CN103292780B - A kind of range information acquisition methods for thermal infrared imager temperature correction - Google Patents
A kind of range information acquisition methods for thermal infrared imager temperature correction Download PDFInfo
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Abstract
The invention provides a kind of range information acquisition methods for thermal infrared imager temperature correction, it comprises the following steps: step S1: be arranged on by thermal infrared imager on turntable, and described turntable can rotate in orientation and pitching both direction; Step S2: utilize Digital height model, according to the positional information of thermal infrared imager in space, utilizes geometric relationship to process Digital height model, obtains the distance of thermal infrared imager along optical axis direction to earth's surface object under various position angle, angle of pitch condition.The present invention can, according to the Digital height model of the positional information of thermal infrared imager in space and thermal infrared imager perform region, utilize earth's surface object distance computing method to calculate the distance of thermal infrared imager along optical axis direction to earth's surface object under various position angle, angle of pitch condition.
Description
Technical field
The present invention relates to a kind of range information acquisition methods, particularly a kind of range information acquisition methods for thermal infrared imager temperature correction.
Background technology
Forest fire is the enemy that forest is the most dangerous, is also the most fearful disaster of forestry, its can to forest bring the most harmful, there is most destructive consequence.Forest in blocks is not only burnt in forest fire, the animal in injury woods, but also reduces the updating ability of forest, causes the effect of the barren of soil and the water conservation of destruction forest, even causes ecologic environment out of trim.Although the science of the world today advances with rapid changepl. never-ending changes and improvements, the mankind, in uniform forest fire, but still not yet obtain permanent progress.
Current most of forest fire preventing monitor system adopts visible light camera to carry out the monitoring of forest fire, utilizes the color of flame, Texture eigenvalue to carry out forest fire.Due to the complicacy of environmental baseline, the color of flame, Texture eigenvalue unstable, so adopt the false-alarm of visible light camera forest fire preventing monitor system and false dismissed rate higher.
The forest fire preventing monitor system of visible light camera is adopted not utilize fire point temperature generally to exceed the feature of 400 degree of the most stable most criticals of this fire point Celsius, so this detection method has certain limitation, the correct probability that impact detects.
Thermal camera has all workable feature round the clock, and along with the continuous progress of technology, its performance improves constantly, and price constantly declines, and obtains in recent years applying more and more widely in forest fire preventing monitor system.
Utilize fire point temperature generally to exceed the feature of 400 degree of these the most stable most criticals Celsius, need the thermal infrared imager adopting energy testing temperature.
Infrared ray transmits main by distance, humidity, air speed influence in an atmosphere, and the impact of its middle distance is main factor.Be 1 km in distance, moderate breeze speed, under 70% damp condition, infrared ray approximately will attenuate 70%; Be 3 kms in distance, moderate breeze speed, under 70% damp condition, infrared ray approximately will attenuate 90%.Therefore, thermal infrared imager be adopted to carry out fire point and detect, the earth's surface object temperature that must record thermal infrared imager corrects, and to obtain relatively accurate object temperature, improves the correct probability that fire point detects.And the range information obtaining tested earth's surface object is the most critical link of carrying out temperature correction, importance is self-evident.
In the technology of existing measurement terrain clearance, modal method adopts laser range finder exactly.Laser range finder has the advantages such as measuring accuracy is high, volume is little.But laser range finder should not be adopted in forest fire preventing monitor system to measure the distance between thermal infrared imager and atural object being shot, reason is as follows: one is that laser range finder cost is high, the price of 5km distance can be surveyed generally more than 20,000 yuan, forest fire preventing monitor system needs all will work for 24 hours in addition, and the laser instrument etc. in laser range finder is consumable accessory, so maintenance cost is also higher; Two is that laser range finder is measured at every turn and can only be obtained a distance value, and the correction of thermal infrared imager temperature pattern needs the overhead object distance value of knowing that each point is corresponding, so adopt laser range finder scheme can affect the accuracy of temperature pattern correction.
Therefore, how to design a kind of range information acquisition methods for thermal infrared imager temperature correction, be the place, direction that those skilled in the art study.
Summary of the invention
Fundamental purpose of the present invention is to provide a kind of range information acquisition methods for thermal infrared imager temperature correction, to obtain the distance of thermal infrared imager along optical axis direction to earth's surface object under various position angle, angle of pitch condition.
In order to achieve the above object, the invention provides a kind of range information acquisition methods for thermal infrared imager temperature correction, it is characterized in that, it comprises the following steps:
Step S1: thermal infrared imager is arranged on turntable, described turntable can rotate in orientation and pitching both direction;
Step S2: utilize Digital height model, according to the positional information of thermal infrared imager in space, utilizes geometric relationship to process Digital height model, obtains the distance of thermal infrared imager along optical axis direction to earth's surface object under various position angle, angle of pitch condition.
Wherein, in step s 2, the computing method to earth's surface object distance comprise the steps:
Step S21: under certain (α, β) combined situation, by thermal infrared imager perform region size, is divided into N section by the ray along thermal infrared imager optical axis direction by step-length d/2;
Step S22: the point on these optical axises is 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 some n (i) so on optical axis can be expressed as:
H (i)=H-cos (β) × i × d/2 is when 0≤β≤90 degree
H (i)=H+sin (β-90) × i × d/2 is when 90 degree≤β≤180 degree;
Step S23: calculate the height value s (i) obtained by Digital height model interpolation to putting;
Step S24: if h (i)≤s (i), then stop calculating, i × d/2 is thermal infrared imager optical axis along being somebody's turn to do (α, β) direction is to the distance of earth's surface object, otherwise continue to calculate, until find the point meeting h (i)≤s (i), if calculate some N last on optical axis, also fail to find the point meeting h (i)≤s (i), so this (α, β) direction, thermal infrared imager optical axis edge is infinite distance to the distance of earth's surface object;
Step S25: (α, β) in need for institute combination calculated once, namely obtains thermal infrared imager position angle, angle of pitch combination and the earth's surface object distance table of comparisons, wherein:
α is position angle, is 0 degree, progressively increases along clockwise direction under overlooking situation during thermal infrared imager optical axis sensing due south, and unit is degree;
β is the angle of pitch, the angle between thermal infrared imager optical axis and ground vertical line, and unit is degree;
H is thermal infrared imager installation site height value, and unit is rice;
D is Digital height model grid resolution, and unit is rice.
Wherein, in step S23, the computing method of described s (i) are: some n (i) orthogonal projection on optical axis is on Digital height model, obtain forward projection point t (i), as t (i) just in time drops on Digital height model net point, so s (i) equals height value corresponding to this net point; Otherwise s (i)=(h1+h2+h3+h4)/4, wherein h1, h2, h3, h4 are the height value that 4 net point adjacent with t (i) is corresponding respectively.
Compared with prior art, beneficial effect of the present invention is:
(1) design philosophy is novel, utilizes the Digital height model of thermal infrared imager perform region dexterously, by calculating the distance of thermal infrared imager along optical axis direction to earth's surface object under various position angle, angle of pitch condition;
(2) earth's surface object distance computing method: according to the positional information of thermal infrared imager in space and the Digital height model of thermal infrared imager perform region, utilize earth's surface object distance computing method to calculate the distance of thermal infrared imager along optical axis direction to earth's surface object under various position angle, angle of pitch condition.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of range information acquisition methods process flow diagram for thermal infrared imager temperature correction of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not paying the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
As shown in Figure 1, it is a kind of range information acquisition methods process flow diagram for thermal infrared imager temperature correction of the present invention, and the range information acquisition methods for thermal infrared imager temperature correction of the present invention comprises the following steps:
Step S1: be arranged on by thermal infrared imager on turntable, 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, guarantees that the regional temperature within the scope of distance 5km was all measured once every the set time by thermal infrared imager.When turntable rotates, the temperature pattern recorded is given fire point inspection software by thermal infrared imager, fire point inspection software is according to the range image corresponding with thermal infrared imager temperature pattern and out of Memory, the temperature pattern that thermal infrared imager records is revised, to reduce the impact that various factors is decayed on infrared ray, obtain relatively accurate earth's surface object temperature, and then carry out the detection of fire point, improve the correct probability that fire point detects.
Step S2: utilize Digital height model, according to the positional information of thermal infrared imager in space, utilizes geometric relationship to process Digital height model, obtains the distance of thermal infrared imager along optical axis direction to earth's surface object under various position angle, angle of pitch condition.
Described step S2 comprises following sub-step:
Step S21: under certain (α, β) combined situation, by thermal infrared imager perform region size, is divided into N section by the ray along thermal infrared imager optical axis direction by step-length d/2;
Step S22: the point on these optical axises is 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 some n (i) so on optical axis can be expressed as:
H (i)=H-cos (β) × i × d/2 is when 0≤β≤90 degree
H (i)=H+sin (β-90) × i × d/2 is when 90 degree≤β≤180 degree;
Step S23: calculate the height value s (i) obtained by Digital height model interpolation to putting;
The computing method of described s (i) are: some n (i) orthogonal projection on optical axis is on Digital height model, obtain forward projection point t (i), as t (i) just in time drops on Digital height model net point, so s (i) equals height value corresponding to this net point; Otherwise s (i)=(h1+h2+h3+h4)/4, wherein h1, h2, h3, h4 are the height value that 4 net point adjacent with t (i) is corresponding respectively;
Step S24: if h (i)≤s (i), then stop calculating, i × d/2 is thermal infrared imager optical axis along being somebody's turn to do (α, β) direction is to the distance of earth's surface object, otherwise continue to calculate, until find the point meeting h (i)≤s (i), if calculate some N last on optical axis, also fail to find the point meeting h (i)≤s (i), so this (α, β) direction, thermal infrared imager optical axis edge is infinite distance to the distance of earth's surface object;
Step S25: (α, β) in need for institute combination calculated once, namely obtains thermal infrared imager position angle, angle of pitch combination and the earth's surface object distance table of comparisons, wherein:
α is position angle, is 0 degree, progressively increases along clockwise direction under overlooking situation during thermal infrared imager optical axis sensing due south, and unit is degree;
β is the angle of pitch, the angle between thermal infrared imager optical axis and ground vertical line, and unit is degree;
H is thermal infrared imager installation site height value, and unit is rice;
D is Digital height model grid resolution, and unit is rice.
The present invention utilizes Digital height model (Digital height model can directly be bought, or buy satellite stereographic map to obtain carrying out making), according to the positional information of thermal infrared imager in space, space geometry relation is utilized to process Digital height model, obtain the distance of thermal infrared imager along optical axis direction to earth's surface object under various position angle, angle of pitch condition, namely obtain thermal infrared imager position angle, angle of pitch combination and the earth's surface object distance table of comparisons.This table need be loaded in the storer of forest fire preventing monitor system.During actual use, fire point inspection software reads position angle and the angle of pitch of turntable, and revised and be converted to thermal infrared imager position angle, the angle of pitch, thus can to table look-up with the surface distance table of comparisons according to thermal infrared imager position angle, angle of pitch combination and obtain the now distance of thermal infrared imager along optical axis direction to earth's surface object.For other each point, according to thermal infrared imager transverse direction, longitudinal field angle and imaging dot matrix value, the position angle of each point, the angle of pitch can being calculated, obtaining the distance of each point from earth's surface object by tabling look-up.
Test result of the present invention is as follows:
Because laser range finder measuring accuracy is very high, can be accurate to 1 meter, the distance value that laser range finder can be recorded is as the benchmark compared.
Test condition: by resolution be 5 meters satellite stereographic map to making Digital height model, Digital height model grid resolution is 20 meters.Test result is as table 1 and table 2.
Table 1
Table 2
From table 1, table 2, the range information error utilizing method of the present invention to obtain can reach technical requirement.
In sum, a kind of range information acquisition methods for thermal infrared imager temperature correction of the present invention has the advantages such as cost is low, non-maintaining, and its technical progress point is embodied in following 2 points:
(1) design philosophy is novel, utilizes the Digital height model of thermal infrared imager perform region dexterously, by calculating the distance of thermal infrared imager along optical axis direction to earth's surface object under various position angle, angle of pitch condition;
(2) earth's surface object distance computing method: according to the positional information of thermal infrared imager in space and the Digital height model of thermal infrared imager perform region, utilize earth's surface object distance computing method to calculate the distance of thermal infrared imager along optical axis direction to earth's surface object under various position angle, angle of pitch condition.
Last it is noted that above embodiment is only in order to illustrate technical scheme of the present invention, be not intended to limit; Although with reference to previous embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in previous embodiment, or carries out equivalent replacement to wherein portion of techniques feature; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the spirit and scope of embodiment of the present invention technical scheme.
Claims (2)
1., for a range information acquisition methods for thermal infrared imager temperature correction, it is characterized in that, it comprises the following steps:
Step S1: thermal infrared imager is arranged on turntable, described turntable can rotate in orientation and pitching both direction;
Step S2: utilize Digital height model, according to the positional information of thermal infrared imager in space, utilizes geometric relationship to process Digital height model, obtains the distance of thermal infrared imager along optical axis direction to earth's surface object under various position angle, angle of pitch condition;
In step s 2, the computing method to earth's surface object distance comprise the steps:
Step S21: position angle be α, the angle of pitch be β (α, β) combined situation under, by thermal infrared imager perform region size, the ray along thermal infrared imager optical axis direction is divided into N section by step-length d/2;
Step S22: the point on optical axis is 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 some n (i) so on optical axis is expressed as:
H (i)=H-cos (β) × i × d/2 is when 0≤β≤90 degree
H (i)=H+sin (β-90) × i × d/2 is when 90 degree≤β≤180 degree;
Step S23: calculate the height value s (i) obtained by Digital height model interpolation to putting;
Step S24: if h (i)≤s (i), then stop calculating, i × d/2 is thermal infrared imager optical axis along being somebody's turn to do (α, β) direction is to the distance of earth's surface object, otherwise continue to calculate, until find the point meeting h (i)≤s (i), if calculate some N last on optical axis, also fail to find the point meeting h (i)≤s (i), so this (α, β) direction, thermal infrared imager optical axis edge is infinite distance to the distance of earth's surface object;
Step S25: (α, β) in need for institute combination calculated once, namely obtains thermal infrared imager position angle, angle of pitch combination and the earth's surface object distance table of comparisons, wherein:
α is position angle, is 0 degree, progressively increases along clockwise direction under overlooking situation during thermal infrared imager optical axis sensing due south, and unit is degree;
β is the angle of pitch, the angle between thermal infrared imager optical axis and ground vertical line, and unit is degree;
H is thermal infrared imager installation site height value, and unit is rice;
D is Digital height model grid resolution, and unit is rice.
2. a kind of range information acquisition methods for 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 optical axis is on Digital height model, obtain forward projection point t (i), as t (i) just in time drops on Digital height model net point, so s (i) equals height value corresponding to this net point; Otherwise s (i)=(h1+h2+h3+h4)/4, wherein h1, h2, h3, h4 are the height value that 4 net point adjacent with t (i) is corresponding respectively.
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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 |
| CN107102315B (en) * | 2017-04-24 | 2019-11-12 | 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 |
| CN108498974A (en) * | 2018-06-25 | 2018-09-07 | 周汶楷 | A kind of intelligent forest fire-extinguishing system and method |
| 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 |
| CN111707374B (en) * | 2020-06-04 | 2021-08-06 | 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 |
| 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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