CN112697711B - Mobile source waste gas snapshot type telemetry system - Google Patents
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Abstract
The invention discloses a mobile source waste gas snapshot type telemetry system, which comprises a multichannel camera array, a rapid tracking mechanism, a control unit and a data processing unit, wherein the multichannel camera array is connected with the rapid tracking mechanism; the multichannel camera array comprises a plurality of groups of monochromatic cameras and a color camera, all camera focal segments are consistent with the field of view, and the field of view is accurately matched, so that synchronous zoom control can be realized; the design wave band of the monochromatic camera selects a plurality of characteristic absorption peak-valley positions of SO2 and NO2 gas, the half-width design is about 1nm according to the detection precision requirement, and a high-speed acquisition ultraviolet enhancement detector is adopted for photoelectric acquisition; the color camera acquires a color image of a target area and is used for characteristic recognition of moving sources such as ships, trucks and the like; the rapid tracking mechanism adopts a three-axis cradle head structure, drives and adjusts the pointing direction of the camera array, and ensures that a moving source target is kept in an image center area. The invention realizes the rapid and high-precision remote measurement of the waste gas of the mobile source.
Description
Technical Field
The invention relates to a rapid automatic telemetry device for pollutant gas components in exhaust gas discharged by a mobile source, in particular to a snapshot telemetry system for the exhaust gas of the mobile source.
Background
The problem of atmospheric pollution is serious due to economic development and population growth, and the method is widely focused. The improvement of the atmospheric environment quality depends on the accurate grasp of the atmospheric pollution emission, and is precisely applied according to local conditions. At present, the domestic fixed source emission quality is greatly broken through, but the pollution of the mobile source is still continuously increased. The holding amount of the mobile source is continuously increased, meanwhile, the difficulty of the flowability supervision on emission reduction treatment is high, and the supervision objects are scattered. The main sources of movement can be classified as motor vehicles, ships. There are still limited monitoring means for vehicles and vessels exceeding the standard, and a visual inspection method is used for judging the exhaust gas of the mobile source to screen whether black smoke is discharged or not, so that the capability of rapidly monitoring the condition of exceeding the standard of nitrides and sulfides in the exhaust gas of the mobile source is lacking.
The monitoring means of the mobile source exhaust gas can be classified into a sampling type and a telemetry type. Sampling type fixed point monitoring can only acquire pollution in the surrounding environment of extraction, and a specific mobile source cannot be positioned. The active light source remote measuring method is suitable for dynamic monitoring, but the point positions are fixed, and the layout cost is high. The passive light source remote measurement method does not need an artificial light source, is convenient to erect, is suitable for rapid supervision and emergency monitoring of mobile source waste gas, and has a very high application prospect. The main problems faced by the passive light source telemetry method are: the passive solar scattering light source has weak intensity, the moving source moves rapidly, the background changes rapidly in the moving process, and finally the detection precision is poor.
Disclosure of Invention
The invention aims to provide a mobile source waste gas snapshot type telemetry system, which solves the problem of poor detection precision in the existing passive light source telemetry technology.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: the mobile source waste gas snapshot type remote measuring system comprises a multichannel camera array, wherein the multichannel camera array acquires a plurality of wave band mobile source images and is used for gas inversion, the multichannel camera array is arranged on a quick tracking mechanism to realize quick adjustment of camera pointing, the quick tracking mechanism and the multichannel camera array are connected to a control unit, and the control unit adopts a mobile source target recognition algorithm based on deep learning to realize quick zoom tracking acquisition of ship targets; and the multichannel camera array image data is comprehensively analyzed by a data processing unit, and after data fusion, aerosol and background interference correction and other processing, NO2 and SO2 gas concentration information is output.
Further, the multi-channel camera comprises a plurality of groups of monochromatic cameras and a color camera, all cameras have an electric focusing function, focal segments are consistent with fields of view, and the fields of view are accurately matched, so that the detection of the same moving source target is ensured.
Further, the multi-channel camera comprises a plurality of groups of monochromatic cameras and a color camera, the plurality of groups of monochromatic cameras are provided with different wavelength filters, a plurality of groups of ultraviolet visible signals in the absorption wavelength of SO2 and NO2 components to be detected are transmitted, and the color camera obtains a color image of a target area.
Further, in the mobile source exhaust snapshot telemetry system, the number of the plurality of groups of monochromatic cameras is 8, wherein four of the cameras are used for NO2 detection, and the other four of the cameras are used for SO2 detection. The bandwidth of the filter is about 1 nm.
Further, in the mobile source waste gas snapshot type telemetry system, the bandwidths of the optical filters of the plurality of groups of monochromatic cameras are about 1nm, and the central wavelength of the optical filters is designed to be two absorption peaks and two absorption troughs of the absorption cross sections of SO2 and NO 2.
Further, in the mobile source exhaust gas snapshot type telemetry system, the rapid tracking mechanism has a three-axis adjustment function, the response speed is in a millisecond level, and the multichannel camera is driven to adjust the pointing direction based on a control signal of the control unit.
Further, in the mobile source exhaust gas snapshot type telemetry system, the control unit has a mobile source target rapid identification function based on deep learning, and judges the position of the mobile source target based on a color camera measurement image.
Further, in the mobile source exhaust gas snapshot type telemetry system, the control unit can rapidly calculate motor driving parameters of the rapid tracking mechanism and multi-channel camera zooming parameters based on the target position of the mobile source.
Further, in the mobile source exhaust gas snapshot telemetry system, the control unit may control synchronous zooming and synchronous image photographing of the multi-channel camera array.
Further, in the mobile source waste gas snapshot type telemetry system, the data processing unit comprehensively analyzes a plurality of groups of monochromatic camera images, improves the signal to noise ratio of long-time sequence observation images, performs fitting analysis on a plurality of multi-wavelength images, deducts the influence of aerosol and background change on light intensity, and calculates NO2 and SO2 gas concentration information based on a discrete differential absorption spectrum algorithm.
According to the invention, a detection channel is specially designed according to the absorption characteristics of NO2 and SO2 gases, and the interference effect of aerosol and background on gas absorption is taken into consideration for removal, and high-precision telemetry of common polluted gas in mobile source waste gas is completed through a series of monochromatic camera combinations.
According to the invention, the tracking observation of the fast moving source target improves the observation signal-to-noise ratio, ensures that the position of the detected target is basically fixed in the image, and finally realizes fast high-precision remote measurement of the moving source waste gas.
The invention has the characteristics of high integration level, expandability and the like, is easy to be put into practical use and convenient to erect, and can also carry out measurement of other polluted gases or expandable measurement of measuring range by replacing or adding a proper monochromatic camera channel.
Compared with the prior art, the invention has the advantages that:
for moving sources such as motor vehicles and ships which move rapidly, the passive telemetry technology of the waste gas has the problem of low measurement precision. The main reasons are two aspects: the conventional telemetry technology aims at a fixed source, has no requirement on response speed, and has the defects of insufficient light quantity, low detection signal and poor accuracy caused by the requirement of quick response in the fast moving source waste gas telemetry; in the moving process of the moving source, targets such as background buildings, numbers and the like continuously change, and great interference is brought to gas information analysis in the passive telemetry inversion process. The invention has the characteristics of high response speed and high detection precision, has high integration level, can be expanded, introduces a mobile source identification tracking technology, can expose a target for multiple times, and greatly improves the signal-to-noise ratio; compared with the prior single-wavelength gas detection means, the detection wavelength of more than 4 points is introduced and is used for correcting the interference of background information and aerosol information; the multi-channel combined imaging means is introduced, and the acquired map information is rich and accurate. The invention is suitable for rapid high-precision remote measurement of mobile source waste gas, provides NO2 and SO2 gas concentration information, grasps the condition that sulfides and nitrides in the waste gas exceed standards, and can be applied to the aspects of atmospheric environment supervision, emergency monitoring and the like.
Drawings
FIG. 1 is a block diagram of the components of the present invention; wherein 1 is a multichannel camera array; 2 is a quick tracking mechanism; 3 is a control unit and a data processing unit;
FIG. 2 is a schematic diagram of an SO2 detection channel configuration according to the present invention;
FIG. 3 is a schematic diagram of an SO2 detection channel configuration according to the present invention;
fig. 4 is a flow chart of the observation of the present invention.
Detailed Description
The invention is further described below with reference to the drawings and detailed description.
As shown in fig. 1. A mobile source exhaust gas snapshot type telemetry system comprises a multichannel camera array 1, a quick tracking mechanism 2, a control unit and a data processing unit 3; the multichannel camera array 1 comprises a plurality of groups of monochromatic cameras and a color camera, all camera focal segments are consistent with the field of view, and the field of view is accurately matched, so that synchronous zoom control can be realized; the rapid tracking mechanism 2 adopts a three-axis cradle head structure, drives and adjusts the pointing direction of a camera array, and ensures that a moving source target is kept in an image center area; the control unit and the data processing unit 3 are realized by a computer, wherein the control unit is provided with a moving source target identification function, a synchronous zooming instruction sending function, a quick tracking mechanism driving function and a camera array synchronous acquisition function; and the data processing unit performs joint inversion on the multi-channel monochromatic camera data, and calculates concentration values of NO2 and SO2 in the exhaust emission of the mobile source.
In the invention, the design wave band of a monochromatic camera in the multichannel camera array 1 selects the positions of a plurality of characteristic absorption peaks and valleys of SO2 and NO2 gas, the half-width design is about 1nm according to the detection precision requirement, and a high-speed acquisition ultraviolet enhancement detector is adopted for photoelectric acquisition. The monochromatic camera filter parameters are selected based on the absorption characteristics of NO2 and SO2 gases, and the interference of aerosol and image background changes on gas absorption is reduced. Fig. 2 shows the detection wavelength selective position of SO2, the black line represents the SO2 absorption cross section, and the red dashed line marks the wavelength point to be detected. Fig. 3 shows the detection wavelength selective position of NO2, the black line represents the NO2 absorption cross section, and the red dashed line marks the wavelength point to be detected. The detection center wavelength point of SO2 is 313.1nm, 314.3nm, 319.8nm and 323.5nm. The detection center wavelength point of NO2 is selected from 407.0nm, 413.4nm, 439.3nm and 456.6nm. The more the single-color camera channels are, the higher the detection precision is, the trade-off between the product cost and the detection precision is needed in the application process, but the number of the channels is not less than 4.
The color cameras in the multi-channel camera array 1 acquire color images of target areas and are used for identifying target characteristics of moving sources such as ships, trucks and the like.
The single-color camera and the color camera in the multi-channel camera array 1 have the electric focusing function, the focal section is consistent with the visual field, and the visual field is precisely matched, so that the detection of the same moving source target is ensured. In the process of observing a moving target, the characteristic of 'near-large-far-small' exists, and if the direct observation is performed, the position of waste gas in a plurality of continuously acquired images is actually changed, so that the subsequent treatment cannot be performed. Therefore, a target recognition function is introduced, through the change of the orientation and the change of the focal length of the camera array, the observation target is always positioned in the central area of the image, and the target has a reasonable proportion in the image.
The control unit is provided with a moving source target recognition function, a synchronous zooming instruction sending function, a quick tracking mechanism driving function and a camera array synchronous acquisition function. The moving source target recognition function is developed by adopting a deep learning method, a large number of ship images and motor vehicle images are input for machine learning, a moving source target recognition model is constructed, the observation image of the color camera is analyzed based on the recognition model, and if a target moving source enters an observation area, an observation flow is executed. The specific observation flow is shown in fig. 4, the system is initialized to configure a moving source target, a ship or motor vehicle target is selected, then the system color camera performs inspection scanning, if the target is found to enter a set observation area, a target tracking function is executed, a control unit sends a synchronous zooming instruction sending function to a multi-channel camera array, a rapid tracking mechanism driving instruction is sent, the camera array synchronously collects images, and the multi-channel camera images are transmitted to a data processing unit. And performing joint inversion by the data processing unit until the moving source target moves out of the observation area, calculating concentration values of NO2 and SO2 in the exhaust emission of the moving source, and performing the next observation cycle after the calculation is completed.
The rapid tracking mechanism has a triaxial adjusting function, the response speed is in the millisecond level, and the multichannel camera is driven to adjust the pointing direction based on the control signal of the control unit.
According to the invention, the data processing unit comprehensively analyzes a plurality of groups of monochromatic camera images, improves the signal-to-noise ratio of long-time sequence observation images, performs fitting analysis on a plurality of multi-wavelength images, deducts the influence of aerosol and background change on light intensity, and calculates NO2 and SO2 gas concentration information based on a discrete differential absorption spectrum algorithm. Inversion of gas concentration is based on Lambert-Beer law. The camera measured radiation intensity I (λ) can be expressed as the following formula:
wherein lambda represents the radiation wavelength and the incident intensity is I 0 (lambda), the transmission distance L, 0-L, the atmospheric components are analyzed according to uniform distribution, sigma j (lambda) is the molecular absorption cross section [ cm ] of the j-th gas measured 2 /molecule]，c j (s) is the concentration of the j-th gas, n is the number of kinds of the measured gas, σ R0 (λ)λ -4 C AIR Represents the Mie scattering extinction coefficient, where C AIR Is the molecular density of air, sigma R0 ≈4.4×10 -16 cm 2 nm 4 。ε M0 ·λ -n Representing the rayleigh scattering absorption coefficient.
For mobile source exhaust, NO2 and SO2 are the primary gaseous pollutants, and there is also a significant amount of aerosol particulate emissions. Meanwhile, it should be noted that, because the background in the observation of the mobile source cannot always be sky, scenes such as trees, buildings and the like may exist, and different backgrounds correspond to different incident intensities. The direct utilization of the formula (1) cannot obtain gas concentration information, and absorption and scattering of each part of extinction coefficients of molecular absorption, rayleigh scattering and Mie scattering cannot be distinguished. In the invention, a discrete differential absorption spectrum algorithm is adopted to analyze the gas concentration, the absorption section of scattering extinction and the reflection spectrum section of ground object are both changed slowly along with the wavelength lambda, and the slow-change part can be filtered out by polynomial fitting or other high-pass filtering methods in the spectrum analysis, so that the interference of aerosol and background change on the absorption of gas components is removed. Different from the conventional spectrum detection, the method is characterized in that spectra of tens of nanometers are continuously measured, the gas component is inverted after data high-pass filtering is carried out, a plurality of gas absorption wavelength points are measured, the position with large fluctuation of a gas absorption section is selected on the wavelength points, the wavelength position is widened as much as possible, and the interference of aerosol and background change on the gas component absorption can be removed through polynomial fitting. And along with the increase of the number of single-color camera channels in the multi-channel camera array, the precision of the gas detection component can be improved, and the expansibility of the observation range is realized.
Claims (1)
1. The utility model provides a mobile source waste gas snapshot formula telemetry system, is including multichannel camera array, multichannel camera array acquires a plurality of wave bands mobile source image for gaseous inversion, its characterized in that: the multi-channel camera array is arranged on the quick tracking mechanism to realize quick adjustment of camera pointing, the quick tracking mechanism and the multi-channel camera array are connected to the control unit, and the control unit adopts a moving source target recognition algorithm based on deep learning to realize quick zoom tracking acquisition of ship targets; the multichannel camera array image data is comprehensively analyzed by a data processing unit, and after data fusion, aerosol and background interference correction processing, NO2 and SO2 gas concentration information is output;
the multichannel camera comprises a plurality of groups of monochromatic cameras and a color camera, all cameras have an electric focusing function, focal segments are consistent with fields of view, and the fields of view are accurately matched, so that the detection of the targets of the same moving source is ensured;
the multiple groups of monochromatic cameras are provided with filters with different wavelengths, multiple groups of ultraviolet visible signals in the wavelength are absorbed through SO2 and NO2 components to be detected, and the color camera acquires a color image of a target area;
the number of the plurality of groups of monochromatic cameras is 8, four of the cameras are used for NO2 detection, the other four of the cameras are used for SO2 detection, and the bandwidth of the optical filter is 1nm;
the center wavelength of the optical filter is designed to be two absorption wave peaks and two absorption wave troughs of an SO2 and NO2 absorption section;
the rapid tracking mechanism has a triaxial adjustment function, the response speed is in the millisecond level, and the multichannel camera is driven to adjust the pointing direction based on the control signal of the control unit;
the control unit has a function of quickly identifying a moving source target based on deep learning, and judges the position of the moving source target based on a color camera measurement image;
the control unit can rapidly calculate motor driving parameters of the rapid tracking mechanism and multi-channel camera zooming parameters based on the target position of the moving source;
the control unit can control synchronous zooming and synchronous image photographing of the multichannel camera array;
the control unit is designed with a moving source target recognition function, a synchronous zooming instruction sending function, a quick tracking mechanism driving function and a camera array synchronous acquisition function, the moving source target recognition function is developed by adopting a deep learning method, a large number of ship images and motor vehicle images are input for machine learning, a moving source target recognition model is constructed, an observation image of a color camera is analyzed based on the recognition model, if a target moving source enters an observation area, an observation flow is executed, a system is initialized and configured with the moving source target, the ship or motor vehicle target is selected, then the color camera of the system performs patrol scanning, if the target is found to enter the set observation area, the target tracking function is executed, the control unit sends the synchronous zooming instruction sending function to the multi-channel camera array, sends the quick tracking mechanism driving instruction, the camera array synchronous acquisition is carried out, the multi-channel camera images are transmitted to the data processing unit until the moving source target moves out of the observation area, the data processing unit performs joint inversion, NO2 and SO2 concentration values in the exhaust emission of the moving source are calculated, and the next observation cycle is carried out after calculation is completed;
the data processing unit comprehensively analyzes a plurality of groups of monochromatic camera images, improves the signal-to-noise ratio of a long-time sequence observation image, carries out fitting analysis on a plurality of wavelength images, deducts the influence of aerosol and background change on light intensity, calculates NO2 and SO2 gas concentration information based on a discrete differential absorption spectrum algorithm, inverts the gas concentration based on the Lambert-Beer law, and the measured radiation intensity I (lambda) of the camera can be expressed as the following formula:
wherein lambda represents the radiation wavelength and the incident intensity is I 0 (lambda), the transmission distance L, 0-L, the atmospheric components are analyzed according to uniform distribution, sigma j (lambda) is the molecular absorption cross section [ cm ] of the j-th gas measured 2 /molecule]，c j Is the concentration of the j-th gas, n is the number of types of the measured gas, sigma R0 (λ)λ -4 C AIR Represents the Mie scattering extinction coefficient, where C AIR Is the molecular density of air, sigma R0 ≈4.4×10 -16 cm 2 nm 4 ，ε M0 ·λ -n Representing the rayleigh scattering absorption coefficient.
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