reflection intensity value of the measured target at the rth moving position under wavelength λ, ω r (λ) is the weighting coefficient of the wavelength λ of the rth moving position, r = 1, 2, 3, ..., r 0 , r 0 is the number of moving position points.

[0047] It needs to be explained that the interference principle of the Fourier interferometer module is: two infrared light beams with different optical path differences are merged through the principle of light interference to produce interference phenomenon, and the time domain signal represented by the infrared spectrum is converted to the frequency domain through Fourier transform to obtain the frequency distribution of the spectrum.

[0048] The interference fringe information of the measured target refers to the interference pattern of the reflection intensity value of the measured target at different wavelengths in space obtained by the Fourier interferometer module. Specifically:

[0049] When light is reflected from the surface of the target, the light waves will meet with light waves that have passed through different paths, causing interference. If the reflecting surface is flat and the reflected light is coherent, the interference of these light waves will form a striped pattern. The change in reflection intensity reflects certain physical properties of the target surface or interior, such as the interaction between gas molecules and light waves.

[0050] Interference fringes usually show periodic changes. The spacing, shape and contrast of the interference pattern contain information about the frequency, phase difference, propagation path of the reflected light and the surface or volume characteristics of the target.

[0051] Through detailed analysis of the interference fringes, the physical properties of the target surface or gas leak can be deduced. Especially for gas detection, the analysis of interference fringes helps to identify the presence and concentration of different gas molecules.

[0052] The spectrum information of the measured target refers to the reflection intensity data of the measured target converted into the frequency domain through Fourier transform, which usually reflects the frequency distribution of the light wave. Specifically:

[0053] The signal in the time domain (spatial domain) is converted into a frequency domain signal. The reflection intensity value is usually measured in different wavelength ranges, and the Fourier transform converts this information into frequency components. Each frequency component represents the change of the reflection signal at different time or space points.

[0054] Spectral information includes the frequency, amplitude, phase and other components of light waves. The spectrum can reveal the interference pattern of reflected waves, the unevenness of the target surface, surface characteristics, and the characteristics of gas leakage or gas composition. For example, specific gases will produce specific absorption or scattering characteristics of the spectrum. Different types of gases can be distinguished by these spectral characteristics.

[0055] Different gases have specific absorption characteristics at different wavelengths. Such absorption characteristics will be reflected in the spectrum as specific frequency response peaks or changes. This information is very important for gas concentration measurement.

[0056] Inversion analysis is the process of estimating the concentration of the measured target (especially gas) through the obtained spectrum information. Specifically:

[0057] Inversion starts from the measured spectral data and uses known models or empirical formulas to infer the concentration of the target gas. There is a known mathematical relationship between the change in absorption or scattering intensity of each wavelength in the spectrum and the concentration of the specific gas. Through inversion analysis, the gas concentration information can be extracted from these spectral features.

[0058] Standard spectral inversion models can be used, such as the Beer-Lambert Law, which shows the relationship between absorbance and gas concentration, path length and absorption coefficient. The spectrum information obtained through Fourier transform can be further calculated to calculate the absorption intensity of each gas at a specific wavelength, thereby inferring the concentration of the gas.

[0059] In addition, the inversion process needs to combine the known data such as the spectral characteristics and absorption intensity of the gas in the database, and fit it with the actual measured spectrum data to obtain the concentration of the target gas.

[0060] The concentration curve of the measured target (leaked gas) is a graph showing the change of gas concentration over time, which is usually generated by real-time data processing. The specific contents include:

[0061] Vertical axis (concentration value): represents the concentration of leaked gas, usually expressed in units such as ppm (parts per million) or ppb (parts per billion). These concentration values ​​come from inversion analysis and are inferred from the absorption characteristics of the gas to the spectrum.

[0062] The horizontal axis (time) represents the concentration data at different time points. Since the concentration of gas leakage usually changes with time, the concentration curve can reflect the changes in gas leakage intensity and time.

[0063] Changing trend: The concentration curve shows the fluctuation of gas concentration over time. If the gas leakage is relatively stable, the curve is relatively smooth; if the leakage intensity changes greatly, the curve may fluctuate violently. Through this curve, the behavior of the leaking gas can be analyzed, such as the time when the leakage occurred, the speed of the leakage, the peak value of the gas concentration, etc.

[0064] In this implementation, the gas concentration can be accurately measured by combining Fourier interferometry and spectrum analysis with inversion processing. The Fourier interferometry module and spectrum information can reveal the spectral characteristics of the gas, and the inversion analysis provides a more accurate detection method by using spectrum data to infer the gas concentration. Compared with traditional gas detection methods, this method can detect a wider range of gas types and has higher sensitivity to low-concentration gases. By analyzing the spectral data of each moving position point, high spatial resolution gas concentration measurement can be achieved. With the adjustment of the two-dimensional scanning galvanometer and the coordinated work of the Fourier interferometry module, the target area can be scanned step by step, and the gas concentration at each position can be accurately captured. This high spatial resolution can The force enables the device to accurately track gas leaks over a wide area and identify the location of the leak source in real time. The real-time generation of concentration curves can provide dynamic monitoring capabilities, tracking changes in gas leak concentration over time. The acquisition of this real-time data stream can help the system respond quickly to leaks, provide early warnings, or adjust equipment in a timely manner. For example, when the concentration rises sharply, the emergency response system can be immediately activated to protect equipment safety and avoid catastrophic accidents. Compared with traditional gas analysis methods (such as chemical sampling or gas sensor arrays), this method directly infers gas concentration from the reflection intensity data of light waves through spectral inversion, avoiding the complex steps of physical sampling and subsequent chemical analysis. The entire process is done wirelessly. Contact optical detection not only improves work efficiency, but also reduces the risks caused by human errors and operational complexity. This method is not only suitable for standard gas concentration monitoring, but also can play a role in some extreme environments or environments that are not suitable for direct contact detection, such as high temperature, high pressure environment, dangerous gas leakage, etc. Since the spectral inversion method has good adaptability to different types of gases, it can achieve the measurement of multiple gases by building a database, thereby providing multiple gas detection functions. In the inversion analysis of spectral information, the use of mathematical models (such as Beer-Lambert law) and database matching technology can effectively extract valuable information from complex reflection data, which not only improves data processing efficiency, but also ensures data integrity. The reliability of the analysis is improved, especially for the detection of complex gas mixtures or small changes. Through the concentration curve, the system can provide trend analysis of gas leakage. By checking the amplitude and time of concentration changes, the leakage period, speed and possible leakage source location can be determined. For example, if the concentration increases significantly in a certain period of time and lasts for a long time, the occurrence time and leakage intensity of the leakage can be inferred, and then the specific location of the leakage source can be calculated. The interference fringe information reveals the optical properties of the target surface, so that this method can not only detect gas leakage, but also analyze the subtle characteristics of the target surface, such as surface unevenness, temperature changes, or damage to the target surface. This information is of great significance for the maintenance and long-term monitoring of the target.This method can continuously monitor gas concentration in real time and adjust the position of the spectral detection equipment in time to ensure the accuracy and stability of the equipment, reduce the probability of false alarms and missed alarms, and reduce the monitoring blind spots caused by equipment failures. Especially in flammable and explosive gas environments, timely feedback on concentration changes can greatly improve the safety of equipment and personnel. The concentration curve can not only provide real-time data for gas leak detection, but also integrate with other sensor data (such as temperature, pressure, etc.) to form a comprehensive analysis platform. This data integration can provide multi-dimensional support for gas leak prediction, accident analysis and environmental assessment, especially in industrial production, environmental monitoring, hazardous material transportation and other fields. It has broad application potential.

[0065] In summary, this application has at least the following effects:

[0066] Through the combination of a cassette telescope and a two-dimensional scanning galvanometer, high-precision positioning and spectral data collection of the scene to be tested are achieved. Specifically, first, the image data of the scene to be tested is obtained through the cassette telescope, and the target position in each image area is determined by analyzing the mean and standard deviation of the pixel values. Then, the target to be tested is accurately scanned by the two-dimensional scanning galvanometer to obtain the spectral data of each moving position point, thereby avoiding the problem of inconsistent or lost spectral data due to uncertain target position in traditional technologies, and thus ensuring that the spectral data of each target position is effectively collected and transmitted.

[0067] After the target is located, the target is tracked in real time through a two-dimensional tracking galvanometer, ensuring that even if the target is moving, the equipment can accurately adjust its position and continuously monitor the target's spectral information. By synchronously adjusting the three-dimensional position coordinates of the two-dimensional tracking galvanometer, the accuracy of spectral data transmission can always be guaranteed. This real-time adjustment and precise control solves the problem of information deviation caused by spectral data transmission errors in traditional spectral detection devices, and effectively improves the stability of the system and the reliability of data acquisition.

[0068] By combining the Fourier interferometer module with a high-speed photoelectric point detector and utilizing the technical advantages of interference processing and inversion analysis, the sensitivity and accuracy of gas cloud imaging are significantly improved. The Fourier interferometer module combines two infrared beams with different optical path differences through the principle of light interference to produce interference phenomenon, and converts the time domain signal represented by the infrared spectrum to the frequency domain through Fourier transform to obtain the frequency distribution of the spectrum, thereby analyzing and inverting the gas concentration curve information. The introduction of the aperture effectively adjusts and controls the passage path of light, ensuring the transmission quality and stability of spectral data. The setting of the aperture not only optimizes the data acquisition process, but also reduces the interference of background light, allowing the Fourier interferometer module to focus on the spectral characteristics of the target object, thereby improving the signal-to-noise ratio of the entire system and ensuring the accuracy of the imaging results.

[0069] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0070] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A small spectral detection gas cloud imaging device based on a galvanometer and a cassette telescope, characterized in that: include: An identification scanning module, a two-dimensional tracking galvanometer (2), and an imaging module, wherein the identification scanning module comprises a card telescope (3) and a two-dimensional scanning galvanometer (1), and the imaging module comprises a Fourier interference module and a high-speed photoelectric point detector (5), and an aperture (4) is provided between the two-dimensional tracking galvanometer (2) and the imaging module; The device is assembled as follows: an identification scanning module performs track identification scanning processing on a scene to be tested based on a preset moving track, obtains spectrum data of the target to be tested at a plurality of moving position points, and simultaneously adjusts the position of a two-dimensional tracking galvanometer (2) so that the two-dimensional tracking galvanometer (2) receives the spectrum data of the target to be tested at each moving position point, and vertically transmits the received spectrum data of the target to be tested at each moving position point through an aperture (4) to a Fourier interference module for interference processing, and inputs the interference processing result into a high-speed photoelectric point detector (5) for inversion analysis, thereby obtaining a concentration curve of the target to be tested (leaked gas).

2. The small-sized spectral detection gas cloud imaging device based on a galvanometer and a cassette telescope according to claim 1 is characterized in that: The spectrum data of the measured target includes the reflection intensity value of the measured target at each wavelength.

3. The small-sized spectral detection gas cloud imaging device based on a galvanometer and a cassette telescope according to claim 1 is characterized in that: The identification and scanning module performs trajectory identification and scanning processing on the scene to be tested based on the preset moving trajectory, and the specific steps of obtaining the spectral data of the target to be tested at several moving position points are as follows: At each moving position point, image data of the scene to be measured is obtained through a card telescope (3), and the position information of the target to be measured is analyzed and determined, wherein the image data of the scene to be measured includes the pixel value and two-dimensional pixel coordinates of each pixel point to be measured in the image of the scene to be measured; After determining the position information of the target to be measured, the target to be measured is scanned by a two-dimensional scanning galvanometer (1) to obtain the spectrum data of the target to be measured at each moving position point.

4. The small-sized spectral detection gas cloud imaging device based on a galvanometer and a cassette telescope according to claim 3 is characterized in that: The specific steps of acquiring the image data of the scene to be measured through the card telescope (3) and analyzing and determining the position information of the measured target are as follows: The scene image to be tested is divided into a plurality of image regions, and each image region data includes a plurality of pixel points to be tested; For each image area, the pixel value of each pixel to be tested is comprehensively analyzed to obtain the pixel mean and pixel standard deviation of each image area; Comprehensively analyze the pixel mean and pixel standard deviation of each image area to obtain the pixel threshold of each image area; Comprehensively analyze the pixel threshold of each image area and the pixel value of each pixel to be tested to obtain a number of target pixels to be tested in the scene image to be tested; Comprehensively analyzing the pixel values ​​and two-dimensional pixel coordinates of several pixel points of the target to be measured in the scene image to be measured, and obtaining the initial center pixel coordinates of the target to be measured in the scene image to be measured; The initial center pixel coordinates of the target to be measured in the scene image to be measured are spatially transformed to obtain the three-dimensional spatial coordinates of the center of the target to be measured in the scene image to be measured, and are marked as the position information of the target to be measured.

5. The small-sized spectral detection gas cloud imaging device based on a galvanometer and a cassette telescope according to claim 4 is characterized in that: The specific formulas for calculating the pixel mean, pixel standard deviation, pixel threshold, and initial center pixel coordinates of the target in the scene image to be tested are as follows: Among them, XsJ u is the pixel mean of the u-th image region, XsZ ut is the pixel value of the tth pixel to be tested in the uth image area, XsB u is the pixel standard deviation of the u-th image region, XyZ u is the pixel threshold of the u-th image region, δ u is the threshold adjustment coefficient of the u-th image area, u=1, 2, 3, …, u0, u0 is the number of image areas, t=1, 2, 3, …, t0, t0 is the number of pixels to be tested, x′ is the initial center two-dimensional pixel horizontal coordinate of the target to be tested in the scene image to be tested, DxS i is the pixel value of the i-th target pixel in the scene image to be tested, x i is the 2D pixel abscissa of the i-th pixel of the target to be measured in the scene image to be measured, y′ is the 2D pixel ordinate of the initial center of the target to be measured in the scene image to be measured, and y i is the two-dimensional pixel ordinate of the i-th target pixel to be measured in the scene image to be measured, i=1, 2, 3, ..., i0, i0 is the number of target pixels to be measured.

6. The small-sized spectral detection gas cloud imaging device based on a galvanometer and a cassette telescope according to claim 4 is characterized in that: The specific steps for obtaining the three-dimensional spatial coordinates of the center of the target to be measured in the scene image to be measured are as follows: Obtaining the center coordinates of the scene image to be tested, the horizontal focal length value and the vertical focal length value of the scene image to be tested, and the distance value between the target to be tested in the scene image to be tested and the telescope (3), and performing a comprehensive analysis in combination with the initial center pixel coordinates of the target to be tested in the scene image to obtain the three-dimensional spatial coordinates of the center of the target to be tested in the scene image to be tested; The specific formula for calculating the three-dimensional spatial coordinates of the center of the target to be measured in the scene image to be measured is as follows: Where X″ is the three-dimensional spatial horizontal coordinate of the center of the target to be measured in the scene image to be measured, X′ is the two-dimensional pixel horizontal coordinate of the initial center of the target to be measured in the scene image to be measured, and X″′ is the two-dimensional horizontal coordinate of the center of the scene image to be measured. x is the horizontal focal length of the scene image to be measured, JLz is the distance between the target to be measured in the scene image to be measured and the cassette telescope (3), y″ is the three-dimensional spatial vertical coordinate of the center of the target to be measured in the scene image to be measured, y′ is the two-dimensional pixel vertical coordinate of the initial center of the target to be measured in the scene image to be measured, y″ is the two-dimensional vertical coordinate of the center of the scene image to be measured, and f y is the vertical focal length of the scene image to be tested, and z″ is the three-dimensional depth coordinate of the center space of the target to be tested in the scene image to be tested.

7. The small-sized spectral detection gas cloud imaging device based on a galvanometer and a cassette telescope according to claim 1 is characterized in that: The specific steps of synchronously adjusting the position of the two-dimensional tracking galvanometer (2) so that the two-dimensional tracking galvanometer (2) receives the spectrum data of the measured target at each moving position point through the aperture (4) are as follows: For each moving position point, the three-dimensional position coordinates of the two-dimensional scanning galvanometer (1) and the initial three-dimensional position coordinates of the two-dimensional tracking galvanometer (2) are respectively acquired in real time, and the three-dimensional position adjustment value of the two-dimensional tracking galvanometer (2) is analyzed, wherein the three-dimensional position adjustment value includes a horizontal direction adjustment value, a vertical direction adjustment value, and a depth direction adjustment value; The initial three-dimensional position coordinates of the two-dimensional tracking galvanometer (2) are adjusted based on the three-dimensional position adjustment amount to obtain the adjusted three-dimensional position coordinates of the two-dimensional tracking galvanometer (2).

8. The small-sized spectral detection gas cloud imaging device based on a galvanometer and a cassette telescope according to claim 7 is characterized in that: The specific steps of calculating the three-dimensional position adjustment value of the two-dimensional tracking galvanometer (2) and adjusting the three-dimensional position coordinates are as follows: Wherein, Δx is the horizontal adjustment value of the two-dimensional tracking galvanometer (2), X is the horizontal coordinate of the three-dimensional position of the two-dimensional scanning galvanometer (1), X′ is the horizontal coordinate of the initial three-dimensional position of the two-dimensional tracking galvanometer (2), ξ1 is the horizontal adjustment coefficient stored in the database, Δy is the vertical adjustment value of the two-dimensional tracking galvanometer (2), Y is the vertical coordinate of the three-dimensional position of the two-dimensional scanning galvanometer (1), Y′ is the vertical coordinate of the initial three-dimensional position of the two-dimensional tracking galvanometer (2), ξ2 is the vertical adjustment coefficient stored in the database, Δz is the depth adjustment value of the two-dimensional tracking galvanometer (2), Z is the depth coordinate of the three-dimensional position of the two-dimensional scanning galvanometer (1), Z′ is the depth coordinate of the initial three-dimensional position of the two-dimensional tracking galvanometer (2), ξ3 is the depth adjustment coefficient stored in the database, X″ is the horizontal coordinate of the adjusted three-dimensional position of the two-dimensional tracking galvanometer (2), Y″ is the vertical coordinate of the adjusted three-dimensional position of the two-dimensional tracking galvanometer (2), and Z″ is the depth coordinate of the adjusted three-dimensional position of the two-dimensional tracking galvanometer (2).

9. The small-sized spectral detection gas cloud imaging device based on a galvanometer and a cassette telescope according to claim 2 is characterized in that: The specific steps to obtain the measured target concentration curve are as follows: In the Fourier interferometer module, for each moving position point, based on the reflection intensity value of the measured target at each wavelength, the weighting coefficient of each wavelength of each moving position point is analyzed; The reflection intensity value of the measured target at each moving position point at each wavelength is comprehensively analyzed in combination with the weighting coefficient of each wavelength at each moving position point to obtain a comprehensive spectral image of the measured target, that is, the comprehensive reflection intensity value of the measured target at each wavelength; The comprehensive reflection intensity value of the measured target at each wavelength is input into the Fourier interferometer module for interference processing to obtain the interference fringe information of the measured target, and Fourier transform analysis is performed to obtain the spectrum information of the measured target; The frequency spectrum information of the target to be measured is input into a high-speed photoelectric point detector (5) for inversion analysis and processing to obtain a concentration curve of the target to be measured (leaked gas).

10. The small-sized spectral detection gas cloud imaging device based on a galvanometer and a cassette telescope according to claim 9, characterized in that: The specific formula for calculating the comprehensive reflection intensity value of the measured target at each wavelength is as follows: Among them, ZfS(λ) is the comprehensive reflection intensity value of the measured target at wavelength λ, FsQ r (λ) is the reflection intensity value of the measured target at the rth moving position under wavelength λ, ω r (λ) is the weighting coefficient of the wavelength λ of the rth moving position point, r=1, 2, 3, ..., r0, r0 is the number of moving position points.

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