CN103292780A - Distance information obtaining method for temperature correction of thermal infrared imager - Google Patents
Distance information obtaining method for temperature correction of thermal infrared imager Download PDFInfo
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Abstract
The invention provides a distance information obtaining method for temperature correction of a thermal infrared imager. The distance information obtaining method comprises the following steps of: S1. installing the thermal infrared imager on a rotary platform, wherein the rotary platform is capable of rotating in the orientation direction and the pitching direction; S2. processing a digital elevation model by using a geometrical relationship according to position information of the thermal infrared imager in the space to obtain distances between the thermal infrared imager and an object on the earth surface along the direction of optical axis under various orientation angles and pitching angles. According to the distance information obtaining method, the distances between the thermal infrared imager and the object on the earth object along the direction of optical axis under various orientation angles and pitching angles can be calculated by using a method for calculating the distance between the object and the earth surface according to the position information of the thermal infrared imager in space and the digital elevation model of a working region of the thermal infrared imager.
Description
Technical field
The present invention relates to a kind of range information acquisition methods, particularly a kind of range information acquisition methods for the thermal infrared imager temperature correction.
Background technology
Forest fire is the most dangerous enemy of forest, also is the most fearful disaster of forestry, its can to forest bring the most harmful, have destructive consequence most.Forest in blocks is not only burnt in forest fire, the animal in the injury woods, but also reduce the updating ability of forest, cause the effect of the barren of soil and the water conservation of destruction forest, even cause the ecologic environment out of trim.Although the science of the world today is advancing with rapid changepl. never-ending changes and improvementsly,, human in the uniform forest fire, but still do not obtain permanent progress as yet.
Present most of forest fire preventing monitor system adopts visible light camera to carry out the monitoring of forest fire, utilizes the features such as color, texture of flame to carry out fire point and identifies.Because the complicacy of environmental baseline, features such as the color of flame, texture are also unstable, so adopt false-alarm and the false dismissed rate of visible light camera forest fire preventing monitor system higher.
Adopt the forest fire preventing monitor system of visible light camera not utilize fire point temperature generally to surpass the feature of stable most critical of this fire point of 400 degree Celsius, so this detection method has certain limitation, the correct probability that influence detects.
Thermal camera has the advantages that can both work round the clock, and along with continuous advancement in technology, its performance improves constantly, and price constantly descends, and obtains application more and more widely in recent years in forest fire preventing monitor system.
Utilize fire point temperature generally to surpass this feature of the most stable most critical of 400 degree Celsius, need to adopt can the thermometric degree thermal infrared imager.
Infrared ray transmits in atmosphere and influenced by distance, humidity, wind speed, and wherein distance affects is main factor.The distance be 1 km, moderate breeze speed, under 70% damp condition, infrared ray approximately will attenuate 70%; The distance be 3 kms, moderate breeze speed, under 70% damp condition, infrared ray approximately will attenuate 90%.Therefore, adopt thermal infrared imager to carry out fire point and detect, must proofread and correct the face of land object temperature that thermal infrared imager records, to obtain relatively accurate object temperature, improve the correct probability that the fire point detects.And the range information that obtains tested face of land object is the most critical link of carrying out temperature correction, and importance is self-evident.
In the technology of existing measurement terrain clearance, modal method adopts laser range finder exactly.Laser range finder has advantages such as measuring accuracy height, volume be little.But in forest fire preventing monitor system, should not adopt laser range finder to measure distance between thermal infrared imager and the atural object being shot, reason is as follows: the one, and laser range finder cost height, can survey the price of 5km distance generally more than 20,000 yuan, forest fire preventing monitor system needed all will work in 24 hours in addition, and the laser instrument in the laser range finder etc. are consumable accessorys, so maintenance cost is also higher; The 2nd, the each measurement of laser range finder can only obtain a distance value, and the correction of thermal infrared imager temperature pattern need be known the overhead object distance value of each point correspondence, so adopt the laser range finder scheme can influence the accuracy of temperature pattern correction.
Therefore, how to design a kind of range information acquisition methods for the thermal infrared imager temperature correction, be the direction place that those skilled in the art study.
Summary of the invention
Fundamental purpose of the present invention provides a kind of range information acquisition methods for the thermal infrared imager temperature correction, with obtain thermal infrared imager at various position angles, angle of pitch condition lower edge optical axis direction is to the distance of face of land object.
In order to achieve the above object, the invention provides a kind of range information acquisition methods for the thermal infrared imager temperature correction, it is characterized in that it may further comprise the steps:
Step S1: thermal infrared imager is installed on the turntable, and described turntable can rotate in orientation and pitching both direction;
Step S2: utilize digital elevation figure, according to the positional information of thermal infrared imager in the space, utilize geometric relationship that digital elevation map is handled, obtain thermal infrared imager at various position angles, angle of pitch condition lower edge optical axis direction is to the distance of face of land object.
Wherein, in step S2, comprise the steps: to the computing method of face of land object distance
Step S21: (α β) under the combined situation, presses thermal infrared imager perform region size, will be divided into the N section by step-length d/2 along the ray of thermal infrared imager optical axis direction at certain;
Step S22: with the point on these optical axises be designated as from the near to the remote n (1), n (2), n (i) ..., n (N), 1≤i≤N, the height value h (i) of the some n (i) on the optical axis can be expressed as so:
H (i)=when H-cos (β) * i * d/2 spends when 0≤β≤90
H (i)=H+sin (β-90) * when i * d/2 spends when 90 degree≤β≤180;
Step S23: calculate the height value s (i) that is obtained by digital elevation figure interpolation to putting;
Step S24: if h (i)≤s (i), then stop to calculate, i * d/2 is the thermal infrared imager optical axis along being somebody's turn to do (α, β) direction arrives the distance of face of land object, otherwise continues to calculate, up to finding the point that satisfies h (i)≤s (i), if calculate some N last on the optical axis, also fail to find the point that satisfies h (i)≤s (i), so the thermal infrared imager optical axis along should (α, β) direction is the infinite distance to the distance of face of land object;
Step S25: with all need (α, β) combination is all calculated once, namely obtains thermal infrared imager position angle, angle of pitch combination and the face of land object distance table of comparisons, wherein:
α is the position angle, and the thermal infrared imager optical axis is 0 degree when pointing to the due south, overlooks under the situation progressively to increase along clockwise direction, and unit is degree;
β is the angle of pitch, the angle between thermal infrared imager optical axis and the ground vertical line, and unit is degree;
H is thermal infrared imager installation site height value, and unit is rice;
D is digital elevation figure grid resolution, and unit is rice.
Wherein, in step S23, the computing method of described s (i) are: some n (i) orthogonal projection on the optical axis obtains forward projection point t (i) to digital elevation figure, just in time drop on the digital elevation figure net point as t (i), s (i) equals the height value of this net point correspondence so; Otherwise s (i)=(h1+h2+h3+h4)/4, wherein h1, h2, h3, h4 are respectively 4 the height value that net point corresponding adjacent with t (i).
Compared with prior art, beneficial effect of the present invention is:
(1) design philosophy novelty is utilized the digital elevation figure of thermal infrared imager perform region dexterously, by calculate thermal infrared imager at various position angles, angle of pitch condition lower edge optical axis direction is to the distance of face of land object;
(2) face of land object distance computing method: according to thermal infrared imager at the positional information in space and the digital elevation figure of thermal infrared imager perform region, utilize face of land object distance computing method calculate thermal infrared imager at various position angles, angle of pitch condition lower edge optical axis direction is to the distance of face of land object.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art, to do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below, apparently, accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is a kind of range information acquisition methods process flow diagram for the thermal infrared imager temperature correction of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the invention, the technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not paying the every other embodiment that obtains under the creative work prerequisite.
As shown in Figure 1, it is a kind of range information acquisition methods process flow diagram for the thermal infrared imager temperature correction of the present invention, and the range information acquisition methods for the thermal infrared imager temperature correction of the present invention may further comprise the steps:
Step S1: thermal infrared imager is installed on the turntable, and described turntable can rotate in orientation and pitching both direction, and the orientation of turntable and pitching are separate, can export position angle and the angle of pitch of turntable.
During work, turntable rotates with the rule of setting, and guarantees that thermal infrared imager will be apart from the whole measurements of the regional temperature in the 5km scope once every the set time.When turntable rotates, thermal infrared imager is given the fire point with the temperature pattern that records and is detected software, the fire point detects software according to range image and the out of Memory corresponding with the thermal infrared imager temperature pattern, the temperature pattern that thermal infrared imager records is revised, to reduce various factors to the influence of infrared ray decay, obtain relatively accurate face of land object temperature, and then carry out fire point and detect, improve the correct probability that the fire point detects.
Step S2: utilize digital elevation figure, according to the positional information of thermal infrared imager in the space, utilize geometric relationship that digital elevation map is handled, obtain thermal infrared imager at various position angles, angle of pitch condition lower edge optical axis direction is to the distance of face of land object.
Described step S2 comprises following substep:
Step S21: (α β) under the combined situation, presses thermal infrared imager perform region size, will be divided into the N section by step-length d/2 along the ray of thermal infrared imager optical axis direction at certain;
Step S22: with the point on these optical axises be designated as from the near to the remote n (1), n (2), n (i) ..., n (N), 1≤i≤N, the height value h (i) of the some n (i) on the optical axis can be expressed as so:
H (i)=when H-cos (β) * i * d/2 spends when 0≤β≤90
H (i)=H+sin (β-90) * when i * d/2 spends when 90 degree≤β≤180;
Step S23: calculate the height value s (i) that is obtained by digital elevation figure interpolation to putting;
The computing method of described s (i) are: some n (i) orthogonal projection on the optical axis obtains forward projection point t (i) to digital elevation figure, just in time drop on the digital elevation figure net point as t (i), and s (i) equals the height value of this net point correspondence so; Otherwise s (i)=(h1+h2+h3+h4)/4, wherein h1, h2, h3, h4 are respectively 4 the height value that net point corresponding adjacent with t (i);
Step S24: if h (i)≤s (i), then stop to calculate, i * d/2 is the thermal infrared imager optical axis along being somebody's turn to do (α, β) direction arrives the distance of face of land object, otherwise continues to calculate, up to finding the point that satisfies h (i)≤s (i), if calculate some N last on the optical axis, also fail to find the point that satisfies h (i)≤s (i), so the thermal infrared imager optical axis along should (α, β) direction is the infinite distance to the distance of face of land object;
Step S25: with all need (α, β) combination is all calculated once, namely obtains thermal infrared imager position angle, angle of pitch combination and the face of land object distance table of comparisons, wherein:
α is the position angle, and the thermal infrared imager optical axis is 0 degree when pointing to the due south, overlooks under the situation progressively to increase along clockwise direction, and unit is degree;
β is the angle of pitch, the angle between thermal infrared imager optical axis and the ground vertical line, and unit is degree;
H is thermal infrared imager installation site height value, and unit is rice;
D is digital elevation figure grid resolution, and unit is rice.
The present invention utilizes digital elevation figure (digital elevation figure can directly buy, perhaps buying the satellite stereographic map obtains making), according to the positional information of thermal infrared imager in the space, utilize the space geometry relation that digital elevation map is handled, obtain thermal infrared imager at various position angles, angle of pitch condition lower edge optical axis direction is to the distance of face of land object, namely obtains thermal infrared imager position angle, angle of pitch combination and the face of land object distance table of comparisons.This table need be loaded in the storer of forest fire preventing monitor system.During actual the use, the fire point detects position angle and the angle of pitch that software reads turntable, and its correction is converted to thermal infrared imager position angle, the angle of pitch, obtain this moment thermal infrared imager along the distance of optical axis direction to face of land object thereby can table look-up according to thermal infrared imager position angle, angle of pitch combination and the surface distance table of comparisons.For other each point, can according to thermal infrared imager laterally, vertically field angle and imaging dot matrix value, calculate position angle, the angle of pitch of each point, obtain each point by tabling look-up from the distance of face of land object.
Test result of the present invention is as follows:
Because the laser range finder measuring accuracy is very high, can be accurate to 1 meter, the distance value benchmark as a comparison that laser range finder can be recorded.
Test condition: with resolution be 5 meters satellite stereographic map to making digital elevation figure, digital elevation figure grid resolution is 20 meters.Test result such as table 1 and table 2.
Table 1
Table 2
By table 1, table 2 as can be known, the range information error of utilizing method of the present invention to obtain can reach technical requirement.
In sum, a kind of range information acquisition methods for the thermal infrared imager temperature correction of the present invention has advantages such as cost is low, non-maintaining, and its technical progress point is embodied in following 2 points:
(1) design philosophy novelty is utilized the digital elevation figure of thermal infrared imager perform region dexterously, by calculate thermal infrared imager at various position angles, angle of pitch condition lower edge optical axis direction is to the distance of face of land object;
(2) face of land object distance computing method: according to thermal infrared imager at the positional information in space and the digital elevation figure of thermal infrared imager perform region, utilize face of land object distance computing method calculate thermal infrared imager at various position angles, angle of pitch condition lower edge optical axis direction is to the distance of face of land object.
It should be noted that at last: above embodiment only in order to technical scheme of the present invention to be described, is not intended to limit; Although with reference to previous embodiment the present invention is had been described in detail, those of ordinary skill in the art is to be understood that: it still can be made amendment to the technical scheme that previous embodiment is put down in writing, and perhaps part technical characterictic wherein is equal to replacement; And these modifications or replacement do not make the essence of appropriate technical solution break away from the spirit and scope of embodiment of the invention technical scheme.
Claims (3)
1. range information acquisition methods that is used for the thermal infrared imager temperature correction is characterized in that it may further comprise the steps:
Step S1: thermal infrared imager is installed on the turntable, and described turntable can rotate in orientation and pitching both direction;
Step S2: utilize digital elevation figure, according to the positional information of thermal infrared imager in the space, utilize geometric relationship that digital elevation map is handled, obtain thermal infrared imager at various position angles, angle of pitch condition lower edge optical axis direction is to the distance of face of land object.
2. a kind of range information acquisition methods for the thermal infrared imager temperature correction according to claim 1 is characterized in that, in step S2, comprises the steps: to the computing method of face of land object distance
Step S21: (α β) under the combined situation, presses thermal infrared imager perform region size, will be divided into the N section by step-length d/2 along the ray of thermal infrared imager optical axis direction at certain;
Step S22: with the point on the optical axis be designated as from the near to the remote n (1), n (2), n (i) ..., n (N), 1≤i≤N, the height value h (i) of the some n (i) on the optical axis is expressed as so:
H (i)=when H-cos (β) * i * d/2 spends when 0≤β≤90
H (i)=H+sin (β-90) * when i * d/2 spends when 90 degree≤β≤180;
Step S23: calculate the height value s (i) that is obtained by digital elevation figure interpolation to putting;
Step S24: if h (i)≤s (i), then stop to calculate, i * d/2 is the thermal infrared imager optical axis along being somebody's turn to do (α, β) direction arrives the distance of face of land object, otherwise continues to calculate, up to finding the point that satisfies h (i)≤s (i), if calculate some N last on the optical axis, also fail to find the point that satisfies h (i)≤s (i), so the thermal infrared imager optical axis along should (α, β) direction is the infinite distance to the distance of face of land object;
Step S25: with all need (α, β) combination is all calculated once, namely obtains thermal infrared imager position angle, angle of pitch combination and the face of land object distance table of comparisons, wherein:
α is the position angle, and the thermal infrared imager optical axis is 0 degree when pointing to the due south, overlooks under the situation progressively to increase along clockwise direction, and unit is degree;
β is the angle of pitch, the angle between thermal infrared imager optical axis and the ground vertical line, and unit is degree;
H is thermal infrared imager installation site height value, and unit is rice;
D is digital elevation figure grid resolution, and unit is rice.
3. a kind of range information acquisition methods for the thermal infrared imager temperature correction according to claim 1, it is characterized in that, in step S23, the computing method of described s (i) are: some n (i) orthogonal projection on the optical axis is to digital elevation figure, obtain forward projection point t (i), just in time drop on the digital elevation figure net point as t (i), s (i) equals the height value of this net point correspondence so; Otherwise s (i)=(h1+h2+h3+h4)/4, wherein h1, h2, h3, h4 are respectively 4 the height value that net point corresponding adjacent with t (i).
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| CN108498974A (en) * | 2018-06-25 | 2018-09-07 | 周汶楷 | A kind of intelligent forest fire-extinguishing system and method |
| CN109839101A (en) * | 2017-11-26 | 2019-06-04 | 杭州美盛红外光电技术有限公司 | Range unit and distance measuring method |
| CN111579082A (en) * | 2020-05-09 | 2020-08-25 | 上海交通大学 | Automatic error compensation method for infrared thermal imaging temperature measurement system |
| CN111707374A (en) * | 2020-06-04 | 2020-09-25 | 安徽清新互联信息科技有限公司 | Distance estimation method and system for human body infrared thermometer |
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| CN106289531A (en) * | 2016-07-29 | 2017-01-04 | 国家电网公司 | A kind of high voltage power transmission corridor based on The Cloud Terrace attitude angle mountain fire localization method |
| CN107102315A (en) * | 2017-04-24 | 2017-08-29 | 重庆钢铁(集团)有限责任公司 | A kind of laser range finder calibration method |
| CN109839101A (en) * | 2017-11-26 | 2019-06-04 | 杭州美盛红外光电技术有限公司 | Range unit and distance measuring method |
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| CN111579082A (en) * | 2020-05-09 | 2020-08-25 | 上海交通大学 | Automatic error compensation method for infrared thermal imaging temperature measurement system |
| CN111579082B (en) * | 2020-05-09 | 2021-07-30 | 上海交通大学 | Automatic error compensation method for infrared thermal imaging temperature measurement system |
| CN111707374A (en) * | 2020-06-04 | 2020-09-25 | 安徽清新互联信息科技有限公司 | Distance estimation method and system for human body infrared thermometer |
| CN111721201A (en) * | 2020-06-18 | 2020-09-29 | 北京机科国创轻量化科学研究院有限公司 | Temperature detection method |
| CN113759355A (en) * | 2021-09-09 | 2021-12-07 | 四川虹美智能科技有限公司 | Distance measurement method and device based on infrared data |
| CN113759355B (en) * | 2021-09-09 | 2023-04-28 | 四川虹美智能科技有限公司 | Distance measuring method and device based on infrared data |
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