CN102878983B - Method for measuring surface temperature field of coal gangue pile by laser scanner and thermal infrared imager - Google Patents
Method for measuring surface temperature field of coal gangue pile by laser scanner and thermal infrared imager Download PDFInfo
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- CN102878983B CN102878983B CN201210430059.5A CN201210430059A CN102878983B CN 102878983 B CN102878983 B CN 102878983B CN 201210430059 A CN201210430059 A CN 201210430059A CN 102878983 B CN102878983 B CN 102878983B
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Abstract
The invention relates to a method for measuring a surface temperature field of a coal gangue pile by a laser scanner and a thermal infrared imager, and belongs to the technical field of non-contact measuring techniques and environment monitoring. The method comprises the following steps: dividing coal gangue into multiple shooting areas, wherein each shooting area corresponds to an image of the thermal infrared imager, four mark points are arranged in each shooting area, and the mark points are required to be positioned in overlapping regions of adjacent images; arranging a scanning base station and establishing one mapping control point; shooting thermal infrared images of surface temperature of the coal gangue pile by means of the thermal infrared imager; and further, acquiring topographic data of the coal gangue pile by the three-dimensional laser scanner, and acquiring information of space coordinates of the mapping control point and the scanning base station by means of a total station. By combination, coordinate transformation and composition of the acquired images and data, the data of the surface temperature field of the coal gangue pile can be obtained, and the temperature information and the space coordinate information of any point on the surface of the coal gangue pile can be obtained from the data of the surface temperature field.
Description
Technical field
The invention belongs to non-contact measurement and environmental monitoring technology field, particularly laser scanner and infrared heat image instrument measuring coal gangue hill surface temperature field method.
Background technology
The environmental risk of the harm of self-ignition coal gangue hill to environment and existence is very large, and therefore, the improvement of self-ignition coal gangue hill has become the focus of current research.Be to verify high-temperature region and kindling point to the improvement key of Coal Gangue Heap, to take corresponding fire extinguishing and fire-retardant counter-measure, reach the object of improvement.
Both at home and abroad the research of coal gangue hill is shown: the main parameter of burning is temperature, therefore, utilize temperature sensing to determine that the position of kindling point is feasible, so the detection of coal gangue hill surface and deep temperature field just becomes the basic and crucial of self-ignition coal gangue hill improvement.
Infrared measurement of temperature belongs to a kind of method of non-contact temperature measuring, its surface temperature is measured in measurement by the infrared energy to object self radiation, all be widely used at aspects such as production and processing, electric power, medical science, fire-fightings, also greatly promoted the development of thermal infrared imager; From the principle of thermal infrared imager, it is feasible measuring coal gangue hill surface temperature information with it, but cannot obtain volume coordinate information, cannot determine the locus of each temperature spot.
A difficult problem for measuring surface temperature field of gangue mountain is:
1) measurement of coal gangue hill landform especially burn, the obtaining of the spatial information that is difficult to arrive region such as precipitous.
2) coal gangue hill hazardous location temperature information obtains comprehensively fast.
3) stack of volume coordinate information and temperature information.
The applicant has proposed the method for measuring surface temperature field of gangue mountain (ZL201110005011.X) based on total powerstation and thermal infrared imager, authorize on July 4th, 2012, wherein the locus of each temperature spot adopts total powerstation to obtain, and need to measure all monumented points; On August 8th, 2012 disclosed a kind of waste dump surface temperature field with space reference fast construction method (application number: CN201210120593.6) in, adopt GPS RTK technology to gather reference mark coordinate, and need on waste dump, lay the reference mark that can control bed rearrangement waste dump and can reflect the landforms variation characteristic of waste dump, in embodiment, lay 20 reference mark.
The method that three-dimensional laser scanner adopts contactless high-rate laser to measure, with a geometric properties on cloud form performance target object surface.Instrument self Emission Lasers bundle is to rotary optical center, camera lens is by rotating fast and in an orderly manner laser successively inswept tested region, once touch object, light beam is reflected back toward scanner at once, thereby inner micro computer calculates laser facula and scanner distance between the two by the flight time of calculating light beam.Meanwhile, instrument measures horizontal angle and the vertical angle of each laser beam by built-in angle measurement system, and then obtains each analyzing spot and define the volume coordinate information in coordinate system at scanner.Advantage is that data acquisition speed is fast, real-time; Data acquisition is comprehensive, and precision is high; All weather operations.Be not subject to the impact of light, initiative is strong.The aspects such as topographic mapping, deformation monitoring, historical relic's protection are widely used at present.
Summary of the invention
The object of the invention is that measurement for solving coal gangue hill landform is especially burnt, the quick acquisition that is difficult to the spatial information and the temperature information that arrive region such as precipitous, a kind of laser scanner and infrared heat image instrument measuring coal gangue hill surface temperature field method are proposed, be intended to the laser scanning data with volume coordinate information and the same area to superpose with the thermal infrared images of temperature information, realize the Quick Measurement of gangue locus, arbitrfary point, surface and temperature, for the improvement of self-ignition coal gangue hill provides shoring of foundation.
Laser scanner of the present invention and infrared heat image instrument measuring coal gangue hill surface temperature field method, is characterized in that, comprises the following steps:
1) coal gangue hill thermal infrared shooting area is divided and monumented point laying: coal gangue hill is carried out to site inspection, determine coal gangue hill surface area and lineament, lay and take seat in the plane; According to the distance of the pixel value of thermal infrared imager, resolution and shooting seat in the plane and coal gangue hill, gangue is divided into several thermal infrared shooting areas, the piece image of the corresponding thermal infrared imager of each shooting area, calculate thus the picture number of coal gangue hill shooting area number and thermal infrared imaging, each image border ensures 5-10% Duplication.Lay 4 monumented points at each thermal infrared shooting area, and each monumented point is in corresponding doubling of the image region, adjacent heat infrared shooting region, for the splicing of thermal infrared images;
2) lay at laser scanner scans station: according to the topography and geomorphology feature of coal gangue hill topographical surface feature and periphery, the scanning distance of combining laser scanning instrument is laid scanning movement, divides coal gangue hill scanning area, makes not interspace between each scanning area;
3) near figure root control points layout: lay a figure root reference mark laser scanner scans station, adopt total powerstation and the translocation of known control point to obtain the volume coordinate information (X at figure root reference mark
figure, Y
figure, Z
figure);
4) on the spot take with measure: with thermal infrared imager shooting seat in the plane ready-portioned shooting area is taken to thermal infrared images one by one; On the scanning movement of laying, set up three-dimensional laser scanner and obtain coal gangue hill surface data; Adopt total powerstation and the reference mark translocation of figure root to obtain the volume coordinate information (X of scanning movement
sweep, Y
sweep, Z
sweep);
5) laser scanning data processing: according to the volume coordinate information (X of scanning movement
sweep, Y
sweep, Z
sweep) scan-data that corresponding scanning movement is obtained carries out one by one coordinate conversion and splice, and obtains the terrain data of coal gangue hill, i.e. the volume coordinate information (X of coal gangue hill surface any point
coal, Y
coal, Z
coal);
6) thermal infrared images data processing: utilize monumented point corresponding in adjacent heat infrared image overlapping region to carry out Image Mosaics; Obtain the thermal infrared images that a width comprises whole coal gangue hill any point temperature information (t); Extract the planimetric coordinates information (X of 4-6 monumented point by the terrain data of coal gangue hill
mark, Y
mark); According to the planimetric coordinates information of monumented point, thermal infrared images is carried out to coordinate conversion, obtain a width and comprise whole coal gangue hill any point planimetric coordinates information (X
red, Y
red) and the thermal infrared images of temperature information (t);
7) coal gangue hill terrain data and thermal infrared images stack: by planimetric coordinates corresponding relation, coal gangue hill terrain data after treatment and thermal infrared images are superposeed, can obtain the surface temperature field data of coal gangue hill; Can obtain temperature information (t) and the volume coordinate information (X of coal gangue hill surface any point from this surface temperature field data
coal, Y
coal, Z
coal).
The present invention mainly has following technological merit:
1) field work amount is little.With respect to adopting total powerstation and GPS RTK to obtain coal gangue hill space surface coordinate information, adopt three-dimensional laser scanner to not be used on coal gangue hill and lay reference mark, realize non-contact measurement, reduce field work amount;
2) adopt three-dimensional laser scanner technology can avoid being difficult to arrive laying reference mark, region in burning, precipitous etc., improved the security of Spatial data capture.
Brief description of the drawings
Fig. 1 is the inventive method process flow diagram.
Fig. 2 thermal infrared imager is taken the schematic diagram of seat in the plane laying and coal gangue hill surface shooting area.
The schematic diagram that Fig. 3 thermal infrared images monumented point is laid.
The schematic diagram that Fig. 4 three-dimensional laser scanner scanning movement is laid and coal gangue hill scanning area is divided.
Embodiment
The present invention propose a kind of laser scanner and infrared heat image instrument measuring coal gangue hill surface temperature field method, by reference to the accompanying drawings and embodiment be described in detail as follows:
A kind of laser scanner and infrared heat image instrument measuring coal gangue hill surface temperature field method that the present invention proposes, as shown in Figure 1, comprise the following steps:
1) coal gangue hill thermal infrared shooting area is divided and monumented point laying: coal gangue hill is carried out to site inspection, determine coal gangue hill surface area and lineament, lay and take seat in the plane; According to the distance of the pixel value of thermal infrared imager, resolution and shooting seat in the plane and coal gangue hill, gangue is divided into several thermal infrared shooting areas, the piece image of the corresponding thermal infrared imager of each shooting area, calculate thus the picture number of coal gangue hill shooting area number and thermal infrared imaging, each image border ensures the Duplication of 5-10%.Lay 4 monumented points at each thermal infrared shooting area, and each monumented point is in corresponding doubling of the image region, adjacent heat infrared shooting region, for the splicing of thermal infrared images; In the present embodiment, adopt DL-700C thermal infrared imager, resolution 1.3mrad, pixel 320 × 240, as shown in Figure 2, according to the feature of coal gangue hill 21, lay and take seat in the plane 22, by resolution × (taking the distance of seat in the plane 22 and coal gangue hill 21) × pixel, obtain the area size that a width thermal infrared imager image 23 can be taken, divide the thermal infrared shooting area 24 of coal gangue hill.Owing to requiring image border to have the Duplication of 5-10%, the thermal infrared shooting area of coal gangue hill is slightly less than thermal infrared imager image actual photographed region 5-10%.As shown in Figure 3, lay monumented point 31,32 at the corresponding coal gangue hill shooting area in the overlapping region of image 23;
2) lay at laser scanner scans station: according to the topography and geomorphology feature of coal gangue hill topographical surface feature and periphery, the scanning distance of combining laser scanning instrument is laid scanning movement, divides coal gangue hill scanning area, makes not interspace between each scanning area; As shown in Figure 4, the sweep limit forming according to the scanning distance of the terrain feature of coal gangue hill 21 and three-dimensional laser scanner, lays scanning movement 41, divides coal gangue hill scanning area 42.
3) near figure root control points layout: lay a figure root reference mark laser scanner scans station, adopt total powerstation and the translocation of known control point to obtain the volume coordinate information (X at figure root reference mark
figure, Y
figure, Z
figure);
4) on the spot take with measure: with thermal infrared imager shooting seat in the plane ready-portioned shooting area is taken to thermal infrared images one by one; On the scanning movement of laying, set up three-dimensional laser scanner and obtain coal gangue hill surface data; Adopt total powerstation and the reference mark translocation of figure root to obtain the volume coordinate information (X of scanning movement
sweep, Y
sweep, Z
sweep); As shown in Figure 2, taking seat in the plane 21, ready-portioned shooting area 23 is being taken one by one with thermal infrared imager.As shown in Figure 4, set up three-dimensional laser scanner at scanning movement 41, scanning area 42 is scanned.Adopt total powerstation and the reference mark translocation of figure root to obtain the volume coordinate information (X of scanning movement 41
sweep, Y
sweep, Z
sweep).
5) laser scanning data processing: according to the volume coordinate information (X of scanning movement
sweep, Y
sweep, Z
sweep) scan-data that corresponding scanning movement is obtained carries out one by one coordinate conversion and splice, and obtains the terrain data of coal gangue hill, i.e. the volume coordinate information (X of coal gangue hill surface any point
coal, Y
coal, Z
coal); As shown in Figure 4, utilize the volume coordinate information (X of scanning movement 41
sweep, Y
sweep, Z
sweep) can obtain the volume coordinate information of the scanning area any point of corresponding scanning movement, after splicing, can obtain the volume coordinate information (X of gangue any point
coal, Y
coal, Z
coal);
6) thermal infrared images data processing: utilize monumented point corresponding in adjacent heat infrared image overlapping region to carry out Image Mosaics; Obtain the thermal infrared images that a width comprises whole coal gangue hill any point temperature information (t); Extract the planimetric coordinates information (X of 4-6 monumented point by the terrain data of coal gangue hill
mark, Y
mark); According to the planimetric coordinates information of monumented point, thermal infrared images is carried out to coordinate conversion, obtain a width and comprise whole coal gangue hill any point planimetric coordinates information (X
red, Y
red) and the thermal infrared images of temperature information (t); As shown in Figure 3, utilize the shared monumented point 31 of the adjacent film size 23 of thermal infrared, adjacent film size is spliced one by one;
7) coal gangue hill terrain data and thermal infrared images stack: by planimetric coordinates corresponding relation, coal gangue hill terrain data after treatment and thermal infrared images are superposeed, can obtain the surface temperature field data of coal gangue hill; Can obtain temperature information (t) and the volume coordinate information (X of coal gangue hill surface any point from this surface temperature field data
coal, Y
coal, Z
coal).
Claims (1)
1. laser scanner and an infrared heat image instrument measuring coal gangue hill surface temperature field method, is characterized in that, comprises the following steps:
1) coal gangue hill thermal infrared shooting area is divided and monumented point laying: coal gangue hill is carried out to site inspection, determine coal gangue hill surface area and lineament, lay and take seat in the plane; According to the distance of the pixel value of thermal infrared imager, resolution and shooting seat in the plane and coal gangue hill, coal gangue hill is divided into several thermal infrared shooting areas, the piece image of the corresponding thermal infrared imager of each shooting area, calculate thus the picture number of coal gangue hill shooting area number and thermal infrared imaging, each image border ensures 5-10% Duplication; Lay 4 monumented points at each thermal infrared shooting area, and each monumented point is in corresponding doubling of the image region, adjacent heat infrared shooting region, for the splicing of thermal infrared images;
2) lay at laser scanner scans station: according to the topography and geomorphology feature of coal gangue hill topographical surface feature and periphery, the scanning distance of combining laser scanning instrument is laid scanning movement, divides coal gangue hill scanning area, makes not interspace between each scanning area;
3) near figure root control points layout: lay a figure root reference mark laser scanner scans station, adopt total powerstation and the translocation of known control point to obtain the volume coordinate information (X at figure root reference mark
figure, Y
figure, Z
figure);
4) on the spot take with measure: with thermal infrared imager shooting seat in the plane ready-portioned shooting area is taken to thermal infrared images one by one; On the scanning movement of laying, set up three-dimensional laser scanner and obtain coal gangue hill surface data; Adopt total powerstation and the reference mark translocation of figure root to obtain the volume coordinate information (X of scanning movement
sweep, Y
sweep, Z
sweep);
5) laser scanning data processing: according to the volume coordinate information (X of scanning movement
sweep, Y
sweep, Z
sweep) scan-data that corresponding scanning movement is obtained carries out one by one coordinate conversion and splice, and obtains the terrain data of coal gangue hill, i.e. the volume coordinate information (X of coal gangue hill surface any point
coal, Y
coal, Z
coal);
6) thermal infrared images data processing: utilize monumented point corresponding in adjacent heat infrared image overlapping region to carry out Image Mosaics; Obtain the thermal infrared images that a width comprises whole coal gangue hill any point temperature information (t); Extract the planimetric coordinates information (X of 4-6 monumented point by the terrain data of coal gangue hill
mark, Y
mark); According to the planimetric coordinates information of monumented point, thermal infrared images is carried out to coordinate conversion, obtain a width and comprise whole coal gangue hill any point planimetric coordinates information (X
red, Y
red) and the thermal infrared images of temperature information (t);
7) coal gangue hill terrain data and thermal infrared images stack: by planimetric coordinates corresponding relation, coal gangue hill terrain data after treatment and thermal infrared images are superposeed, can obtain the surface temperature field data of coal gangue hill; Can obtain temperature information (t) and the volume coordinate information (X of coal gangue hill surface any point from this surface temperature field data
coal, Y
coal, Z
coal).
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