CN112697711A - Snapshot type remote measurement system for mobile source waste gas - Google Patents
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Abstract
The invention discloses a snapshot type remote measuring system for waste gas of a mobile source, which comprises a multi-channel camera array, a quick tracking mechanism, a control unit and a data processing unit, wherein the multi-channel camera array is used for acquiring a plurality of images of the waste gas; the multi-channel camera array comprises a plurality of groups of monochromatic cameras and a color camera, focal sections and view fields of all the cameras are consistent, the view fields are accurately matched, and synchronous zooming control can be realized; selecting a plurality of characteristic absorption peak valley positions of SO2 and NO2 gases in a monochromatic camera design waveband, designing the full width at half maximum to be about 1nm according to detection precision requirements, and adopting a high-speed acquisition ultraviolet enhanced detector for photoelectric acquisition; the color camera acquires a color image of a target area, and is used for feature recognition of moving sources such as ships and trucks; the rapid tracking mechanism adopts a three-axis pan-tilt structure, drives and adjusts the direction of the camera array, and ensures that the moving source target is kept in the central area of the image. The invention realizes the quick high-precision remote measurement of the waste gas of the mobile source.
Description
Technical Field
The invention relates to a quick automatic remote measuring device for pollutant gas components in waste gas discharged by a mobile source, in particular to a snapshot type remote measuring system for waste gas of the mobile source.
Background
The problem of atmospheric pollution is serious due to economic development and population growth, and people are attracted by the pollution. The quality improvement of the atmospheric environment depends on the accurate control of the emission of atmospheric pollution, and is made according to local conditions and precise measures. At present, domestic fixed source emission quality makes a great breakthrough, but mobile source pollution is still continuously increased. The mobile source holding capacity is continuously increased, meanwhile, the emission reduction treatment is difficult to supervise by mobility, and supervised objects are scattered. The main moving sources can be classified into motor vehicles and ships. At present, supervision means for vehicles and ships with overproof standards are limited, and visual methods for judging the exhaust gas of the mobile source to screen whether black smoke is emitted exist in many places, so that the rapid monitoring capability for the overproof conditions of nitrides and sulfides in the exhaust gas of the mobile source is lacked.
The monitoring means of the exhaust gas of the mobile source can be divided into sampling type and remote measuring type. Sampling type fixed-point monitoring generally can only acquire and extract pollution in the surrounding environment, and cannot locate a specific mobile source. The active light source remote measuring method is suitable for dynamic monitoring, but the point position is fixed, and the layout cost is high. The passive light source remote measuring method does not need an artificial light source, is convenient to erect, is suitable for quick supervision and emergency monitoring of the waste gas of a mobile source, and has a very high application prospect. The main problems faced by the passive light source telemetry method at present are: the passive solar scattered light source is weak in intensity, the moving source moves rapidly, and the background in the moving process changes rapidly, so that the detection accuracy is poor.
Disclosure of Invention
The invention aims to provide a mobile source waste gas snapshot type telemetering system, which solves the problem of poor detection precision in the existing passive light source telemetering technology.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows: a snapshot type remote measurement system for moving source waste gas comprises a multi-channel camera array, wherein the multi-channel camera array acquires a plurality of wave band moving source images for gas inversion, the multi-channel camera array is installed on a quick tracking mechanism to realize quick adjustment of the pointing direction of a camera, the quick tracking mechanism and the multi-channel camera array are connected to a control unit, and the control unit realizes quick zooming tracking collection of a ship target by adopting a moving source target recognition algorithm based on deep learning; the multichannel camera array image data are comprehensively analyzed by the data processing unit, and are processed by data fusion, aerosol and background interference correction and the like, and then NO2 and SO2 gas concentration information are output.
Furthermore, the mobile source waste gas snapshot type remote measurement system is characterized in that the multi-channel camera comprises a plurality of groups of monochrome cameras and a color camera, all the cameras have an electric focusing function, a focal section is consistent with a view field, the view fields are accurately matched, and the detection of the same mobile source target is ensured.
Furthermore, the multi-channel camera comprises a plurality of groups of monochromatic cameras and a color camera, wherein the plurality of groups of monochromatic cameras are provided with optical filters with different wavelengths, and the color camera acquires a color image of a target area by transmitting a plurality of groups of ultraviolet visible signals in absorption wavelengths of SO2 and NO2 components to be detected.
Further, the mobile source exhaust gas snapshot type telemetry system has 8 monochrome cameras, four of the monochrome cameras are used for detecting NO2, and the other four monochrome cameras are used for detecting SO 2. The filter bandwidth is around 1 nm.
Furthermore, in the mobile source waste gas snapshot type telemetering system, the bandwidths of the multiple groups of monochromatic camera optical filters are about 1nm, and the central wavelengths of the optical filters are designed into two absorption peaks and two absorption troughs of SO2 and NO2 absorption cross sections.
Furthermore, the mobile source waste gas snapshot type telemetering system is characterized in that the rapid tracking mechanism has a three-axis 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.
Furthermore, the control unit has a moving source target rapid recognition function based on deep learning, and the moving source target position is judged based on the color camera measurement image.
Further, in the mobile source exhaust gas snapshot type telemetry system, the control unit can rapidly calculate motor driving parameters and multi-channel camera zooming parameters of the rapid tracking mechanism based on the target position of the mobile source.
Furthermore, in the mobile source waste gas snapshot type telemetry system, the control unit can control synchronous zooming and synchronous image photographing of the multi-channel camera array.
Further, 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 the concentration information of NO2 and SO2 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 removed, SO that the high-precision remote measurement of common pollution gases in the waste gas of a mobile source is completed through the combination of a series of monochromatic cameras.
The invention improves the observation signal-to-noise ratio by tracking and observing the fast moving source target, ensures that the position of the detection target in the image is basically fixed, and finally realizes the 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 measurement with expandable range by replacing or adding a proper monochromatic camera channel.
Compared with the prior art, the invention has the advantages that:
the passive remote measurement technology for the exhaust gas has the problem of low measurement precision for moving sources such as fast moving motor vehicles, ships and the like. The main reasons are two ways: the conventional remote measuring technology has no requirement on response speed aiming at a fixed source, and the requirement on quick response in the remote measurement of the waste gas of a quick moving source causes insufficient light inlet quantity, low detection signal and poor accuracy; in the moving source motion process, targets such as background buildings, number and the like are continuously changed, and great interference is brought to gas information analysis in the passive telemetry inversion process. The invention has the characteristics of high response speed, high detection precision, high integration level and expandability, introduces the moving source identification tracking technology, can expose the target for multiple times, and greatly improves the signal-to-noise ratio; compared with the traditional single-wavelength gas detection means, the method introduces detection wavelengths of more than 4 points for correcting the interference of background information and aerosol information; and a multi-channel joint imaging means is introduced, and the acquired map information is rich and accurate. The invention is suitable for quick high-precision remote measurement of the waste gas of a mobile source, provides the concentration information of NO2 and SO2 gas, grasps the standard exceeding condition of sulfide and nitride in the waste gas, 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 present invention; wherein 1 is a multi-channel camera array; 2, a quick tracking mechanism; 3 is a control unit and a data processing unit;
FIG. 2 is a diagram of the SO2 probe channel configuration of the present invention;
FIG. 3 is a diagram of the SO2 probe channel configuration of the present invention;
FIG. 4 is an observation flowchart of the present invention.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
As shown in fig. 1. A snapshot type telemetering system for mobile source exhaust gas comprises a multi-channel camera array 1, a quick tracking mechanism 2, a control unit and a data processing unit 3; the multi-channel camera array 1 comprises a plurality of groups of monochromatic cameras and a color camera, focal sections and view fields of all the cameras are consistent, the view fields are accurately matched, and synchronous zooming control can be realized; the fast tracking mechanism 2 adopts a three-axis pan-tilt structure, drives and adjusts the 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 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 data processing unit carries out joint inversion on the data of the multi-channel monochromatic camera and calculates concentration values of NO2 and SO2 in the exhaust emission of the mobile source.
According to the invention, the monochromatic camera in the multichannel camera array 1 is designed to select a plurality of characteristic absorption peak valley positions of SO2 and NO2 gases, the full width at half maximum is designed to be about 1nm according to the detection precision requirement, and the photoelectric acquisition adopts a high-speed acquisition ultraviolet enhanced detector. The monochromatic camera filter parameter selection is based on the absorption characteristics of NO2 and SO2 gases, and reduces the interference of aerosol and image background change on gas absorption. The detection wavelength selection position of the SO2 is shown in FIG. 2, the black line represents the absorption cross section of the SO2, and the red dotted line indicates the wavelength point to be detected. Fig. 3 shows the detection wavelength selection position of NO2, the black line represents the NO2 absorption cross section, and the red dotted line indicates the wavelength point to be detected. The wavelength points of the detection centers of SO2 are 313.1nm, 314.3nm, 319.8nm and 323.5 nm. The detection center wavelength points of NO2 are selected from 407.0nm, 413.4nm, 439.3nm and 456.6 nm. The more monochromatic camera channels, the higher the detection precision, and 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 camera in the multi-channel camera array 1 acquires a color image of a target area, and is used for target feature recognition of moving sources such as ships and trucks.
The monochrome camera and the color camera in the multi-channel camera array 1 have an electric focusing function, focus sections are consistent with view fields, the view fields are accurately matched, and the detection of the same moving source target is guaranteed. In the observation process of the moving target, the characteristics of 'big-end-up-and-small-end-up' exist, and if the moving target is directly observed, the position of the waste gas in a plurality of continuously collected images is actually changed, so that the subsequent treatment cannot be carried out. Therefore, the target recognition function is introduced, and the observation target is always in the central area of the image and reasonably accounts for the target in the image through the change of the direction and the change of the focal length of the 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, the observed images of the color camera are analyzed based on the recognition model, and if a target moving source enters an observed area, an observation process is executed. The specific observation process is shown in fig. 4, the system initializes and configures a moving source target, a ship or motor vehicle target is selected, then the system color camera performs patrol scanning, if the target enters a set observation area, a target tracking function is executed, the control unit sends a synchronous zooming instruction sending function to the multi-channel camera array, a rapid tracking mechanism driving instruction is sent, the camera array performs synchronous acquisition, and the multi-channel camera image is transmitted to the data processing unit. And (3) until the moving source target moves out of the observation area, performing joint inversion by the data processing unit, 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 three-axis adjusting function, the response speed is in millisecond level, and the multi-channel camera is driven to adjust the direction based on the control signal of the control unit.
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 the concentration information of NO2 and SO2 gases based on a discrete differential absorption spectrum algorithm. The inversion of the gas concentration is based on the Lambert-Beer law. The camera measured radiation intensity I (λ) can be expressed as the following formula:
wherein λ represents the wavelength of the radiation and the incident intensity is I0(lambda), transmission distance L, analysis of the atmospheric composition in the range 0 to L according to a uniform distribution, sigmaj(lambda) is the molecular absorption cross section [ cm ] of the j-th gas measured2/molecule]，cj(s) is the concentration of the j-th gas, n is the number of species of the gas measured, σR0(λ)λ-4CAIRRepresents the Mie scattering extinction coefficient, where CAIRIs the molecular density of air, σR0≈4.4×10-16cm2nm4。εM0·λ-nRepresenting the rayleigh scattering absorption coefficient.
For mobile source exhaust gases, NO2 and SO2 are the major gaseous pollutants, and there is also a significant amount of aerosol particulate emissions. Meanwhile, it should be noted that, since the background in the moving source observation may not always be the sky, there may be scenes such as trees and buildings, and different backgrounds correspond to different incident intensities. The direct use of the formula (1) does not allow the information on the gas concentration to be obtained, and does not allow the absorption and scattering of each part of the extinction coefficients of molecular absorption, rayleigh scattering and mie scattering to be distinguished. In the invention, a discrete differential absorption spectrum algorithm is adopted to analyze the gas concentration, the absorption cross section of scattering extinction and the surface feature reflection spectrum cross section are slowly changed along with the wavelength lambda, and the slowly changed part can be filtered out by polynomial fitting or other high-pass filtering methods in the spectral analysis, so that the interference of aerosol and background change on the gas component absorption is removed. Different from the conventional spectrum detection, the spectrum of dozens of nanometers is continuously measured, the gas components are inverted after data high-pass filtering, a plurality of gas absorption wavelength points are measured, the wavelength points are preferably selected to be the positions with large fluctuation of the gas absorption cross section, the wavelength positions are widened as far 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 gas detection components can be improved, and the expansibility of observation range is achieved.
Claims (10)
1. A snapshot-type remote measurement system for mobile source exhaust gas comprises a multi-channel camera array, wherein the multi-channel camera array acquires a plurality of wave band mobile source images for gas inversion, and is characterized in that: the multi-channel camera array is installed on a quick tracking mechanism to realize quick adjustment of the pointing direction of the camera, the quick tracking mechanism and the multi-channel camera array are connected to a control unit, and the control unit adopts a moving source target recognition algorithm based on deep learning to realize quick zooming tracking collection of a ship target; the multichannel camera array image data are comprehensively analyzed by the data processing unit, and after data fusion and aerosol and background interference correction processing, NO2 and SO2 gas concentration information are output.
2. The mobile source exhaust snapshot telemetry system of claim 1, wherein: the multi-channel camera comprises a plurality of groups of monochromatic cameras and a color camera, all the cameras have an electric focusing function, focus sections are consistent with view fields, the view fields are accurately matched, and the detection of the same moving source target is guaranteed.
3. The mobile source exhaust snapshot telemetry system of claim 1, wherein: the multi-channel camera comprises a plurality of groups of monochromatic cameras and a color camera, wherein the plurality of groups of monochromatic cameras are provided with optical filters with different wavelengths, and the color camera acquires a color image of a target area by transmitting a plurality of groups of ultraviolet visible signals in the absorption wavelengths of SO2 and NO2 components to be detected.
4. The mobile source exhaust snapshot telemetry system of claim 1, wherein: the multiple groups of monochromatic cameras are 8 in number, four of the multiple groups of monochromatic cameras are used for NO2 detection, and the other four of the multiple groups of monochromatic cameras are used for SO2 detection. The filter bandwidth is around 1 nm.
5. The mobile source exhaust snapshot telemetry system of claim 1, wherein: the bandwidth of the multiple groups of monochromatic camera optical filters is about 1nm, and the central wavelength of the optical filters is designed into two absorption wave crests and two absorption wave troughs of SO2 and NO2 absorption cross sections.
6. The mobile source exhaust snapshot telemetry system of claim 1, wherein: the rapid tracking mechanism has a three-axis adjusting function, the response speed is in a millisecond level, and the multi-channel camera is driven to adjust the pointing direction based on a control signal of the control unit.
7. The mobile source exhaust snapshot telemetry system of claim 1, wherein: the control unit has a function of quickly identifying the moving source target based on deep learning, and judges the position of the moving source target based on the color camera measurement image.
8. The mobile source exhaust snapshot telemetry system of claim 1, wherein: the control unit can rapidly calculate motor driving parameters and multi-channel camera zooming parameters of the rapid tracking mechanism based on the moving source target position.
9. The mobile source exhaust snapshot telemetry system of claim 1, wherein: the control unit can control synchronous zooming and synchronous image photographing of the multi-channel camera array.
10. The mobile source exhaust snapshot telemetry system of claim 1, wherein: 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 multi-wavelength images, deducts the influence of aerosol and background change on light intensity, and calculates the concentration information of NO2 and SO2 gases based on a discrete differential absorption spectrum algorithm.
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