CN107941342A - Comprehensive distance and the electric inspection process robot infrared temperature measurement apparatus and method at visual angle - Google Patents
Comprehensive distance and the electric inspection process robot infrared temperature measurement apparatus and method at visual angle Download PDFInfo
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- CN107941342A CN107941342A CN201710980143.7A CN201710980143A CN107941342A CN 107941342 A CN107941342 A CN 107941342A CN 201710980143 A CN201710980143 A CN 201710980143A CN 107941342 A CN107941342 A CN 107941342A
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- 238000000034 method Methods 0.000 title claims abstract description 52
- 230000008569 process Effects 0.000 title claims abstract description 35
- 230000000007 visual effect Effects 0.000 title claims abstract description 35
- 238000007689 inspection Methods 0.000 title claims abstract description 23
- 238000009529 body temperature measurement Methods 0.000 title claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 29
- 238000005259 measurement Methods 0.000 claims abstract description 25
- 238000004891 communication Methods 0.000 claims description 7
- 238000012546 transfer Methods 0.000 claims description 2
- 238000002604 ultrasonography Methods 0.000 claims 1
- 238000001931 thermography Methods 0.000 abstract description 9
- 238000005516 engineering process Methods 0.000 description 7
- 238000001514 detection method Methods 0.000 description 4
- 230000009194 climbing Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
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- 238000012360 testing method Methods 0.000 description 2
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- 238000003384 imaging method Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J2005/0077—Imaging
Abstract
The present invention relates to a kind of comprehensive distance and the electric inspection process robot infrared temperature measurement apparatus and method at visual angle, the temperature measuring equipment includes robot car body and the detent mechanism being arranged on robot car body, CCD camera, thermal infrared imager, ultrasonic range finder sensor, control process module and host computer, further include the first obliquity sensor for measurement and positioning mechanism vertical elevation and thermal infrared imager observation visual angle and the second obliquity sensor for robot measurement car body ramp angle, utilize measured angle and air line distance, ask for the actual range between thermal imaging system and objective body, this distance and observation angle are substituted into compensation formula measurement temperature is modified or compensated.Compared with prior art, the present invention can compensate for observed range and observe influence of the visual angle to infrared measurement of temperature result, suitable for the temperature patrol inspection of electric inspection process robot, patrol unmanned machine and related functional inspection instrument, therefore possess higher practical value.
Description
Technical field
The present invention relates to power equipment infrared measurement of temperature compensation technique, more particularly, to a kind of comprehensive distance and the electric power at visual angle
Crusing robot infrared temperature measurement apparatus and method.
Background technology
It is to ensure the conventional technical means of power equipment safety stable operation that customary infrared inspection is carried out to substation equipment.
In recent years, traditional artificial infrared patrol mode is just gradually developing into the infrared patrol mode of robot.But crusing robot exists
But the accuracy of detection problem of infrared temperature is faced with actual application, for example, in the infrared inspection of power equipment, robot
The infrared measurement of temperature instrument of load, there are a certain distance, is influenced be subject to infra-red radiation atmospheric attenuation, surveyed with equipment under test surface
There are deviation for warm result and actual temperature；In addition, crusing robot is often not at same water with equipment thermal defect surface normal
Plane, the observed direction and equipment surface normal of thermal infrared imager are there are larger angle, so as to cause temperature-measuring results and reality
There are deviation for temperature.Under normal circumstances, infrared measurement of temperature result can be influenced be subject to observed range and observation angle at the same time, therefore
, it is necessary to consider distance, the two key parameters of visual angle in the infrared inspection of Power Robot, and temperature-measuring results are carried out with this
Correct, ensure the accuracy of temperature-measuring results.
Influence infrared measurement of temperature result accuracy for above-mentioned observed range, have been developed at present by distance mearuring equipment with it is infrared
The device or method of temperature measuring device combination, for example, laser ranging and infrared measurement of temperature instrument combined method (application number：
201120577082.8), ultrasonic ranging and infrared measurement of temperature instrument combined method (application number：201210163806.3), it is infrared
Line ranging and infrared measurement of temperature instrument combined method etc..In the method, often directly using the distance that range finder module obtains as heat
As instrument is to trouble point distance, still there are precision it is inadequate the problem of
The content of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of comprehensive distance and regard
The electric inspection process robot infrared temperature measurement apparatus and method at angle.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of comprehensive distance and the electric inspection process robot infrared temperature measurement apparatus at visual angle, including robot car body and setting
In the detent mechanism on robot car body, CCD camera, thermal infrared imager, ultrasonic range finder sensor, control process module and upper
Machine, the CCD camera, thermal infrared imager and ultrasonic range finder sensor are arranged on detent mechanism, the control process module point
Other connecting locating mechanism, CCD camera, thermal infrared imager, ultrasonic range finder sensor and host computer, further include for measurement and positioning machine
Structure vertical elevation and thermal infrared imager observe first obliquity sensor at visual angle and for robot measurement car body ramp angles
The second obliquity sensor.
Further, first obliquity sensor and thermal infrared imager are bonded are arranged on detent mechanism up and down.
Further, second obliquity sensor is arranged at robot car body bottom, and advances towards robot car body
Direction.
Further, first obliquity sensor is cross-compound arrangement sensor.
Further, the detent mechanism includes holder and the motor vertical and level electricity of the control holder movement
Machine, the CCD camera, thermal infrared imager, ultrasonic range finder sensor and the first obliquity sensor are arranged on holder, described vertical
Motor and horizontal motor are connected with control process module.
Further, the robot car body includes firm banking, and second obliquity sensor is arranged at firm banking
On.
Further, the control process module includes CPU, wireless communication unit and calibration parameter storage unit, described
CPU connect respectively wireless communication unit, calibration parameter storage unit, detent mechanism, thermal infrared imager, ultrasonic range finder sensor,
First obliquity sensor and the second obliquity sensor.
The present invention also provides the comprehensive distance described in a kind of basis and the electric inspection process robot infrared temperature measurement apparatus at visual angle
Temperature-compensation method, comprise the following steps：
1) traverse measuring device to designated position, adjustment detent mechanism makes objective body be in thermal infrared imager and the first inclination angle
In the angular field of view of sensor, save location information；
2) thermal infrared imager, ultrasonic range finder sensor, the first obliquity sensor and the work of the second obliquity sensor, obtain phase
Measured value is answered, by control process module transfer to host computer；
3) host computer by detent mechanism vertical elevation and robot car body ramp angle to ultrasonic range finder sensor away from
Compensated from measured value, and temperature of the visual angle to thermal infrared imager is observed according to the actual distance value after compensation and thermal infrared imager
Degree measured value compensates, and obtains target surface true temperature.
Further, in the step 3), the compensation formula to the distance measure of ultrasonic range finder sensor is：
Wherein, l1For the distance measure of ultrasonic range finder sensor, α is detent mechanism vertical elevation, and β is robot car body
Ramp angle, l are the actual distance value after compensation.
Further, in the step 3), the compensation of the measured temperature of thermal infrared imager is specially：
T=T0cosrγ-pl-ql2
Wherein, T0For target surface true temperature, T is the measured temperature of thermal infrared imager, and γ is thermal infrared imager
Visual angle is observed, r, p, q are fitting coefficient.
Compared with prior art, the invention has the advantages that：
1st, obliquity sensor is combined by the present invention with ultrasonic distance-measuring sensor, improves thermal infrared imager to tested point
Between measurement distance accuracy, measurement temperature is compensated or repaiied as compensating factor using the distance after compensation and visual angle
Just, ensure that the accuracy of final temperature diagnostic result, solve faced in electric inspection process robot actual application it is red
The problem of the distance between outer thermal imaging system and equipment and angle influence temperature-measuring results accuracy.
2nd, first obliquity sensor of the invention is above and below thermal infrared imager with being bonded fixation, between the two spacing very little, can be with
Approximation measures the inclination angle and observation visual angle of thermal imaging system and tested point line relative level, effectively improves compensation precision.
3rd, angle compensation of the invention considers holder vertical elevation, thermal infrared imager observation visual angle and robot car at the same time
Body ramp angle, compensation precision are high.
4th, thermal infrared imager is combined by the present invention with supersonic sounding technology, realizes each portion's temperature of equipment online prison at the same time
Survey, saved cost.
Brief description of the drawings
Fig. 1 is the control structure figure of the present invention；
Fig. 2 is mechanical structure schematic perspective view of the present invention；
Fig. 3 is embodiment dimensional structure diagram in climbing；
Fig. 4 for no gradient when example structure schematic diagram；
Fig. 5 is specific workflow figure of the present invention；
In figure, the 1, first obliquity sensor, 2, thermal infrared imager, 3, CCD camera, 4, thermovent, 5, holder, 6, fixed bottom
Seat, 7, horizontal motor, 8, motor vertical, 9, ultrasonic range finder sensor, the 10, second obliquity sensor, 11, CPU, 12, calibration ginseng
Number storage units, 13, wireless communication unit, 14, host computer.
Embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to
Following embodiments.
The present invention considers influence of the observation angle to temperature-measuring results, and automatic in crusing robot temperature-measuring results compensated
Cheng Zhong, except needing robot to obtain the distance of observation automatically, it is also necessary to consider that robot can obtain thermal infrared imager 2 automatically
The angle of normal and objective body focal plane normal, on this basis INTEGRATED SIGHT distance and angle temperature-measuring results are compensated, and
With the operating status of its assessment equipment.As Figure 1-Figure 2, the present invention provides the electric inspection process machine at a kind of comprehensive distance and visual angle
Device people's infrared temperature measurement apparatus, including robot car body and the detent mechanism, CCD camera 3, infrared that is arranged on robot car body
Thermal imaging system 2, ultrasonic range finder sensor 9, control process module and host computer 14, CCD camera 3, thermal infrared imager 2 and supersonic sounding
Sensor 9 is arranged on detent mechanism, control process module difference connecting locating mechanism, CCD camera 3, thermal infrared imager 2, super
Sound ranging sensor 9 and host computer 14, further include and observe visual angle for measurement and positioning mechanism vertical elevation and thermal infrared imager 2
First obliquity sensor 1 and the second obliquity sensor 10 for robot measurement car body ramp angle.
The motor vertical 8 and horizontal motor 7 that detent mechanism includes holder 5 and controls holder 5 to move, the first inclination angle sensing
Device 1 and thermal infrared imager are bonded about 2 to be arranged on holder 5, because of spacing very little between the two, can approximation measure thermal imaging system with
The inclination angle and observation visual angle of tested point line relative level.Motor vertical 8 and horizontal motor 7 connect with control process module
Connect, control holder 5 carries out objective body positioning.Thermovent 4 is provided with holder 5.First obliquity sensor 1 senses for cross-compound arrangement
Device.Robot car body includes firm banking 6, and the second obliquity sensor 10 is arranged on firm banking 6, and towards robot car body
Direction of advance, can be located at 6 front position of firm banking.Ultrasonic range finder sensor 9 is placed in the front of holder 5, acquisition testing dress
Put with tested point residing for plane air line distance.
Control process module includes CPU11, wireless communication unit 13 and calibration parameter storage unit 12, and CPU11 connects respectively
Connect wireless communication unit 13, calibration parameter storage unit 12, detent mechanism, thermal infrared imager 2, ultrasonic range finder sensor 9, first
1 and second obliquity sensor 10 of obliquity sensor.
The first obliquity sensor 1 and the model RS232Analog of the second obliquity sensor 10 selected in the present embodiment,
Measurement range is 0 °~360 ° of single shaft, and+80 ° of twin shaft, minimum resolution is 0.01 °, 0.1 ° of precision, no filter response time
10ms, can obtain thermal imaging system to the inclination angle of tested point, observation visual angle and robot climbable gradient.
In the present embodiment, 2 model of thermal infrared imager and parameter are IRT513-A types thermal infrared imager 2, service band for 8~
14 μm, vanadium oxide detector detection pixel number is 320 × 240, and pixel dimension is 38 × 38 μm2, imaging modality selection 25Hz
Pal mode, the temperature resolution of thermal imaging system is 30 DEG C of 50mK@, and temperature-measuring range is -30 DEG C~200 DEG C, can be to electronic circuit
The surface of the equipment such as plate, transformer substation arrester, voltage transformer and transformer carries out thermometric.
In the present embodiment, ultrasonic distance measuring module selects model KS109 to be analyzed, using single channel range finder module
SK109, detection mode can be entered after the effective instruction of host computer 14 is received, after the response time as defined in wait, reuses reading
The value of function read register is taken, the air line distance of plane residing for detection device to tested point can be obtained.
As shown in figure 5, mended according to above-mentioned comprehensive distance and the temperature of the electric inspection process robot infrared temperature measurement apparatus at visual angle
Compensation method, comprises the following steps：
1) objective body is judged whether in the measurement visual field, and traverse measuring device to designated position, adjustment detent mechanism makes mesh
Standard type is in the angular field of view of 2 and first obliquity sensor 1 of thermal infrared imager, and save location information to calibration parameter stores single
Member；
2) thermal infrared imager 2, ultrasonic range finder sensor 9, the first obliquity sensor 1 and the second obliquity sensor 10 work,
Respective measurement values are obtained, host computer 14 is radioed to by control process module；
3) host computer 14 by detent mechanism vertical elevation and robot car body ramp angle to ultrasonic range finder sensor 9
Distance measure compensates, and observes visual angle to thermal infrared imager 2 according to the actual distance value after compensation and thermal infrared imager 2
Measured temperature compensate, obtain target surface true temperature.
Before thermal infrared imager 2 measures, temperature correction is carried out to it using black matrix in 0.5m or so scopes first, then profit
Image-forming temperature measurement is carried out to the target point of power module with the thermal infrared imager 2.
It is illustrated in figure 3 information measurement instance graph in trouble point in climbing, l1For robot and tested point vertical plane straight line away from
From that is, the distance measure of ultrasonic range finder sensor 9, α are thermal imaging system to tested point line and the angle of horizontal plane, i.e. localization machine
Structure (holder 5) vertical elevation, β are robot car body ramp angle, and γ observes visual angle (2 mirror of thermal infrared imager for thermal infrared imager 2
Face normal and objective body focal plane angle).
2. target temperature data that thermal infrared imager 2 measures are obtained by the infrared thermal imagery system software in host computer 14
And other related datas are：T=29.4 DEG C of the measured temperature of thermal infrared imager 2, l1=3 (actual ranges 2.93), α=
55.15 °, β=10.05 °, γ=5 °.As shown in figure 3, by Triangle Formula, thermal infrared imager 2 and tested point can be obtained
Actual rangeThat is l=5.179.
Amendment for temperature, present invention employs polynomial modification method (bibliography：Zhou Zhicheng, Wei Xu, Xie Tian
Happiness, Tang Zhong, Cui Haoyang, infrared technique, 39 (1):86-90,2017), correction formula is：
T=T0cosrγ-pl-ql2 (1)
Wherein, T0For target surface true temperature, T is the measured temperature of thermal infrared imager 2, and γ is thermal infrared imager
2 observation visual angles, r, p, q are fitting coefficient, and p, q are the coefficient of observed range first order and quadratic term respectively, and r is view angle cosine
Power refers to coefficient.Experimental data is fitted using r, p, q as fitting coefficient, obtains r=4.5, p=0.3205, q=
0.01103.The observed result of thermal infrared imager 2 is modified using formula (1), revised temperature is 31.99 DEG C.It is infrared
Observed temperature T=29.4 DEG C and actual temperature T of the thermal imaging system 2 to objective body0DEG C (d)=32.8 error is Δ T1=32.8-
29.4=3.4 DEG C, and be brought into using the distance parameter l=5.179m that the ultrasonic measuring distance technology for combining obliquity sensor obtains
The error of 2 observed result of thermal infrared imager and objective body before amendment really between temperature is：ΔT2=32.8-31.99=0.8
℃。
In same position, β=0 ° is made, as shown in figure 4, obtaining infrared thermal imagery by 14 infrared thermal imagery system software of host computer
The target temperature data that instrument 2 measures are T=29.37 DEG C, l1=3 (actual ranges 2.88), α=55.10 °, γ=5 °, such as
Shown in Fig. 3, by Triangle Formula, thermal infrared imager 2 and tested point actual range can be obtainedThat is l=5.25.
It is modified using formula (1), temperature must be corrected as 31.89 DEG C, then temperature error Δ T after correcting3=32.8-31.89
=0.91 DEG C.Found by the contrast with equipment true temperature, revised result is more accurate compared with before correcting.
The present invention measures power equipment abnormal position to infrared heat using with obliquity sensor combination ultrasonic measuring distance technology
Measurement temperature is compensated or corrected as compensating factor as the distance of instrument 2, and using the distance, ensure that diagnostic result
Accuracy.Thermal infrared imager 2 is combined by the device with supersonic sounding technology at the same time, is realized that each portion's temperature of equipment is non-at the same time and is connect
Touch, remote on-line monitoring, saved cost.
Preferred embodiment of the invention described in detail above.It should be appreciated that those of ordinary skill in the art without
Need creative work to conceive according to the present invention and make many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be in the protection domain being defined in the patent claims.
Claims (10)
1. a kind of comprehensive distance and the electric inspection process robot infrared temperature measurement apparatus at visual angle, including robot car body and it is arranged at
Detent mechanism, CCD camera (3), thermal infrared imager (2), ultrasonic range finder sensor (9), control process mould on robot car body
Block and host computer (14), the CCD camera (3), thermal infrared imager (2) and ultrasonic range finder sensor (9) are arranged at detent mechanism
On, the control process module difference connecting locating mechanism, CCD camera (3), thermal infrared imager (2), ultrasonic range finder sensor
(9) and host computer (14), it is characterised in that further include for measurement and positioning mechanism vertical elevation and thermal infrared imager (2) observation
First obliquity sensor (1) at visual angle and the second obliquity sensor (10) for robot measurement car body ramp angle.
2. comprehensive distance according to claim 1 and the electric inspection process robot infrared temperature measurement apparatus at visual angle, its feature exist
In first obliquity sensor (1) and thermal infrared imager (2) are bonded are arranged on detent mechanism up and down.
3. comprehensive distance according to claim 1 and the electric inspection process robot infrared temperature measurement apparatus at visual angle, its feature exist
Robot car body bottom is arranged in, second obliquity sensor (10), and towards robot car body direction of advance.
4. comprehensive distance according to claim 1 and the electric inspection process robot infrared temperature measurement apparatus at visual angle, its feature exist
In first obliquity sensor (1) is cross-compound arrangement sensor.
5. comprehensive distance according to claim 1 and the electric inspection process robot infrared temperature measurement apparatus at visual angle, its feature exist
In, the detent mechanism includes holder (5) and the motor vertical (8) and horizontal motor (7) of control holder (5) movement,
The CCD camera (3), thermal infrared imager (2), ultrasonic range finder sensor (9) and the first obliquity sensor (1) are arranged at holder
(5) on, the motor vertical (8) and horizontal motor (7) are connected with control process module.
6. comprehensive distance according to claim 3 and the electric inspection process robot infrared temperature measurement apparatus at visual angle, its feature exist
In the robot car body includes firm banking (6), and second obliquity sensor (10) is arranged on firm banking (6).
7. comprehensive distance according to claim 1 and the electric inspection process robot infrared temperature measurement apparatus at visual angle, its feature exist
In the control process module includes CPU (11), wireless communication unit (13) and calibration parameter storage unit (12), the CPU
(11) wireless communication unit (13), calibration parameter storage unit (12), detent mechanism, thermal infrared imager (2), ultrasound are connected respectively
Distance measuring sensor (9), the first obliquity sensor (1) and the second obliquity sensor (10).
A kind of 8. temperature of the electric inspection process robot infrared temperature measurement apparatus at comprehensive distance according to claim 1 and visual angle
Compensation method, it is characterised in that comprise the following steps：
1) traverse measuring device to designated position, adjustment detent mechanism makes objective body be in thermal infrared imager (2) and the first inclination angle
In the angular field of view of sensor (1), save location information；
2) thermal infrared imager (2), ultrasonic range finder sensor (9), the first obliquity sensor (1) and the second obliquity sensor (10) work
Make, obtain respective measurement values, host computer (14) is given by control process module transfer；
3) host computer (14) by detent mechanism vertical elevation and robot car body ramp angle to ultrasonic range finder sensor (9)
Distance measure compensates, and observes visual angle to infrared thermal imagery according to the actual distance value after compensation and thermal infrared imager (2)
The measured temperature of instrument (2) compensates, and obtains target surface true temperature.
9. temperature-compensation method according to claim 8, it is characterised in that in the step 3), sensed to supersonic sounding
The compensation formula of the distance measure of device (9) is：
<mrow>
<mi>l</mi>
<mo>=</mo>
<mfrac>
<mrow>
<msub>
<mi>l</mi>
<mn>1</mn>
</msub>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mi>&beta;</mi>
</mrow>
<mrow>
<mi>cos</mi>
<mi>&alpha;</mi>
</mrow>
</mfrac>
</mrow>
Wherein, l1For the distance measure of ultrasonic range finder sensor (9), α is detent mechanism vertical elevation, and β climbs for robot car body
Angle of slope, l are the actual distance value after compensation.
10. temperature-compensation method according to claim 8, it is characterised in that in the step 3), thermal infrared imager (2)
The compensation of measured temperature be specially：
T=T0cosrγ-pl-ql2
Wherein, T0For target surface true temperature, T is the measured temperature of thermal infrared imager (2), and γ is thermal infrared imager (2)
Visual angle is observed, r, p, q are fitting coefficient.
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109282900A (en) * | 2018-09-17 | 2019-01-29 | 江苏金智科技股份有限公司 | A method of improving the accuracy of Intelligent Mobile Robot infrared measurement of temperature |
| JP2019045498A (en) * | 2017-08-31 | 2019-03-22 | 豪展醫療科技股▲ふん▼有限公司 | Temperature measuring device with collimation measurement function and method of collimation measurement of the same |
| CN109633667A (en) * | 2018-12-11 | 2019-04-16 | 广州市倍尔康医疗器械有限公司 | One kind takes pictures, laser ranging and positioning auxiliary infrared measurement of temperature integrated combined structure |
| CN111179334A (en) * | 2019-11-14 | 2020-05-19 | 青岛理工大学 | Sea surface small-area oil spilling area detection system and detection method based on multi-sensor fusion |
| CN111323133A (en) * | 2020-02-14 | 2020-06-23 | 西安盛赛尔电子有限公司 | Temperature compensation method and device for temperature sensor, electronic equipment and storage medium |
| CN111337134A (en) * | 2020-03-02 | 2020-06-26 | 清华大学 | Column type robot for automatically measuring human body temperature and measuring method |
| CN111521268A (en) * | 2020-03-18 | 2020-08-11 | 杭州百脉科技有限公司 | Forehead temperature detection system with detection position judgment and temperature compensation functions |
| CN111579086A (en) * | 2020-05-18 | 2020-08-25 | 成都电科慧安科技有限公司 | Remote infrared temperature measurement precision correction method based on distance compensation |
| CN111579088A (en) * | 2020-05-20 | 2020-08-25 | 成都电科慧安科技有限公司 | Double-precision temperature measurement correction method based on infrared sensor and UWB |
| CN111595456A (en) * | 2020-05-31 | 2020-08-28 | 广西电网有限责任公司南宁供电局 | Method for improving temperature measurement precision of robot by adopting black body correction |
| CN111707374A (en) * | 2020-06-04 | 2020-09-25 | 安徽清新互联信息科技有限公司 | Distance estimation method and system for human body infrared thermometer |
| CN111985398A (en) * | 2020-08-20 | 2020-11-24 | 广州洪拓光电技术有限公司 | Infrared-assisted binocular distance measurement method and distance compensation heat value acquisition method |
| CN112513595A (en) * | 2020-02-14 | 2021-03-16 | 深圳市大疆创新科技有限公司 | Movable device, control terminal, method for measuring temperature by using thermal infrared imager in movable device and movable system |
| US11754446B2 (en) | 2020-11-20 | 2023-09-12 | Industrial Technology Research Institute | Thermal imaging apparatus and temperature calibration method of thermal imaging apparatus |
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