CN113483895B - Power line safety detection method based on thermal imager imaging parameter calibration plate device - Google Patents
Power line safety detection method based on thermal imager imaging parameter calibration plate device Download PDFInfo
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- CN113483895B CN113483895B CN202110608751.1A CN202110608751A CN113483895B CN 113483895 B CN113483895 B CN 113483895B CN 202110608751 A CN202110608751 A CN 202110608751A CN 113483895 B CN113483895 B CN 113483895B
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- 238000003384 imaging method Methods 0.000 title claims abstract description 33
- 238000001514 detection method Methods 0.000 title claims abstract description 14
- 229910052782 aluminium Inorganic materials 0.000 claims abstract description 73
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims abstract description 72
- 239000004065 semiconductor Substances 0.000 claims abstract description 54
- 238000001931 thermography Methods 0.000 claims abstract description 25
- 238000012544 monitoring process Methods 0.000 claims abstract description 12
- 239000003292 glue Substances 0.000 claims abstract description 9
- 238000010438 heat treatment Methods 0.000 claims abstract description 5
- 238000000034 method Methods 0.000 claims description 30
- 238000004080 punching Methods 0.000 claims description 6
- 230000009977 dual effect Effects 0.000 claims description 3
- 230000003647 oxidation Effects 0.000 claims description 2
- 238000007254 oxidation reaction Methods 0.000 claims description 2
- 239000004411 aluminium Substances 0.000 claims 1
- 150000002978 peroxides Chemical class 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 abstract description 13
- 238000005516 engineering process Methods 0.000 abstract description 4
- 239000011159 matrix material Substances 0.000 description 6
- 238000005057 refrigeration Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000005502 peroxidation Methods 0.000 description 1
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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
- G01J5/0096—Radiation pyrometry, e.g. infrared or optical thermometry for measuring wires, electrical contacts or electronic systems
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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
- G01J2005/0077—Imaging
Abstract
The invention relates to a safety detection technology of a high-voltage transmission line, in particular to a power line safety detection method based on a thermal imager imaging parameter calibration plate device, which comprises an aluminum plate, wherein the upper surface and the lower surface of the aluminum plate are square, a plurality of square semiconductor refrigerating pieces are fixed on the upper surface of the aluminum plate through heat conducting glue, a trapezoidal aluminum block with square upper and lower surfaces is fixed on the other surface of each semiconductor refrigerating piece through heat conducting glue, the upper surface of the trapezoidal aluminum block is larger than the lower surface of the trapezoidal aluminum block, and the lower surface of the trapezoidal aluminum block is the same as the semiconductor refrigerating pieces in size; the heating surface of the semiconductor refrigerating sheet is pasted with an aluminum plate, and the refrigerating surface is pasted with an aluminum block; the semiconductor refrigerating pieces and the aluminum blocks attached to the semiconductor refrigerating pieces are uniformly distributed and have the same distance to form a chessboard; the power lines are connected in series and then connected with a power supply. The infrared thermal imaging stereo imaging technology is used for monitoring the target, so that the weather adaptability is greatly improved, the monitoring can be smoothly finished in the heavy fog, and the power transmission safety is effectively guaranteed. The temperature of the power transmission system is also monitored.
Description
Technical Field
The invention belongs to the technical field of safety detection of high-voltage transmission lines, and particularly relates to a power line safety detection method based on a thermal imager imaging parameter calibration plate device.
Background
The safety monitoring of the high-voltage transmission line is related to the safety of the transmission line and the safety of people and animals below the high-voltage corridor. One of the items is to detect the distance of the line from the tree. This monitoring must be continuous, on the one hand, since trees grow continuously and, on the other hand, the sag of the high voltage transmission line varies continuously over time.
The monitoring means commonly used at present mainly include the following: 1. manually by eye or using hand tools. It has problems of low efficiency, inaccuracy, great influence on visibility, and certain danger. 2. By photogrammetric methods. There is a problem in that it is affected too much by visibility. 3. Through laser radar (generally bear with unmanned aerial vehicle), its advantage is efficient, and the degree of accuracy is high, but the problem that exists still seriously receives visibility's restriction, can't implement in the fog day.
Infrared thermal imaging is a technique of detecting infrared rays emitted from an object to determine the temperature of the object and further imaging the object. The device is widely applied to various industries such as medicine, security inspection and the like, and is also applied to a certain degree in the power industry, and is mainly used for detecting the temperature of a target so as to find out devices with abnormal work.
The infrared thermography detects wavelengths typically from 8 microns to 14 microns, which are much longer than those used by lidar (typically around 0.8 microns to 1.6 microns), and much longer than the visible wavelengths (typically around 0.4 microns to 0.8 microns) for photogrammetry and detection by the human eye, and thus much more penetrating. For severe haze, infrared thermal imaging is almost transparent compared to lidar and visible light.
The infrared thermal imaging stereo imaging technology is used for monitoring the target, so that the weather adaptability is greatly improved, the monitoring can be smoothly finished in the heavy fog, and the power transmission safety is effectively guaranteed. Although infrared thermal imaging can penetrate haze to see a target, it is not yet possible to directly detect the distance of the power line from the tree.
Disclosure of Invention
Aiming at the problems in the background art, the invention provides a thermal imager imaging parameter calibration plate device and a power line safety detection method based on the thermal imager imaging parameter calibration plate device.
In order to solve the technical problems, the invention adopts the following technical scheme: a thermal imager imaging parameter calibration plate device comprises an aluminum plate, the upper surface and the lower surface of the aluminum plate are square, a plurality of square semiconductor refrigerating pieces are fixed on the upper surface of the aluminum plate through heat conducting glue, a trapezoidal aluminum block with the upper surface and the lower surface both square is fixed on the other surface of each semiconductor refrigerating piece through heat conducting glue, the upper surface of the trapezoidal aluminum block is larger than the lower surface of the trapezoidal aluminum block, and the lower surface of the trapezoidal aluminum block is the same as the size of the semiconductor refrigerating pieces; the heating surface of the semiconductor refrigerating sheet is pasted with an aluminum plate, and the refrigerating surface is pasted with an aluminum block; the semiconductor refrigerating pieces and the aluminum blocks attached to the semiconductor refrigerating pieces are uniformly distributed and have the same distance to form checkerboard distribution; the power cord of semiconductor refrigeration piece is drawn forth to punching below the aluminum plate, and the position of punching is close to the semiconductor refrigeration piece, inserts the power after the power cord is established ties.
In the thermal imager imaging parameter calibration plate device, the size of an aluminum plate is 500 × 5mm, and the upper surface of the aluminum plate is subjected to peroxidation treatment; the square semiconductor refrigerating pieces are 12 semiconductor refrigerating pieces with the thickness of 40mm by 40mm, and the center distance is 100 mm; the size of the upper surface of the trapezoidal aluminum block is 100X 100mm, the size of the lower surface of the trapezoidal aluminum block is 40X 40mm, the height of the trapezoidal aluminum block is 20mm, and the upper surface and the lower surface of the trapezoidal aluminum block are both subjected to oxidation treatment.
In the thermal imager imaging parameter calibration plate device, a power supply provides 24V voltage for the serially connected semiconductor refrigerating pieces, the voltage of each semiconductor refrigerating piece is 2V, the power is about 5W, the total power is about 60W, and the semiconductor refrigerating pieces work in a state of being far smaller than the rated power.
A power line safety detection method based on a thermal imager imaging parameter calibration plate device is characterized in that a calibrated infrared thermal imager is adopted, an infrared image pair is established through multiple times of imaging, coordinates of targets are reconstructed by using a photogrammetric method, the coordinate relation between the targets is calculated, the distance of an object below a power line is obtained, and safety monitoring is realized; the method specifically comprises the following steps:
step 1, calibrating an infrared thermal imager: electrifying a thermal imager imaging parameter calibration plate device, aligning an infrared thermal imager to be calibrated to a calibration plate, adjusting the angle and distance of the calibration plate to ensure that the image of the calibration plate is clear and at least occupies 1/2 of the whole image, only the upper surfaces of an aluminum block and an aluminum plate are seen in the image, photographing the calibration plate, and then binarizing the image to obtain black and white patterns; calculating camera parameters of the thermal imager according to a camera calibration method in photogrammetry;
step 2, establishing a stereopair by adopting a double-thermal imaging camera method or a single-thermal imaging camera moving method;
and 3, after obtaining the stereopair, calculating the coordinates of the target by using a photogrammetric means to obtain the three-dimensional point cloud of the target, calculating the distance between the power line and the object below, and judging whether a danger exists.
In the above method for detecting safety of a power line based on a thermal imager imaging parameter calibration plate device, the dual thermal imaging camera method includes: fixing the distance between the two infrared thermal imaging middle interval baselines on a base to form a collector, then calibrating by using the calibration plate device in the step 1, determining the relation parameters of the camera, and carrying the collector on an unmanned aerial vehicle for operation or handheld operation.
In the above method for detecting safety of a power line based on a thermal imager imaging parameter calibration plate device, the single thermal imaging camera moving method includes: and (2) carrying the thermal imaging camera calibrated in the step (1) on an unmanned aerial vehicle, and calculating the relation between a plurality of photos through the position and the posture of the airplane recorded in flight so as to obtain an infrared stereopair and calculate the coordinates of the target.
Compared with the prior art, the infrared thermal imaging three-dimensional imaging technology is used for monitoring the target, so that the weather adaptability is greatly improved, the monitoring can be successfully completed in heavy fog, and the power transmission safety is effectively guaranteed. The temperature of the power transmission system is also monitored.
Drawings
FIG. 1 is a schematic structural diagram of a thermal infrared imager calibration plate device according to an embodiment of the invention;
wherein, 01-aluminum plate, 02-semiconductor refrigerating sheet, 03-trapezoidal aluminum block, 04-heat conducting glue;
FIG. 2 is a block diagram of each cooling plate in accordance with one embodiment of the present invention;
FIG. 3 is a black-and-white grid pattern after binarization of an image of a calibration plate photographed by a thermal infrared imager in accordance with an embodiment of the present invention;
FIG. 4 is a circuit schematic of a calibration board assembly according to one embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the following embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention is further illustrated by the following examples, which are not to be construed as limiting the invention.
Since the lens for infrared thermal imaging can distort the image and affect the coordinates of the restored object, it is a necessary step to correct the image. In order to detect the distance between the power line and the tree, the embodiment uses a calibrated infrared thermal imager, establishes an infrared stereo pair through multiple imaging, reconstructs coordinates of targets by adopting a photogrammetric method, further calculates the coordinate relationship between the targets, obtains the distance between the power line and an object below, and achieves the purpose of safety monitoring. Meanwhile, the temperature of the power transmission system is monitored so as to find out abnormality and take measures in time. Since the thermal infrared imager detects the temperature of the target, the calibration target of the traditional photogrammetric camera cannot be used for calibration, and the thermal infrared imager imaging parameter calibration plate device is designed to calibrate the thermal infrared imager. And (3) establishing a thermal infrared stereopair of the target by using the calibrated thermal imager and adopting two schemes of double camera movement or single camera movement, and further obtaining the coordinates of the target. The thermal imaging camera is generally carried on the unmanned aerial vehicle to carry out operation, and can also carry out handheld operation. The thermal imager is easier to distinguish for the imaging of the power transmission cable than visible light, and the detection effect is better than the visible light.
As shown in fig. 1, a thermal imager imaging parameter calibration plate device comprises an aluminum plate, the upper surface and the lower surface of which are square, wherein a plurality of square semiconductor refrigerating sheets are fixed on the upper surface of the aluminum plate through heat conducting glue, a trapezoidal aluminum block, the upper surface of which is larger than the lower surface of which is fixed on the other surface of the semiconductor refrigerating sheet through heat conducting glue, and the upper surface and the lower surface of the trapezoidal aluminum block are the same as the semiconductor refrigerating sheets in size; the heating surface of the semiconductor refrigerating sheet is pasted with an aluminum plate, and the refrigerating surface is pasted with an aluminum block; the semiconductor refrigerating pieces and the aluminum blocks attached to the semiconductor refrigerating pieces are uniformly distributed and have the same distance to form a chessboard; the power cord of semiconductor refrigeration piece is drawn forth to punching below the aluminum plate, and the position of punching is close to the semiconductor refrigeration piece, inserts the power after the power cord is established ties.
As shown in fig. 2, 12 pieces of 40mm by 40mm semiconductor chilling plates 02 with a center distance of 100mm were fixed by heat conductive paste 04 on an aluminum plate 01 with a size of 500 x 5mm whose upper surface was oxidized (blackened), and a trapezoidal aluminum block 03 with a size of 100 x 100mm whose upper surface was oxidized, 40 x 40mm whose lower surface was oxidized, and a height of 20mm was fixed by heat conductive paste 04 on the other surface of the semiconductor chilling plate 02. Note that: the direction of the refrigerating surface of the semiconductor refrigerating sheet 02 is consistent, the heating surface is attached to the aluminum plate 01, and the refrigerating surface is attached to the aluminum block 03. As shown in figure 1, the positions of the 12 aluminum plates 03 and the semiconductor refrigerating plates 02 are ensured to be uniform, the distance between the 12 aluminum plates is 100mm, and the 12 aluminum plates and the semiconductor refrigerating plates are distributed in a checkerboard shape. The power line of the semiconductor refrigerating piece 02 is punched from the large aluminum plate 01 on the back and led out, two white ellipses on the aluminum plate 01 in the picture 2 are wire holes, the punching position is close to the semiconductor refrigerating piece 02 as much as possible, the power line of the semiconductor refrigerating piece 02 is connected in series and then connected to a proper power supply, and the semiconductor refrigerating piece is enabled to work far smaller than the rated power. For example, the rated voltage of a general semiconductor chilling plate is 12V, the rated power is 30W, and only 24V of the semiconductor chilling plate connected in series is supplied with power, so that the voltage of the single semiconductor chilling plate is only 2V, the single power is about 5W, and the total power is about 60W. Therefore, the enough temperature difference between the aluminum plate 01 and the aluminum block 03 can be ensured, the energy is not wasted, and the safety and the power utilization safety of the semiconductor refrigerating sheet are ensured. After the installation is finished, the whole calibration board is as shown in figure 1, and the circuit schematic diagram is as shown in figure 4.
The power line safety detection method using the thermal imager imaging parameter calibration plate device comprises the following steps:
s1, firstly calibrating the infrared thermal imager: after the thermal imager imaging parameter calibration plate device is electrified, the temperature difference between the upper surfaces of the 12 small aluminum blocks on the front side and the large aluminum plates on the back side is pulled open, generally, the temperature difference can reach more than 10 ℃, and the temperature difference can be clearly distinguished by the infrared thermal imager. And because the aluminum plate 01 is not in direct contact with the aluminum plate 03, the temperature is strictly demarcated, and the imaging quality is ensured. The infrared thermal imager to be calibrated is aligned to the calibration plate, the angle and the distance of the calibration plate are adjusted, the image of the calibration plate is clear and at least occupies 1/2 left and right of the whole image, only the upper surfaces of the aluminum plate 01 and the aluminum block 03 can be seen in the image, other parts such as a power line and the like are not needed to be seen, the calibration plate is photographed, and then the image is binarized, so that the pattern similar to the pattern 3 can be obtained. The coordinates of the black and white grids in the pattern are determined, so that the camera parameters of the thermal imager can be calculated according to a conventional camera calibration method in photogrammetry. The method comprises the following specific steps: firstly, taking pictures of a calibration plate for multiple times according to the method, wherein the pictures generally need more than 20 times, then importing the obtained pictures into a Camera calibration module of matlab, setting the size of the calibration plate to be 100mm, and calibrating a thermal imager to obtain an internal parameter matrix of the thermal imager. The intra-camera parameter matrix plays an important role in generating the point cloud precision of the target in the step 4.
S2, in order to create a stereo pair, two different ways are adopted:
a, dual thermal imaging camera method: the two infrared thermal imagers are oriented at the same distance (generally referred to as the baseline distance, and generally speaking, the distance measurement accuracy is high if the baseline distance is large) from each other, and the fields of view of the two cameras overlap each other by a certain amount, for example, 80%. Reliably fixed on the base to form a whole set of collectors, and then calibrated by using the calibration equipment in S1 to determine the relation parameters of the camera. The method comprises the following specific operations: and (3) using two fixed thermal imagers to shoot the calibration plate for multiple times, generally needing at least 20 groups of photos, namely more than 40 photos, then introducing the photos into a Camera calibration module of matlab to calibrate the internal and external parameters of the binocular Camera, and obtaining a Camera parameter matrix. Then carry on the operation with the collector on unmanned aerial vehicle, perhaps handheld operation. The method has the advantages that the position relation of the two thermal infrared imagers is very stable, the coordinates of the target can be calculated more conveniently, and the calculation result is more accurate. The disadvantage is that the cost is slightly higher and the power consumption and weight will shorten the flight time of the drone.
b, single thermal imaging camera moving method: the method comprises the steps of using only one thermal imaging camera calibrated through S1 to be carried on an unmanned aerial vehicle, using GNSS positioning equipment and inertial navigation equipment, and calculating the relation between a plurality of photos through the position and the posture of the aircraft recorded in flight so as to obtain an infrared stereopair and further calculate the coordinates of a target. This is equivalent to obtaining the external parameter matrix of the camera by using the GNSS and the inertial navigation device to obtain the position and attitude relationship between the cameras when shooting twice. During the flight photography, a sufficient overlap of adjacent photographs, for example 80%, is ensured. Its advantages are low cost, weight and power consumption, and long flying time. However, due to the attitude and position errors of the aircraft, the quality of the stereopair is affected and the accuracy of the measurement results is reduced.
And S3, no matter which mode a or b is used, after a stereopair is obtained, calculating the coordinates of the target so as to obtain the three-dimensional point cloud of the target. The basic principle is as follows:
for an ideal camera, a certain relation exists between the object space coordinate, the image space coordinate and the camera focal length of the target, but the object space coordinate is a three-dimensional coordinate, the image space coordinate is a two-dimensional coordinate, the information amount is lost, the information amount is equivalent to only two equations, but three unknowns are required, and therefore the three-dimensional coordinate of the target cannot be restored by using a single photo. However, if an object exists in two cameras with different positions at the same time, and the position relationship of the two cameras is known (information included in the extrinsic parameter matrix), each camera can obtain two equations, 4 equations are obtained by the two cameras, and there is enough condition to obtain the three-dimensional coordinates of the object. The specific implementation method is various, and the preferred implementation method is PatchMatchStereo algorithm.
Since the actually used camera is not an ideal camera, correction by the intrinsic parameter matrix is required.
After the three-dimensional coordinates of the target are obtained, the distance between the power line and the target below the power line can be further calculated, and whether a danger exists or not can be judged. Meanwhile, the thermal image with the temperature information is obtained, so that whether the temperature of the transmission facility is abnormal or not can be detected and timely processed.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (6)
1. The utility model provides a thermal imaging system imaging parameter calibration board device which characterized in that: the refrigerating device comprises an aluminum plate, wherein the upper surface and the lower surface of the aluminum plate are square, a plurality of square semiconductor refrigerating pieces are fixed on the upper surface of the aluminum plate through heat conducting glue, a trapezoidal aluminum block with square upper and lower surfaces is fixed on the other surface of each semiconductor refrigerating piece through heat conducting glue, the upper surface of the trapezoidal aluminum block is larger than the lower surface of the trapezoidal aluminum block, and the lower surface of the trapezoidal aluminum block is the same as the semiconductor refrigerating pieces in size; the heating surface of the semiconductor refrigerating sheet is pasted with an aluminum plate, and the refrigerating surface is pasted with an aluminum block; the semiconductor refrigerating pieces and the aluminum blocks attached to the semiconductor refrigerating pieces are uniformly distributed and have the same distance to form a chessboard; the lower part of the aluminum plate is punched to lead out a power line of the semiconductor refrigerating piece, the punching position is close to the semiconductor refrigerating piece, and the power line is connected in series and then is connected with a power supply.
2. The thermal imager imaging parameter calibration plate device of claim 1, wherein: the aluminium plate was 500 x 5mm in size and the upper surface was peroxide treated; the square semiconductor refrigerating pieces are 12 semiconductor refrigerating pieces with the thickness of 40mm by 40mm, and the center distance is 100 mm; the upper surface of the trapezoidal aluminum block is 100mm, the lower surface of the trapezoidal aluminum block is 40mm, 40mm and 20mm in height, and the upper surface and the lower surface of the trapezoidal aluminum block are both subjected to oxidation treatment.
3. The thermal imager imaging parameter calibration plate device of claim 1, wherein: the power supply provides 24V voltage for the semiconductor refrigerating pieces which are connected in series, the voltage of each semiconductor refrigerating piece is 2V, the power is about 5W, the total power is about 60W, and the semiconductor refrigerating pieces work in a state of being far smaller than the rated power.
4. The power line safety detection method for the thermal imager imaging parameter calibration plate device according to any one of claims 1 to 3, characterized in that: the method comprises the steps of establishing an infrared image pair by adopting a calibrated infrared thermal imager through multiple times of imaging, reconstructing coordinates of targets by using a photogrammetric method, calculating a coordinate relation between the targets, obtaining the distance of an object below a power line, and realizing safety monitoring; the method specifically comprises the following steps:
step 1, calibrating an infrared thermal imager: electrifying a thermal imager imaging parameter calibration plate device, aligning an infrared thermal imager to be calibrated to a calibration plate, adjusting the angle and distance of the calibration plate to ensure that the image of the calibration plate is clear and at least occupies 1/2 of the whole image, only seeing an aluminum block and the upper surface of the aluminum plate in the image, photographing the calibration plate, and then binarizing the image to obtain a black-white lattice pattern; calculating camera parameters of the thermal imager according to a camera calibration method in photogrammetry;
step 2, establishing a stereopair by adopting a double-thermal imaging camera method or a single-thermal imaging camera moving method;
and 3, after obtaining the stereopair, calculating the coordinates of the target by using a photogrammetry means to obtain the three-dimensional point cloud of the target, calculating the distance between the power line and the object below, and judging whether danger exists.
5. The thermal imager imaging parameter calibration plate device-based power line safety detection method according to claim 4, characterized in that: the dual thermal imaging camera method includes: fixing the distance between the two infrared thermal imaging middle interval baselines on a base to form a collector, then calibrating by using the calibration plate device in the step 1, determining the relation parameters of the camera, and carrying the collector on an unmanned aerial vehicle for operation or handheld operation.
6. The thermal imager imaging parameter calibration plate device-based power line safety detection method as claimed in claim 4, wherein: the single thermal imaging camera moving method includes: and (2) using a thermal imaging camera calibrated in the step (1) to be carried on an unmanned aerial vehicle, and calculating the relation between a plurality of photos according to the position and the posture of the aircraft recorded in flight so as to obtain an infrared stereopair and calculate the coordinates of the target.
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| CN104236718A (en) * | 2014-09-24 | 2014-12-24 | 国家电网公司 | Infrared thermal imager for power patrol and infrared temperature measuring method using infrared thermal imager |
| CN104375375A (en) * | 2014-11-17 | 2015-02-25 | 国家电网公司 | Method and device for calibrating visible light camera and thermal infrared imager camera through checkerboard |
| CN104964747A (en) * | 2015-07-02 | 2015-10-07 | 天津大学 | Infrared camera calibration target |
| CN107884073A (en) * | 2017-10-19 | 2018-04-06 | 中车青岛四方机车车辆股份有限公司 | Gridiron pattern calibration facility |
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| US10876899B2 (en) * | 2017-12-18 | 2020-12-29 | MP High Tech Solutions Pty Ltd | Apparatus and method to adjust sensitivity in measuring electromagnetic radiation using micro mirrors |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104236718A (en) * | 2014-09-24 | 2014-12-24 | 国家电网公司 | Infrared thermal imager for power patrol and infrared temperature measuring method using infrared thermal imager |
| CN104375375A (en) * | 2014-11-17 | 2015-02-25 | 国家电网公司 | Method and device for calibrating visible light camera and thermal infrared imager camera through checkerboard |
| CN104964747A (en) * | 2015-07-02 | 2015-10-07 | 天津大学 | Infrared camera calibration target |
| CN107884073A (en) * | 2017-10-19 | 2018-04-06 | 中车青岛四方机车车辆股份有限公司 | Gridiron pattern calibration facility |
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