CN111006744A - Infrared thermal imaging type aviation oil liquid level detection method - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
- G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
- G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
- G01F23/284—Electromagnetic waves
- G01F23/292—Light, e.g. infrared or ultraviolet
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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Abstract
An infrared thermography type aviation oil liquid level detection method comprises the following steps: (1) placing a thermal infrared imager; (2) finding a point in the top line of the oil tank, and marking the point as a point a; (3) hanging a plumb line from the point a, and marking any position on the plumb line as a point b; (4) measuring the distance from the thermal infrared imager to the point a, and recording as La; (5) measuring the distance from the thermal infrared imager to the point b, and recording as Lb; (6) identifying and marking points a and b in the infrared thermography; (7) taking the lengths of La and Lb and the actual nominal height h of the oil tank as parameters, converting coordinate points of a point and b point in the two-dimensional image into three-dimensional space coordinate points Va and Vb of a three-dimensional space, and (8) judging the most obvious part of the image chromatic aberration on an ab line by adopting an image analysis method and marking the point as a point c; (9) obtaining a direction vector dc according to the position c to obtain a three-dimensional coordinate point Vc of the point c, (10) calculating the distance from the point Vc to the point Va, and marking the distance as lac, and finally obtaining the liquid level height L.
Description
Technical Field
The invention relates to a liquid level detection method, in particular to an aviation oil liquid level detection method.
Background
The liquid level detection in the aviation oil tank has very important significance for the transportation, storage and use of aviation oil, and the liquid level detection in the aviation oil tank is realized by using a high-precision liquid level meter all the time. One problem with the method of liquid level gauge detection is that the liquid level gauge, as a device with physical motion, still has a certain probability of physical failure, and since there is no backup system in the tank, it is difficult to obtain a relatively reliable liquid level in a very short time if necessary when the device fails.
Disclosure of Invention
In order to solve the above problems, the present invention provides the following solutions:
an infrared thermal imaging type aviation oil liquid level detection method is applied to a system at least comprising an infrared thermal imager and a distance meter; the thermal infrared imager is used for converting the oil tank into a two-dimensional thermal image and determining two-dimensional coordinates of a demand point on the oil tank, and the distance measuring instrument is used for measuring the distance between the thermal infrared imager and the demand point on the oil tank; the method comprises the following steps:
acquiring a reference point a in a top line of the oil tank and a second reference point b on a perpendicular line of the reference point a;
aligning the thermal infrared imager to the point a, measuring the distance from the thermal infrared imager to the point a by using a distance measuring instrument, and recording the distance as La; aligning the thermal infrared imager to the point b, measuring the distance from the thermal infrared imager to the point b by using a distance measuring instrument, and recording the distance as Lb;
determining the coordinates [ ax, ay ] of a point a and the coordinates [ bx, by ] of a point b in a two-dimensional thermal image;
judging the most obvious image chromatic aberration on an ab line in a two-dimensional thermal imaging image by adopting an image analysis method, and marking the point c as a point c, wherein the coordinate of the point c is marked as [ cx, cy ]; the specific operation flow is as follows:
(1) placing a distance measuring instrument and a thermal infrared imager, and taking the tank body of the aviation oil tank into the thermal infrared imager;
(2) finding a point in the top line of the oil tank, and marking the point as a point a;
(3) hanging a plumb line from the point a, marking the position at any position on the plumb line as a point b, and fixing a marking object at the point b;
(4) rotating the thermal infrared imager to align to the point a, measuring the distance from the thermal infrared imager to the point a by using a distance measuring instrument, and recording the distance as La;
(5) rotating the thermal infrared imager to align to the point b, measuring the distance from the thermal infrared imager to the point b by using a distance meter, and recording the distance as Lb;
(6) identifying and marking the coordinates [ ax, ay ] of the point a and the coordinates [ bx, by ] of the point b in the two-dimensional thermal image;
(7) judging the most obvious image chromatic aberration on an ab line in a two-dimensional thermal imaging image by adopting an image analysis method, and marking the point c as a point c, wherein the coordinate of the point c is marked as [ cx, cy ];
and (3) transmitting the two-dimensional thermal image marked with the point a, the point b, the point c and the coordinates thereof, and La and Lb to a liquid level analysis system for liquid level height calculation and analysis, wherein the calculation process of the liquid level analysis system is as follows:
(1) taking the lengths of La and Lb and the actual nominal height h of the oil tank as parameters, converting coordinate points of a point a and a point b in a two-dimensional image into three-dimensional space coordinate points Va and Vb of a three-dimensional space with an infrared thermal imager as an origin, wherein the known resolution of the two-dimensional thermal image is pw and ph, the two-dimensional coordinate of the point a in the two-dimensional thermal image is recorded as [ ax and ay ], the two-dimensional coordinate of the point b in the two-dimensional thermal image is recorded as [ bx and by ], the horizontal field angle of the infrared thermal imager is recorded as hfov, the vertical field angle is recorded as vfov, and PI is 3.1415926, and the conversion formula is as follows:
Va＝normalize(ax-2.0*ph*hfov/vfov,ph/2.0-ay,ph/2.0/ tan(vfov/2.0*PI/180.0))*La；
Vb＝normalize(bx-2.0*ph*hfov/vfov,ph/2.0-by,ph/2.0/ tan(vfov/2.0*π/180.0))*Lb；
(2) and obtaining a three-dimensional coordinate Vc of the point c according to the two-dimensional coordinate of the point c: according to the position c, a three-dimensional direction vector dc with the infrared thermal imager as the origin can be obtained, a three-dimensional co-planar straight line intersection is carried out on a line segment Vab between Va and Vb and the dc to obtain a three-dimensional coordinate point Vc of a point c, the x component of the dc in a three-dimensional space is recorded as dc.x, the standard three-dimensional vector is recorded as v, the x component of the standard three-dimensional vector in the three-dimensional space is recorded as v.x, the temporary scalar is recorded as t, and the formula is as follows:
dc＝normalize(cx-2.0*ph*hfov/vfov,ph/2.0-cy,ph/2.0/ tan(vfov/2.0*PI/180.0))
v＝normalize(Vab)
t＝(dc.x-Va.x)/v.x
Vc＝Va+v*t
the dc and the v are standard three-dimensional vectors, the three-dimensional vectors have three components of x, y and z, and the x component of the dc is represented by dc.x; t is a temporary scalar quantity which indicates that the calculation result is stored in advance, and the value is used in the next step formula; v.x denotes the x component of the v three-dimensional vector;
(3) the liquid level height analysis system software calculates the distance from the Vc point to the Va point, and the distance is recorded as lac, and finally the liquid level height L is obtained, wherein the formula is as follows: l ═ h-lac.
Further, the thermal infrared imager is placed 50 meters away from the oil tank.
Further, the distance measuring instrument is a high-precision laser distance measuring instrument.
The invention has the beneficial effects that:
1. the device can be started at any time, when the liquid level meter in the oil tank fails and cannot be used, the height data of the liquid level in the oil tank can be acquired quickly, and the components are convenient to replace.
2. The method is simple and convenient to operate.
3. And meanwhile, the device is used with a liquid level meter in the oil tank and used for comparing the height data of the liquid level in the oil tank accurately.
Drawings
FIG. 1 is a schematic view of the present invention;
fig. 2 is a two-dimensional thermal imaging diagram of the oil tank.
1. An oil tank; 2. a top line; 3. a high precision laser range finder; 4. an infrared imager; h. the height of the oil tank; l is the liquid level.
Detailed Description
The invention will now be described in detail with reference to the accompanying drawings:
example 1: as shown in fig. 1 to 2, an infrared thermography type aviation oil liquid level detection method is applied to a system at least comprising an infrared thermal imager and a distance meter; the thermal infrared imager is used for converting the oil tank into a two-dimensional thermal image and determining two-dimensional coordinates of a demand point on the oil tank, and the distance measuring instrument is used for measuring the distance between the thermal infrared imager and the demand point on the oil tank; the method comprises the following steps:
acquiring a reference point a in a top line of the oil tank and a second reference point b on a perpendicular line of the reference point a;
aligning the thermal infrared imager to the point a, measuring the distance from the thermal infrared imager to the point a by using a distance measuring instrument, and recording the distance as La; aligning the thermal infrared imager to the point b, measuring the distance from the thermal infrared imager to the point b by using a distance measuring instrument, and recording the distance as Lb;
determining the coordinates [ ax, ay ] of a point a and the coordinates [ bx, by ] of a point b in a two-dimensional thermal image;
judging the most obvious image chromatic aberration on an ab line in a two-dimensional thermal imaging image by adopting an image analysis method, and marking the point c as a point c, wherein the coordinate of the point c is marked as [ cx, cy ]; the specific operation flow is as follows:
(1) placing a distance measuring instrument and a thermal infrared imager, and taking the tank body of the aviation oil tank into the thermal infrared imager;
(2) finding a point in the top line of the oil tank, and marking the point as a point a;
(3) hanging a plumb line from the point a, marking the position at any position on the plumb line as a point b, and fixing a marking object at the point b;
(4) rotating the thermal infrared imager to align to the point a, measuring the distance from the thermal infrared imager to the point a by using a distance measuring instrument, and recording the distance as La;
(5) rotating the thermal infrared imager to align to the point b, measuring the distance from the thermal infrared imager to the point b by using a distance meter, and recording the distance as Lb;
(6) identifying and marking the coordinates [ ax, ay ] of the point a and the coordinates [ bx, by ] of the point b in the two-dimensional thermal image;
(7) judging the most obvious image chromatic aberration on an ab line in a two-dimensional thermal imaging image by adopting an image analysis method, and marking the point c as a point c, wherein the coordinate of the point c is marked as [ cx, cy ];
and (3) transmitting the two-dimensional thermal image marked with the point a, the point b, the point c and the coordinates thereof, and La and Lb to a liquid level analysis system for liquid level height calculation and analysis, wherein the calculation process of the liquid level analysis system is as follows:
(1) taking the lengths of La and Lb and the actual nominal height h of the oil tank as parameters, converting coordinate points of a point a and a point b in a two-dimensional image into three-dimensional space coordinate points Va and Vb of a three-dimensional space with an infrared thermal imager as an origin, wherein the known resolution of the two-dimensional thermal image is pw and ph, the two-dimensional coordinate of the point a in the two-dimensional thermal image is recorded as [ ax and ay ], the two-dimensional coordinate of the point b in the two-dimensional thermal image is recorded as [ bx and by ], the horizontal field angle of the infrared thermal imager is recorded as hfov, the vertical field angle is recorded as vfov, and PI is 3.1415926, and the conversion formula is as follows:
Va＝normalize(ax-2.0*ph*hfov/vfov,ph/2.0-ay,ph/2.0/ tan(vfov/2.0*PI/180.0))*La；
Vb＝normalize(bx-2.0*ph*hfov/vfov,ph/2.0-by,ph/2.0/ tan(vfov/2.0*π/180.0))*Lb；
(2) and obtaining a three-dimensional coordinate Vc of the point c according to the two-dimensional coordinate of the point c: according to the position c, a three-dimensional direction vector dc with the infrared thermal imager as the origin can be obtained, a three-dimensional co-planar straight line intersection is carried out on a line segment Vab between Va and Vb and the dc to obtain a three-dimensional coordinate point Vc of a point c, the x component of the dc in a three-dimensional space is recorded as dc.x, the standard three-dimensional vector is recorded as v, the x component of the standard three-dimensional vector in the three-dimensional space is recorded as v.x, the temporary scalar is recorded as t, and the formula is as follows:
dc＝normalize(cx-2.0*ph*hfov/vfov,ph/2.0-cy,ph/2.0/ tan(vfov/2.0*PI/180.0))
v＝normalize(Vab)
t＝(dc.x-Va.x)/v.x
Vc＝Va+v*t
the dc and the v are standard three-dimensional vectors, the three-dimensional vectors have three components of x, y and z, and the x component of the dc is represented by dc.x; t is a temporary scalar quantity which indicates that the calculation result is stored in advance, and the value is used in the next step formula; v.x denotes the x component of the v three-dimensional vector;
(3) the liquid level height analysis system software calculates the distance from the Vc point to the Va point, and the distance is recorded as lac, and finally the liquid level height L is obtained, wherein the formula is as follows: l ═ h-lac.
The invention can be started at any time, when the liquid level meter in the oil tank fails and cannot be used, the height data of the liquid level in the oil tank can be acquired quickly, and the components are convenient to replace. The detection method is simple and convenient to operate. And meanwhile, the device is used with a liquid level meter in the oil tank and used for comparing the height data of the liquid level in the oil tank accurately.
The technical solutions provided by the embodiments of the present invention are described in detail above, and the principles and embodiments of the present invention are explained herein by using specific examples, and the descriptions of the embodiments above are only used to help understanding the principles of the embodiments of the present invention; meanwhile, for those skilled in the art, there may be variations in the embodiments, specific implementations and application ranges according to the present invention, and in summary, the present disclosure should not be construed as limiting the present invention.
Claims (3)
1. An infrared thermography type aviation oil liquid level detection method is characterized by comprising the following steps: the system is applied to a system at least comprising a thermal infrared imager and a distance measuring instrument; the thermal infrared imager is used for converting the oil tank into a two-dimensional thermal image and determining two-dimensional coordinates of a demand point on the oil tank, and the distance measuring instrument is used for measuring the distance between the thermal infrared imager and the demand point on the oil tank; the method comprises the following steps:
acquiring a reference point a in a top line of the oil tank and a second reference point b on a perpendicular line of the reference point a;
aligning the thermal infrared imager to the point a, measuring the distance from the thermal infrared imager to the point a by using a distance measuring instrument, and recording the distance as La; aligning the thermal infrared imager to the point b, measuring the distance from the thermal infrared imager to the point b by using a distance measuring instrument, and recording the distance as Lb;
determining the coordinates [ ax, ay ] of a point a and the coordinates [ bx, by ] of a point b in a two-dimensional thermal image;
judging the most obvious image chromatic aberration on an ab line in a two-dimensional thermal imaging image by adopting an image analysis method, and marking the point c as a point c, wherein the coordinate of the point c is marked as [ cx, cy ];
and (3) transmitting the two-dimensional thermal image marked with the point a, the point b, the point c and the coordinates thereof, and La and Lb to a liquid level analysis system for liquid level height calculation and analysis, wherein the calculation process comprises the following steps:
(1) taking the lengths of La and Lb and the actual nominal height h of the oil tank as parameters, converting coordinate points of a point a and a point b in a two-dimensional image into three-dimensional space coordinate points Va and Vb of a three-dimensional space with an infrared thermal imager as an origin, wherein the known resolution of a two-dimensional thermal image is pw and ph, the two-dimensional coordinate of the point a in the two-dimensional thermal image is recorded as [ ax and ay ], the two-dimensional coordinate of the point b in the two-dimensional thermal image is recorded as [ bx and by ], the horizontal field angle of the infrared thermal imager is recorded as hfov, the vertical field angle is recorded as vfov, and PI is 3.1415926, and the conversion formula is as follows:
Va＝normalize(ax-2.0*ph*hfov/vfov,ph/2.0-ay,ph/2.0/tan(vfov/2.0*PI/180.0))*La；
Vb＝normalize(bx-2.0*ph*hfov/vfov,ph/2.0-by,ph/2.0/tan(vfov/2.0*π/180.0))*Lb；
(2) and obtaining a three-dimensional coordinate Vc of the point c according to the two-dimensional coordinate of the point c: according to the position c, a three-dimensional direction vector dc with the infrared thermal imager as the origin can be obtained, a three-dimensional co-planar straight line intersection is carried out on a line segment Vab between Va and Vb and the dc to obtain a three-dimensional coordinate point Vc of a point c, the x component of the dc in a three-dimensional space is recorded as dc.x, the standard three-dimensional vector is recorded as v, the x component of the standard three-dimensional vector in the three-dimensional space is recorded as v.x, the temporary scalar is recorded as t, and the formula is as follows:
dc＝normalize(cx-2.0*ph*hfov/vfov,ph/2.0-cy,ph/2.0/tan(vfov/2.0*PI/180.0))
v＝normalize(Vab)
t＝(dc.x-Va.x)/v.x
Vc＝Va+v*t
(3) calculating the distance from the point Vc to the point Va, recording as lac, and finally obtaining the liquid level height L, wherein the formula is as follows: l ═ h-lac.
2. The infrared thermographic aviation oil level detection method of claim 1, characterized in that: the thermal infrared imager is placed 50 meters away from the oil tank.
3. The infrared thermographic aviation oil level detection method of claim 1, characterized in that: the distance measuring instrument is a high-precision laser distance measuring instrument.
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