CN207351557U - Electric inspection process robot infrared temperature measurement apparatus based on laser ranging and viewing angle compensation - Google Patents
Electric inspection process robot infrared temperature measurement apparatus based on laser ranging and viewing angle compensation Download PDFInfo
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- CN207351557U CN207351557U CN201721351019.6U CN201721351019U CN207351557U CN 207351557 U CN207351557 U CN 207351557U CN 201721351019 U CN201721351019 U CN 201721351019U CN 207351557 U CN207351557 U CN 207351557U
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Abstract
A kind of electric inspection process robot infrared temperature measurement apparatus based on laser ranging and viewing angle compensation is the utility model is related to, including the robot and host computer being connected, the robot include：Walking basal seat；Detent mechanism；Infrared imaging mechanism, for obtaining the infrared image of tested point；Laser radar scanner, for detecting robot and the air line distance of plane residing for tested point；Elevation sensor, is arranged on the detent mechanism, for detecting the inclination angle and observation visual angle of infrared imaging mechanism and tested point line relative level；Slope Transducer, is arranged in the walking basal seat, for detecting the climbable gradient of robot；CPU；The host computer inclination angle and the climbable gradient of observation visual angle and robot of the air line distance of plane, infrared imaging mechanism with tested point line relative level, compensation calculation according to residing for the infrared image, robot and tested point obtain tested point final temperature.Compared with prior art, the utility model has the advantages that diagnostic result is accurate, cost is low etc..
Description
Technical field
A kind of electric inspection process robot infrared temperature measurement apparatus is the utility model is related to, Laser Measuring is based on more particularly, to one kind
Away from and viewing angle compensation electric inspection process robot infrared temperature measurement apparatus.
Background technology
It is to ensure the conventional technical means of power equipment safety stable operation that customary infrared inspection is carried out to substation equipment.
In recent years, traditional artificial infrared patrol mode is just gradually developing into robot automatic infrared inspection.But crusing robot is in reality
The accuracy of detection problem of infrared temperature is faced with the application process of border.For example, in the infrared inspection of power equipment, robot load
Infrared measurement of temperature instrument and equipment under test surface there are a certain distance, influenced be subject to infra-red radiation atmospheric attenuation, thermometric knot
There are deviation for fruit and actual temperature；In addition, crusing robot is often not at same level with equipment thermal defect surface normal,
The observed direction and equipment surface normal of thermal infrared imager are there are larger angle, so as to cause temperature-measuring results to be deposited with actual temperature
In deviation.Under normal circumstances, infrared measurement of temperature result can be influenced be subject to observed range and observation angle at the same time, therefore in electric power machine
, it is necessary to consider distance, the two key parameters of visual angle in the infrared inspection of device people, and temperature-measuring results are modified with this,
Ensure the accuracy of temperature-measuring results.
For above-mentioned observed range influence infrared measurement of temperature result accuracy the problem of, had at present by distance mearuring equipment with it is red
The device or method of outer thermometric instrument combination, for example, laser ranging and infrared measurement of temperature instrument combined method (application number：
201120577082.8), ultrasonic ranging and infrared measurement of temperature instrument combined method (application number：201210163806.3), it is infrared
Line ranging and infrared measurement of temperature instrument combined method etc..The distance that the above method often directly obtains range finder module is as thermal imaging system
To trouble point distance, final temperature-measuring results also there are precision it is inadequate the problem of.
Utility model content
The utility model is directed in electrical equipment infrared detection, often only infrared image is handled but to that may ignore
The distance factor impacted to image, or in view of distance but need to carry out larger improvement project etc. to whole inspection device
A kind of existing deficiency, there is provided electric inspection process robot infrared temperature measurement apparatus based on laser ranging and viewing angle compensation.
The purpose of this utility model can be achieved through the following technical solutions：
A kind of electric inspection process robot infrared temperature measurement apparatus based on laser ranging and viewing angle compensation, including the machine being connected
Device people and host computer, the robot include：
Walking basal seat；
Detent mechanism, is arranged in the walking basal seat；
Infrared imaging mechanism, is arranged on the detent mechanism, for obtaining the infrared image of tested point；
Laser radar scanner, is arranged on the detent mechanism, for detecting robot and plane residing for tested point
Air line distance；
Elevation sensor, is arranged on the detent mechanism, opposite with tested point line for detecting infrared imaging mechanism
The inclination angle and observation visual angle of horizontal plane；
Slope Transducer, is arranged in the walking basal seat, for detecting the climbable gradient of robot；
CPU, connects the detent mechanism, infrared imaging mechanism, laser radar scanner, elevation sensor, the gradient respectively
Sensor and host computer.
Further, the elevation sensor is bonded and is fixed on the detent mechanism up and down with infrared imaging mechanism.
Further, the elevation sensor is fixed on detent mechanism by a cushion socket.
Further, the Slope Transducer is close to the walking basal seat upper surface, and before the walking basal seat
Side.
Further, the Slope Transducer is fixed in walking basal seat by a cushion socket.
Further, the detent mechanism includes three-dimensional holder and holder the motion control stepper motor being connected, described
Holder motion control stepper motor is connected with CPU.
Further, the elevation sensor and Slope Transducer are cross-compound arrangement obliquity sensor.
Further, the infrared imaging mechanism includes the thermal infrared imager being individually fixed in the detent mechanism sleeve
And Visible Light Camera.
Further, the CPU is also associated with the calibration parameter memory module for storing tested point locus.
Compared with prior art, it is aobvious to carry out the surface temperature of electrical equipment by infrared thermoviewer imaging for the utility model
Show, and obtain the distance of infrared lens and subject with angle using horizontal distance, realize to electrical equipment infrared image
Compensation, so as to obtain more accurate temperature information, have the advantages that：
1st, the utility model enables the distance between crusing robot system automatic measurement thermometric trouble point and sensor
And the elevation angle, and measurement temperature is compensated or corrected according to distance, viewing angle compensation formula.
2nd, obliquity sensor there are small volume, accuracy is high the features such as, and cost is relatively low, relatively direct to use special survey
The advantage of distance meter is larger；And laser radar range function is provided by laser radar scanner, the latter already belongs to common automatic
Walking basal seat standard fitting, thus whole mechanism have the advantages that it is easily operated, be easy to reequip, the advantage such as highly practical.
3rd, the utility model can eliminate the error that observed range and observation angle are brought, and improve the accurate of diagnostic result
Property.
4th, the utility model elevation sensor is bonded and is fixed on holder up and down with infrared imaging mechanism, between the two
Away from very little and it is placed in parallel, can accurately measures inclination angle, improves final accuracy of detection.
5th, the utility model Slope Transducer and it is closely set in walking basal seat, slope detection precision can be improved, from
And improve final accuracy of detection.
6th, the utility model have the advantages that it is easily operated, be easy to repacking, the advantage such as highly practical.
Brief description of the drawings
Fig. 1 is the structure diagram of the utility model；
Fig. 2 implements schematic diagram for the utility model；
The working method figure of Fig. 3 the utility model；
Fig. 4 is the work flow diagram of the utility model.
Embodiment
The utility model is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with the utility model
Implemented premised on technical solution, give detailed embodiment and specific operating process, but the guarantor of the utility model
Shield scope is not limited to following embodiments.
As shown in Figure 1, a kind of electric inspection process robot based on laser ranging and viewing angle compensation of the utility model offer is red
Outer temperature measuring equipment, including the robot and host computer being connected, robot include：Walking basal seat 7；Detent mechanism, is arranged at row
Walk on base 7；Infrared imaging mechanism, is arranged on detent mechanism, for obtaining the infrared image of tested point；Laser radar scanning
Instrument 6, is arranged on detent mechanism, for detecting robot and the air line distance of plane residing for tested point；Elevation sensor 3, if
It is placed on detent mechanism, for detecting the inclination angle and observation visual angle of infrared imaging mechanism and tested point line relative level；Slope
Sensor 1 is spent, is arranged in walking basal seat 7, for detecting the climbable gradient of robot；CPU, respectively connecting locating mechanism, infrared
Imaging mechanism, laser radar scanner 6, elevation sensor 3, Slope Transducer 1 and host computer；Host computer according to infrared image,
Robot and the inclination angle and sight of the air line distance of plane, infrared imaging mechanism residing for tested point with tested point line relative level
The climbable gradient of visual angle and robot is surveyed, compensation calculation obtains the final temperature of tested point.The device is directed to during infrared measurement of temperature,
There are problems that with thermal infrared imager and power equipment distance, angular deviation measurement error this, by supersonic sounding technology,
Inclination angle sensing technology is combined with infrared temperature-test technology, is realized that device temperature is monitored on-line at the same time, is effectively improved crusing robot
The accuracy of system thermometric.
In certain embodiments, detent mechanism includes the three-dimensional holder 5 and holder motion control stepper motor being connected, cloud
Platform motion control stepper motor is connected with CPU.
In certain embodiments, infrared imaging mechanism includes the thermal infrared imager 2 being individually fixed in detent mechanism sleeve
With Visible Light Camera 4.
In certain embodiments, elevation sensor 3 is bonded and is fixed on detent mechanism up and down with infrared imaging mechanism.It is preferred that
Ground, elevation sensor 3 are fixed on detent mechanism by a cushion socket.
In certain embodiments, Slope Transducer 1 is close to 7 upper surface of walking basal seat, and positioned at the front of walking basal seat 7.
Preferably, Slope Transducer 1 is fixed in walking basal seat 7 by a cushion socket.
In certain embodiments, CPU is also associated with the calibration parameter memory module for storing tested point locus.
Compensation calculation obtain tested point final temperature be specially：
101) infrared imaging mechanism center and tested point actual range l are calculated：
Wherein, l1For the air line distance of plane residing for temperature measuring equipment and tested point, α connects for infrared imaging mechanism and tested point
The inclination angle of line relative level, β are the climbable gradient of robot；
102) infrared image obtained based on infrared imaging mechanism obtains measurement temperature；
103) actual range being based in step 101) is modified measurement temperature：
T (l, γ)=T0(l, γ) cosrγ-pl-ql2
Wherein, T0(l, γ) is infrared radiating body surface true temperature, and T (l, γ) is measurement temperature, and r, p, q are coefficient,
γ is observation visual angle.
In the present embodiment, elevation sensor 3 and Slope Transducer 1 are cross-compound arrangement obliquity sensor.Elevation sensor 3
Model RS232Analog is selected with Slope Transducer 1, its measurement range is 0 °~360 ° of single shaft ,+80 ° of twin shaft, minimum resolution
For 0.01 °, 0.1 ° of precision, no filter response time 10ms, can obtain thermal imaging system to the inclination angle of tested point, observation visual angle and machine
People's climbable gradient.The model and parameter of thermal infrared imager 2 are IRT513-A type thermal infrared imagers, and service band is 8~14 μm, oxidation
Vanadium detector detection pixel number is 320 × 240, and pixel dimension is 38 × 38 μm 2, imaging modality selection 25Hz pal modes, heat
As the temperature resolution of instrument is 30 DEG C of 50mK@, temperature-measuring range is -30 DEG C~200 DEG C, and electronic circuit board, substation can be kept away
The surface of the equipment such as thunder device, voltage transformer and transformer carries out thermometric.6 model LMS511- of laser radar scanner
10100, system mistake is ± 25mm, and (1m, 10m) is, it can be achieved that scanning and distance measurement function within 30m.
As shown in Figure 1, the elevation sensor 3 of the present embodiment is bonded with thermal infrared imager about 2 is fixed on three-dimensional holder 5
On, because of spacing very little between the two, it approximate can measure the inclination angle of thermal imaging system and tested point line relative level and observation regards
Angle；Laser radar scanner 6 is placed in immediately ahead of three-dimensional holder, collecting and detecting device and the air line distance of plane residing for tested point；
Slope Transducer 1 is fixed on position immediately ahead of walking basal seat, collection robot climbable gradient.Gained distance, observation visual angle, vertically incline
Angle is sent to host computer with climbable gradient by wireless WIFI.
In specific detection, objective body is adjusted in the angular field of view of thermal infrared imager and elevation sensor 3, by upper
Machine adjustment horizontal vertical motor is accurately positioned abnormal point, and positional information is stored in calibration memory module.As Fig. 3-
Fig. 4 for climbing in trouble point information measurement work flow diagram, l1For the air line distance of robot and tested point vertical plane, α is thermal imagery
For instrument to tested point line and the angle of horizontal plane, β is the climbable gradient of robot, and γ observes visual angle (thermal imaging system minute surface method for holder
Line and objective body focal plane angle), Slope Transducer 1 obtains the ramp angle β of crusing robot, and fetched data passes through on WIFI
Reach host computer.
Before thermal infrared imager 2 used measures, temperature correction is carried out to it using black matrix in 0.5m or so scopes first,
Image-forming temperature measurement is carried out to the target point of power module followed by the thermal infrared imager, passes through the infrared thermal imagery system in host computer
It is T=29.4 DEG C that software, which obtains the target temperature data that thermal infrared imager 2 measures, l1=3 (actual ranges 2.93), α=
55.15 °, β=10.05 °, γ=5 °, as shown in Fig. 2, by Triangle Formula, it is real with tested point can to obtain thermal infrared imager
Border distanceL=5.179m can be obtained.
Amendment for temperature, the utility model employ polynomial modification method (bibliography：Zhou Zhicheng, Wei Xu,
Xie Tianxi, Tang Zhong, Cui Haoyang, infrared technique, 39 (1):86-90,2017), correction formula is：
T (l, γ)=T0(l, γ) cosrγ-pl-ql2
Wherein, T0(l, γ) is infrared radiating body surface true temperature, and T (l, γ) is the measurement temperature of thermal infrared imager, l
For the spacing of thermal imaging system camera lens and objective body, p, q are the coefficient of observed range first order and quadratic term respectively, and γ regards for observation
Angle, r refer to coefficient for view angle cosine power.Experimental data is fitted using r, p, q as fitting coefficient, obtains r=4.5, p=
0.3205, q=0.01103.The observed result of thermal infrared imager is modified using formula (1), revised temperature is
31.99℃.Observed temperature T=29.4 DEG C and actual temperature T of the thermal infrared imager to objective body0DEG C (d)=32.8 error is
ΔT1=32.8-29.4=3.4 DEG C, and utilize the distance parameter l of the laser radar range technical limit spacing with reference to obliquity sensor
=5.179m is brought into the error of thermal infrared imager observed result and objective body really between temperature before correcting：ΔT2=
32.8-31.99=0.8 DEG C.Found by the contrast with equipment true temperature, revised result is more accurate compared with before correcting.
The utility model is utilized measures power equipment abnormal position extremely with obliquity sensor combination laser radar range technology
The distance of thermal infrared imager, and measurement temperature is compensated or corrected as compensating factor using the distance, it ensure that diagnosis
As a result accuracy.Thermal infrared imager is combined by the device with supersonic sounding technology at the same time, realizes each portion's temperature of equipment at the same time
Non-contact, remote on-line monitoring, has saved cost.
The preferred embodiment of the utility model described in detail above.It should be appreciated that the ordinary skill people of this area
Member according to the present utility model can conceive without creative work makes many modifications and variations.Therefore, all this technology necks
Technical staff passes through logic analysis, reasoning or limited reality on the basis of existing technology according to the design of the utility model in domain
Available technical solution is tested, all should be in the protection domain being defined in the patent claims.
Claims (9)
- A kind of 1. electric inspection process robot infrared temperature measurement apparatus based on laser ranging and viewing angle compensation, it is characterised in that including The robot and host computer being connected, the robot include：Walking basal seat (7)；Detent mechanism, is arranged in the walking basal seat (7)；Infrared imaging mechanism, is arranged on the detent mechanism, for obtaining the infrared image of tested point；Laser radar scanner (6), is arranged on the detent mechanism, for detecting the straight of robot and plane residing for tested point Linear distance；Elevation sensor (3), is arranged on the detent mechanism, for detecting infrared imaging mechanism water opposite with tested point line The inclination angle and observation visual angle of plane；Slope Transducer (1), is arranged in the walking basal seat (7), for detecting the climbable gradient of robot；CPU, connects the detent mechanism, infrared imaging mechanism, laser radar scanner (6), elevation sensor (3), slope respectively Spend sensor (1) and host computer.
- 2. the electric inspection process robot infrared temperature measurement apparatus according to claim 1 based on laser ranging and viewing angle compensation, It is fixed on it is characterized in that, the elevation sensor (3) is bonded up and down with infrared imaging mechanism on the detent mechanism.
- 3. the electric inspection process robot infrared temperature measurement apparatus according to claim 2 based on laser ranging and viewing angle compensation, It is characterized in that, the elevation sensor (3) is fixed on detent mechanism by a cushion socket.
- 4. the electric inspection process robot infrared temperature measurement apparatus according to claim 1 based on laser ranging and viewing angle compensation, It is characterized in that, the Slope Transducer (1) is close to the walking basal seat (7) upper surface, and it is located at the walking basal seat (7) Front.
- 5. the electric inspection process robot infrared temperature measurement apparatus according to claim 4 based on laser ranging and viewing angle compensation, It is characterized in that, the Slope Transducer (1) is fixed in walking basal seat (7) by a cushion socket.
- 6. the electric inspection process robot infrared temperature measurement apparatus according to claim 1 based on laser ranging and viewing angle compensation, It is characterized in that, the detent mechanism includes the three-dimensional holder (5) and holder motion control stepper motor being connected, the holder Motion control stepper motor is connected with CPU.
- 7. the electric inspection process robot infrared temperature measurement apparatus according to claim 1 based on laser ranging and viewing angle compensation, It is characterized in that, the elevation sensor (3) and Slope Transducer (1) are cross-compound arrangement obliquity sensor.
- 8. the electric inspection process robot infrared temperature measurement apparatus according to claim 1 based on laser ranging and viewing angle compensation, It is characterized in that, the infrared imaging mechanism include being individually fixed in thermal infrared imager (2) in the detent mechanism sleeve and Visible Light Camera (4).
- 9. the electric inspection process robot infrared temperature measurement apparatus according to claim 1 based on laser ranging and viewing angle compensation, It is characterized in that, the CPU is also associated with the calibration parameter memory module for storing tested point locus.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109470368A (en) * | 2018-12-17 | 2019-03-15 | 国网福建省电力有限公司 | A kind of online checking system of the infrared temperature sensing device of unmanned plane power equipment |
| CN109489828A (en) * | 2018-12-17 | 2019-03-19 | 国网福建省电力有限公司 | A kind of online method of inspection of the infrared temperature sensing device of unmanned plane power equipment |
| CN111854966A (en) * | 2020-07-16 | 2020-10-30 | 广东小天才科技有限公司 | Temperature measurement method, device, wearable equipment and medium |
-
2017
- 2017-10-19 CN CN201721351019.6U patent/CN207351557U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109470368A (en) * | 2018-12-17 | 2019-03-15 | 国网福建省电力有限公司 | A kind of online checking system of the infrared temperature sensing device of unmanned plane power equipment |
| CN109489828A (en) * | 2018-12-17 | 2019-03-19 | 国网福建省电力有限公司 | A kind of online method of inspection of the infrared temperature sensing device of unmanned plane power equipment |
| CN111854966A (en) * | 2020-07-16 | 2020-10-30 | 广东小天才科技有限公司 | Temperature measurement method, device, wearable equipment and medium |
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