CN114112972A - Closed space SF6Gas leakage infrared remote measuring device and imaging positioning method thereof - Google Patents
Closed space SF6Gas leakage infrared remote measuring device and imaging positioning method thereof Download PDFInfo
- Publication number
- CN114112972A CN114112972A CN202111463100.4A CN202111463100A CN114112972A CN 114112972 A CN114112972 A CN 114112972A CN 202111463100 A CN202111463100 A CN 202111463100A CN 114112972 A CN114112972 A CN 114112972A
- Authority
- CN
- China
- Prior art keywords
- gas
- infrared
- image
- night vision
- focal plane
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000003384 imaging method Methods 0.000 title claims abstract description 25
- 229910018503 SF6 Inorganic materials 0.000 claims abstract description 127
- 230000004297 night vision Effects 0.000 claims abstract description 41
- 238000012545 processing Methods 0.000 claims abstract description 30
- 238000012937 correction Methods 0.000 claims abstract description 12
- 230000003287 optical effect Effects 0.000 claims abstract description 9
- SFZCNBIFKDRMGX-UHFFFAOYSA-N sulfur hexafluoride Chemical compound FS(F)(F)(F)(F)F SFZCNBIFKDRMGX-UHFFFAOYSA-N 0.000 claims abstract description 9
- 229960000909 sulfur hexafluoride Drugs 0.000 claims abstract description 9
- 238000007689 inspection Methods 0.000 claims abstract description 7
- 238000004364 calculation method Methods 0.000 claims description 8
- 230000011218 segmentation Effects 0.000 claims description 6
- 238000003709 image segmentation Methods 0.000 claims description 4
- 230000004807 localization Effects 0.000 claims description 4
- 230000005856 abnormality Effects 0.000 claims description 3
- 238000011049 filling Methods 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 238000009499 grossing Methods 0.000 claims description 3
- 238000013507 mapping Methods 0.000 claims description 3
- 238000009432 framing Methods 0.000 claims description 2
- 238000002156 mixing Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 abstract description 17
- 238000012544 monitoring process Methods 0.000 abstract description 7
- 230000006870 function Effects 0.000 abstract description 2
- 239000007789 gas Substances 0.000 description 134
- 238000005516 engineering process Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 238000001228 spectrum Methods 0.000 description 4
- 238000002329 infrared spectrum Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 239000000779 smoke Substances 0.000 description 2
- 206010003497 Asphyxia Diseases 0.000 description 1
- 238000012935 Averaging Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000004438 eyesight Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003331 infrared imaging Methods 0.000 description 1
- 230000002401 inhibitory effect Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 238000004451 qualitative analysis Methods 0.000 description 1
- 238000004445 quantitative analysis Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000010183 spectrum analysis Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 231100000331 toxic Toxicity 0.000 description 1
- 230000002588 toxic effect Effects 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
- G01N21/31—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
- G01N21/35—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light
- G01N21/3504—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light for analysing gases, e.g. multi-gas analysis
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
- G01M3/04—Investigating fluid-tightness of structures by using fluid or vacuum by detecting the presence of fluid at the leakage point
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
- G01N21/31—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
- G01N21/35—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light
- G01N2021/3595—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light using FTIR
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Spectroscopy & Molecular Physics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Examining Or Testing Airtightness (AREA)
- Studio Devices (AREA)
Abstract
Closed space SF6An infrared telemetering device for gas leakage and an imaging positioning method thereof belong to a closed space SF6The technical field of leakage detection, which solves the problems of low cost performance and difficult quick positioning of leakage points of the existing device; the night vision camera is arranged on the coaxial registration bracket and is connected with the signal processing industrial personal computer; the infrared focal plane detector and the night vision camera are arranged in parallel with the central axis of the night vision camera at equal height, are respectively connected with the power control panel and the signal processing industrial personal computer, and the lens is sequentially provided with an infrared window sheet, an infrared lens, an SF (sulfur hexafluoride) lens and an industrial personal computer from left to right along the central axis6The multi-element correction optical filter is connected with the signal processing industrial personal computer and the power control panel; power control board and SF6The multiple correction optical filters are connected, so that the device has high cost performance; imaging and displaying the leaked gas, and recording SF6Gas telemetry field of view spatial coordinates and SF6Cloud alarm image dataAnd the three-dimensional space coordinate of the leakage point is calculated by using binocular three-dimensional positioning reconstruction, so that the functions of large-range and high-precision routing inspection monitoring and leakage imaging positioning are realized.
Description
Technical Field
The invention belongs to a closed space SF6The technical field of leakage detection, and relates to a closed space SF6A gas leakage infrared remote measuring device and an imaging positioning method thereof.
Background
The closed space of the power industry mainly comprises a power transmission pipe gallery, an underground transformer substation, an indoor transformer substation and the like. The closed scenes have small occupied area and strong environment adaptability, and are widely applied to areas with dense urban personnel and buildings, complex geographic environment and the like. According to statistics, until the current state network company transports 8000 more indoor transformer substations and 50 residual underground transformer substations, a comprehensive pipe gallery project represented by sutong GIL (Gas Insulated Line) is also emerging and developed in various places. Using SF6The (sulfur Hexafluoride) gas insulated electrical equipment has the characteristics of compact structure, small size, electromagnetic environment friendliness, high safety and the like, and is widely applied to electric power closed spaces, wherein only SF in Soviet GIL6The amount of gas used is as high as 800 tons. SF6The gas is used as an insulating and arc extinguishing medium in the equipment, once a large amount of gas leaks, the insulating property of the equipment is reduced, and the operation fault of the equipment is caused; and SF6The greenhouse effect of the gas is CO2More than 23900 times, can exist in the air for 3200 years, and is one of six gases, SF, prohibited from being discharged by Kyoto protocol of climate Change framework convention of United nations6Has a density 5 times that of air, and is suitable for gathering in low-lying space, and has pure SF6Gas with asphyxiation, SF after operation6The gas may contain highly toxic decomposition products, so that if a large amount of SF occurs in the enclosed space6Gas leakage easily causes gathering casualties and brings serious social influence.
At present, the technical scheme of distributed sensors is adopted for monitoring sulfur hexafluoride gas leakage in closed spaces at home and abroad, the sensors are arranged at different positions of the closed spaces, and the sensors can respond when the leaked gas is diffused to sensor sites and is gathered to a certain concentration. Therefore, the method depends heavily on gas diffusion speed and concentration, and has the problems of delayed monitoring data, low sensitivity, inaccurate positioning and the like. In addition, the sensor is easy to age and lose efficacy, and the service life is short. In 2016, indoor SF of national grid Anhui Power saving Limited6The special work of the general investigation of the performance of the leakage alarm device shows that the qualification rate of the leakage monitoring sensor installed in the indoor substation is less than 30 percent. Therefore, there is a great need to study SF6Novel gas leakage monitoring technology, and development of novel closed space SF6Gas leakage intelligent monitoring system for realizing SF6Early warning of leakage and accurate positioning.
In the prior art, the publication 2015 entitled "locating and detecting SF by using laser imaging technology6When equipment gas leakage (field courage, northeast power technology, 2005) is detected, the laser imaging leak detector emits infrared laser to equipment to be detected, and scans the equipment. If no leakage exists, the reflected infrared energy is unchanged, and if leakage exists, the reflected infrared energy is reduced, and a video image shot by the instrument shows a shadow similar to smoke. SF6The greater the gas concentration, the more laser energy absorbed, the more pronounced the smoke shadow, and these criteria determine whether there is a gas leak, a leak point, a direction of movement of the leaking gas, and a leak rate. The detection methodThe detection time is short, visual electrified detection can be realized, but the influence of external air flow rate and humidity is easy to realize, and the detection stability is poor.
Existing SF6The gas leakage infrared spectrum detection device utilizes the structure light splitting of an interferometer and uses the Fourier transform technology to obtain target spectrum information, then a spectrum identification database is established, and target spectrum characteristics are extracted to complete target qualitative and quantitative analysis. SF for power scenario6The single gas leakage detection application and the Fourier infrared spectrum technology have the following defects: 1) because of adopting the light splitting structure of the interferometer, the equipment has large volume and high cost; 2) the device can effectively detect the gas species reaching thousands of species and more, and is only used for SF6Gas detection, cost performance is low; therefore, it is urgently needed to design a closed space SF with simple structure and high cost performance6Gas leak infrared telemetry.
The most advanced field detection means at present is a remote, non-contact and spectrum technology represented by Fourier infrared spectrum remote measurement, the precision and the detection sensitivity are improved by utilizing spectrum analysis, a passive remote measurement mode is favorable for realizing large-range autonomous inspection of a scene, and the SF of an electric power scene is greatly met6Leakage detection practical requirements, but how to implement SF6The rapid location of gas leakage points remains an industry challenge.
Disclosure of Invention
The invention aims to design a closed space SF6A gas leakage infrared telemetering device and an imaging positioning method thereof are provided to solve the problems of large volume, high cost, low cost performance and SF (sulfur hexafluoride) in a closed space of the existing device6The industrial problem that the gas leakage point is difficult to quickly position.
The invention solves the technical problems through the following technical scheme:
closed space SF6A gas leak infrared telemetry device comprising: the device comprises a coaxial registration bracket (1), a night vision camera (2), an infrared focal plane detector (3), a signal processing industrial personal computer (4), a power control panel (5) and SF6The multi-element correction filter (6), the infrared lens (7) and the infrared window piece (8); the night vision camera (2) is fixedly arranged on the coaxial registrationThe night vision camera (2) is connected with the signal processing industrial personal computer (4) through a data line on the bracket (1); the central axis of the infrared focal plane detector (3) and the central axis of the night vision camera (2) are arranged in parallel and the same height, and the lens of the infrared focal plane detector (3) is provided with an infrared window sheet (8), an infrared lens (7) and an SF (sulfur hexafluoride) lens from left to right along the central axis in sequence6A multivariate calibration filter (6); the infrared focal plane detector (3) is connected with a power supply control panel (5) through a power line and is connected with a signal processing industrial personal computer (4) through a data line; the signal processing industrial personal computer (4) is connected with the power control panel (5) through a power line and a data line; power control board (5) and SF6The multivariate calibration filters (6) are connected with each other through power lines and data lines;
the registration method of the infrared telemetering device comprises the following steps:
s1, scaling an image scaling factor: taking a checkerboard target board as a background, respectively acquiring checkerboard images by a night vision camera (2) and an infrared focal plane detector (3), framing a certain checkerboard, calculating the total number of pixels of two images in the checkerboard, and respectively recording the total number as NPvisibleAnd NPinfraredCalculating the zoom factor Q of the infrared image as NPvisible/NPinfraredAfter obtaining the zoom factor, zooming the whole infrared image according to Q;
s2, coaxial adjustment and registration: selecting the sun as an infinite alignment target, moving the whole coaxial registration structure, firstly adjusting the view field middle axis of the infrared focal plane detector (3) to align with the sun, then adjusting the view field middle axis of the night vision camera (2) to align with the sun, and when the view field middle axes of the night vision camera (2) and the infrared focal plane detector (3) are aligned with the infinite target, considering that the view fields of the night vision camera (2) and the infrared focal plane detector (3) are coaxial; because the night vision camera (2) and the infrared focal plane detector (3) have a distance d between the optical axes, the pixels are translated to enable target graphs on the images of the night vision camera and the infrared focal plane detector to be superposed, and the coaxial registration of the field of view is completed.
Adopt airtight space SF6The imaging positioning method of the gas leakage infrared telemetering device comprises the following steps:
S11、SF6and (3) gas leakage distribution imaging display processing: by night vision camera(2) Acquiring a scene image of the closed space, and taking the scene image as SF6A background map of gas leak distribution; will be identified as SF6The pixels of the gas are synthesized into SF according to a quantitative concentration interval6A gas concentration distribution pseudo-color image; registering the mapping relation of the SF according to the coaxial pixels of the field of view6The gas concentration distribution pseudo-color image is fused with the background image to form SF6A gas leakage profile;
s12, detecting SF6Gas leak alarm first and second spatial coordinates: mixing SF6The gas leakage infrared remote measuring device is carried on the inspection robot and moves forward according to a set route when SF6SF discovery by infrared telemetry of gas leaks6After gas leakage and alarm, check SF6Display position of gas cloud on image if SF6Recording the current SF when the gas cloud cluster is positioned at the set position in the image6The space coordinate of the gas leakage infrared remote measuring device, otherwise, the gas leakage infrared remote measuring device continues to advance until the coordinate recording condition is met; SF6The gas leak infrared telemetry device continues to advance until the same location SF is again found6Gas leakage and SF6Recording the current SF when the gas cloud cluster is positioned at the position symmetrical to the set position in the image6The space coordinate of the gas leakage infrared remote measuring device, otherwise, the gas leakage infrared remote measuring device continues to advance until the coordinate recording condition is met;
s13, positioning and reconstructing: using successively recorded SF6Spatial coordinates and SF for gas leak infrared telemetry devices6Calculating SF by using binocular three-dimensional positioning reconstruction method for gas cloud cluster alarm image data6And the three-dimensional space coordinates of the gas leakage points are stored.
As a further improvement of the technical scheme of the invention, the identification is SF6The method of the gas pixel comprises the following steps:
s111, acquiring leaked SF (sulfur hexafluoride) by adopting infrared focal plane detector (3)6Gas multivariate calibration score chart;
s112, utilizing an average filling method of surrounding image elements to treat SF caused by damage or signal abnormality of partial image elements of the infrared focal plane detector (3)6Correcting bad pixels in the gas multivariate calibration score map;
s113, for SF6Performing smoothing filtering on the gas multivariate calibration score map, and aiming at the background region and SF6Calculating the average central intensity of the gas area so as to facilitate image segmentation;
s114, for SF6Dividing the gas multivariate calibration score chart to obtain a background area and SF6A gas region;
s115, to SF6Performing signal-to-noise ratio enhancement on the gas multivariate calibration score chart to obtain SF6The gas multivariate calibration score map is converted into a signal-to-noise ratio image,
s116, gradient calculation is carried out on the signal-to-noise ratio image, and edge pixels are removed;
s117, for the divided background area and SF6Local threshold segmentation is carried out on the gas area;
s118, according to the local threshold segmentation result, taking the set of the pixel points larger than the threshold as SF6Gas zone, completion of SF6And (4) identifying the gas.
The invention has the advantages that:
(1) closed space SF of the invention6Gas leakage infrared telemetering device using low-cost, SF6The multi-element correction optical filter special for gas is used for light splitting and data processing, so that the equipment cost is reduced, the equipment volume is reduced, the data processing is quick, and the SF is realized by matching with the infrared imaging focal plane detector, the coaxial night vision camera and the rotary scanning platform6Gas leakage real-time imaging positioning; compared with the prior art, the device has the advantages of reducing the volume, the weight and the cost, and improving the SF6And (3) detecting the cost performance of gas leakage.
(2) The technical scheme of the invention firstly leaks invisible SF6Gas imaging display processing, rerecorded SF6Gas telemeter space coordinates and SF6Cloud cluster alarm image data, and SF is calculated by utilizing binocular three-dimensional positioning reconstruction method6The three-dimensional space coordinate of the gas leakage point is combined with the inspection robot, so that the large range can be realizedThe high-precision routing inspection monitoring and leakage imaging positioning functions fill up the technical blank in the field, and provide accurate coordinates for the next recovery processing.
Drawings
FIG. 1 shows an embodiment of the present invention of a sealed space SF6A configuration of the gas leak infrared telemetry device;
FIG. 2 shows an enclosed space SF according to an embodiment of the present invention6An image scaling factor calibration schematic diagram of the gas leakage infrared telemetering device;
FIG. 3 shows an enclosed space SF according to an embodiment of the present invention6A coaxial adjustment registration schematic diagram of the gas leakage infrared telemetry device;
FIG. 4 shows an embodiment of the present invention for a sealed space SF6The detection principle schematic diagram of the gas leakage infrared remote measuring device;
FIG. 5 is a flow chart of an imaging localization method of an embodiment of the present invention;
FIG. 6 is an SF of an embodiment of the present invention6A gas distribution imaging display;
FIG. 7 is an identification of an embodiment of the present invention as SF6A method flow diagram of a pixel of gas;
FIG. 8 is an SF of an embodiment of the present invention6A gas multivariate calibration score chart identification result chart;
FIG. 9 is an SF of an embodiment of the present invention6A schematic diagram of a gas leakage binocular three-dimensional positioning reconstruction method.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all 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.
The technical scheme of the invention is further described by combining the drawings and the specific embodiments in the specification:
example one
As shown in fig. 1, a closed space SF6A gas leak infrared telemetry device comprising: coaxial registering bracket 1, night vision camera 2, infrared focal plane detector 3, signal processing industrial personal computer 4, power control board 5, SF6The multi-element correction optical filter 6, the infrared lens 7 and the infrared window piece 8; the night vision camera 2 is fixedly arranged on the coaxial registration bracket 1, and the night vision camera 2 is connected with the signal processing industrial personal computer 4 through a data line; the infrared focal plane detector 3 and the night vision camera 2 are arranged in parallel with each other at equal height, and the lens of the infrared focal plane detector 3 is provided with an infrared window sheet 8, an infrared lens 7 and SF in sequence from left to right along the central axis6A multivariate calibration filter 6; the infrared focal plane detector 3 is connected with a power supply control panel 5 through a power line and is connected with a signal processing industrial personal computer 4 through a data line; the signal processing industrial personal computer 4 is connected with the power control panel 5 through a power line and a data line; power control board 5 and SF6The multivariate calibration filters 6 are connected through power lines and data lines.
The closed space SF6The registering method of the gas leakage infrared telemetering device comprises the following steps:
a. image scaling factor calibration
Because the single-pixel field angles of the night vision camera 2 and the infrared focal plane detector 3 are different, image scaling factors of the night vision camera 2 and the infrared focal plane detector 3 need to be calibrated before field registration, so that the sizes of the same target on the images are kept consistent.
As shown in figure 2, a checkerboard target board is taken as a background, a night vision camera 2 and an infrared focal plane detector 3 respectively acquire checkerboard images, a certain checkerboard is selected, the total number of pixels of the two images in the checkerboard is calculated and recorded as NP respectivelyvisibleAnd NPinfraredCalculating the zoom factor Q of the infrared image as NPvisible/NPinfraredAnd after obtaining the scaling factor, scaling the whole infrared image according to Q.
b. Coaxially adjusted registration
As shown in fig. 3, the sun is selected as an infinite alignment target, the whole device is moved, the viewing field central axis of the infrared focal plane detector 3 is adjusted to align with the sun, then the viewing field central axis of the night vision camera 2 is adjusted to align with the sun, and when the viewing field central axes of the night vision camera 2 and the infrared focal plane detector 3 are both aligned with the infinite target, the viewing fields of the night vision camera 2 and the infrared focal plane detector 3 are considered to be coaxial.
Because the distance d exists between the optical axes of the night vision camera 2 and the infrared focal plane detector 3, pixels need to be translated to enable target graphs on the images of the night vision camera 2 and the infrared focal plane detector to be superposed, and therefore coaxial registration of the field of view is completed.
As shown in fig. 4, the closed space SF6Detection principle of gas leakage infrared telemetering device: SF generation by gas equipment in electric power enclosed space6In case of gas leakage, SF6Gas infrared radiation enters the infrared telemetering device and passes through SF6Automatically completing SF after correcting the optical filter 6 by multiple elements6Feature extraction and recognition calculation, the calculation result is received by the infrared focal plane detector 3 and SF is completed6And (4) displaying gas leakage in an imaging way.
The device work flow is as follows:
a. the power supply control board 5 powers on all the electric parts;
b. the field of view of the night vision camera 2 and the field of view of the infrared focal plane detector 3 are coaxial by adjusting the coaxial registration bracket 1;
c. the scene visible near-infrared light is captured by the night vision camera 2 and converted into an electric signal to be transmitted to the signal processing industrial personal computer 4;
d. scene light reaches SF through infrared window 8 and infrared lens 76The infrared radiation after correction is output by the multi-element correction optical filter 6 and then is input into the infrared focal plane detector 3 to be converted into an electric signal, and the electric signal is transmitted to the signal processing industrial personal computer 4;
e. the recognition processing result of the signal processing industrial personal computer 4 is fused with the scene image to realize SF6Gas leak imaging localization.
As shown in FIG. 5, SF is implemented6A method of imaging localization of gas leaks, comprising the steps of:
1、SF6gas leakage distribution imaging display processing
1) A night vision camera (2) is adopted to obtain a scene image of the closed space and the scene image is used asSF6A background map of gas leak distribution;
2) will be identified as SF6The pixels of the gas are synthesized into SF according to a quantitative concentration interval6A gas concentration distribution pseudo-color image;
3) registering the mapping relation of the SF according to the coaxial pixels of the field of view6The gas concentration distribution pseudo-color image is fused with the background image to form SF6Gas leakage profile, as shown in fig. 6.
As shown in fig. 7, the identification is SF6The method of the gas pixel comprises the following steps:
1) obtaining SF6Scoring chart: SF6Gas leakage SF6Direct acquisition of SF (sulfur hexafluoride) by infrared focal plane detection in gas telemetering view field coaxial registration structure device6Multivariate calibration results, called SF6Multivariate calibration score maps;
2) and (3) bad pixel correction: SF caused by damage of partial pixels or signal abnormality of infrared focal plane detector6Bad pixels exist in the multivariate calibration score image, and the bad pixels are calibrated by utilizing an average filling method of surrounding pixels;
3) signal averaging: performing general smoothing filtering processing on the score map, and aiming at the background area and SF6Calculating the average central intensity of the gas area so as to facilitate the next image segmentation;
4) image segmentation: dividing the score map by a general image division method to obtain a background area and SF6A gas region;
5) enhancing the signal-to-noise ratio: performing signal-to-noise ratio enhancement on the score map by adopting an MRCE algorithm, and converting the score map into a signal-to-noise ratio image;
the MRCE algorithm principle is as follows: the global low-contrast target-background local neighborhood can be converted into a target area with high-contrast target-background. MRCE utilizes a series of different sliding modules as filters on each pixel of the image, excludes the local neighborhood of the detected pixel, enhances the interested global fuzzy area, converts the 'score image' into a 'signal-to-noise ratio image' by expressing the local intensity statistics of the score image intensity, and the value of each pixel in the signal-to-noise ratio image represents the highest local signal-to-noise ratio value of all the modules obtained by calculation.
6) Image gradient calculation: performing gradient calculation on the signal-to-noise ratio image by adopting a general image gradient calculation method, and removing edge pixels;
7) setting a local threshold: for the divided background region and SF6A gas region for local threshold segmentation;
8)SF6identification: according to the local threshold segmentation result, the set of pixel points considered to be larger than the threshold is SF6Gas zone, completion of SF6And (4) gas identification.
As shown in fig. 8, the identification is SF6Method of picture element of gas for obtained SF6Multiple correction score map processing can effectively inhibit SF6Noise pixels in the multivariate correction score map improve the identification accuracy of effective signals while inhibiting noise, reduce the false alarm rate and the missing report rate and improve the SF6And (4) gas leakage detection effect.
2. Detection of SF6First space coordinate and second space coordinate for gas leakage alarm
As shown in FIG. 9, L (X, Y, Z) is the spatial coordinate of the gas leakage point, and C1 is SF before movement6Gas leakage infrared telemetering device image surface, C2 is SF after movement6Gas leakage infrared telemetering device image surface, O1For moving the front infrared telemetric coordinate system, O2For moving the infrared telemetric coordinate system, a1(u, v) SF before moving of gas leak6Projection on the image plane of a gas leak infrared telemetering apparatus, a2(u, v) SF after shifting of gas leak6And (3) projection on the image plane of the gas leakage infrared telemetering device.
SF6The gas leakage infrared remote measuring device is carried on the inspection robot to move forward according to a predetermined route when SF6SF discovery by infrared telemetry of gas leaks6After gas leakage and alarm, check SF6The position of the cloud on the image, if SF6Recording the current space coordinates of the telemeter when the cloud cluster is located at the position 1/3 near the right part of the image, and continuing to advance until the coordinates are recordedAnd (4) conditions.
SF6The gas leak infrared telemetry unit continues to advance several meters until the same SF location is again found6Gas leakage and SF6And recording the space coordinates of the current telemeter if the cloud cluster is located at the position 1/3 near the middle of the left part of the image, and continuing to advance until the coordinate recording condition is met.
Using successively recorded SF6Gas leakage infrared telemetry device space coordinates and SF6Cloud cluster alarm image data, and SF is calculated by utilizing binocular three-dimensional positioning reconstruction method6And (4) three-dimensional space coordinates of the gas leakage point. The traditional binocular three-dimensional positioning reconstruction method can be referred to depth perception and positioning technology research based on binocular vision (Beijing stamp and telecommunications university, 2 months 2020, Duncao), and the traditional binocular three-dimensional positioning reconstruction method is to perform three-dimensional space coordinate positioning on a visible object, however, the leaked SF is disclosed by the invention6The gas is invisible and needs SF to be leaked6And (4) performing gas imaging display processing, converting the gas imaging display processing into a visible target, and performing three-dimensional space coordinate positioning by adopting a binocular three-dimensional positioning reconstruction method.
3. Localized reconstruction
Using successively recorded SF6Spatial coordinates and SF for gas leak infrared telemetry devices6Calculating SF by using gas cloud cluster alarm image data and adopting binocular three-dimensional positioning reconstruction method6And the three-dimensional space coordinates of the gas leakage points are stored. By SF6Calculating the space coordinate of a gas leakage point L by the coordinate relationship before and after the gas leakage infrared remote measuring device moves and camera parameters:
1)SF6gas leak infrared telemetry camera calibration: at SF6After the gas leakage infrared telemetering device moves, the front and back position changes inevitably cause that the image planes C1 and C2 are not parallel, the two image planes are required to be positioned on the same plane through correction, and each line in the image has the same direction and coordinates;
2)3D reprojection: according to the parallax of the gas leakage point, SF6Gas leakage infrared telemetering device geometric position, camera focal length parameter, by triangulationCalculating SF6And the distance between the gas leakage infrared remote measuring device and the gas leakage point is calculated, and the space coordinate of the gas leakage point is calculated.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (3)
1. Closed space SF6A gas leak infrared telemetry device, comprising: the device comprises a coaxial registration bracket (1), a night vision camera (2), an infrared focal plane detector (3), a signal processing industrial personal computer (4), a power control panel (5) and SF6The multi-element correction filter (6), the infrared lens (7) and the infrared window piece (8); the night vision camera (2) is fixedly arranged on the coaxial registration bracket (1), and the night vision camera (2) is connected with the signal processing industrial personal computer (4) through a data line; the central axis of the infrared focal plane detector (3) and the central axis of the night vision camera (2) are arranged in parallel and the same height, and the lens of the infrared focal plane detector (3) is provided with an infrared window sheet (8), an infrared lens (7) and an SF (sulfur hexafluoride) lens from left to right along the central axis in sequence6A multivariate calibration filter (6); the infrared focal plane detector (3) is connected with a power supply control panel (5) through a power line and is connected with a signal processing industrial personal computer (4) through a data line; the signal processing industrial personal computer (4) is connected with the power control panel (5) through a power line and a data line; power control board (5) and SF6The multivariate calibration filters (6) are connected with each other through power lines and data lines;
the registration method of the infrared telemetering device comprises the following steps:
s1, scaling an image scaling factor: taking a checkerboard target board as a background, respectively acquiring checkerboard images by a night vision camera (2) and an infrared focal plane detector (3), framing a certain checkerboard, calculating the total number of pixels of two images in the checkerboard, and respectively recording the total number as NPvisibleAnd NPinfraredCalculating the zoom factor Q of the infrared image as NPvisible/NPinfraredAfter obtaining the zoom factor, zooming the whole infrared image according to Q;
s2, coaxial adjustment and registration: selecting the sun as an infinite alignment target, moving the whole coaxial registration structure, firstly adjusting the view field middle axis of the infrared focal plane detector (3) to align with the sun, then adjusting the view field middle axis of the night vision camera (2) to align with the sun, and when the view field middle axes of the night vision camera (2) and the infrared focal plane detector (3) are aligned with the infinite target, considering that the view fields of the night vision camera (2) and the infrared focal plane detector (3) are coaxial; because the night vision camera (2) and the infrared focal plane detector (3) have a distance d between the optical axes, the pixels are translated to enable target graphs on the images of the night vision camera and the infrared focal plane detector to be superposed, and the coaxial registration of the field of view is completed.
2. A closed space SF using the method as claimed in claim 16The imaging positioning method of the gas leakage infrared telemetering device comprises the following steps:
S11、SF6and (3) gas leakage distribution imaging display processing: a night vision camera (2) is adopted to obtain a scene image of the closed space and the scene image is used as SF6A background map of gas leak distribution; will be identified as SF6The pixels of the gas are synthesized into SF according to a quantitative concentration interval6A gas concentration distribution pseudo-color image; registering the mapping relation of the SF according to the coaxial pixels of the field of view6The gas concentration distribution pseudo-color image is fused with the background image to form SF6A gas leakage profile;
s12, detecting SF6Gas leak alarm first and second spatial coordinates: mixing SF6The gas leakage infrared remote measuring device is carried on the inspection robot and moves forward according to a set route when SF6SF discovery by infrared telemetry of gas leaks6After gas leakage and alarm, check SF6Display position of gas cloud on image if SF6Recording the current SF when the gas cloud cluster is positioned at the set position in the image6Spatial coordinates of the gas leak infrared telemetry device, otherwise continue to advance until a coordinate record is satisfiedConditions; SF6The gas leak infrared telemetry device continues to advance until the same location SF is again found6Gas leakage and SF6Recording the current SF when the gas cloud cluster is positioned at the position symmetrical to the set position in the image6The space coordinate of the gas leakage infrared remote measuring device, otherwise, the gas leakage infrared remote measuring device continues to advance until the coordinate recording condition is met;
s13, positioning and reconstructing: using successively recorded SF6Spatial coordinates and SF for gas leak infrared telemetry devices6Calculating SF by using binocular three-dimensional positioning reconstruction method for gas cloud cluster alarm image data6And the three-dimensional space coordinates of the gas leakage points are stored.
3. The imaging localization method of claim 2, wherein the identification is SF6The method of the gas pixel comprises the following steps:
s111, acquiring leaked SF (sulfur hexafluoride) by adopting infrared focal plane detector (3)6Gas multivariate calibration score chart;
s112, utilizing an average filling method of surrounding image elements to treat SF caused by damage or signal abnormality of partial image elements of the infrared focal plane detector (3)6Correcting bad pixels in the gas multivariate calibration score map;
s113, for SF6Performing smoothing filtering on the gas multivariate calibration score map, and aiming at the background region and SF6Calculating the average central intensity of the gas area so as to facilitate image segmentation;
s114, for SF6Dividing the gas multivariate calibration score chart to obtain a background area and SF6A gas region;
s115, to SF6Performing signal-to-noise ratio enhancement on the gas multivariate calibration score chart to obtain SF6The gas multivariate calibration score map is converted into a signal-to-noise ratio image,
s116, gradient calculation is carried out on the signal-to-noise ratio image, and edge pixels are removed;
s117, for the divided background area and SF6Local threshold segmentation is carried out on the gas area;
S118taking the set of pixel points larger than the threshold value as SF according to the local threshold value segmentation result6Gas zone, completion of SF6And (4) identifying the gas.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111463100.4A CN114112972B (en) | 2021-12-02 | 2021-12-02 | Closed space SF 6 Gas leakage infrared telemetry device and imaging positioning method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111463100.4A CN114112972B (en) | 2021-12-02 | 2021-12-02 | Closed space SF 6 Gas leakage infrared telemetry device and imaging positioning method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114112972A true CN114112972A (en) | 2022-03-01 |
| CN114112972B CN114112972B (en) | 2023-09-26 |
Family
ID=80366198
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111463100.4A Active CN114112972B (en) | 2021-12-02 | 2021-12-02 | Closed space SF 6 Gas leakage infrared telemetry device and imaging positioning method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114112972B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117647486A (en) * | 2024-01-29 | 2024-03-05 | 吉林大学 | Combustible gas leakage concentration imaging detection device |
| CN118134933A (en) * | 2024-05-08 | 2024-06-04 | 国网江苏省电力有限公司苏州供电分公司 | SF6 leakage quantitative detection method and system for sensing state of power transformation equipment |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004079350A1 (en) * | 2003-03-07 | 2004-09-16 | Shikoku Research Institute Incorporated | Gas leakage monitoring method and its system |
| CN103439060A (en) * | 2013-08-27 | 2013-12-11 | 南京诺威尔光电系统有限公司 | Laser synchronous scanning imaging trace gas detection method and system |
| CN103674453A (en) * | 2013-12-26 | 2014-03-26 | 南京诺威尔光电系统有限公司 | Thermal wave imaging gas leakage detecting device and method |
| CN108507725A (en) * | 2018-04-20 | 2018-09-07 | 国网江苏省电力有限公司电力科学研究院 | A kind of sulfur hexafluoride gas Leakage Detection device |
| US20190340914A1 (en) * | 2018-05-03 | 2019-11-07 | Quantum IR Technologies, LLC | Infrared imaging systems and methods for gas leak detection |
| CN110836861A (en) * | 2019-10-28 | 2020-02-25 | 西北工业大学 | Long-wave infrared bicolor imaging monitoring system for SF6 gas leakage |
| CN111413290A (en) * | 2020-03-25 | 2020-07-14 | 北京理工大学 | Passive infrared filtering imaging sparse spectrum gas identification device and method |
| CN112504997A (en) * | 2020-12-10 | 2021-03-16 | 中国科学院深圳先进技术研究院 | Gas leakage detection method and system |
| CN113654732A (en) * | 2021-08-17 | 2021-11-16 | 广西电网有限责任公司电力科学研究院 | Low-cost sulfur hexafluoride gas leakage infrared imaging detection system |
-
2021
- 2021-12-02 CN CN202111463100.4A patent/CN114112972B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004079350A1 (en) * | 2003-03-07 | 2004-09-16 | Shikoku Research Institute Incorporated | Gas leakage monitoring method and its system |
| CN103439060A (en) * | 2013-08-27 | 2013-12-11 | 南京诺威尔光电系统有限公司 | Laser synchronous scanning imaging trace gas detection method and system |
| CN103674453A (en) * | 2013-12-26 | 2014-03-26 | 南京诺威尔光电系统有限公司 | Thermal wave imaging gas leakage detecting device and method |
| CN108507725A (en) * | 2018-04-20 | 2018-09-07 | 国网江苏省电力有限公司电力科学研究院 | A kind of sulfur hexafluoride gas Leakage Detection device |
| US20190340914A1 (en) * | 2018-05-03 | 2019-11-07 | Quantum IR Technologies, LLC | Infrared imaging systems and methods for gas leak detection |
| CN110836861A (en) * | 2019-10-28 | 2020-02-25 | 西北工业大学 | Long-wave infrared bicolor imaging monitoring system for SF6 gas leakage |
| CN111413290A (en) * | 2020-03-25 | 2020-07-14 | 北京理工大学 | Passive infrared filtering imaging sparse spectrum gas identification device and method |
| CN112504997A (en) * | 2020-12-10 | 2021-03-16 | 中国科学院深圳先进技术研究院 | Gas leakage detection method and system |
| CN113654732A (en) * | 2021-08-17 | 2021-11-16 | 广西电网有限责任公司电力科学研究院 | Low-cost sulfur hexafluoride gas leakage infrared imaging detection system |
Non-Patent Citations (1)
| Title |
|---|
| 袁小芳;苏镇西;祁炯;马凤翔;赵跃;宋玉梅;: "GIS中SF_6分解产物在线监测技术研究", 安徽电气工程职业技术学院学报, no. 03, pages 1 - 4 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117647486A (en) * | 2024-01-29 | 2024-03-05 | 吉林大学 | Combustible gas leakage concentration imaging detection device |
| CN117647486B (en) * | 2024-01-29 | 2024-04-16 | 吉林大学 | Combustible gas leakage concentration imaging detection device |
| CN118134933A (en) * | 2024-05-08 | 2024-06-04 | 国网江苏省电力有限公司苏州供电分公司 | SF6 leakage quantitative detection method and system for sensing state of power transformation equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114112972B (en) | 2023-09-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11373492B2 (en) | Intelligent evacuation system and method used in subway station fire | |
| CN109544679B (en) | Three-dimensional reconstruction method for inner wall of pipeline | |
| CN109872323A (en) | The defects of insulator detection method and device of transmission line of electricity | |
| CN103279949B (en) | Based on the multi-camera parameter automatic calibration system operation method of self-align robot | |
| CN110889455B (en) | Fault detection positioning and safety assessment method for chemical engineering garden inspection robot | |
| CN112686938B (en) | Power transmission line clear distance calculation and safety alarm method based on binocular image ranging | |
| CN102927448B (en) | Pipeline non-destructive testing method | |
| CN109509319B (en) | Power transmission line forest fire monitoring and early warning method based on static satellite monitoring data | |
| CN105741379A (en) | Method for panoramic inspection on substation | |
| CN206194076U (en) | Substation equipment detecting system | |
| CN206628891U (en) | Substation equipment monitoring system | |
| CN107462217B (en) | Unmanned aerial vehicle binocular vision barrier sensing method for power inspection task | |
| CN109164057A (en) | The infrared multi-spectral imaging remote sense monitoring system of chemical gas, device and method | |
| CN102135236A (en) | Automatic non-destructive testing method for internal wall of binocular vision pipeline | |
| CN114638909A (en) | Substation semantic map construction method based on laser SLAM and visual fusion | |
| CN103400463B (en) | A kind of forest fires localization method based on two dimensional image and device | |
| CN115512307B (en) | Wide-area space infrared multi-point real-time fire detection method and system and positioning method | |
| CN112906674A (en) | Mine fire identification and fire source positioning method based on binocular vision | |
| CN114112972B (en) | Closed space SF 6 Gas leakage infrared telemetry device and imaging positioning method thereof | |
| CN105023270A (en) | Proactive 3D stereoscopic panorama visual sensor for monitoring underground infrastructure structure | |
| CN110940316A (en) | Navigation method and system for fire-fighting robot of transformer substation in complex environment | |
| CN113447159A (en) | Wind tunnel cold leakage monitoring method based on global normal distribution and local outlier factor | |
| CN114140436A (en) | Closed space SF6Gas leakage imaging positioning method and system | |
| CN216433398U (en) | Closed space SF6Infrared telemetering device for gas leakage | |
| CN201623731U (en) | Integrated dynamic monitoring and accurate positioning system for forest fires |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |