WO2020143136A1 - Active infrared thermal detection method for damage in bonding structure of glass curtain wall and system for same - Google Patents
Active infrared thermal detection method for damage in bonding structure of glass curtain wall and system for same Download PDFInfo
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- WO2020143136A1 WO2020143136A1 PCT/CN2019/085513 CN2019085513W WO2020143136A1 WO 2020143136 A1 WO2020143136 A1 WO 2020143136A1 CN 2019085513 W CN2019085513 W CN 2019085513W WO 2020143136 A1 WO2020143136 A1 WO 2020143136A1
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- curtain wall
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- 239000011521 glass Substances 0.000 title claims abstract description 140
- 238000001514 detection method Methods 0.000 title claims abstract description 51
- 230000005284 excitation Effects 0.000 claims abstract description 58
- 230000005855 radiation Effects 0.000 claims abstract description 26
- 238000012937 correction Methods 0.000 claims abstract description 12
- 238000000034 method Methods 0.000 claims abstract description 11
- 238000009826 distribution Methods 0.000 claims abstract description 9
- 239000000853 adhesive Substances 0.000 claims description 78
- 230000001070 adhesive effect Effects 0.000 claims description 78
- 238000012545 processing Methods 0.000 claims description 10
- 239000003292 glue Substances 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 claims description 4
- 238000003860 storage Methods 0.000 claims description 4
- 238000007689 inspection Methods 0.000 claims description 3
- 230000035945 sensitivity Effects 0.000 claims description 3
- 230000007547 defect Effects 0.000 description 13
- 238000010586 diagram Methods 0.000 description 7
- 238000010521 absorption reaction Methods 0.000 description 6
- 238000002834 transmittance Methods 0.000 description 5
- 238000010438 heat treatment Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000032683 aging Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 238000001931 thermography Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000005357 flat glass Substances 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000010297 mechanical methods and process Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N25/00—Investigating or analyzing materials by the use of thermal means
- G01N25/72—Investigating presence of flaws
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
-
- 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
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J2005/0077—Imaging
Definitions
- the invention relates to the technical field of thermal wave detection of glass curtain walls, in particular to an active thermally excited infrared thermal wave detection method and system for damage to the adhesive structure of glass curtain walls.
- the glass curtain wall is a building peripheral structure or decorative structure formed by bonding the supporting structure and the curtain wall glass through structural adhesive.
- the main function of the glass curtain wall is to adjust light and heat, resist wind and rain, isolate noise, block air penetration, and maximize the maintenance of a suitable indoor production and living environment.
- the first building with modern glass curtain wall in my country was built in Guangzhou Canton Fair Complex. Since then, my country's glass curtain wall project has developed rapidly, and its output and usage have increased year by year, gradually becoming a major glass curtain wall country.
- the life span of a building is usually several decades or even hundreds of years, but the designed service life of the glass curtain wall is about 25 years.
- a considerable part of the glass curtain wall in my country has been used close to or exceeded the designed service life.
- the adhesive structure of the glass curtain wall will produce different types of damage, mainly Including fatigue, aging and creep three degradation forms.
- the hollow glass adhesive structure is most common due to the aging and debonding of the hollow glass adhesive structure.
- the active infrared heat wave detection technology has the advantages of non-contact, intuitive and rapid, and it is more feasible and important to apply to the damage detection of the adhesive structure of the glass curtain wall. Therefore, it is of great significance to study the active infrared heat wave detection for the damage of the adhesive structure of the glass curtain wall.
- the object of the present invention is to provide an active infrared heat wave detection method and system for damage to the adhesive structure of the glass curtain wall.
- the detection method and system uses an unmanned aerial vehicle or wall-climbing robot equipped with a linear laser thermal excitation source and a high-resolution infrared thermal imager to perform thermal excitation and thermal image acquisition on the surface of the glass curtain wall adhesive structure. According to the glass curtain wall adhesive bonding The temperature distribution of the structure determines the defect.
- Active infrared thermal wave detection methods for damage to glass curtain wall adhesive structures include:
- the laser thermal excitation source and infrared thermal imager are mounted on the unmanned aerial vehicle or wall-climbing robot; and the linear laser beam is used as the active thermal excitation source for the detection of thermal wave damage of the glass curtain wall adhesive structure;
- the infrared thermal image with more obvious temperature difference is obtained through delay correction, and the temperature distribution difference of infrared thermal image is analyzed to identify the damage of the adhesive structure of the glass curtain wall.
- Active infrared heat wave detection system for damage to the adhesive structure of glass curtain wall including: near infrared laser thermal excitation source, infrared thermal imager, unmanned aerial vehicle or wall climbing robot, and PC terminal;
- the near-infrared laser thermal excitation source uses a laser beam as a thermal excitation source for thermal wave detection of the adhesive structure of the glass curtain wall, that is, the linear infrared laser is used to actively thermally excite the surface of the glass curtain wall to enhance the surface of the detected object Heat radiation;
- Infrared thermal imager is used to collect the amount of heat radiation transmitted through the glass surface of the curtain wall, and convert the amount of heat radiation into a temperature value to obtain a thermal image sequence of the glue structure of the glass curtain wall;
- Unmanned aerial vehicle or wall-climbing robot used to carry a laser thermal excitation source and an infrared thermal imager, and achieve uniform thermal motion and scanning thermal excitation and thermal image sequence acquisition of the laser beam and infrared thermal imager on the glass curtain wall adhesive structure;
- the PC side is the computer thermal image processing module of the detection system, which is used to standardize the storage, display and processing of thermal image sequences.
- one or more embodiments of the present invention may have the following advantages:
- the invention uses a laser beam to thermally excite the glued structure of the glass curtain wall.
- the temperature information of the glass curtain wall is obtained through an infrared thermal imager.
- the heating method and temperature data collection method are both non-contact.
- the laser beam heating method has good directivity. Low power requirement and high energy density, only the glass curtain wall adhesive structure can be thermally stimulated to control the heating effect conveniently; for the characteristics of the glass curtain wall to detect aerial work, the UAV or wall-climbing robot is equipped with laser thermally excited heat wave detection System; by controlling the timing and delay correction function of the laser beam and the thermal imager acquisition, a thermal image with a significant temperature difference is obtained.
- FIG. 1 is a flowchart of an active infrared heat wave detection method for damage to a glass curtain wall adhesive structure
- Figure 2 is a schematic diagram of the active infrared thermal wave detection method for damage to the adhesive structure of the glass curtain wall;
- Figure 3 is a schematic diagram of the surface of the laser beam radiation glass curtain wall adhesive structure
- FIG. 4 is a schematic diagram of heat wave propagation in a non-damaged area of a glass curtain wall adhesive structure
- FIG. 5 is a schematic diagram of heat wave propagation in the damaged area of the adhesive structure of the glass curtain wall
- 6a and 6b are schematic diagrams of an active infrared heat wave detection system for damage to the adhesive structure of glass curtain walls;
- Figure 8 is the temperature change diagram of the non-damaged area and the damaged area after thermal excitation
- FIG. 9 is a graph of temperature difference changes between the non-damaged area and the damaged area after thermal excitation.
- the purpose of the present invention is to provide an active infrared heat wave for damage to the adhesive structure of the glass curtain wall Detection method and system using unmanned aerial vehicle or wall-climbing robot equipped with linear laser thermal excitation source and high-resolution infrared thermal imager, which can perform thermal excitation and thermal image acquisition on the surface of the glass curtain wall adhesive structure , According to the temperature distribution of the adhesive structure of the glass curtain wall to determine the defect.
- the process flow of the active infrared heat wave detection method for damage to the adhesive structure of the glass curtain wall includes:
- the laser thermal excitation source and infrared thermal imager are mounted on the unmanned aerial vehicle or wall-climbing robot; and the linear laser beam is used as the active thermal excitation source for the detection of thermal wave damage of the glass curtain wall adhesive structure;
- the infrared thermal image with more obvious temperature difference is obtained through delay correction, and the temperature distribution difference of infrared thermal image is analyzed to identify the damage of the adhesive structure of the glass curtain wall.
- the principle of the active infrared heat wave detection method for the damage of the glass curtain wall glued structure is as follows: the above uses laser beam as the thermal excitation source for the heat wave detection of the glass curtain wall glued structure, and the linear near infrared laser is selected for the glass
- the surface of the curtain wall adopts an active thermal excitation source to enhance the thermal radiation on the surface of the detected object.
- the curtain wall glass has a large transmittance to the near-infrared laser, and the structural adhesive has a good absorption effect to the near-infrared laser. Most of the light in the near-infrared laser beam can be irradiated to the surface of the structural adhesive through the glass medium.
- the transmitted light is completely absorbed and converted into heat on the surface of the structural adhesive, causing the surface temperature of the structural adhesive to increase.
- the temperature of the damaged area and the normal area are different.
- G i G ⁇ o + G ⁇ o + G ⁇ o
- ⁇ o , ⁇ o , ⁇ o represent absorption rate, reflectivity, and transmittance, respectively, representing the proportion of each outgoing radiation illuminance to the incident radiation illuminance. Since the transmittance of ordinary flat glass reaches 80% or even more than 90%, the curtain wall glass has a greater transmittance of the near-infrared laser, and the structural adhesive has better absorption of the near-infrared laser. Therefore, in the process of stimulating the curtain wall glass with the near-infrared laser beam, a considerable part is absorbed by the curtain wall glass, and a large part is irradiated to the surface of the structural adhesive in the form of transmission.
- an infrared thermal imager to collect the amount of thermal radiation transmitted through the glass surface of the curtain wall is to collect the thermal radiation of the surface of the glass wall of the curtain wall transmitted through the translucent medium by using an infrared thermal imager and convert it into a temperature value.
- the infrared thermal imager should meet the detection requirement of the adhesive structure of the glass curtain wall, the spatial resolution should not be greater than 1mrad, and the temperature sensitivity at 30°C should not be less than 50mk.
- FIG. 6a and 6b it is an active infrared thermal wave detection system for damage to the adhesive structure of the glass curtain wall, including: near-infrared laser thermal excitation source, infrared thermal imager, unmanned aerial vehicle or wall-climbing robot, and PC end;
- the near-infrared laser thermal excitation source uses a laser beam as a thermal excitation source for thermal wave detection of the adhesive structure of the glass curtain wall, that is, the linear infrared laser is used to actively thermally excite the surface of the glass curtain wall to enhance the surface of the detected object Heat radiation;
- Infrared thermal imager is used to collect the amount of heat radiation transmitted through the glass surface of the curtain wall, and convert the amount of heat radiation into a temperature value to obtain a thermal image sequence of the glue structure of the glass curtain wall;
- Unmanned aerial vehicle or wall-climbing robot used to carry a laser thermal excitation source and an infrared thermal imager, and achieve uniform thermal motion and scanning thermal excitation and thermal image sequence acquisition of the laser beam and infrared thermal imager on the glass curtain wall adhesive structure;
- the PC side is the computer thermal image processing module of the detection system, which is used to standardize the storage, display and processing of thermal image sequences.
- the above uses the near-infrared laser beam as the active thermal excitation source for the thermal wave detection of the glass curtain wall adhesive structure. It is aimed at the characteristics of the high transmittance of the near-infrared laser beam by the glass and the absorption effect of the structural glue on the near-infrared laser beam.
- the curtain wall adhesive structure is thermally excited to increase the surface temperature of the structural adhesive.
- the above uses unmanned aerial vehicles or wall-climbing robots equipped with thermal excitation sources and thermal imaging cameras.
- linear laser thermal excitation sources and infrared thermal imaging cameras are installed on unmanned aerial vehicles or wall-climbing On the robot, by controlling the uniform speed movement of the unmanned aerial vehicle or the wall-climbing robot, the uniform speed scanning heating of the linear laser to the adhesive structure of the glass curtain wall and the sequence acquisition of the glass curtain wall by the infrared thermal imager can be realized.
- the collected thermal image sequence is transmitted to the PC.
- the purpose of detecting damage to the adhesive structure of the glass curtain wall is achieved. If there is a defect in the adhesive structure of the glass curtain wall, the heat wave conductance performance is different in the defect area and the non-defect area, so that the amount of heat radiation through the glass surface of the curtain wall is different.
- the optimal scanning timing relationship between the laser beam and the thermal imager is obtained through the temperature-time curve described above.
- the maximum value of the temperature difference curve is selected
- the time is taken as the time interval between the thermal excitation of the laser beam and the acquisition of the thermal imager.
- the acquisition time of the thermal imager with the largest temperature difference is obtained.
- the temperature curve of the non-damage and damage area is shown in Figure 8
- the temperature difference curve of the non-damage and damage area is shown in Figure 9.
- the maximum time interval between the temperature difference between the damaged area and the non-damaged area is the best acquisition time of the infrared thermal imager, which is called the optimal scanning timing between the laser beam and the thermal imager. relationship.
- the PC terminal is a computer thermal image processing module of the detection system, which can standardize the storage and display of thermal image sequences, and has the delay correction function and thermal image enhancement function.
- the delay correction function is based on the characteristics of laser beam scanning, so that the signals of all areas in the image are the optimal scanning timing, and the thermal image with the most obvious temperature difference is obtained, which is equivalent to the entire surface being thermally excited at the same time.
- the best time interval after being excited by heat is acquired by the thermal imager.
- the thermal image enhancement function adjusts and sharpens the contour and contrast in the infrared thermal image, and highlights the abnormal temperature area of the adhesive structure of the glass curtain wall.
- the damage of the glass curtain wall adhesive structure is identified according to the temperature difference between the defect area and the non-defect area, so as to detect the glass curtain wall adhesive structure damage.
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Abstract
An active infrared thermal detection method for damage in a bonding structure of a glass curtain wall and a system for same, the method comprising: a laser thermal excitation source and an infrared thermal imager are turned on and thermal excitation and collection are performed on a glass curtain wall sample to obtain a temperature curve of a surface of the glass curtain wall; the laser thermal excitation source and the infrared thermal imager are loaded onto an unmanned aircraft or a wall-climbing robot; by means of a temperature/time curve, an optimal scanning sequence between the laser thermal excitation source and the infrared thermal imager is obtained; the laser thermal excitation source and the infrared thermal imager are turned on, and an infrared thermal imager parameter, a thermal image sequence collection frequency, and a thermal excitation power are set; the unmanned aircraft or the wall-climbing robot is caused to fly or move along a glass curtain wall bonding structure at a constant speed to collect thermal radiation passing through the surface of the glass curtain wall; an infrared thermal image sequence of the glass curtain wall bonding structure is obtained and transmitted to a PC terminal; and by means of lag correction, infrared thermal images having clearer temperature differences are obtained, and temperature distribution differences of the infrared thermal images are analyzed to identify a damage condition of the glass curtain wall bonding structure.
Description
本发明涉及玻璃幕墙热波检测技术领域，尤其涉及一种面向玻璃幕墙胶接结构损伤的主动热激励式红外热波检测方法与系统。The invention relates to the technical field of thermal wave detection of glass curtain walls, in particular to an active thermally excited infrared thermal wave detection method and system for damage to the adhesive structure of glass curtain walls.
玻璃幕墙是由支承结构和幕墙玻璃通过结构胶粘接而成的建筑外围结构或装饰结构。玻璃幕墙的主要作用是调节光热、抵御风雨、隔绝噪声、阻断空气渗透，最大限度维持室内适宜的生产生活环境。上世纪90年代，我国第一幢采用现代玻璃幕墙的建筑广州广交会展馆建成。此后，我国玻璃幕墙工程迅猛发展，产量、使用量逐年上升，逐渐成为玻璃幕墙大国。The glass curtain wall is a building peripheral structure or decorative structure formed by bonding the supporting structure and the curtain wall glass through structural adhesive. The main function of the glass curtain wall is to adjust light and heat, resist wind and rain, isolate noise, block air penetration, and maximize the maintenance of a suitable indoor production and living environment. In the 1990s, the first building with modern glass curtain wall in my country was built in Guangzhou Canton Fair Complex. Since then, my country's glass curtain wall project has developed rapidly, and its output and usage have increased year by year, gradually becoming a major glass curtain wall country.
建筑的寿命通常是几十年甚至上百年，但玻璃幕墙的设计使用寿命约为25年，我国已有相当部分的玻璃幕墙使用时间接近或超过设计使用寿命。近几年，全国多地发生幕墙玻璃脱落事故，严重危害公民的人身安全和财产安全。由于玻璃幕墙胶接结构长期处于温度变化大、高湿度和高辐射的恶劣环境，加之早期玻璃幕墙设计不当、施工缺陷、材料欠佳等原因，胶接结构会产生种类各异的损伤类型，主要包括疲劳、老化和蠕化三种退化形式。玻璃幕墙坠落事故中，由于中空玻璃胶接结构老化脱粘，造成中空玻璃外片坠落的情况最为多见。The life span of a building is usually several decades or even hundreds of years, but the designed service life of the glass curtain wall is about 25 years. A considerable part of the glass curtain wall in my country has been used close to or exceeded the designed service life. In recent years, there have been many incidents of curtain wall glass falling across the country, which have seriously endangered the personal safety and property safety of citizens. Due to the long-term harsh environment with large temperature changes, high humidity and high radiation, and the reasons for early glass curtain wall design, construction defects, and poor materials, the adhesive structure of the glass curtain wall will produce different types of damage, mainly Including fatigue, aging and creep three degradation forms. In the falling accident of the glass curtain wall, the hollow glass adhesive structure is most common due to the aging and debonding of the hollow glass adhesive structure.
面对玻璃幕墙严峻的安全形势，迫切需要对使用中的玻璃幕墙进行新的检测手段。然而，现有的玻璃幕墙专项检测对于玻璃幕墙最具安全隐患的自爆和脱落问题无法给出可靠的结论。当前学者提出的既有玻璃幕墙检测方法无不需要紧密接触幕墙玻璃，在大规模扫查和抽查中，需要紧密接触的力学方法并不适用。因此，目前的应用于玻璃幕墙胶接结构损伤检测的方法不够成熟，缺少标准，检测的方法有待进一步探究完善。主动式红外热波检测是一种通过用热激励源来加热待检查的物体，由于损伤区域与正常区域的热波 反射存在差异而形成明显的温差，进而实现损伤检测的检测方法。由于玻璃幕墙的胶接结构位于玻璃与支撑结构中间，无法实现对结构胶的直接检测。而主动式红外热波检测技术具有非接触、直观快速的优点，应用于玻璃幕墙胶接结构损伤检测更具可行性及重要性。因此，针对玻璃幕墙胶接结构损伤的主动式红外热波检测研究是具有重大意义的。Facing the severe security situation of the glass curtain wall, there is an urgent need for new detection methods for the glass curtain wall in use. However, the existing special inspection of the glass curtain wall cannot give a reliable conclusion on the self-explosion and shedding problem of the glass curtain wall, which is the most hidden safety hazard. The existing glass curtain wall detection methods proposed by current scholars do not require close contact with the curtain wall glass. In large-scale scanning and spot checks, the mechanical methods that require close contact are not applicable. Therefore, the current methods for damage detection of glass curtain wall adhesive structures are not mature enough and lack standards. The detection methods need to be further explored and improved. Active infrared heat wave detection is a method that uses a thermal excitation source to heat the object to be inspected. Due to the difference in the heat wave reflection between the damaged area and the normal area, a significant temperature difference is formed, and then the damage detection method is realized. Since the glued structure of the glass curtain wall is located between the glass and the support structure, it is impossible to directly detect the structured glue. The active infrared heat wave detection technology has the advantages of non-contact, intuitive and rapid, and it is more feasible and important to apply to the damage detection of the adhesive structure of the glass curtain wall. Therefore, it is of great significance to study the active infrared heat wave detection for the damage of the adhesive structure of the glass curtain wall.
发明内容Summary of the invention
为解决上述技术问题，本发明的目的是提供一种面向玻璃幕墙胶接结构损伤的主动红外热波检测方法与系统。该检测方法与系统采用无人飞行器或爬壁机器人搭载线型激光热激励源和高分辨率红外热像仪，可对玻璃幕墙胶接结构表面进行热激励和热图像采集，根据玻璃幕墙胶接结构温度分布情况判断缺陷情况。In order to solve the above technical problems, the object of the present invention is to provide an active infrared heat wave detection method and system for damage to the adhesive structure of the glass curtain wall. The detection method and system uses an unmanned aerial vehicle or wall-climbing robot equipped with a linear laser thermal excitation source and a high-resolution infrared thermal imager to perform thermal excitation and thermal image acquisition on the surface of the glass curtain wall adhesive structure. According to the glass curtain wall adhesive bonding The temperature distribution of the structure determines the defect.
本发明的目的通过以下的技术方案来实现：The object of the present invention is achieved by the following technical solutions:
面向玻璃幕墙胶接结构损伤的主动红外热波检测方法，包括：Active infrared thermal wave detection methods for damage to glass curtain wall adhesive structures include:
开启激光热激励源和红外热像仪对玻璃幕墙试样进行热激励和采集，获取玻璃幕墙表面温度曲线；Turn on the laser thermal excitation source and infrared thermal imager to thermally excite and collect the glass curtain wall samples to obtain the temperature curve of the glass curtain wall surface;
将激光热激励源和红外热像仪搭载于无人飞行器或爬壁机器人；并使用线型激光光束作为玻璃幕墙胶接结构损伤热波检测的主动热激励源；The laser thermal excitation source and infrared thermal imager are mounted on the unmanned aerial vehicle or wall-climbing robot; and the linear laser beam is used as the active thermal excitation source for the detection of thermal wave damage of the glass curtain wall adhesive structure;
调节红外热像仪的拍摄角度，并通过温度时间曲线获得激光光束与红外热像仪之间最佳扫描时序；Adjust the shooting angle of the infrared camera, and obtain the best scanning timing between the laser beam and the infrared camera through the temperature-time curve;
开启激光热激励源和红外热像仪，并设置红外热像仪参数和热图像序列采集频率及热激励功率；Turn on the laser thermal excitation source and infrared thermal imager, and set the infrared thermal imager parameters and thermal image sequence acquisition frequency and thermal excitation power;
启动无人飞行器或爬壁机器人，并使无人飞行器或爬壁机器人沿玻璃幕墙胶接结构匀速飞行或移动采集透过幕墙玻璃表面的热辐射量；Start the unmanned aerial vehicle or wall-climbing robot, and make the unmanned aerial vehicle or wall-climbing robot fly or move along the glass curtain wall adhesive structure at a uniform speed or move to collect the amount of heat radiation transmitted through the glass surface of the curtain wall;
将热辐射量转换为温度数值，获得玻璃幕墙胶接结构红外热图像序列；Convert the amount of heat radiation into temperature value to obtain the infrared thermal image sequence of the glass curtain wall adhesive structure;
将红外热图像序列传输至PC端；Transmit infrared thermal image sequence to PC;
对红外热图像序列进行延迟校正和热图像增强；Delay correction and thermal image enhancement of infrared thermal image sequence;
通过延迟校正获得温度差异更明显的红外热图像，并对红外热图像温度分布差异进行分析，识别玻璃幕墙胶接结构损伤情况。The infrared thermal image with more obvious temperature difference is obtained through delay correction, and the temperature distribution difference of infrared thermal image is analyzed to identify the damage of the adhesive structure of the glass curtain wall.
面向玻璃幕墙胶接结构损伤的主动红外热波检测系统，包括：近红外线型激光热激励源、红外热像仪、无人飞行器或爬壁机器人以及PC端；Active infrared heat wave detection system for damage to the adhesive structure of glass curtain wall, including: near infrared laser thermal excitation source, infrared thermal imager, unmanned aerial vehicle or wall climbing robot, and PC terminal;
所述近红外线型激光热激励源，采用激光光束作为玻璃幕墙胶接结构热波检测的热激励源，即通过选取线形红外激光器对玻璃幕墙表面进行主动热激励的方式来增强被检测对象表面的热辐射；The near-infrared laser thermal excitation source uses a laser beam as a thermal excitation source for thermal wave detection of the adhesive structure of the glass curtain wall, that is, the linear infrared laser is used to actively thermally excite the surface of the glass curtain wall to enhance the surface of the detected object Heat radiation;
红外热像仪，用于采集透过幕墙玻璃表面的热辐射量，并将热辐射量转换为温度数值，获得玻璃幕墙胶结构热图像序列；Infrared thermal imager is used to collect the amount of heat radiation transmitted through the glass surface of the curtain wall, and convert the amount of heat radiation into a temperature value to obtain a thermal image sequence of the glue structure of the glass curtain wall;
无人飞行器或爬壁机器人，用于搭载激光热激励源和红外热像仪，并通过匀速运动实现激光光束和红外热像仪对玻璃幕墙胶接结构的扫描热激励和热图像序列采集；Unmanned aerial vehicle or wall-climbing robot, used to carry a laser thermal excitation source and an infrared thermal imager, and achieve uniform thermal motion and scanning thermal excitation and thermal image sequence acquisition of the laser beam and infrared thermal imager on the glass curtain wall adhesive structure;
PC端，为检测系统的计算机热图像处理模块，用于对热图像序列进行规范化存储、显示和处理。The PC side is the computer thermal image processing module of the detection system, which is used to standardize the storage, display and processing of thermal image sequences.
与现有技术相比，本发明的一个或多个实施例可以具有如下优点：Compared with the prior art, one or more embodiments of the present invention may have the following advantages:
本发明采用激光光束对玻璃幕墙胶接结构进行热激励，玻璃幕墙温度信息经由红外热像仪获取，加热方法和温度数据采集方法均为非接触式；所述激光光束加热方法方向性好、所需功率小、能量密度高，可仅对玻璃幕墙胶接结构处进行热激励，控制加热效果方便；针对玻璃幕墙检测高空作业的特点，使用无人机或爬壁机器人搭载激光热激励热波检测系统；通过控制激光光束与热像仪采集的时序和延迟校正功能，得到温度差异明显的热图像。The invention uses a laser beam to thermally excite the glued structure of the glass curtain wall. The temperature information of the glass curtain wall is obtained through an infrared thermal imager. The heating method and temperature data collection method are both non-contact. The laser beam heating method has good directivity. Low power requirement and high energy density, only the glass curtain wall adhesive structure can be thermally stimulated to control the heating effect conveniently; for the characteristics of the glass curtain wall to detect aerial work, the UAV or wall-climbing robot is equipped with laser thermally excited heat wave detection System; by controlling the timing and delay correction function of the laser beam and the thermal imager acquisition, a thermal image with a significant temperature difference is obtained.
图1是面向玻璃幕墙胶接结构损伤的主动红外热波检测方法流程图；1 is a flowchart of an active infrared heat wave detection method for damage to a glass curtain wall adhesive structure;
图2是玻璃幕墙胶接结构损伤的主动红外热波检测方法原理图；Figure 2 is a schematic diagram of the active infrared thermal wave detection method for damage to the adhesive structure of the glass curtain wall;
图3是激光光束辐射玻璃幕墙胶接结构处表面示意图；Figure 3 is a schematic diagram of the surface of the laser beam radiation glass curtain wall adhesive structure;
图4是玻璃幕墙胶接结构无损伤区域的热波传播示意图；4 is a schematic diagram of heat wave propagation in a non-damaged area of a glass curtain wall adhesive structure;
图5是玻璃幕墙胶接结构损伤区域的热波传播示意图；5 is a schematic diagram of heat wave propagation in the damaged area of the adhesive structure of the glass curtain wall;
图6a和6b是玻璃幕墙胶接结构损伤的主动红外热波检测系统示意图；6a and 6b are schematic diagrams of an active infrared heat wave detection system for damage to the adhesive structure of glass curtain walls;
图7是玻璃幕墙胶接结构损伤表面温度分布示意图；7 is a schematic diagram of the temperature distribution of the damaged surface of the glass curtain wall adhesive structure;
图8是热激励后无损伤区域和损伤区域温度变化图；Figure 8 is the temperature change diagram of the non-damaged area and the damaged area after thermal excitation;
图9是热激励后无损伤区域和损伤区域温差变化图。FIG. 9 is a graph of temperature difference changes between the non-damaged area and the damaged area after thermal excitation.
为使本发明的目的、技术方案和优点更加清楚，下面将结合实施例及附图对本发明作进一步详细的描述：本发明的目的是提供一种面向玻璃幕墙胶接结构损伤的主动红外热波检测方法与系统，所述检测方法与系统采用无人飞行器或爬壁机器人搭载线型激光热激励源和高分辨率红外热像仪，可对玻璃幕墙胶接结构表面进行热激励和热图像采集，根据玻璃幕墙胶接结构温度分布情况判断缺陷情况。In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail in conjunction with the embodiments and the accompanying drawings: the purpose of the present invention is to provide an active infrared heat wave for damage to the adhesive structure of the glass curtain wall Detection method and system using unmanned aerial vehicle or wall-climbing robot equipped with linear laser thermal excitation source and high-resolution infrared thermal imager, which can perform thermal excitation and thermal image acquisition on the surface of the glass curtain wall adhesive structure , According to the temperature distribution of the adhesive structure of the glass curtain wall to determine the defect.
如图1所示，为面向玻璃幕墙胶接结构损伤的主动红外热波检测方法流程，包括：As shown in Figure 1, the process flow of the active infrared heat wave detection method for damage to the adhesive structure of the glass curtain wall includes:
开启激光热激励源和红外热像仪对玻璃幕墙试样进行热激励和采集，获取玻璃幕墙表面温度曲线；Turn on the laser thermal excitation source and infrared thermal imager to thermally excite and collect the glass curtain wall samples to obtain the temperature curve of the glass curtain wall surface;
将激光热激励源和红外热像仪搭载于无人飞行器或爬壁机器人；并使用线型激光光束作为玻璃幕墙胶接结构损伤热波检测的主动热激励源；The laser thermal excitation source and infrared thermal imager are mounted on the unmanned aerial vehicle or wall-climbing robot; and the linear laser beam is used as the active thermal excitation source for the detection of thermal wave damage of the glass curtain wall adhesive structure;
调节红外热像仪的拍摄角度，通过温度时间曲线获得激光光束与红外热像仪之间最佳扫描时序；Adjust the shooting angle of the infrared camera, and obtain the best scanning timing between the laser beam and the infrared camera through the temperature-time curve;
开启激光热激励源和红外热像仪，并设置红外热像仪参数和热图像序列采集频率及热激励功率；Turn on the laser thermal excitation source and infrared thermal imager, and set the infrared thermal imager parameters and thermal image sequence acquisition frequency and thermal excitation power;
启动无人飞行器或爬壁机器人，并使无人飞行器或爬壁机器人沿玻璃幕墙胶接结构匀速飞行或移动采集透过幕墙玻璃表面的热辐射量；Start the unmanned aerial vehicle or wall-climbing robot, and make the unmanned aerial vehicle or wall-climbing robot fly or move along the glass curtain wall adhesive structure at a uniform speed or move to collect the amount of heat radiation transmitted through the glass surface of the curtain wall;
将热辐射量转换为温度数值，获得玻璃幕墙胶接结构红外热图像序列；Convert the amount of heat radiation into temperature value to obtain the infrared thermal image sequence of the glass curtain wall adhesive structure;
将红外热图像序列传输至PC端；Transmit infrared thermal image sequence to PC;
对红外热图像序列进行延迟校正和热图像增强；Delay correction and thermal image enhancement of infrared thermal image sequence;
通过延迟校正获得温度差异更明显的红外热图像，并对红外热图像温度分布差异进行分析，识别玻璃幕墙胶接结构损伤情况。The infrared thermal image with more obvious temperature difference is obtained through delay correction, and the temperature distribution difference of infrared thermal image is analyzed to identify the damage of the adhesive structure of the glass curtain wall.
如图2所示，玻璃幕墙胶接结构损伤的主动红外热波检测方法原理，检测原理如下：上述使用激光光束作为玻璃幕墙胶接结构热波检测的热激励源，选取线形近红外激光器对玻璃幕墙表面进行主动热激励源的方式来增强被检测对象表面的热辐射。幕墙玻璃对所述近红外激光有较大的透过率，结构胶 对所述近红外激光有较好的吸收作用。近红外激光光束中的绝大部分光能透过玻璃介质辐照到结构胶表面，透射部分的光在结构胶表面被完全吸收转化热量，使结构胶表面温度升高。主动热激励时，由于损伤区域与正常区域的热波反射存在差异，从而使得损伤区域与正常区域的温度存在差异。As shown in Figure 2, the principle of the active infrared heat wave detection method for the damage of the glass curtain wall glued structure is as follows: the above uses laser beam as the thermal excitation source for the heat wave detection of the glass curtain wall glued structure, and the linear near infrared laser is selected for the glass The surface of the curtain wall adopts an active thermal excitation source to enhance the thermal radiation on the surface of the detected object. The curtain wall glass has a large transmittance to the near-infrared laser, and the structural adhesive has a good absorption effect to the near-infrared laser. Most of the light in the near-infrared laser beam can be irradiated to the surface of the structural adhesive through the glass medium. The transmitted light is completely absorbed and converted into heat on the surface of the structural adhesive, causing the surface temperature of the structural adhesive to increase. During active thermal excitation, due to the difference in heat wave reflection between the damaged area and the normal area, the temperature of the damaged area and the normal area are different.
通过激光光束辐射玻璃幕墙胶接结构处表面时，分别有吸收、反射和透射三个去向，参见图3。若入射在玻璃幕墙上光的辐射照度为G
i，反射部分为G
ρo，吸收部分为G
αo，透射部分为G
τo，由能量守恒定律有
When irradiating the surface of the glued structure of the glass curtain wall with the laser beam, there are three directions of absorption, reflection and transmission respectively, see FIG. 3. If the irradiance of light incident on the glass curtain wall is G i , the reflection part is G ρo , the absorption part is G αo , and the transmission part is G τo , which is determined by the law of conservation of energy.
G
i＝G
ρo+G
αo+G
τo
G i = G ρo + G αo + G τo
上式两边同时除以辐射照度G
i，得到
Divide both sides of the above formula by the irradiance G i at the same time to get
1＝ρ
o+α
o+τ
o
1=ρ o +α o +τ o
其中，ρ
o、α
o、τ
o分别表示吸收率、反射率、透射率，表征各个去向辐射照度占入射辐射照度的占比。由于普通平板玻璃的透射率达到80％甚至90％以上，幕墙玻璃对所述近红外激光有较大的透过率，结构胶对所述近红外激光有较好的吸收作用。因此，近红外激光光束照射激励幕墙玻璃的过程中，相当一小部分被幕墙玻璃吸收，绝大一部分以透射的形式辐照到结构胶表面。由于常用的结构胶为棕色、黑色等深色系，可近似为黑体，则透射部分的光能在结构胶表面，即玻璃幕墙结构胶与玻璃粘接处被完全吸收转化热量，粘接处温度开始逐渐上升。幕墙胶接结构温度升高，温度向幕墙内部以波动的形式传播，形成直射热波，如图4所示。当胶接结构存在缺陷时，热波在缺陷区域和非缺陷区域热波传导性能不同，从而使得损伤区域与正常区域的温度存在差异。胶接结构缺陷区域的热波传播如图5所示。
Among them, ρ o , α o , τ o represent absorption rate, reflectivity, and transmittance, respectively, representing the proportion of each outgoing radiation illuminance to the incident radiation illuminance. Since the transmittance of ordinary flat glass reaches 80% or even more than 90%, the curtain wall glass has a greater transmittance of the near-infrared laser, and the structural adhesive has better absorption of the near-infrared laser. Therefore, in the process of stimulating the curtain wall glass with the near-infrared laser beam, a considerable part is absorbed by the curtain wall glass, and a large part is irradiated to the surface of the structural adhesive in the form of transmission. Since the commonly used structural adhesives are dark series such as brown and black, which can be approximated as black bodies, the light energy of the transmitted part is completely absorbed and converted into heat on the surface of the structural adhesive, that is, the bonding point between the structural adhesive of the glass curtain wall and the glass, and the temperature of the bonding point Start to rise gradually. The temperature of the adhesive structure of the curtain wall increases, and the temperature propagates to the inside of the curtain wall in the form of fluctuations, forming a direct heat wave, as shown in Figure 4. When there is a defect in the bonded structure, the heat wave conducts differently in the defect area and the non-defect area, so that the temperature of the damaged area is different from the normal area. The heat wave propagation in the defect area of the glued structure is shown in Figure 5.
所述使用红外热像仪采集透过幕墙玻璃表面的热辐射量，为通过使用红外热像仪采集透过半透明介质的幕墙玻璃表面的热辐射量并转换为温度数值。所述红外热像仪应满足玻璃幕墙胶接结构检测需求，空间分辨率不大于1mrad，在30℃温度灵敏度不低于50mk。The use of an infrared thermal imager to collect the amount of thermal radiation transmitted through the glass surface of the curtain wall is to collect the thermal radiation of the surface of the glass wall of the curtain wall transmitted through the translucent medium by using an infrared thermal imager and convert it into a temperature value. The infrared thermal imager should meet the detection requirement of the adhesive structure of the glass curtain wall, the spatial resolution should not be greater than 1mrad, and the temperature sensitivity at 30°C should not be less than 50mk.
如图6a和6b所示，是玻璃幕墙胶接结构损伤的主动红外热波检测系统，包括：近红外线型激光热激励源、红外热像仪、无人飞行器或爬壁机器人以及PC端；As shown in Figures 6a and 6b, it is an active infrared thermal wave detection system for damage to the adhesive structure of the glass curtain wall, including: near-infrared laser thermal excitation source, infrared thermal imager, unmanned aerial vehicle or wall-climbing robot, and PC end;
所述近红外线型激光热激励源，采用激光光束作为玻璃幕墙胶接结构热波检测的热激励源，即通过选取线形红外激光器对玻璃幕墙表面进行主动热 激励的方式来增强被检测对象表面的热辐射；The near-infrared laser thermal excitation source uses a laser beam as a thermal excitation source for thermal wave detection of the adhesive structure of the glass curtain wall, that is, the linear infrared laser is used to actively thermally excite the surface of the glass curtain wall to enhance the surface of the detected object Heat radiation;
红外热像仪，用于采集透过幕墙玻璃表面的热辐射量，并将热辐射量转换为温度数值，获得玻璃幕墙胶结构热图像序列；Infrared thermal imager is used to collect the amount of heat radiation transmitted through the glass surface of the curtain wall, and convert the amount of heat radiation into a temperature value to obtain a thermal image sequence of the glue structure of the glass curtain wall;
无人飞行器或爬壁机器人，用于搭载激光热激励源和红外热像仪，并通过匀速运动实现激光光束和红外热像仪对玻璃幕墙胶接结构的扫描热激励和热图像序列采集；Unmanned aerial vehicle or wall-climbing robot, used to carry a laser thermal excitation source and an infrared thermal imager, and achieve uniform thermal motion and scanning thermal excitation and thermal image sequence acquisition of the laser beam and infrared thermal imager on the glass curtain wall adhesive structure;
PC端，为检测系统的计算机热图像处理模块，用于对热图像序列进行规范化存储、显示和处理。The PC side is the computer thermal image processing module of the detection system, which is used to standardize the storage, display and processing of thermal image sequences.
上述使用近红外线形激光光束作为玻璃幕墙胶接结构热波检测的主动热激励源是针对玻璃对近红外激光光束的高透射率的特点及结构胶对近红外激光光束吸收效果，使用激光对玻璃幕墙胶接结构进行热激励，使结构胶表面温度升高。The above uses the near-infrared laser beam as the active thermal excitation source for the thermal wave detection of the glass curtain wall adhesive structure. It is aimed at the characteristics of the high transmittance of the near-infrared laser beam by the glass and the absorption effect of the structural glue on the near-infrared laser beam. The curtain wall adhesive structure is thermally excited to increase the surface temperature of the structural adhesive.
上述使用无人飞行器或爬壁机器人搭载热激励源和热像仪，为针对玻璃幕墙检测过程高空作业人的特点，将线型激光热激励源和红外热像仪安装到无人飞行器或爬壁机器人上，通过控制无人飞行器或爬壁机器人的匀速运动，可以实现线型激光对玻璃幕墙胶接结构的匀速扫描加热和红外热像仪对玻璃幕墙的序列采集。The above uses unmanned aerial vehicles or wall-climbing robots equipped with thermal excitation sources and thermal imaging cameras. In order to deal with the characteristics of high-altitude operators in the glass curtain wall detection process, linear laser thermal excitation sources and infrared thermal imaging cameras are installed on unmanned aerial vehicles or wall-climbing On the robot, by controlling the uniform speed movement of the unmanned aerial vehicle or the wall-climbing robot, the uniform speed scanning heating of the linear laser to the adhesive structure of the glass curtain wall and the sequence acquisition of the glass curtain wall by the infrared thermal imager can be realized.
采集的热图像序列传输至PC端，通过对热图像的处理和分析，达到检测玻璃幕墙胶接结构损伤的目的。如果玻璃幕墙胶接结构存在缺陷，热波在缺陷区域和非缺陷区域热波传导性能不同，使得透过幕墙玻璃表面的热辐射量存在差异，玻璃幕墙胶接结构损伤造成的玻璃表面温度分布见图7。The collected thermal image sequence is transmitted to the PC. Through the processing and analysis of the thermal image, the purpose of detecting damage to the adhesive structure of the glass curtain wall is achieved. If there is a defect in the adhesive structure of the glass curtain wall, the heat wave conductance performance is different in the defect area and the non-defect area, so that the amount of heat radiation through the glass surface of the curtain wall is different. For the temperature distribution of the glass surface caused by the damage of the adhesive structure of the glass curtain wall, see Figure 7.
上述通过温度时间曲线获得激光束与热像仪之间最佳的扫描时序关系，为根据玻璃幕墙胶接结构损伤热波检测试验得到的无损伤与损伤区域温差曲线，选取温差曲线最大值所对应的时间作为激光束热激励与热像仪采集的时间间距，得到温度差异最大的热像仪采集时刻，无损伤与损伤区域温度曲线见图8，无损伤与损伤区域温差曲线见图9。玻璃幕墙胶接结构受激光热激励后，损伤区域和无损伤区域温差达到最大的时间间距，为红外热像仪的最佳采集时间，称为激光束与热像仪之间最佳的扫描时序关系。通过改变红外热像仪与激光器的角度，从而使激光热激励与红外热像仪的扫描时序为最佳采集时间。The optimal scanning timing relationship between the laser beam and the thermal imager is obtained through the temperature-time curve described above. According to the temperature difference curve of the non-damage and damage area obtained by the thermal wave detection test of the glass curtain wall adhesive structure damage, the maximum value of the temperature difference curve is selected The time is taken as the time interval between the thermal excitation of the laser beam and the acquisition of the thermal imager. The acquisition time of the thermal imager with the largest temperature difference is obtained. The temperature curve of the non-damage and damage area is shown in Figure 8, and the temperature difference curve of the non-damage and damage area is shown in Figure 9. After the glass curtain wall adhesive structure is excited by the laser, the maximum time interval between the temperature difference between the damaged area and the non-damaged area is the best acquisition time of the infrared thermal imager, which is called the optimal scanning timing between the laser beam and the thermal imager. relationship. By changing the angle between the infrared camera and the laser, the laser thermal excitation and the scanning sequence of the infrared camera are the optimal acquisition time.
所述PC端为检测系统的计算机热图像处理模块，可对热图像序列进行规范化存储和显示，具有所述延时校正功能和热图像增强功能。The PC terminal is a computer thermal image processing module of the detection system, which can standardize the storage and display of thermal image sequences, and has the delay correction function and thermal image enhancement function.
所述延迟校正功能，为针对激光光束扫描的特点，使图像中所有区域的信号为所述最佳扫描时序，得到温度差异最明显的热图像，相当于整个表面都是同一时刻受到热激励，在受热激励后的最佳时间间距为热像仪采集。The delay correction function is based on the characteristics of laser beam scanning, so that the signals of all areas in the image are the optimal scanning timing, and the thermal image with the most obvious temperature difference is obtained, which is equivalent to the entire surface being thermally excited at the same time. The best time interval after being excited by heat is acquired by the thermal imager.
所述热图像增强功能，为红外热像图中的轮廓和对比度等进行调整和锐化，突出玻璃幕墙胶接结构的温度异常区域。The thermal image enhancement function adjusts and sharpens the contour and contrast in the infrared thermal image, and highlights the abnormal temperature area of the adhesive structure of the glass curtain wall.
通过对热图像的处理和分析，如果玻璃幕墙胶接结构存在缺陷，根据缺陷区域和非缺陷区域的温度存在差异识别玻璃幕墙胶接结构的损伤情况，达到检测玻璃幕墙胶接结构损伤的目的。Through the processing and analysis of thermal images, if the glass curtain wall adhesive structure has defects, the damage of the glass curtain wall adhesive structure is identified according to the temperature difference between the defect area and the non-defect area, so as to detect the glass curtain wall adhesive structure damage.
虽然本发明所揭露的实施方式如上，但所述的内容只是为了便于理解本发明而采用的实施方式，并非用以限定本发明。任何本发明所属技术领域内的技术人员，在不脱离本发明所揭露的精神和范围的前提下，可以在实施的形式上及细节上作任何的修改与变化，但本发明的专利保护范围，仍须以所附的权利要求书所界定的范围为准。Although the embodiments disclosed by the present invention are as described above, the contents described are only the embodiments adopted for easy understanding of the present invention, and are not intended to limit the present invention. Any person in the technical field to which the present invention belongs can make any modifications and changes in the form and details of implementation without departing from the spirit and scope disclosed by the present invention, but the patent protection scope of the present invention, The scope defined by the appended claims shall still prevail.
Claims (9)
- 面向玻璃幕墙胶接结构损伤的主动红外热波检测方法，其特征在于，所述方法包括：An active infrared heat wave detection method for damage to the adhesive structure of glass curtain walls, characterized in that the method includes:开启激光热激励源和红外热像仪对玻璃幕墙试样进行热激励和采集，获取玻璃幕墙表面温度曲线；Turn on the laser thermal excitation source and infrared thermal imager to thermally excite and collect the glass curtain wall samples to obtain the temperature curve of the glass curtain wall surface;将激光热激励源和红外热像仪搭载于无人飞行器或爬壁机器人；并使用线型激光光束作为玻璃幕墙胶接结构损伤热波检测的主动热激励源；The laser thermal excitation source and infrared thermal imager are mounted on the unmanned aerial vehicle or wall-climbing robot; and the linear laser beam is used as the active thermal excitation source for the detection of thermal wave damage of the glass curtain wall adhesive structure;调节红外热像仪的拍摄角度，并通过温度时间曲线获得激光光束与红外热像仪之间最佳扫描时序；Adjust the shooting angle of the infrared camera, and obtain the best scanning timing between the laser beam and the infrared camera through the temperature-time curve;开启激光热激励源和红外热像仪，并设置红外热像仪参数和热图像序列采集频率及热激励功率；Turn on the laser thermal excitation source and infrared thermal imager, and set the infrared thermal imager parameters and thermal image sequence acquisition frequency and thermal excitation power;启动无人飞行器或爬壁机器人，并使无人飞行器或爬壁机器人沿玻璃幕墙胶接结构匀速飞行或移动采集透过幕墙玻璃表面的热辐射量；Start the unmanned aerial vehicle or wall-climbing robot, and make the unmanned aerial vehicle or wall-climbing robot fly or move along the glass curtain wall adhesive structure at a uniform speed or move to collect the amount of heat radiation transmitted through the glass surface of the curtain wall;将热辐射量转换为温度数值，获得玻璃幕墙胶接结构红外热图像序列；Convert the amount of heat radiation into temperature value to obtain the infrared thermal image sequence of the glass curtain wall adhesive structure;将红外热图像序列传输至PC端；Transmit infrared thermal image sequence to PC;对红外热图像序列进行延迟校正和热图像增强；Delay correction and thermal image enhancement of infrared thermal image sequence;通过延迟校正获得温度差异更明显的红外热图像，并对红外热图像温度分布差异进行分析，识别玻璃幕墙胶接结构损伤情况。The infrared thermal image with more obvious temperature difference is obtained through delay correction, and the temperature distribution difference of infrared thermal image is analyzed to identify the damage of the adhesive structure of the glass curtain wall.
- 如权利要求1所述的面向玻璃幕墙胶接结构损伤的主动红外热波检测方法，其特征在于，选取线形近红外激光器对玻璃幕墙表面进行主动热激励源的方式来增强被检测对象表面的热辐射。The active infrared heat wave detection method for the damage of the adhesive structure of the glass curtain wall according to claim 1, characterized in that a linear near-infrared laser is selected to perform an active thermal excitation source on the surface of the glass curtain wall to enhance the heat of the surface of the detected object radiation.
- 如权利要求1所述的面向玻璃幕墙胶接结构损伤的主动红外热波检测方法，其特征在于，所述红外热像仪满足玻璃幕墙胶结构检测需求，其空间分辨率不大于11mrad，在30℃温度灵敏度不低于50mk。The active infrared heat wave detection method for the damage of the adhesive structure of the glass curtain wall according to claim 1, characterized in that the infrared thermal imager satisfies the inspection requirements of the adhesive structure of the glass curtain wall, and its spatial resolution is not greater than 11mrad at 30 ℃ temperature sensitivity is not less than 50mk.
- 如权利要求1所述的面向玻璃幕墙胶接结构损伤的主动红外热波检测方法，其特征在于，检测前对玻璃幕墙试样进行热激励和采集，获取玻璃幕墙表面温度曲线；The active infrared heat wave detection method for the damage of the glass curtain wall adhesive structure according to claim 1, characterized in that, before the detection, the glass curtain wall sample is thermally excited and collected to obtain the surface temperature curve of the glass curtain wall;
- 如权利要求1所述的面向玻璃幕墙胶接结构损伤的主动红外热波检测方法，其特征在于，通过温度时间曲线获得激光束与热像仪之间最佳的扫描时序为选取玻璃幕墙结构无损伤与损伤区域温差曲线最大值所对应的时间作 为激光束热激励与热像仪采集的最佳时间间距，得到温度差异最大的热像仪采集时刻。The active infrared heat wave detection method for the damage of the adhesive structure of the glass curtain wall according to claim 1, characterized in that the optimal scanning timing between the laser beam and the thermal imager is obtained through the temperature-time curve for selecting the glass curtain wall structure without The time corresponding to the maximum value of the temperature difference curve between the damage and the damage area is taken as the optimal time interval between the thermal excitation of the laser beam and the acquisition by the thermal imager, and the acquisition time of the thermal imager with the largest temperature difference is obtained.
- 面向玻璃幕墙胶接结构损伤的主动红外热波检测系统，其特征在于，所述系统包括近红外线型激光热激励源、红外热像仪、无人飞行器或爬壁机器人以及PC端；An active infrared thermal wave detection system for damage to the adhesive structure of glass curtain walls, characterized in that the system includes a near-infrared laser thermal excitation source, an infrared thermal imager, an unmanned aerial vehicle or a wall-climbing robot, and a PC end;所述近红外线型激光热激励源，采用激光光束作为玻璃幕墙胶接结构热波检测的热激励源，即通过选取线形红外激光器对玻璃幕墙表面进行主动热激励的方式来增强被检测对象表面的热辐射；The near-infrared laser thermal excitation source uses a laser beam as the thermal excitation source for thermal wave detection of the glass curtain wall adhesive structure, that is, the linear infrared laser is used to perform active thermal excitation on the surface of the glass curtain wall to enhance the surface of the detected object Heat radiation;红外热像仪，用于采集透过幕墙玻璃表面的热辐射量，并将热辐射量转换为温度数值，获得玻璃幕墙胶结构热图像序列；Infrared thermal imager is used to collect the amount of heat radiation transmitted through the glass surface of the curtain wall, and convert the amount of heat radiation into a temperature value to obtain a thermal image sequence of the glue structure of the glass curtain wall;无人飞行器或爬壁机器人，用于搭载激光热激励源和红外热像仪，并通过匀速运动实现激光光束和红外热像仪对玻璃幕墙胶接结构的扫描热激励和热图像序列采集；Unmanned aerial vehicle or wall-climbing robot, used to carry a laser thermal excitation source and an infrared thermal imager, and achieve uniform thermal motion and scanning thermal excitation and thermal image sequence acquisition of the laser beam and infrared thermal imager on the glass curtain wall adhesive structure;PC端，为检测系统的计算机热图像处理模块，用于对热图像序列进行规范化存储、显示和处理。The PC side is the computer thermal image processing module of the detection system, which is used to standardize the storage, display and processing of thermal image sequences.
- 如权利要求6所述的面向玻璃幕墙胶接结构损伤的主动红外热波检测系统，其特征在于，所述红外热像仪满足玻璃幕墙胶结构检测需求，其空间分辨率不大于11mrad，在30℃温度灵敏度不低于50mk。The active infrared heat wave detection system for the damage of the adhesive structure of the glass curtain wall according to claim 6, wherein the infrared thermal imager meets the inspection requirements of the adhesive structure of the glass curtain wall, and its spatial resolution is not greater than 11mrad at 30 ℃ temperature sensitivity is not less than 50mk.
- 如权利要求6所述的面向玻璃幕墙胶接结构损伤的主动红外热波检测系统，其特征在于，所述热图像处理模块，用于对红外热图像序列进行延迟校正和热图像增强；通过延迟校正使图像中各点的热辐射信号为受激励后的相同时间间隔，相当于对整个检测表面进行同时激励；通过热图像增强获得温度差异更明显的红外热图像，并对红外热图像温度分布差异进行分析，识别玻璃幕墙胶接结构损伤情况。The active infrared heat wave detection system for the damage to the adhesive structure of the glass curtain wall according to claim 6, wherein the thermal image processing module is used for delay correction and thermal image enhancement of the infrared thermal image sequence; The correction makes the thermal radiation signals of each point in the image the same time interval after being excited, which is equivalent to simultaneous excitation of the entire detection surface; the infrared thermal image with a more obvious temperature difference is obtained by thermal image enhancement, and the temperature distribution of the infrared thermal image Analyze the differences to identify damage to the glued structure of the glass curtain wall.
- 如权利要求6所述的面向玻璃幕墙胶接结构损伤的主动红外热波检测系统，其特征在于，所述无人飞行器或爬壁机器人搭载激光热激励源和红外热像仪，选取玻璃幕墙表面无损伤与损伤区域温差曲线最大值所对应的时间作为激光束热激励与热像仪采集的最佳时间间距，调节红外热像仪与激光热激励之间的角度，得到温度差异最大的红外热图像。The active infrared heat wave detection system for the damage of the adhesive structure of the glass curtain wall according to claim 6, wherein the unmanned aerial vehicle or wall-climbing robot is equipped with a laser thermal excitation source and an infrared thermal imager to select the surface of the glass curtain wall The time corresponding to the maximum value of the temperature difference curve in the non-damaged and damaged area is used as the optimal time interval between the laser beam thermal excitation and the thermal imager acquisition, and the angle between the infrared thermal imager and the laser thermal excitation is adjusted to obtain the infrared heat with the largest temperature difference image.
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