CN-120352343-B - Laser telemetering instrument and intelligent response speed adjusting method thereof

CN120352343BCN 120352343 BCN120352343 BCN 120352343BCN-120352343-B

Abstract

The invention provides a laser telemeter and a response speed intelligent adjusting method thereof, comprising the steps of measuring the detection distance between the laser telemeter and a patrol pipeline; the method comprises the steps of measuring the angular velocity of a laser telemetering instrument in the process of inspection, calculating the moving velocity of a laser facula of the laser telemetering instrument according to the detection distance and the angular velocity, and feeding back and adjusting the data refreshing velocity of the laser telemetering instrument by adopting a segmentation method according to the moving velocity of the laser facula of the laser telemetering instrument. The invention also provides a laser telemetry instrument for realizing the process, wherein the laser telemetry instrument is provided with a laser ranging module, a front-end accelerometer and a rear-end accelerometer, and all the components are respectively connected with the main control module through signals. The invention can realize intelligent adjustment of response speed of the laser telemetering instrument, avoid the problem of deterioration of the spatial resolution of leakage detection caused by the change of the speed of the inspection light spot in the inspection process, is beneficial to guaranteeing the spatial resolution of the leakage detection of the laser telemetering instrument and improves the data reliability of the laser telemetering instrument.

Inventors

CHEN XIANG
LI XINHUA
JIA ZHICHAO
XU WEI

Assignees

金陵科技学院

Dates

Publication Date: 20260508
Application Date: 20250324

Claims (6)

1. The intelligent regulation method for the response speed of the laser telemeter is characterized by comprising the following steps of: measuring the detection distance between the laser telemetering instrument and the inspection pipeline; Measuring the angular speed of the laser telemetering instrument in the process of inspection; calculating the moving speed of a laser spot of the laser telemetering instrument according to the detection distance and the angular speed; Adjusting the data refreshing speed of the laser telemetering instrument according to the moving speed of the laser facula of the laser telemetering instrument; The front end and the rear end of the laser telemetering instrument are respectively provided with an accelerometer, and the angular velocity of the laser telemetering instrument in the inspection process is calculated by an acceleration value measured by the accelerometer; The instantaneous angular velocity omega of the laser telemeter at the moment T is as follows: wherein t is the single data reading time of the laser telemetering instrument, D is the distance between the front accelerometer and the rear accelerometer; 、 And The acceleration values of the front-end accelerometer in the nth time in all directions of the three-dimensional space are respectively; 、 And The acceleration values of the rear-end accelerometer in the nth time in all directions of the three-dimensional space are respectively; average moving speed of laser light spot of the laser telemeter in a period of time t The method comprises the following steps: Wherein, the Is the distance measured by the laser ranging module for the nth time; a=t'/t; the data refreshing speed adjusting method of the laser telemetering instrument comprises the following steps of when the light spot moves at a speed Below 1 m/s, the laser telemetry data refresh rate is Hz, Is the preset spatial resolution, and when the light spot moving speed v is higher than 1 m/s and lower than 25 m/s, the data refreshing speed of the laser telemetering instrument is that And when the movement speed v of the light spot is higher than 25 m/s, suspending the data refreshing of the laser telemetering instrument and sending out alarm information that the inspection speed of the laser telemetering instrument is too high.
2. The intelligent regulation method of response speed of laser telemeter according to claim 1, wherein, The laser remote measuring instrument is integrated with a laser ranging module, and the detection distance between the laser remote measuring instrument and the inspection pipeline is obtained through measurement of the laser ranging module.
3. The intelligent regulation method of response speed of laser telemeter according to claim 1, wherein, When the light spot moving speed v is higher than 1 m/s and lower than 25 m/s, the data refreshing speed is controlled to be not more than 100 Hz.
4. A laser telemetry instrument for implementing the response speed intelligent regulation method of any one of claims 1 to 3, characterized in that: the laser remote measuring instrument is provided with a laser ranging module, a front-end accelerometer and a rear-end accelerometer; The laser ranging module is arranged on the laser telemetering instrument and is used for measuring the detection distance between the laser telemetering instrument and the inspection pipeline; The front-end accelerometer and the rear-end accelerometer are respectively arranged at the front end and the rear end of the laser telemetering instrument and are used for detecting the acceleration of the front end and the rear end of the laser telemetering instrument in the inspection process; the laser telemetering instrument, the laser ranging module, the front-end accelerometer and the rear-end accelerometer are respectively connected with the main control module through signals, the main control module is used for receiving distance data measured by the laser ranging module and acceleration data measured by the front-end accelerometer and the rear-end accelerometer, calculating the rotation angular speed of the laser telemetering instrument and the moving speed of a laser facula of the laser telemetering instrument, and adjusting the data refreshing speed of the laser telemetering instrument.
5. The laser telemetry instrument of claim 4 wherein: the laser ranging module is arranged at the left front end or the right front end of the laser telemeter; The ranging beam of the laser ranging module is parallel to the emergent beam of the laser telemeter.
6. The laser telemetry instrument of claim 4 wherein: the front-end accelerometer and the rear-end accelerometer are both positioned on the central axis of the laser telemetry instrument.

Description

Laser telemetering instrument and intelligent response speed adjusting method thereof Technical Field The invention relates to the technical field of laser absorption spectroscopy (TDLAS), in particular to a laser telemetering instrument and an intelligent response speed adjusting method thereof. Background The laser spectrum telemetry has the advantages of high sensitivity, strong anti-interference performance, small volume and the like, and is widely applied to the field of gas leakage detection. The technology expands the laser beam, collimates the laser beam, then makes the laser beam enter a patrol position, collects diffuse reflection light of the patrol position, and can obtain concentration information of target gas of the patrol position after photoelectric conversion and signal processing of the collected diffuse reflection light, so as to judge the gas leakage position. In telemetry applications, the data refresh rate of the laser telemetry instrument is typically kept constant, and the laser telemetry region is fan-shaped centered around the telemetry instrument, with telemetry distances up to hundred meters. Because the distance distribution of the inspection pipeline is irregular, when the telemetering angular velocity is constant, the farther the pipeline is from the telemetering instrument, the longer the length of the pipeline scanned by the laser facula in the same time is, thereby the spatial resolution of the leakage detection of the laser telemetering instrument is deteriorated, and the risk of the loss or invalidation of inspection data exists. Based on the above, the invention provides a laser telemeter and a response speed intelligent adjusting method thereof to solve the above problems. Disclosure of Invention The invention aims to overcome the defects in the prior art, and provides a laser telemetering instrument and an intelligent response speed adjusting method thereof, so as to realize intelligent adjustment of the response speed of the laser telemetering instrument, avoid the problem of deterioration of the leak detection spatial resolution caused by the change of the speed of a patrol light spot in the process of patrol, and be beneficial to guaranteeing the leak detection spatial resolution of the laser telemetering instrument and improving the data reliability of the laser telemetering instrument. In order to achieve the technical purpose, the invention adopts the following technical scheme: The invention provides an intelligent adjusting method for response speed of a laser telemetering instrument, which comprises the following steps of measuring detection distance between the laser telemetering instrument and a patrol pipeline; the method comprises the steps of measuring the angular velocity of a laser telemetering instrument in the process of inspection, calculating the moving velocity of a laser light spot of the laser telemetering instrument according to the detection distance and the angular velocity, and adjusting the data refreshing velocity of the laser telemetering instrument according to the moving velocity of the laser light spot of the laser telemetering instrument. Furthermore, a laser ranging module is integrated on the laser telemetering instrument, and the detection distance between the laser telemetering instrument and the inspection pipeline is obtained through measurement of the laser ranging module. Furthermore, the front end and the rear end of the laser telemetering instrument are respectively provided with an accelerometer, and the angular speed of the laser telemetering instrument in the inspection process is calculated by the acceleration value measured by the accelerometers. Further, the instantaneous angular velocity ω of the laser telemetry at time T is: The method comprises the steps of obtaining a single data reading time of a laser telemetry instrument, obtaining a distance between a front accelerometer and a rear accelerometer, obtaining acceleration values of the front accelerometer in each direction of a three-dimensional space for nth time by Ax n、Ayn and Az n, and obtaining acceleration values of the rear accelerometer in each direction of the three-dimensional space for nth time by Bx n、Byn and Bz n. Further, the average moving speed v of the laser spot of the laser telemetry instrument within a period of time t' is: wherein L n is the distance measured by the laser ranging module for the nth time, a is the number of measurements in time t ', and a=t'/t. Further, the data refreshing speed adjusting method of the laser telemetering instrument comprises the following steps that when the moving speed v of the light spot is lower than 1m/s, the data refreshing speed of the laser telemetering instrument isΔx is the preset spatial resolution, and when the light spot moving speed v is higher than 1m/s and lower than 25m/s, the data refreshing speed of the laser telemetering instrument isWhen the moving speed v of the light spot is higher than 2