CN113670445B - Method for calibrating imaging heterogeneity of thermal infrared imager - Google Patents
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Abstract
The invention relates to the technical field of thermal infrared imager calibration, in particular to a method for calibrating imaging heterogeneity of a thermal infrared imager, which comprises the following steps: (1) Dividing a calibration temperature section according to the dynamic range of the thermal infrared imager; (2) Dividing a calibration area according to the resolution of the thermal infrared imager; (3) Measuring the temperature of the black body furnace in each calibration area of the infrared thermal image in each temperature section; (4) Acquiring a calibration coefficient of each pixel point of the thermal infrared imager in the whole temperature measurement range; (5) calculating the corrected target temperature according to the calibration coefficient; the invention solves the problem of measurement result errors caused by lens distortion and imaging nonuniformity of a photosensitive element when the thermal infrared imager measures temperature in a large view field; specifically, the dynamic range of the thermal infrared imager is segmented and calibrated, so that errors caused by the nonlinear characteristic of the photoelectric conversion device in the thermal infrared imager to the temperature response are reduced, and the temperature measurement precision of the thermal infrared imager is improved.
Description
Technical Field
The invention relates to the technical field of thermal infrared imager calibration, in particular to a method for calibrating imaging heterogeneity of a thermal infrared imager.
Background
A thermal infrared imager is a device that images an object by measuring the infrared radiation emitted by the object. Infrared radiation is an electromagnetic wave with a wavelength longer than visible light. Since any object with a temperature higher than absolute zero (-273.15 ℃), infrared energy is radiated outwards, and according to the planck's radiation law, the temperature of the object can be calculated by knowing the intensity of infrared radiation emitted by the object in a certain wavelength band. Therefore, a lot of information which can not be obtained through visible light can be obtained through the thermal infrared imager, so that the thermal infrared imager has wide application in the fields of military affairs, manufacturing industry, medicine and the like.
In a plurality of application scenes of the thermal infrared imagers, the thermal infrared imagers are mostly used for carrying out non-contact temperature measurement. In a battlefield, some military targets can reduce observability after passing through camouflage and even can be integrated with the surrounding environment, so that the military targets cannot be distinguished by naked eyes. But the target has different infrared characteristics from the surrounding environment, and the target can be easily distinguished from the environment by using the thermal infrared imager. In large industrial scenes such as power plants, substations and the like, abnormalities of some devices may not be discovered by naked eyes for the first time, but temperature changes caused by the abnormalities can be detected by a thermal infrared imager in real time. In addition, there is an increasing demand for body temperature monitoring in places with large human traffic, such as airports and stations, and more infrared thermometers have been developed to achieve both the efficiency of personnel passage and real-time body temperature monitoring.
When the thermal infrared imager is used for measuring temperature, accurate temperature data are obtained, which is a precondition for ensuring safe production activities. However, for the current thermal infrared imager, the distortion of the lens is a common problem. The distortion of the lens mainly comes from the physical performance of the lens and processing and assembling errors, and the distortion of the lens can cause temperature deviation in an image measured by the thermal infrared imager. Taking barrel distortion as an example, the final image will have barrel-expanded distortion. The center position of the imaging picture has almost no distortion, and the temperature measurement result is basically accurate. The further away from the center of the screen, the greater the distortion and hence the more severe the temperature drift. This results in different measurements at various locations on the thermostatic target in the same frame of image. In addition, the thermal infrared imager measures temperature by detecting infrared radiation of a target object, converting the infrared radiation into an electric signal by using an infrared detector sensitive to the infrared radiation, and displaying a temperature image of the target through a series of circuits. For some thermal infrared imagers with larger dynamic ranges, the response of the infrared detector to different temperatures may not be linear. For example, the response is stronger in the high temperature range and weaker in the low temperature range. Furthermore, as the time of use increases, the response characteristics of the detector may change, and the calibration at the time of factory shipment may gradually fail. In view of the problems of the thermal infrared imagers, it is necessary to develop a simple and feasible calibration method for imaging non-uniformity of the thermal infrared imagers.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a method for calibrating imaging nonuniformity of a thermal infrared imager.
In order to achieve the above object, the present invention provides a method for calibrating imaging non-uniformity of a thermal infrared imager, comprising the following steps:
(1) Dividing a calibration temperature section according to the dynamic range of the thermal infrared imager;
(2) Dividing a calibration area according to the resolution of the thermal infrared imager;
(3) Measuring the temperature of the black body furnace in each calibration area of the infrared thermal image in each temperature section;
(4) Acquiring a calibration coefficient of each pixel point of the thermal infrared imager in the whole temperature measurement range;
(5) And calculating the corrected target temperature according to the calibration coefficient.
In a further technical scheme, in the step (1), the dynamic range of the thermal infrared imager is uniformly divided into continuous calibration temperature sections according to a certain gradient, and the highest temperature and the lowest temperature of each single calibration temperature section are respectively T max And T min 。
In a further technical scheme, the step (2) specifically comprises the following steps:
(2.1) dividing the thermal image of the thermal infrared imager into mutually connected calibration areas in a grid shape according to the resolution of the thermal infrared imager detector;
(2.2) setting the calibration area at the upper left corner as a square No. 1, numbering the rest calibration areas in sequence from left to right and from top to bottom, namely numbering from left to right, and continuing numbering from left to right from the next line after the line is numbered.
In a further technical scheme, the step (3) specifically comprises the following steps:
(3.1) mounting the thermal infrared imager on a base, wherein the base is mounted on a horizontal sliding rail, and the horizontal sliding rail can integrally move on a sliding rail in the vertical direction; therefore, the thermal infrared imager can move in the horizontal and vertical directions, and meanwhile, the distance between the thermal infrared imager and the black body furnace in the direction vertical to the focal plane of the camera can be ensured not to change;
(3.2) selecting the temperature section to be calibrated and determining good T max And T min Is selected from twoIndividual temperature value T 1 And T 2 To satisfy T min ＜T 1 ＜T 2 ＜T max Setting the temperature of the black body furnace to T 1 ；
(3.3) adjusting the horizontal and vertical positions of the thermal infrared imager without changing the position of the black body furnace, adjusting the position of the black body furnace in a preview picture of the thermal infrared imager to be a No. 1 square, and completely filling the No. 1 square;
(3.4) recording the thermal image of the thermal infrared imager, reading the temperature value of each pixel point of the No. 1 square in the thermal image, and acquiring a two-dimensional temperature data matrix of the No. 1 square 1 T m1 And has:
wherein the left subscript 1 of each item represents square No. 1 of the thermal image obtained by the measurement;
1 T m1 (i, j) represents the measured value corresponding to the pixel point of the ith row and the jth column in the No. 1 square;
T 1 (i, j) represents the temperature value of the measured object, namely the blackbody furnace, corresponding to the pixel point of the ith row and jth column in the block No. 1 of the thermal image obtained by measurement, and has T 1 (i,j)＝T 1 ；
(3.5) moving the position of the thermal infrared imager through a horizontal sliding rail, adjusting the position of the black body furnace in a preview picture of the thermal infrared imager to be in the No. 2 square block, and completely covering the No. 2 square block;
(3.6) recording of InfraredReading the temperature value of each pixel point of No. 2 square in the thermal image of the thermal imager to obtain a No. 2 square two-dimensional temperature data matrix 2 T m1 And has:
wherein the left subscript 2 of each item represents square No. 2 of the thermal image obtained by the measurement;
2 T m1 (i, j) represents the measured value corresponding to the pixel point in the ith row and the jth column in the No. 2 square;
T 1 (i, j) represents the temperature value of the measured object, namely the blackbody furnace, corresponding to the pixel point in the ith row and jth column in the square of No. 2 of the thermal image obtained by measurement, and has T 1 (i,j)＝T 1 ；
(3.7) moving the position of the thermal infrared imager through a horizontal sliding rail and a vertical sliding rail, sequentially adjusting the position of the black body furnace in the preview picture of the thermal infrared imager into the rest blocks, completely covering each square block, recording a thermal image, and sequentially obtaining a relational expression between a two-dimensional temperature data matrix of each square block and the temperature of the black body furnace;
(3.8) setting the Black body furnace temperature to T 2 Moving the thermal infrared imager, adjusting the position of the black body furnace in the preview picture of the thermal infrared imager to be a No. 1 square, and completely filling the No. 1 square;
(3.9) recording the thermal image of the thermal infrared imager, reading the temperature value of each pixel point of the No. 1 square in the thermal image, and acquiring the No. 1 square IIDimensional temperature data matrix 1 T m2 And has the following:
wherein the left subscript 1 of each item represents square No. 1 of the thermal image obtained by the measurement;
1 T m2 (i, j) represents the measured value corresponding to the pixel point in the ith row and jth column in the square No. 1;
T 2 (i, j) represents the temperature value of the measured object, namely the blackbody furnace, corresponding to the pixel point in the ith row and jth column in the square with the thermal image number 1 obtained by measurement, and has T 2 (i,j)＝T 2 ；
and (3.10) moving the thermal infrared imagers through the horizontal sliding rail and the vertical sliding rail, respectively adjusting the positions of the black body furnace in the preview picture of the thermal infrared imager into the rest blocks in sequence, completely covering each block, repeating the step (3.9), recording the thermal images, and sequentially obtaining the relational expression between the two-dimensional temperature data matrix of each block and the temperature of the black body furnace.
In a further technical scheme, the step (4) specifically comprises the following steps:
(4.1) for block number 1 in step (2.2), the following equation set:
attenuation coefficient matrix of block 1
And a matrix of drift coefficients
This can be obtained by the following equations (6) and (7):
(4.2) sequentially calculating the temperature sections T of all squares according to the method in (4.1) min ～T max Attenuation coefficient matrix of
And a matrix of drift coefficients
In a further embodiment, in step (5), for the point with coordinate (x, y) in the n-th square, the measured value in the thermal image is T measure If the measured target true temperature corresponding to the point is T, the calculation formula is shown as the formula (8):
compared with the prior art, the invention solves the problem of measurement result errors caused by lens distortion and imaging nonuniformity of the photosensitive element when the thermal infrared imager measures temperature in a large view field; specifically, the dynamic range of the thermal infrared imager is segmented and calibrated, so that errors caused by the nonlinear characteristic of the temperature response of a photoelectric conversion device in the thermal infrared imager are reduced, and the temperature measurement precision of the thermal infrared imager is improved.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
FIG. 1 is a schematic view of a two-dimensional sliding platform for fixing a thermal infrared imager and driving the thermal infrared imager to move in horizontal and vertical directions according to the present invention;
FIG. 2 is a schematic diagram of a thermal image division calibration block of a thermal infrared imager in the present invention;
FIG. 3 is a schematic diagram showing a calibration area and a black body furnace position in a thermal image of a thermal infrared imager according to the present invention;
FIG. 4 is a schematic view of a black-body furnace completely covering an AR01 square in a preview picture of a thermal infrared imager in embodiment 1 of the present invention;
FIG. 5 is a schematic diagram of a black body furnace completely covering an AR02 square in a preview picture of a thermal infrared imager in embodiment 1 of the present invention;
the numbering in the figures illustrates: 1-base, 2-horizontal slide rail, 3-vertical slide rail.
Detailed Description
The present invention will be further described with reference to the following embodiments in order to make the technical means, the technical features, the technical purposes and the functions of the present invention easy to understand.
Example 1
The embodiment provides a method for calibrating imaging heterogeneity of a thermal infrared imager, which specifically comprises the following steps:
s1: the thermal infrared imager model that this embodiment used is FLIR A40M, and as shown in fig. 1, install the thermal infrared imager on a base 1, the motor rotation of industrial computer control base below for the base can remove about on horizontal slide rail 2, and the industrial computer can also control horizontal slide rail and the whole reciprocating motion of base through the motor control in the vertical slide rail 3 simultaneously. The thermal infrared imager is connected with the industrial personal computer through a data line, and the emissivity is set to be 1 in control software of the industrial personal computer.
S2: and (3) enabling a lens of the thermal infrared imager to be over against the black body furnace, wherein the distance between the lens of the thermal infrared imager and the black body furnace is 50cm. In the experimental process, the positions of the tripod and the blackbody furnace are fixed and unchanged, and the room temperature is kept at 20 ℃.
S3: according to the temperature measuring range of the FLIR A40M thermal infrared imager and the performance parameters of the black body furnace, the calibration temperature section is divided into 0-100 ℃, 100-200 ℃, 200-300 ℃, 300-400 ℃ and 400-500 ℃.
S4: the resolution of the FLIR a40M infrared thermal imager was 320 × 240. As shown in fig. 4, the preview screen of the thermal imager is opened in the thermal infrared imager control software, and the preview screen is divided into 12 80 × 80 rectangular blocks by using a rectangular marking tool carried by the software. Numbering starts from the upper left square, and is AR01, AR2,. Cndot.. AR 12.
S5: firstly, the temperature section of 0-100 ℃ is calibrated. When the temperature of the black body furnace is set to T 1 And =40 ℃, continuing to wait for 20 minutes after the reading of the black body furnace reaches the set value so as to stabilize the temperature of the black body furnace.
S6: the position of the thermal infrared imager is adjusted through the two-dimensional slide rail, so that the black body furnace completely covers the square No. AR01 in the preview picture of the thermal infrared imager, as shown in FIG. 4.
S7: and recording the image measured by the current thermal infrared imager. Two-dimensional temperature data matrix of block No. 1 obtained by reading thermal image 1 T m1 。 1 T m1 As follows:
s8: and adjusting the position of the thermal infrared imager on the two-dimensional slide rail to enable the black body furnace to completely cover the square of the number AR02 in the preview picture of the thermal infrared imager, as shown in FIG. 5.
S9: recording the image measured by the current thermal infrared imager, and reading the thermal image to obtain a two-dimensional temperature data matrix of an AR02 number square 2 T m1 。 2 T m1 As follows:
s10: sequentially moving the thermal infrared imagers through two-dimensional slide rails, enabling the black-body furnace to completely cover each square in a preview picture of the thermal infrared imagers, recording thermal images, reading the measured values of all pixel points in each square and storing the measured values as temperature matrixes 3 T m1 、 4 T m1 、··· 12 T m1 。
S11: setting the temperature of the black body furnace to T 2 =80 ℃, and the blackbody furnace temperature is stabilized by continuously waiting for 20 minutes after the blackbody furnace reading reaches the set value.
S12: and adjusting the position of the thermal infrared imager through a two-dimensional sliding rail, so that the black body furnace completely covers the square No. AR01 in the preview picture of the thermal infrared imager.
S13: and recording the image measured by the current thermal infrared imager. Obtaining two-dimensional temperature data matrix of AR01 square block by reading thermal image 1 T m2 。 1 T m2 As follows:
s14: and adjusting the position of the thermal infrared imager through a two-dimensional sliding rail, so that the black body furnace completely covers the square of the number AR02 in a preview picture of the thermal infrared imager.
S15: and recording the image measured by the current thermal infrared imager. Obtaining two-dimensional temperature data matrix of AR02 number square block by reading thermal image 2 T m2 。 2 T m2 As follows:
s16: sequentially moving the thermal infrared imagers through two-dimensional slide rails, enabling the black body furnace to completely cover each square in a preview picture of the thermal infrared imagers, recording thermal images, and reading the inside of each squareThe measured values of all the pixel points are respectively stored as a temperature matrix 3 T m2 、 4 T m2 、··· 12 T m2 。
S17: for AR01 square within 0-100 ℃, as the temperature T of the blackbody furnace 1 Measured temperature matrix of 40 =40 ℃ 1 T m1 (ii) a When black body furnace temperature T 2 At =80 ℃, the measured temperature matrix is 1 T m2 And has:
1 T m1 (i,j)＝ 1 K 0～100 (i,j)T 1 + 1 B 0～100 (i,j) (9)
1 T m2 (i,j)＝ 1 K 0～100 (i,j)T 2 + 1 B 0～100 (i,j) (10)
wherein (i, j) is the coordinate of each pixel point in the square of AR01, i is more than or equal to 0, and j is less than or equal to 80. Calculating the attenuation coefficient matrix of the AR01 square block within 0-100 ℃ by the combined type (9) and (10) 1 K 0～100 And a matrix of drift coefficients 1 B 0～100 。
Attenuation coefficient matrix 1 K 0～100 As follows:
matrix of drift coefficients 1 B 0～100 As follows:
s18: repeating the step S17, and respectively calculating attenuation coefficient matrixes of 12 squares within 0-100 DEG C n K 0～100 And a matrix of drift coefficients n B 0～100 . Therefore, the calibration of imaging heterogeneity of the thermal infrared imager within 0-100 ℃ is already finished.
S19: changing the temperature of the black body furnace, calibrating the thermal infrared imager at the target temperature sections of 100-200 ℃, 200-300 ℃, 300-400 ℃ and 400-500 ℃ according to the method of the steps S5-S18, and respectively calculating the attenuation coefficient matrix and the drift coefficient matrix of each square block in each temperature section.
S20: when the calibrated thermal infrared imager is used for measuring the temperature, for a point with the coordinate (x, y) in the nth block of the thermal image, the measured value of the point in the thermal image is T measure And (4) calculating the real temperature T of the measured target corresponding to the point by using the formula (8).
The foregoing shows and describes the general principles, essential features, and inventive features of this invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, and such changes and modifications are within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. A calibration method for imaging heterogeneity of a thermal infrared imager is characterized by comprising the following steps:
(1) Dividing a calibration temperature section according to the dynamic range of the thermal infrared imager;
(2) Dividing a calibration area according to the resolution of the thermal infrared imager;
(3) Measuring the temperature of the black body furnace in each calibration area of the infrared thermal image in each temperature section;
(4) Acquiring a calibration coefficient of each pixel point of the thermal infrared imager in the whole temperature measurement range;
(5) Calculating the corrected target temperature according to the calibration coefficient;
the step (3) specifically comprises the following steps:
(3.1) mounting the thermal infrared imager on a base, wherein the base is mounted on a horizontal sliding rail, and the horizontal sliding rail can integrally move on a sliding rail in the vertical direction;
(3.2) selecting the temperature section needing to be calibrated, and determining good T max And T min Two temperature values T are selected 1 And T 2 To satisfy T min ＜T 1 ＜T 2 ＜T max Setting the temperature of the black body furnace to T 1 ；
(3.3) adjusting the horizontal and vertical positions of the thermal infrared imager without changing the position of the black body furnace, adjusting the position of the black body furnace in a preview picture of the thermal infrared imager to be a No. 1 square, and completely filling the No. 1 square;
(3.4) recording the thermal image of the thermal infrared imager, reading the temperature value of each pixel point of the No. 1 square in the thermal image, and acquiring a two-dimensional temperature data matrix of the No. 1 square 1 T m1 And has the following:
wherein the left subscript 1 of each item represents square No. 1 of the measured thermal image;
1 T m1 (i, j) indicates that the furnace temperature is set to T at the blackbody furnace temperature 1 Measuring values corresponding to pixel points of the ith row and the jth column in the No. 1 square;
T 1 (i, j) indicates that the furnace temperature is set at T in the black body 1 Measuring the temperature value of the measured target, namely the blackbody furnace, corresponding to the pixel point of the ith row and the jth column in the No. 1 square of the obtained thermal image, wherein the temperature value has T 1 (i,j)＝T 1 ；
(3.5) moving the position of the thermal infrared imager through a horizontal sliding rail, adjusting the position of the black body furnace in a preview picture of the thermal infrared imager to be in the No. 2 square block, and completely covering the No. 2 square block;
(3.6) recording the thermal image of the thermal infrared imager, reading the temperature value of each pixel point of the No. 2 square in the thermal image, and acquiring a No. 2 square two-dimensional temperature data matrix 2 T m1 And has the following:
wherein the left subscript 2 of each item represents square No. 2 of the thermal image obtained by the measurement;
2 T m1 (i, j) represents the measured value corresponding to the pixel point in the ith row and the jth column in the No. 2 square;
T 1 (i, j) represents the temperature value of the measured object, namely the blackbody furnace, corresponding to the pixel point in the ith row and jth column in the square of No. 2 of the thermal image obtained by measurement, and has T 1 (i,j)＝T 1 ；
(3.7) moving the position of the thermal infrared imager through the horizontal and vertical sliding rails, sequentially adjusting the position of the black body furnace in the preview picture of the thermal infrared imager to the rest blocks, completely covering each block, recording thermal images, and sequentially obtaining a relational expression between a two-dimensional temperature data matrix of each block and the temperature of the black body furnace;
(3.8) setting the Black body furnace temperature to T 2 Moving the thermal infrared imager, adjusting the position of the black body furnace in the preview picture of the thermal infrared imager to be a No. 1 square, and completely filling the No. 1 square;
(3.9) recording the thermal image of the thermal infrared imager, reading the temperature value of each pixel point of the No. 1 square in the thermal image, and acquiring a two-dimensional temperature data matrix of the No. 1 square 1 T m2 And has:
wherein the left subscript 1 of each item represents square No. 1 of the measured thermal image;
1 T m2 (i, j) indicates that the furnace temperature is set at T in the black body 2 Measuring values corresponding to pixel points of ith row and jth column in No. 1 square;
T 2 (i, j) indicates that the furnace temperature is set at T in the black body 2 Measuring the temperature value of the measured target, namely the blackbody furnace, corresponding to the pixel point of the ith row and the jth column in the No. 1 square of the obtained thermal image, wherein the temperature value has T 2 (i,j)＝T 2 ；
and (3.10) moving the thermal infrared imagers through horizontal and vertical sliding rails, respectively and sequentially adjusting the positions of the black body furnaces in the preview pictures of the thermal infrared imagers into the rest squares, completely covering each square, repeating the step (3.9), recording the thermal images, and sequentially obtaining the relational expression between the two-dimensional temperature data matrix of each square and the temperature of the black body furnaces.
2. The method as claimed in claim 1, wherein in step (1), the dynamic range of the thermal infrared imager is divided into continuous calibration temperature sections according to a gradient, and the highest temperature and the lowest temperature of each calibration temperature section are T max And T min 。
3. The method according to claim 1, wherein step (2) comprises in particular the steps of:
(2.1) dividing the thermal image of the thermal infrared imager into mutually connected calibration areas in a grid shape according to the resolution of the thermal infrared imager detector;
(2.2) setting the calibration area at the upper left corner as a No. 1 square, and numbering the rest calibration areas in sequence from left to right and from top to bottom.
4. The method according to claim 1, characterized in that step (4) comprises in particular the steps of:
(4.1) for block number 1 in step (2.2), the following equation set:
attenuation coefficient matrix of block 1
And a matrix of drift coefficients
This can be obtained by the following equations (6) and (7):
(4.2) sequentially calculating the temperature sections T of all squares according to the method in (4.1) min ～T max Attenuation coefficient matrix of
And a matrix of drift coefficients
5. The method of claim 1, wherein in step (5), the thermal image has a measurement T for the point with coordinate (x, y) in block n measure If the measured target true temperature corresponding to the point is T, the calculation formula is shown as the formula (8):
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| CN109060140A (en) * | 2018-07-19 | 2018-12-21 | 中国科学院西安光学精密机械研究所 | Infrared Image Non-uniformity Correction method based on multi-point calibration and fitting |
| CN109540297A (en) * | 2018-10-23 | 2019-03-29 | 昆山优尼电能运动科技有限公司 | Thermal infrared imager scaling method based on FPA temperature |
| CN109813440A (en) * | 2019-03-12 | 2019-05-28 | 烟台艾睿光电科技有限公司 | A kind of thermal infrared imager caliberating device, thermometric scaling method |
| CN110095192A (en) * | 2019-04-26 | 2019-08-06 | 南京理工大学 | A kind of thermal infrared imager comprehensive performance parameter test macro and its method |
| CN113175998A (en) * | 2021-03-26 | 2021-07-27 | 合肥工业大学 | Metal material surface temperature measurement method based on colorimetric temperature measurement |
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