CN216349150U - Three-dimensional temperature measuring device with multi-sensor fusion - Google Patents
Three-dimensional temperature measuring device with multi-sensor fusion Download PDFInfo
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- CN216349150U CN216349150U CN202123303440.9U CN202123303440U CN216349150U CN 216349150 U CN216349150 U CN 216349150U CN 202123303440 U CN202123303440 U CN 202123303440U CN 216349150 U CN216349150 U CN 216349150U
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Abstract
The utility model provides a multi-sensor fused three-dimensional temperature measuring device, which comprises a data acquisition unit and a black body; the data acquisition unit comprises a shell, wherein a visible light lens module, a thermal infrared imager and a three-dimensional laser radar are fixedly arranged in the shell, and the visual axis directions of the visible light lens module, the thermal infrared imager and the three-dimensional laser radar are consistent; the blackbody is a program-controlled blackbody and comprises a control box, a blackbody surface and radiating fins, wherein the blackbody surface is opposite to the working surface of the shell at intervals. The multi-sensor fused three-dimensional temperature measuring device provided by the utility model can simultaneously acquire images, temperature distribution and point cloud distribution data, and the data can be transmitted to an upper computer; in addition, the thermal imager is combined with the program-controlled black body, and the periodic real-time calibration is carried out, so that the high-precision temperature measurement of the uncooled thermal imager at various environmental temperatures is realized.
Description
Technical Field
The utility model relates to an engineering infrared camouflage technology, in particular to a three-dimensional temperature measuring technology, and specifically relates to a multi-sensor fused three-dimensional temperature measuring device.
Background
From the last 80 years to the present, thermal infrared camouflage is the key and difficult point of research in the camouflage field. In order to evaluate the effectiveness of infrared camouflage technology, an effective measuring device is needed to quickly acquire the exposure signs of the camouflage at the temperature and the image so as to better guide the infrared camouflage design.
Thermal infrared imaging is used as a non-contact and graphical temperature measurement technology, the two-dimensional plane temperature of an object can be obtained, and the traditional thermal imager temperature measurement mode cannot meet the requirements of infrared camouflage three-dimensional temperature analysis and visualization due to the fact that the visual angle is single and three-dimensional information is lacked; in addition, to realize high-precision temperature measurement, a refrigeration thermal infrared imager with extremely high cost is selected, which is not beneficial to large-area measurement tests. With the development of sensing technologies such as laser radar and the like, the combined sensor is adopted to realize high-precision three-dimensional infrared temperature measurement, size measurement and image feature identification.
Disclosure of Invention
In view of the problems mentioned in the background, the present invention provides a multi-sensor fused three-dimensional temperature measurement device, which is intended to improve the prior art from the following aspects: A. the method comprises the steps of simultaneously collecting temperature distribution, images and point cloud data in a camouflage scene in a form of combining visible light, an infrared camera and a three-dimensional laser radar, and further obtaining multi-dimensional exposure signs of a camouflage object in temperature, scale, images and the like; B. the temperature drift of the thermal infrared imager is compensated by adopting a program-controlled black body, so that the temperature measurement precision is improved.
In order to achieve the purpose, the utility model adopts the following technical scheme:
a multi-sensor fused three-dimensional temperature measuring device comprises a data acquisition unit and a black body; the data acquisition unit is arranged on one side of the test area, and the black body is arranged on the other side of the test area; the data acquisition unit comprises a shell, wherein a visible light lens module, a thermal infrared imager and a three-dimensional laser radar are fixedly arranged in the shell, and the visual axis directions of the visible light lens module, the thermal infrared imager and the three-dimensional laser radar are consistent; one side surface of the shell is a working surface, and a working window A of the visible light lens module, a working window B of the thermal infrared imager window and a working window C of the three-dimensional laser radar are arranged on the working surface; the blackbody is a program-controlled blackbody and comprises a control box, a blackbody surface and radiating fins, wherein the blackbody surface is opposite to the working surface of the shell at intervals.
The shell is connected with a universal joint connecting piece, and the universal joint connecting piece is used for being connected with the outside and adjusting the direction of an optical axis; the shell is also internally provided with a coding and decoding and interface circuit board which is connected with the visible light lens module through a cable; the coding and decoding and interface circuit board, the three-dimensional laser radar and the thermal infrared imager are all connected with an external power supply through power adapters, and the coding and decoding and interface circuit board, the three-dimensional laser radar and the thermal infrared imager are respectively connected with a network switch through network interfaces.
The whole shell is of a cuboid structure with a rear cover, and a threaded hole for connecting a universal joint connecting piece is formed in the rear cover; the shell is also provided with a power supply interface of the visible light lens module, a data interface of the visible light lens module, a laser radar data interface and a data interface of the thermal infrared imager.
The coding, decoding and interface circuit board is internally provided with an undetachable TF memory card.
The visible light lens module is a visible light camera.
The control box supplies power through the power adapter, and the control box is connected with the upper computer through the RS485 serial bus for communication.
Compared with the prior art, the utility model has the following advantages and beneficial effects:
according to the multi-sensor fused three-dimensional temperature measuring device, through fusion of the visible light camera, the thermal infrared imager and the three-dimensional laser radar, images, temperature distribution and point cloud distribution data can be simultaneously obtained, the data can be transmitted to the upper computer, visible light color information is fused with the point cloud by the upper computer, or infrared temperature is fused with the point cloud to form three-dimensional distribution of temperature and texture, measurement data can be displayed more visually, and meanwhile, size measurement can be carried out through upper computer software; in addition, the thermal imager is combined with the program-controlled black body, and the periodic real-time calibration is carried out, so that the high-precision temperature measurement of the uncooled thermal imager at various environmental temperatures is realized.
Drawings
FIG. 1 is a schematic perspective view of a data acquisition unit and a black body according to the present invention;
FIG. 2 is an exploded view of an information gatherer;
FIG. 3 is a perspective view of the housing;
FIG. 4 is a schematic perspective view of a programmable black body with another viewing angle;
FIG. 5 is a connection and schematic diagram of the present invention;
FIG. 6 is a schematic structural diagram of a gimbal connection according to an embodiment.
In the figure: 1. the system comprises a data acquisition device, a shell, a data acquisition device, a three-dimensional laser radar, a data acquisition device, a three-dimensional infrared camera, a visible light lens module, a data acquisition device, a shell, a data acquisition device, a three-dimensional laser radar, a three-dimensional infrared camera, a visible light lens module, a three-dimensional camera, a three-dimensional infrared camera, a three-dimensional camera; 2. blackbody 21, control box 22, blackbody surface 23, heat dissipation fins 3, power adapter 4, network switch 5, host computer 6, universal joint connecting piece.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the drawings in the specification, and it should be noted that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 5, the utility model provides a multi-sensor fused three-dimensional temperature measuring device, which comprises a data acquisition unit 1 and a black body 2; the data acquisition unit 1 is arranged on one side of the test area and used for acquiring data, and the black body 2 is arranged on the other side of the test area; the data acquisition device 1 comprises a shell 10, a visible light lens module 13, a thermal infrared imager 12 and a three-dimensional laser radar 11 are fixedly arranged in the shell 10, and the visual axis directions of the visible light lens module 13, the thermal infrared imager 12 and the three-dimensional laser radar 11 are consistent; one side surface of the shell 10 is a working surface, and a working window A103 of the visible light lens module, a working window B102 of the thermal infrared imager window and a working window C101 of the three-dimensional laser radar are arranged on the working surface; the black body 2 is a program-controlled black body and comprises a control box 21, a black body surface 22 and radiating fins 23, wherein the black body surface 22 is opposite to the working surface of the shell 10 at intervals.
In one embodiment of the utility model, the data acquisition unit 1 and the black body 2 are oppositely arranged; the visible light lens module 13 adopts a SONY IMX477 low-light camera module, and can realize clear photographing of 1200 ten thousand pixels; the infrared thermal imager 12 adopts an IRay uncooled long-wave thermal imager, the wave band is 8-14 microns, the 384 × 288 resolution is realized, the focal length is 8mm, and the temperature can be measured at a distance of 1-2 meters; the three-dimensional laser radar 11 selects a Livox solid-state laser radar in Xinjiang, dense point cloud data collection is carried out on objects in a cone field of view of 40 degrees, the accumulation time of a single-frame point cloud is set to be 10 seconds, and point cloud data collection of 100 ten thousand points can be realized; the program-controlled black body belongs to the existing mature technology and is not described herein again.
The shell 10 is connected with a universal joint connecting piece 6, the universal joint connecting piece 6 is used for being connected with the outside and adjusting the direction of an optical axis, specifically, in one embodiment of the utility model, the universal joint connecting piece 6 selects a sub-safety monitoring camera support, and as shown in fig. 6, the three-dimensional temperature measuring device is aligned to a detected fake object by adjusting yaw and pitching locking screws of the universal joint; the shell 10 is also internally provided with a coding and decoding and interface circuit board 14, and the coding and decoding and interface circuit board 14 is connected with the visible light lens module 13 through a cable; the coding and decoding interface circuit board 14, the three-dimensional laser radar 11 and the thermal infrared imager 12 are all connected with an external power supply through the power adapter 3, and the coding and decoding interface circuit board 14, the three-dimensional laser radar 11 and the thermal infrared imager 12 are respectively connected with the network switch 4 through network interfaces. In an embodiment of the utility model, the power adapter 3 adopts 5V or 12V dc power adapters to supply power to the visible light module 13, the thermal infrared imager 12 and the three-dimensional laser radar 11; the codec and interface circuit board 14 selects an Nvida Jetson Nano edge computing board, is connected with the visible light module 13 through a CSI-MIPI data line, realizes the codec of 1200 ten thousand pixels of video data, and outputs the video data to the switch 4 through a gigabit network port.
The whole shell 10 is of a cuboid structure with a rear cover 15, and a threaded hole 16 for connecting the universal joint connecting piece 6 is formed in the rear cover 15; the shell 10 is further provided with a visible light lens module power interface 18, a visible light lens module network interface data interface 19, a laser radar data interface 17 and a thermal infrared imager data interface 110. Specifically, in an embodiment of the present invention, the visible light lens module power interface 18, the visible light lens module network interface data interface 19, the lidar data interface 17, and the thermal infrared imager data interface 110 are located on the same side of the housing 10.
The coding, decoding and interface circuit board 14 is internally provided with a non-detachable TF memory card.
The visible light lens module 13 is a visible light camera, and in an example of the present invention, the visible light camera also has a housing, the housing is provided with a fixed copper pillar 132, the visible light camera is installed in the working window a103 through the fixed copper pillar 132, and the lens thereof collects information of a detected disguise through the working window a 103.
The control box 21 supplies power through the power adapter 3, and the control box 21 is connected with the upper computer 5 through an RS485 serial bus for communication.
As shown in fig. 5, the principle of the present invention is as follows:
the upper computer 5 communicates with the black body 2 through RS485, periodically (at intervals of 10-20 minutes) adjusts the temperature of the black body 2 according to the temperature change rate of the detected environment, and the black body 2 is respectively set to have 10 ℃ deviation of the environment temperature; after the temperature is in place, triggering the thermal infrared imager 12 to acquire data, acquiring a linear calibration relation of the temperature and the gray scale of the thermal infrared imager 12 at the moment by a two-point calibration method, and transforming the whole temperature data acquired by the thermal infrared imager 12 by utilizing the relation so as to acquire the accurate equivalent black body temperature of the measured counterfeit object; and fusing the infrared temperature information, the visible light texture information and the point cloud data through the calibration relation among the laser radar, the thermal infrared imager and the visible light camera to obtain the three-dimensional point cloud distribution containing colors.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
The present invention is not described in detail in the prior art.
Claims (6)
1. A multi-sensor fused three-dimensional temperature measuring device comprises a data acquisition unit (1) and a black body (2); the method is characterized in that: the data acquisition unit (1) is arranged on one side of the test area, and the black body (2) is arranged on the other side of the test area; the data acquisition unit (1) comprises a shell (10), a visible light lens module (13), a thermal infrared imager (12) and a three-dimensional laser radar (11) are fixedly arranged in the shell (10), and the visual axis directions of the visible light lens module (13), the thermal infrared imager (12) and the three-dimensional laser radar (11) are consistent; one side surface of the shell (10) is a working surface, and a working window A (103) of the visible light lens module, a working window B (102) of the thermal infrared imager window and a working window C (101) of the three-dimensional laser radar are arranged on the working surface; the blackbody (2) is a program-controlled blackbody and comprises a control box (21), a blackbody surface (22) and radiating fins (23), wherein the blackbody surface (22) is opposite to the working surface of the shell (10) at intervals.
2. The multi-sensor fused three-dimensional temperature measuring device according to claim 1, wherein: the shell (10) is connected with a universal joint connecting piece (6), and the universal joint connecting piece (6) is used for being connected with the outside and adjusting the direction of an optical axis; the shell (10) is also internally provided with a coding and decoding and interface circuit board (14), and the coding and decoding and interface circuit board (14) is connected with the visible light lens module (13) through a cable; the coding and decoding interface circuit board (14), the three-dimensional laser radar (11) and the thermal infrared imager (12) are connected with an external power supply through a power adapter (3), and the coding and decoding interface circuit board (14), the three-dimensional laser radar (11) and the thermal infrared imager (12) are respectively connected with the network switch (4) through network interfaces.
3. The multi-sensor fused three-dimensional temperature measuring device according to claim 2, wherein: the whole shell (10) is of a cuboid structure with a rear cover (15), and a threaded hole (16) for connecting the universal joint connecting piece (6) is formed in the rear cover (15); the shell (10) is further provided with a visible light lens module power interface (18), a visible light lens module network interface data interface (19), a laser radar data interface (17) and a thermal infrared imager data interface (110).
4. The multi-sensor fused three-dimensional temperature measuring device according to claim 2, wherein: the coding, decoding and interface circuit board (14) is internally provided with a non-detachable TF memory card.
5. The multi-sensor fused three-dimensional temperature measuring device according to claim 1, wherein: the visible light lens module (13) is a visible light camera.
6. The multi-sensor fused three-dimensional temperature measuring device according to claim 1, wherein: the control box (21) is powered by the power adapter (3), and the control box (21) is connected and communicated with the upper computer (5) through an RS485 serial bus.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202123303440.9U CN216349150U (en) | 2021-12-27 | 2021-12-27 | Three-dimensional temperature measuring device with multi-sensor fusion |
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| CN202123303440.9U CN216349150U (en) | 2021-12-27 | 2021-12-27 | Three-dimensional temperature measuring device with multi-sensor fusion |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114061763A (en) * | 2021-12-27 | 2022-02-18 | 中国人民解放军军事科学院国防工程研究院 | A three-dimensional temperature measurement device based on multi-sensor fusion |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114061763A (en) * | 2021-12-27 | 2022-02-18 | 中国人民解放军军事科学院国防工程研究院 | A three-dimensional temperature measurement device based on multi-sensor fusion |
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