CN113432718A - Full-tunnel environment temperature measurement method and system - Google Patents
Full-tunnel environment temperature measurement method and system Download PDFInfo
- Publication number
- CN113432718A CN113432718A CN202110650022.2A CN202110650022A CN113432718A CN 113432718 A CN113432718 A CN 113432718A CN 202110650022 A CN202110650022 A CN 202110650022A CN 113432718 A CN113432718 A CN 113432718A
- Authority
- CN
- China
- Prior art keywords
- heat energy
- value
- view
- heat
- point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000009529 body temperature measurement Methods 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000001514 detection method Methods 0.000 claims abstract description 50
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 17
- 239000010959 steel Substances 0.000 claims abstract description 17
- 238000010586 diagram Methods 0.000 claims abstract description 7
- 238000010276 construction Methods 0.000 claims abstract description 3
- 238000013459 approach Methods 0.000 claims description 3
- 238000005265 energy consumption Methods 0.000 claims 1
- 230000000630 rising effect Effects 0.000 claims 1
- 238000012544 monitoring process Methods 0.000 abstract description 8
- 230000007423 decrease Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
Classifications
-
- 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
- G01J5/0014—Radiation pyrometry, e.g. infrared or optical thermometry for sensing the radiation from gases, flames
- G01J5/0018—Flames, plasma or welding
-
- 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
- G01J5/0066—Radiation pyrometry, e.g. infrared or optical thermometry for hot spots detection
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Spectroscopy & Molecular Physics (AREA)
- Engineering & Computer Science (AREA)
- Plasma & Fusion (AREA)
- Lining And Supports For Tunnels (AREA)
Abstract
The application relates to a full tunnel environment temperature measurement method and a system, which belong to the technical field of tunnel environment monitoring and comprise the following steps: equipment construction: building a steel cable track along the tunnel, and installing a track robot on the steel cable track; starting detection: controlling heat detection equipment to shoot a heat energy view and detecting a heat value of a point; data acquisition: the heat detection equipment transmits a heat energy view and a point heat value at regular time, and the orbit robot transmits position information synchronously; and (3) generating a thermal energy diagram: generating a three-dimensional heat energy view according to the heat energy view and the position information; data arrangement: calculating the average value of heat at each position of the superposition boundary of the heat energy views, and modifying the three-dimensional heat energy views according to the average value of heat; and (3) data calibration: the method and the device have the advantages that the corresponding positions of the point heat values on the three-dimensional heat energy view are confirmed, and the three-dimensional heat energy view is calibrated according to the point heat values.
Description
Technical Field
The invention relates to the technical field of tunnel environment monitoring, in particular to a full tunnel environment temperature measuring method and system.
Background
At present, tunnel temperature measurement mainly prevents a tunnel from generating fire, and research results show that: when a fire of a serious nature together occurs in the tunnel, it can be detected that the temperature of the hot air layer above the fire point rises by more than 50 c per minute in the first 4 minutes. Knowing the temperature change in the tunnel can also help the staff to know the change of the heat source in the tunnel, and is very important in monitoring the temperature in the tunnel with higher requirement on the environmental quality.
At present, the tunnel temperature measurement mainly adopts a photoelectric detector for detection, and the photoelectric detector is installed at a fixed position of the tunnel to detect the temperature of each place in the tunnel.
The above prior art solutions have the following drawbacks: although the temperature in the tunnel can be measured by the conventional tunnel temperature measurement method, the temperature is easily limited by a sensor, the shape of the tunnel, and the like, and thus accurate detection is difficult to achieve.
Disclosure of Invention
In order to improve the tunnel temperature detection precision, on the one hand, the application provides a full tunnel environment temperature measurement method.
The application provides a full tunnel environment temperature measurement method which adopts the following technical scheme:
a full tunnel environment temperature measurement method comprises the following steps:
equipment construction: building a steel cable track along the tunnel, installing heat detection equipment on the track robot, and installing the track robot on the steel cable track;
starting detection: controlling the track robot to move back and forth along the steel cable track, controlling the heat detection equipment to shoot a heat energy view and detecting a point heat value;
data acquisition: the heat detection equipment transmits a heat energy view and a point heat value at regular time, and the orbit robot transmits position information synchronously;
and (3) generating a thermal energy diagram: generating a three-dimensional heat energy view according to the heat energy view and the position information;
data arrangement: calculating the average value of heat at each position of the superposition boundary of the heat energy views, and modifying the three-dimensional heat energy views according to the average value of heat;
and (3) data calibration: and confirming the corresponding position of the point heat value on the three-dimensional heat energy view, and calibrating the three-dimensional heat energy view according to the point heat value.
By adopting the scheme, the track robot moves in a tunnel in a reciprocating manner along the steel cable tunnel, the heat energy view and the point heat value are collected through the heat detection equipment, the three-dimensional heat energy view is automatically generated according to the heat energy view, and calibration is carried out through the point heat value. The heat energy view has the advantage of large detection area, but the detection precision is not high, the point heat value represents the accurate heat value of one point, and the three-dimensional heat energy view data generated by the heat energy view can be ensured to be accurate through the calibration of the point heat value, so that the method can accurately detect the temperature value of each position in the tunnel.
Preferably, the data arrangement comprises:
judging the heat energy view overlapping part, selecting each point of the heat energy view overlapping part, calculating the average value of heat at each position of the overlapping boundary of the heat energy view, and replacing the value of the corresponding point of the overlapping part of the three-dimensional heat energy view with the average value of heat.
By adopting the scheme, the heat energy view is continuously shot by the heat detection equipment, so that overlapped parts are inevitably generated, and the detection precision can be increased while the temperature value of the overlapped parts is determined by calculating the heat average value for the overlapped parts.
Preferably, the thermal energy map generation comprises:
and establishing a three-dimensional coordinate system, arranging the heat energy views in the three-dimensional coordinate system according to the position information, and combining the heat energy views to form a three-dimensional heat energy view.
By adopting the scheme, the three-dimensional heat energy view is generated by pasting the heat energy view in the three-dimensional coordinate system, the generation speed is high, and the updating speed of the three-dimensional heat energy view is also high in the process of moving the track robot back and forth.
Preferably, the data calibration specifically includes:
confirming the corresponding position of the point heat value on the three-dimensional heat energy view, selecting the heat energy value at the same position of the three-dimensional heat energy view and the point heat energy value, making a difference between the point heat energy value and the selected heat energy value, replacing the heat energy value at the same position of the three-dimensional heat energy view and the point heat energy value with the point heat energy value, and adjusting the temperature value around the point according to the calculated difference.
By adopting the scheme, the temperature value around the point is adjusted through the difference value between the thermal energy value of the point and the thermal energy value on the three-dimensional thermal energy view, and the accuracy of the adjustment result is ensured.
Preferably, the method further comprises the following steps:
high-temperature alarm: when the temperature of any point in the three-dimensional heat energy view exceeds a set value, marking the area around the point and alarming;
automatically avoiding danger: when the position information of the track robot approaches the marking area, the movement of the track robot is stopped.
Through adopting above-mentioned scheme, the system all can automatic alarm when there is arbitrary regional high temperature in the tunnel, can make the track robot around the high temperature region stop moving simultaneously, when letting the track robot keep the monitoring to the high temperature region, also avoids the track robot to get into the high temperature region and produces the damage.
In order to improve the tunnel temperature detection precision, on the other hand, the application provides a full tunnel environment temperature measurement method and system.
The application provides a full tunnel environment temperature measurement system adopts following technical scheme:
a full tunnel environment temperature measurement system comprises a steel cable track built in a tunnel, a track robot installed on the steel cable track and a control system, wherein heat detection equipment is installed on the track robot, and the control system comprises a starting module, a movement control module, a detection control module, a storage module, a heat energy map generation module, a primary calibration module and a secondary calibration module;
the starting module receives an input instruction and then sends a starting signal;
the movement control module receives a starting signal and controls the track robot to move back and forth along the steel cable track when receiving the starting signal;
the detection control module receives the starting signal, controls the heat detection equipment to shoot a heat energy view at regular time and detect a point heat value when receiving the starting signal, and simultaneously obtains position information of the track robot, and transmits the heat energy view, the point heat value and the position information to the storage module;
the storage module receives and stores the heat energy view, the point heat value and the position information;
the heat energy map generation module calls the heat energy view and the position information stored by the storage module and generates a three-dimensional heat energy view according to the heat energy view and the position information, and the heat energy map generation module transmits the three-dimensional heat energy view to the primary calibration module;
the primary calibration module calculates the average heat value of each position of the superposition boundary of the heat energy views, modifies the three-dimensional heat energy views according to the average heat value, and transmits the modified three-dimensional heat energy views to the secondary calibration module;
the secondary calibration module calls the point heat value stored by the storage module, confirms the corresponding position of the point heat value on the three-dimensional heat energy view, and calibrates the three-dimensional heat energy view according to the point heat value.
By adopting the scheme, the system controls the track robot to move back and forth in the tunnel along the steel cable tunnel, the heat energy view and the point heat value are collected through the heat detection equipment, the three-dimensional heat energy view is automatically generated according to the heat energy view, and calibration is carried out through the point heat value. The heat energy view has the advantage of large detection area, but the detection precision is not high, the point heat value represents the accurate heat value of one point, the three-dimensional heat energy view data generated by the heat energy view can be ensured to be accurate through the calibration of the point heat value, and the system can accurately detect the temperature value of each position in the tunnel.
Preferably, the thermal energy map generating module comprises a three-dimensional establishing unit and a view forming unit;
the three-dimensional establishing unit establishes a three-dimensional coordinate system and sends the three-dimensional coordinate system to the view forming unit;
the view forming unit calls the heat energy view and the position information stored by the storage module, the heat energy view is arranged in the three-dimensional coordinate system according to the position information, the heat energy view is combined to form a three-dimensional heat energy view, and the view forming unit transmits the three-dimensional heat energy view to the primary calibration module.
By adopting the scheme, the three-dimensional heat energy view is generated by pasting the heat energy view in the three-dimensional coordinate system, the generation speed is high, and the updating speed of the three-dimensional heat energy view is also high in the process of moving the track robot back and forth.
Preferably, the primary calibration module includes a region dividing unit and a mean value calculating unit;
the area dividing unit receives the three-dimensional heat energy view, judges the overlapping part of the heat energy view, selects each point of the overlapping part of the heat energy view, marks the selected point on the three-dimensional heat energy view, and transmits the marked three-dimensional heat energy view to the mean value calculating unit;
the mean value calculating unit calculates the heat mean value of the mark points, the heat value of the mark points is replaced by the heat mean value, and the mean value calculating unit transmits the modified three-dimensional heat energy view to the secondary calibration module.
By adopting the scheme, the heat energy view is continuously shot by the heat detection equipment, so that overlapped parts are inevitably generated, and the detection precision can be increased while the temperature value of the overlapped parts is determined by calculating the heat average value for the overlapped parts.
Preferably, the secondary calibration unit comprises a view difference making unit and a view calibration unit;
the view difference making unit receives a three-dimensional heat energy view output by the primary calibration module, calls a point heat value stored by the storage module, confirms the position of the point heat value on the three-dimensional heat energy view, selects a heat energy value at the same position of the three-dimensional heat energy view and the point heat energy value, makes a difference between the point heat energy value and the selected heat energy value, and transmits the calculated difference and the three-dimensional heat energy view to the view calibration unit;
the view calibration unit replaces the heat energy value at the same position of the three-dimensional heat energy view and the point heat energy value with the point heat energy value, when the calculated difference is larger than 0 value, the view calibration unit enables the temperature value around the point to rise, the temperature value farther away from the point rises in a smaller range, when the calculated difference is smaller than 0 value, the view calibration unit enables the temperature value around the point to fall, and the temperature value farther away from the point falls in a smaller range.
By adopting the scheme, the temperature value around the point is adjusted through the difference value between the thermal energy value of the point and the thermal energy value on the three-dimensional thermal energy view, the adjustment amount can be controlled according to the distance from the central point in the adjustment process, and the accuracy of the adjustment result is ensured.
Preferably, the control system further comprises a high-temperature alarm module and an automatic risk avoiding module;
the high-temperature alarm module detects the temperature values of all points of the three-dimensional heat energy view, and when the temperature of any point exceeds a set value, the area around the point is marked and an alarm is given;
the automatic danger avoiding module calls the three-dimensional heat energy view behind the marking area of the high-temperature alarm module and the position information of the storage module, and when the position information is close to the marking area, the movement of the track robot corresponding to the position information is stopped.
Through adopting above-mentioned scheme, the system all can automatic alarm when there is arbitrary regional high temperature in the tunnel, can make the track robot around the high temperature region stop moving simultaneously, when letting the track robot keep the monitoring to the high temperature region, also avoids the track robot to get into the high temperature region and produces the damage.
In conclusion, the invention has the following beneficial effects:
1. the heat energy view has the advantage of large detection area, but the detection precision is not high, the point heat value represents the accurate heat value of one point, the three-dimensional heat energy view data generated by the heat energy view can be ensured to be accurate through the calibration of the point heat value, and the system can accurately detect the temperature value of each position in the tunnel;
2. when there is any regional high temperature in the tunnel the system all can automatic alarm, can make the track robot around the high temperature region stop moving simultaneously, when letting the track robot keep the monitoring to the high temperature region, also avoid the track robot to get into the high temperature region and produce the damage.
Drawings
FIG. 1 is a flowchart illustrating an overall method for measuring temperature in a full tunnel environment according to an embodiment of the present disclosure;
FIG. 2 is a schematic structural diagram of a full tunnel environment temperature measurement system according to an embodiment of the present application;
FIG. 3 is an overall system block diagram of the temperature measurement system in the full tunnel environment according to the embodiment of the present application;
fig. 4 is a block diagram of a thermal energy diagram generation module, a primary calibration module, and a secondary calibration module of the full tunnel environment temperature measurement system according to the embodiment of the present application.
In the figure, 1, a track robot; 11. a wire rope track; 12. a heat detection device; 2. a control system; 21. a starting module; 22. a mobile control module; 23. a detection control module; 24. a storage module; 25. a thermal energy map generation module; 251. a three-dimensional building unit; 252. a view forming unit; 26. a primary calibration module; 261. a region dividing unit; 262. a mean value calculation unit; 27. a secondary calibration module; 271. a view difference making unit; 272. a view calibration unit; 28. a high temperature alarm module; 29. and an automatic risk avoiding module.
Detailed Description
The present application is described in further detail below with reference to figures 1-4.
The embodiment of the application discloses a full tunnel environment temperature measurement method, as shown in fig. 1, the specific steps are as follows:
as shown in fig. 1, the device builds: a wire rope track 11 is built along the tunnel, a heat detecting device 12 is installed on the track robot 1, and the track robot 1 is installed on the wire rope track 11. The track robot 1 can follow steel cable track 11 reciprocating motion in the tunnel, and heat check out test set 12 can set up to infrared heat energy imager and infrared temperature sensor, and infrared heat energy imager can shoot the heat energy view, and infrared temperature sensor can check the dot calorific value.
As shown in fig. 1, detection is initiated: the track robot 1 is controlled to reciprocate along the wire rope track 11, and the heat detecting device 12 is controlled to take a view of heat energy and detect a point heat value.
As shown in fig. 1, data acquisition: the heat quantity detection device 12 transmits the heat energy view and the point heat quantity value at regular time, and the orbit robot 1 transmits the position information synchronously. The track robot 1 can acquire position information by positioning itself using RCR radar and UWB flat line.
As shown in fig. 1, a thermal energy map is generated: and establishing a three-dimensional coordinate system, arranging the heat energy views in the three-dimensional coordinate system according to the position information, and combining the heat energy views to form a three-dimensional heat energy view. The three-dimensional heat energy view is generated by pasting the heat energy view in the three-dimensional coordinate system, the generation speed is high, and the updating speed of the three-dimensional heat energy view is also high in the process that the track robot 1 moves back and forth.
As shown in fig. 1, data collation: judging the heat energy view overlapping part, selecting each point of the heat energy view overlapping part, calculating the average value of heat at each position of the overlapping boundary of the heat energy view, and replacing the value of the corresponding point of the overlapping part of the three-dimensional heat energy view with the average value of heat. Since the thermal energy view is continuously photographed by the heat detecting device 12, there is inevitably an overlapped portion, and the detection accuracy can be increased while determining the temperature value of the overlapped portion by calculating the average value of the heat for the overlapped portion.
As shown in fig. 1, data calibration: confirming the corresponding position of the point heat value on the three-dimensional heat energy view, selecting the heat energy value at the same position of the three-dimensional heat energy view and the point heat energy value, making a difference between the point heat energy value and the selected heat energy value, replacing the heat energy value at the same position of the three-dimensional heat energy view and the point heat energy value with the point heat energy value, and adjusting the temperature value around the point according to the calculated difference. The temperature value around the point is adjusted through the difference value between the point heat energy value and the heat energy value on the three-dimensional heat energy view, and the accuracy of the adjustment result is ensured.
As shown in fig. 1, high temperature alarm: when the temperature of any point in the three-dimensional heat energy view exceeds a set value, marking the area around the point and alarming.
As shown in fig. 1, automatic risk avoidance: when the positional information of the track robot 1 approaches the marking area, the movement of the track robot 1 is stopped. When there is any regional high temperature in the tunnel the system all can automatic alarm, can make the track robot 1 around the high temperature region stop moving simultaneously, when letting track robot 1 keep the monitoring to the high temperature region, also avoid track robot 1 to get into the high temperature region and produce the damage.
The implementation principle of the full-tunnel environment temperature measurement method in the embodiment of the application is as follows: the track robot 1 moves in a tunnel in a reciprocating mode along a steel cable tunnel, a heat energy view and a point heat value are collected through the heat detection device 12, a three-dimensional heat energy view is automatically generated according to the heat energy view, and calibration is conducted through the point heat value. The heat energy view has the advantage of large detection area, but the detection precision is not high, the point heat value represents the accurate heat value of one point, and the three-dimensional heat energy view data generated by the heat energy view can be ensured to be accurate through the calibration of the point heat value, so that the method can accurately detect the temperature value of each position in the tunnel.
The embodiment of the application discloses full tunnel environment temperature measurement system, as shown in fig. 2 and 3, including the wire rope track 11 of building in the tunnel, install track robot 1 and control system 2 on wire rope track 11. The heat detection device 12 is installed on the track robot 1, the heat detection device 12 can be set to be an infrared heat energy imager and an infrared temperature sensor, the infrared heat energy imager can shoot a heat energy view, and the infrared temperature sensor can detect a heat value. The RCR radar and the UWB flat line are installed on the track robot 1, and the track robot 1 positions itself through the RCR radar and the UWB flat line to acquire position information.
As shown in fig. 3, the control system 2 includes a starting module 21, a movement control module 22, a detection control module 23, a storage module 24, a thermal energy map generation module 25, a primary calibration module 26, a secondary calibration module 27, a high temperature alarm module 28, and an automatic risk avoiding module 29.
As shown in fig. 3, the starting module 21 receives an input command and then sends a starting signal. The movement control module 22 receives the start signal and controls the orbital robot 1 to reciprocate along the wire rope track 11 upon receiving the start signal.
As shown in fig. 3, the detection control module 23 receives the start signal and controls the heat detecting device 12 to periodically take a view of heat energy and detect a point heat value while acquiring position information of the track robot 1 when receiving the start signal, and the detection control module 23 transmits the view of heat energy, the point heat value, and the position information to the storage module 24. The storage module 24 receives and stores the thermal energy view, the point heat value and the position information.
As shown in fig. 3 and 4, the thermal energy map generating module 25 includes a three-dimensional establishing unit 251 and a view forming unit 252. The three-dimensional establishing unit 251 establishes a three-dimensional coordinate system and transmits the three-dimensional coordinate system to the view forming unit 252. The view forming unit 252 calls the thermal energy view and the position information stored in the storage module 24, arranges the thermal energy views in a three-dimensional coordinate system according to the position information, combines the thermal energy views to form a three-dimensional thermal energy view, and the view forming unit 252 transmits the three-dimensional thermal energy view to the primary calibration module 26. The three-dimensional heat energy view is generated by pasting the heat energy view in the three-dimensional coordinate system, the generation speed is high, and the updating speed of the three-dimensional heat energy view is also high in the process that the track robot 1 moves back and forth.
As shown in fig. 3 and 4, the primary calibration module 26 includes an area division unit 261 and a mean value calculation unit 262. The region dividing unit 261 receives the three-dimensional heat energy view, the region dividing unit 261 judges a heat energy view overlapping portion, each point of the heat energy view overlapping portion is selected, the selected point is marked in the three-dimensional heat energy view, and the region dividing unit 261 transmits the marked three-dimensional heat energy view to the mean value calculating unit 262. The average calculating unit 262 calculates the heat average value of the mark points, replaces the heat value of the mark points with the heat average value, and the average calculating unit 262 transmits the modified three-dimensional heat energy view to the secondary calibration module 27. Since the thermal energy view is continuously photographed by the heat detecting device 12, there is inevitably an overlapped portion, and the detection accuracy can be increased while determining the temperature value of the overlapped portion by calculating the average value of the heat for the overlapped portion.
As shown in fig. 3 and 4, the secondary calibration unit includes a view differencing unit 271 and a view calibration unit 272. The view difference making unit 271 receives the three-dimensional heat energy view output by the primary calibration module 26, the view difference making unit 271 calls the point heat value stored by the storage module 24, the view difference making unit 271 determines the position of the point heat value corresponding to the three-dimensional heat energy view, selects the heat energy value at the same position of the three-dimensional heat energy view and the point heat energy value, makes a difference between the point heat energy value and the selected heat energy value, and transmits the calculated difference and the three-dimensional heat energy view to the view calibration unit 272. The view calibration unit 272 replaces the thermal energy value at the same position of the three-dimensional thermal energy view and the point thermal energy value with the point thermal energy value, when the calculated difference is greater than 0 value, the view calibration unit 272 increases the temperature value around the point, the increase amplitude of the temperature value farther away from the point is smaller, when the calculated difference is less than 0 value, the view calibration unit 272 decreases the temperature value around the point, and the decrease amplitude of the temperature value farther away from the point is smaller. The temperature value around the point is adjusted through the difference value between the thermal energy value of the point and the thermal energy value on the three-dimensional thermal energy view, the adjustment amount is controlled according to the distance from the central point in the adjustment process, and the accuracy of the adjustment result is ensured.
As shown in fig. 3, the high temperature alarm module 28 detects temperature values of each point of the three-dimensional heat energy view, and when the temperature of any point exceeds a set value, marks a region around the point and gives an alarm. The automatic danger avoiding module 29 calls the three-dimensional heat energy view after the marking area of the high-temperature alarm module 28 and the position information of the storage module 24, and when the position information is close to the marking area, the movement of the track robot 1 corresponding to the position information is stopped. When there is any regional high temperature in the tunnel the system all can automatic alarm, can make the track robot 1 around the high temperature region stop moving simultaneously, when letting track robot 1 keep the monitoring to the high temperature region, also avoid track robot 1 to get into the high temperature region and produce the damage.
The implementation principle of the temperature measurement system for the whole tunnel environment in the embodiment of the application is as follows: the system controls the track robot 1 to move back and forth in the tunnel along the steel cable tunnel, a heat energy view and a point heat value are collected through the heat detection device 12, a three-dimensional heat energy view is automatically generated according to the heat energy view, and calibration is carried out through the point heat value. The heat energy view has the advantage of large detection area, but the detection precision is not high, the point heat value represents the accurate heat value of one point, the three-dimensional heat energy view data generated by the heat energy view can be ensured to be accurate through the calibration of the point heat value, and the system can accurately detect the temperature value of each position in the tunnel.
The embodiments of the present invention are preferred embodiments of the present invention, and the scope of the present invention is not limited by these embodiments, so: all equivalent changes made according to the structure, shape and principle of the invention are covered by the protection scope of the invention.
Claims (10)
1. A full tunnel environment temperature measurement method is characterized by comprising the following steps:
equipment construction: a steel cable track (11) is built along the tunnel, heat detection equipment (12) is installed on the track robot (1), and the track robot (1) is installed on the steel cable track (11);
starting detection: the rail robot (1) is controlled to move back and forth along the steel cable rail (11), and the heat detection equipment (12) is controlled to shoot a heat energy view and detect the heat value of the point;
data acquisition: the heat detection equipment (12) transmits a heat energy view and a point heat value at regular time, and the track robot (1) transmits position information synchronously;
and (3) generating a thermal energy diagram: generating a three-dimensional heat energy view according to the heat energy view and the position information;
data arrangement: calculating the average value of heat at each position of the superposition boundary of the heat energy views, and modifying the three-dimensional heat energy views according to the average value of heat;
and (3) data calibration: and confirming the corresponding position of the point heat value on the three-dimensional heat energy view, and calibrating the three-dimensional heat energy view according to the point heat value.
2. The full tunnel environment temperature measurement method according to claim 1, wherein the data arrangement comprises:
judging the heat energy view overlapping part, selecting each point of the heat energy view overlapping part, calculating the average value of heat at each position of the overlapping boundary of the heat energy view, and replacing the value of the corresponding point of the overlapping part of the three-dimensional heat energy view with the average value of heat.
3. The full tunnel environment temperature measurement method according to claim 1, wherein the generating of the thermal energy map comprises:
and establishing a three-dimensional coordinate system, arranging the heat energy views in the three-dimensional coordinate system according to the position information, and combining the heat energy views to form a three-dimensional heat energy view.
4. The full tunnel environment temperature measurement method according to claim 1, wherein the data calibration specifically comprises:
confirming the corresponding position of the point heat value on the three-dimensional heat energy view, selecting the heat energy value at the same position of the three-dimensional heat energy view and the point heat energy value, making a difference between the point heat energy value and the selected heat energy value, replacing the heat energy value at the same position of the three-dimensional heat energy view and the point heat energy value with the point heat energy value, and adjusting the temperature value around the point according to the calculated difference.
5. The full tunnel environment temperature measurement method according to claim 1, further comprising:
high-temperature alarm: when the temperature of any point in the three-dimensional heat energy view exceeds a set value, marking the area around the point and alarming;
automatically avoiding danger: when the positional information of the track robot (1) approaches the marking area, the movement of the track robot (1) is stopped.
6. The utility model provides a full tunnel environment temperature measurement system which characterized in that: the tunnel heat-energy-consumption heat;
the starting module (21) receives an input instruction and then sends out a starting signal;
the movement control module (22) receives the starting signal and controls the orbital robot (1) to move back and forth along the steel cable orbit (11) when receiving the starting signal;
the detection control module (23) receives the starting signal, controls the heat detection equipment (12) to shoot a heat energy view at regular time and detect a point heat value when receiving the starting signal, simultaneously acquires position information of the track robot (1), and transmits the heat energy view, the point heat value and the position information to the storage module (24);
the storage module (24) receives and stores the heat energy view, the point heat value and the position information;
the thermal energy map generation module (25) calls the thermal energy view and the position information stored by the storage module (24) and generates a three-dimensional thermal energy view according to the thermal energy view and the position information, and the thermal energy map generation module (25) transmits the three-dimensional thermal energy view to the primary calibration module (26);
the primary calibration module (26) calculates the average heat value of each position of the superposition boundary of the heat energy views, modifies the three-dimensional heat energy views according to the average heat value, and transmits the modified three-dimensional heat energy views to the secondary calibration module (27);
the secondary calibration module (27) calls the point heat value stored by the storage module (24), the secondary calibration module (27) confirms the position of the point heat value corresponding to the three-dimensional heat energy view, and the three-dimensional heat energy view is calibrated according to the point heat value.
7. The full tunnel environment temperature measurement system of claim 6, wherein: the thermal energy map generation module (25) comprises a three-dimensional establishing unit (251) and a view forming unit (252);
the three-dimensional establishing unit (251) establishes a three-dimensional coordinate system and sends the three-dimensional coordinate system to the view forming unit (252);
the view forming unit (252) calls the thermal energy views and the position information stored by the storage module (24), arranges the thermal energy views in a three-dimensional coordinate system according to the position information, combines the thermal energy views to form a three-dimensional thermal energy view, and transmits the three-dimensional thermal energy view to the primary calibration module (26) through the view forming unit (252).
8. The full tunnel environment temperature measurement system of claim 6, wherein: the primary calibration module (26) comprises a region dividing unit (261) and a mean value calculating unit (262);
the region dividing unit (261) receives the three-dimensional heat energy view, the region dividing unit (261) judges a heat energy view overlapping part, each point of the heat energy view overlapping part is selected, the selected point is marked on the three-dimensional heat energy view, and the region dividing unit (261) transmits the marked three-dimensional heat energy view to the mean value calculating unit (262);
the mean value calculating unit (262) calculates the heat mean value of the mark points, the heat value of the mark points is replaced by the heat mean value, and the mean value calculating unit (262) transmits the modified three-dimensional heat energy view to the secondary calibration module (27).
9. The full tunnel environment temperature measurement system of claim 6, wherein: the secondary calibration unit comprises a view difference making unit (271) and a view calibration unit (272);
the view difference making unit (271) receives a three-dimensional heat energy view output by the primary calibration module (26), the view difference making unit (271) calls a point heat value stored by the storage module (24), the view difference making unit (271) confirms the position of the point heat value on the three-dimensional heat energy view, selects a heat energy value at the same position of the three-dimensional heat energy view and the point heat energy value, makes a difference between the point heat energy value and the selected heat energy value, and transmits the calculated difference and the three-dimensional heat energy view to the view calibration unit (272);
the view calibration unit (272) replaces the thermal energy value at the same position of the three-dimensional thermal energy view and the point thermal energy value with the point thermal energy value, when the calculated difference is larger than 0 value, the view calibration unit (272) enables the temperature value around the point to rise, the temperature value farther away from the point has smaller rising amplitude, when the calculated difference is smaller than 0 value, the view calibration unit (272) enables the temperature value around the point to fall, and the temperature value farther away from the point has smaller falling amplitude.
10. The full tunnel environment temperature measurement system of claim 6, wherein: the control system (2) also comprises a high-temperature alarm module (28) and an automatic risk avoiding module (29);
the high-temperature alarm module (28) detects temperature values of all points of the three-dimensional heat energy view, and when the temperature of any point exceeds a set value, the area around the point is marked and an alarm is given;
the automatic danger avoiding module (29) calls the three-dimensional heat energy view behind the marking area of the high-temperature alarm module (28) and the position information of the storage module (24), and when the position information is close to the marking area, the movement of the track robot (1) corresponding to the position information is stopped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110650022.2A CN113432718A (en) | 2021-06-10 | 2021-06-10 | Full-tunnel environment temperature measurement method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110650022.2A CN113432718A (en) | 2021-06-10 | 2021-06-10 | Full-tunnel environment temperature measurement method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113432718A true CN113432718A (en) | 2021-09-24 |
Family
ID=77755612
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110650022.2A Pending CN113432718A (en) | 2021-06-10 | 2021-06-10 | Full-tunnel environment temperature measurement method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113432718A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101281063A (en) * | 2008-05-16 | 2008-10-08 | 天津市电视技术研究所 | High temperature furnace inner video image temperature measuring system |
| CN102968765A (en) * | 2012-11-13 | 2013-03-13 | 华中科技大学 | Method for correcting infrared focal plane heterogeneity based on sigma filter |
| CN205233080U (en) * | 2015-12-31 | 2016-05-18 | 无锡职业技术学院 | But pig farm of rapid survey live pig body temperature |
| CN209267713U (en) * | 2018-12-29 | 2019-08-16 | 广州供电局有限公司 | Cable tunnel monitoring system |
| CN111507298A (en) * | 2020-04-24 | 2020-08-07 | 深圳数联天下智能科技有限公司 | Face detection method and device, computer equipment and storage medium |
-
2021
- 2021-06-10 CN CN202110650022.2A patent/CN113432718A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101281063A (en) * | 2008-05-16 | 2008-10-08 | 天津市电视技术研究所 | High temperature furnace inner video image temperature measuring system |
| CN102968765A (en) * | 2012-11-13 | 2013-03-13 | 华中科技大学 | Method for correcting infrared focal plane heterogeneity based on sigma filter |
| CN205233080U (en) * | 2015-12-31 | 2016-05-18 | 无锡职业技术学院 | But pig farm of rapid survey live pig body temperature |
| CN209267713U (en) * | 2018-12-29 | 2019-08-16 | 广州供电局有限公司 | Cable tunnel monitoring system |
| CN111507298A (en) * | 2020-04-24 | 2020-08-07 | 深圳数联天下智能科技有限公司 | Face detection method and device, computer equipment and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107449393B (en) | Urban rail transit tunnel deformation monitoring system and method | |
| EP3109667B1 (en) | Radar axis displacement amount calculation device and radar axis displacement calculation method | |
| KR101784860B1 (en) | Mobile terminal and method for obtaining location information about mobile terminal | |
| KR101739007B1 (en) | System and method for determining location using beacons | |
| CN101408410B (en) | Tunnel volume element deformation movable monitoring system and method | |
| CN104634328A (en) | Spatial measurement robot and spatial measurement method thereof | |
| CN113251933A (en) | Automatic image displacement measurement system for monitoring displacement of surface of foundation pit | |
| CN109631768B (en) | Device and method for monitoring two-dimensional displacement of structure | |
| CN111707232A (en) | Iron tower attitude early warning device based on big dipper location multi-point is solved | |
| CN111487587A (en) | Dangerous rock collapse disaster deformation monitoring method and system based on ultra-bandwidth positioning | |
| CN209945580U (en) | Data machine room local hot spot detection system applying wireless temperature sensor and unmanned aerial vehicle for accurate positioning | |
| CN114610032A (en) | Target object following method and device, electronic equipment and readable storage medium | |
| CN106052558A (en) | Single-camera solar heat collector steel structure support assembling quality detection system | |
| CN113432718A (en) | Full-tunnel environment temperature measurement method and system | |
| CN114166178A (en) | Real-time deformation monitoring method and system for frame section of tunnel shield machine under construction | |
| CN103200674A (en) | Mobile object positioning and following method facing toward unattended transformer substation | |
| CN111122053B (en) | Device and method for detecting early unstable leakage of small reservoir dam body | |
| CN103018478A (en) | Thermal wind speed sensing device capable of performing zero compensation automatically and method for measuring wind speeds | |
| CN108106604A (en) | A kind of photogrammetric optical measurement mark method of work and device | |
| CN110455181B (en) | Pose rapid measurement system and method | |
| CN205718844U (en) | A kind of one camera solar thermal collector steel structure support assembling quality detecting system | |
| CN109269529A (en) | A kind of intelligence engineering robot navigation Linear Positioning Accuracy Measurement Methods | |
| CN212458360U (en) | A unmanned aerial vehicle for foundation ditch detection based on RTK | |
| CN101058846B (en) | Method of determining position information of high-temperature ring annealing furnace steel coil | |
| CN212300318U (en) | Iron tower attitude early warning device based on big dipper location multi-point is solved |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210924 |
|
| RJ01 | Rejection of invention patent application after publication |