CN107808412A - A kind of three-dimensional thermal source environmental model based on low cost determines environmental information method - Google Patents
A kind of three-dimensional thermal source environmental model based on low cost determines environmental information method Download PDFInfo
- Publication number
- CN107808412A CN107808412A CN201711135287.9A CN201711135287A CN107808412A CN 107808412 A CN107808412 A CN 107808412A CN 201711135287 A CN201711135287 A CN 201711135287A CN 107808412 A CN107808412 A CN 107808412A
- Authority
- CN
- China
- Prior art keywords
- dimensional
- angle
- model
- thermal source
- environment
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000007613 environmental effect Effects 0.000 title claims abstract description 30
- 238000001931 thermography Methods 0.000 claims abstract description 22
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 6
- 230000000007 visual effect Effects 0.000 claims description 27
- 230000004927 fusion Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 230000009466 transformation Effects 0.000 claims description 3
- 238000012856 packing Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 3
- 230000003190 augmentative effect Effects 0.000 abstract 1
- 238000005259 measurement Methods 0.000 description 7
- 238000004387 environmental modeling Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000009795 derivation Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004040 coloring Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
-
- 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
- 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
- G01J5/48—Thermography; Techniques using wholly visual means
- G01J5/485—Temperature profile
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Spectroscopy & Molecular Physics (AREA)
- Electromagnetism (AREA)
- Theoretical Computer Science (AREA)
- Software Systems (AREA)
- Geometry (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Graphics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of three-dimensional thermal source environmental model based on low cost to determine environmental information method.This method uses two-dimensional laser radar, and environment is modeled in the auxiliary of steering wheel, then environmental model is merged with the thermal source information that thermal imaging system obtains, and finally constructs a three-dimensional heat source model with spatial information and thermal source information.The model is built in the form of a cloud, therefore uses greedy projection Triangulation Algorithm (greedy projection triangulation algorithm) to carry out trigonometric ratio to it with augmented reality effect.The present invention realizes a kind of method that can carry out Real-time modeling set to thermal source environment on the premise of low cost, and modeling accuracy can be also adjusted according to demand, realize the three-dimensional heat source model for obtaining environment.
Description
Technical field
The present invention relates to the technical field of environmental modeling and acquisition of information, specifically a kind of two-dimensional laser using low cost
Cooperative mechanical device realizes the modeling to three-dimensional environment, then merges the temperature information of thermal imaging system acquisition, realizes to three-dimensional thermal source
The modeling of environment.
Background technology
In recent years, Fire in China frequency and caused by property loss and casualties quantity rising be presented become
Gesture, fire have become in the world today the higher a kind of disaster of occurrence frequency in multiple disaster.Sent out for current fire
The trend that raw frequency rises, and fire field environment is to grave danger of fire fighter's personal safety, increasing unmanned machine
Start to put into the scene of a fire, assist fire department to place under repair the scene of a fire.
The sensing equipment that tradition is applied to scene of a fire unmanned machine is commonly common camera, and fire-fighting work personnel are according to image
Data, and itself working experience is combined so as to judge fire field environment, determine further work.But this perceptive mode is not
It is adjusted for the particularity of fire field environment, is easily influenceed by factors such as light intensities, and can only observes naked light, this
Just there is certain requirement to itself judgement of fire-fighting staff, this method is to want to break away from this requirement,
Accurately and reliably environmental information is directly obtained, so that it is determined that scene of a fire form.In view of in fire field environment, temperature information can be
We determined that the intensity of a fire has great help, therefore when perceiving environment, the also thermal source information in extraction environment.
Instantly it is directed to and establishes three-dimensional heat source model and also there are many researchs, but when establishing threedimensional model, uses
Be mostly RGB-D video cameras or 3d laser radars, and both all some limitations when using, RGB-D video cameras distance compared with
Effect is poor when remote, and is had a great influence by illumination condition；3d laser radars are then expensive, are not suitable in the dangerous scene such as the scene of a fire
Promote the use of.Simultaneously in terms of thermal imaging data are merged with laser data, existing method enters rower if any to thermal imaging system
It is fixed, the temperature data of three-dimensional is obtained according to monocular slam methods, then blend with laser data；Also have solid by thermal imaging measurement
Face is allocated, and then is carried out by the method for interpolation to calculating angular relationship of the measurement object between given plane and then to model
Coloring；Also there is position in manually measurement thermal imaging in model corresponding to particular point etc..But thermal imaging system in these methods
Focal length can not change in first use, for different scales scene can be imaged because can not correctly focus it is more fuzzy,
Simultaneously when demarcating thermal imaging system, because of the special characteristic of thermal imaging, it can not be demarcated using conventional method, it is more troublesome during demarcation, need
The sensory perceptual system of unmanned machine can not also be turned into by participating in the method for measurement manually.
The content of the invention
The present invention proposes a kind of three-dimensional thermal source environmental modeling mode based on low cost and obtains accurate acquisition environment
Thermal source information approach, it is therefore intended that in place of avoiding the deficiencies in the prior art, in the present invention, used two-dimensional laser to enter environment
Row three-dimensional modeling ensure that the precision and reliability of modeling, while price is relatively inexpensive compared to three-dimensional laser, make for its popularization
With laying the first stone, while the angle of visual field of thermal imaging make use of to merge thermal source and spatial information, while the angle of visual field can be pre- by combining
First measurement data is determined with the parameter provided in SDK, can accurately obtain the thermal source information of environment, a whole set of
Method may finally be rapidly and accurately to three-dimensional thermal source environmental modeling.
For achieving the above object, the technical solution adopted by the present invention is：A kind of three-dimensional thermal source ring based on low cost
Border model determines environmental information method, and step is as follows：
Step 1：Thermal imaging is measured, determines its angle of visual field；
Step 2：Realized using two-dimensional laser equipment combination mechanical device and three-dimensional modeling is carried out to environment, obtained result is
The three-dimensional point cloud model of environment；
Step 3：The thermal source information of environment is obtained using thermal imaging system, obtained result is two-dimentional temperature matrices；
Step 4：The model that step 2 obtains is merged with the temperature matrices that step 3 obtains according to the angle of visual field, had
There is thermal source information three-dimensional point cloud model；
Step 5：The point cloud model that step 4 is obtained carries out trigonometric ratio, obtains final three-dimensional heat source model, fire-fighting nobody
Three-dimensional heat source model described in equipment utilization determines thermal source.
Further, in the step 1, the method for determining the angle of visual field is：
The parameter k related to the angle of visual field is obtained by sdk, by measuring two groups of k values and corresponding angle of visual field size, you can
The angle of visual field size at the moment is determined according to the k values of any time.
Further, in the step 2, the method for obtaining threedimensional model is：
The angle of the plane of scanning motion of two-dimensional laser is quickly constantly changing using mechanical device, then two dimensional laser scanning is obtained
Multiple planes according to scanning when angle fusion under same coordinate system, so as to obtain the threedimensional model of environment.
Further, in the step 4, using the angle of visual field size of thermal imaging during fusion, model is coloured, specifically
Process is, first by point cloud model by coordinate system transformation, transforms under the coordinate system where temperature matrices, further according to temperature matrices
In vertical angle corresponding to each temperature and level angle (i.e. the angle of pitch and yaw angle) determine the temperature of the point in corresponding points cloud
Information is spent, finally recycles colourity packing to be coloured according to temperature value to a cloud.
Further, in the step 5, Triangulation Algorithm is projected using greediness, corresponding parameter is set according to scene scale,
Realize the trigonometric ratio of point cloud.
The principle of the present invention is：
A kind of three-dimensional thermal source environmental model based on low cost determines environmental information method, step 1)：To thermal imaging system
The angle of visual field carries out two groups of measurements, respectively obtains influence angle of visual field size in two groups of different angle of visual field sizes sdk corresponding with its
Parameter value.And then pass through mathematical derivation, it may be determined that the angle of visual field size of any time.Step 2)：Use mechanical device
The quick angle for being constantly changing two-dimensional laser measurement plane, it is multiple flat using two dimensional laser scanning in a short time so as to realize
Face, obtains the range information of the multiple planes of same position, and goes out each of which plane according to the angle calcu-lation between each of which plane
The three-dimensional coordinate each put in point cloud corresponding to upper, and the point cloud of above-mentioned multiple planes is merged under the same coordinate system, obtain
Final three-dimensional spatial information.The plane number wherein scanned can suitably be adjusted according to different scenes different demands.Step
It is rapid 3)：The temperature information of environment is obtained using thermal imaging system, can now be adjusted temperature matrices according to different demands, such as set
Lock value, the temperature less than lock value make it be equal to lock value, so as to which temperature highlights the region more than lock value.Step 4)：According to above-mentioned step
The rapid point cloud model for obtaining three-dimensional spatial information, i.e. environment, and behind temperature matrices and current field angle, by the point cloud mould of environment
Type is transformed to by coordinate system transformation under the coordinate system residing for thermal imaging system, then calculate in a cloud yaw angle corresponding to each point with
The angle of pitch, the temperature of correspondence position is chosen from temperature matrices, as the temperature, obtains the point cloud mould with temperature information
Type.Further according to HSL color standards, a cloud is coloured according to temperature, obtained with the point cloud of color performance temperature information.Step
It is rapid 5)：Point cloud is projected into Triangulation Algorithm using greedy, trigonometric ratio enhancing effect of visualization is carried out to it, finally gives environment
Three-dimensional heat source model.The three-dimensional heat source model perceives surrounding environment for fire department unmanned machine and provides help.
It is an advantage of the current invention that avoid the three-dimensional laser radar valency used in existing reliable high-precision modeling technique
The expensive limitation of lattice, reliable accurately environmental modeling is provided simultaneously in low cost.By using two-dimensional laser to environment in short-term
The interior multiple planes of scanning, realize the three-dimensional modeling to environment.Simultaneously as temperature is believed using the angle of visual field of thermal imaging system
Breath is merged with spatial information, avoids and scenery can not be carried out correctly in different scenes caused by focal length can not change
Focus and caused fuzzy problem.The correlation technique designed using the present invention, can be around fire department unmanned machine perceives
Environment provides help.
Simultaneously as the technology uses two-dimensional laser：Angle by adjusting two-dimensional laser realizes that scanning is more in the short time
Individual plane and then three dimensional environmental model is modeled, it is acceptant more than three-dimensional laser in terms of cost, while two-dimensional laser type
It is number various, the laser of different finding ranges can be selected according to demand, the shortcomings that having evaded RGB-D video cameras remote effect difference,
Scan precision simultaneously is not also influenceed by factors such as ambient lights, and reliability is stronger.Plane of scanning motion number also can be according to different demands
Suitably adjusted, so as to change the time that run-down is spent, it is more wide to adapt it to scene.
The technology goes in most of scenes for needing to be modeled three-dimensional thermal source environment, because this method energy
The three-dimensional heat source model of enough quick obtaining environment.It can also be closed by adjusting the conversion between temperature matrices and color simultaneously
System, provides the user more personalized service, can also be adjusted by adjusting the number of two dimensional laser scanning plane to field
The speed of scape model construction, also it can control the three-dimensional thermal source environment mould finally established by adjusting the angle between the plane of scanning motion
The precision of type.
Brief description of the drawings
Fig. 1 is that a kind of three-dimensional thermal source environmental model based on low cost of the present invention determines environmental information method implementation process
Figure；
Fig. 2 is the flow chart that two-dimensional laser measures three-dimensional environment；
Fig. 3 is two dimensional laser scanning face explanation figure.
Embodiment
Below in conjunction with the accompanying drawings, technical scheme is described in further detail.
The workflow of package and details implementation are described using the flow chart shown in Fig. 1.
Specific implementation step is as follows：
Step 1)：The three-dimensional information of environment is collected using two-dimensional laser, environment is modeled.By steering wheel and two-dimensional laser
Center vertical alignment is assembled, and is scanned according to Fig. 2 flow.Two-dimensional laser is once scanned using N number of point, is measured
Effective angle be [α1,α2], effective point sequence [sm,sn], as shown in Figure 3.Therefore for k-th point, azimuth corresponding to the point
θkIt can be obtained by formula below：
θk=(k-m)/N × (α2-α1)+α1
And the angle of pitch σ of the pointkIt is then to be determined by the anglec of rotation of steering wheel now, therefore three-dimensional coordinate corresponding to the point is：
Wherein, l is the distance between the point and laser radar that two-dimensional laser radar measures.Therefore when steering wheel drives laser thunder
Up to when rotating, laser radar is scanned to multiple planes in space, and the above-mentioned formula of pressing scanned is saved in into flute card
Under your coordinate system, the threedimensional model of environment is finally given.
Step 2)：The temperature information of environment is obtained using thermal imaging system.Process for using is fixed flow, can be with by SDK
Directly obtain temperature matrices, and focus absolute position x, Jin Eryou：
K=Cx
Wherein k is the actual physics length representated by x, and C is preset parameter.And the relation between k and f is：
F=fconst+k
And there is the relation between the angle of visual field ω and f to be：
Therefore, by a series of mathematical derivations, it can be finally given according to above-mentioned three formula：
Wherein ω3With x3The corresponding angle of visual field for any time and focus absolute position, ω1、x1, ω2、x2It can then pass through
Two groups of angles of visual field are measured to obtain with focus absolute position.Therefore by mathematical computations, the moment is calculated by focus absolute position
Angle of visual field size.
Step 3)：Temperature information is blended with the environmental model previously obtained.Changed by coordinate system, by environmental model
Transform under the coordinate system corresponding to thermal imaging, then calculate each point is corresponding in a cloud the angle of pitch and yaw angle, fall
The angle of pitch and yaw angle point equal thereto, fall the point beyond visual field without temperature on point selection temperature matrices in field range
Information.On the calculating of each point angle of pitch and yaw angle on temperature matrices, the position of the point in a matrix can be utilized to determine.
Step 4)：After step 3) terminates, the point cloud with temperature information is obtained, but the temperature information is protected in the form of temperature
Deposit, directly can not intuitively observe profiling temperatures, therefore utilize HSL colour models, by temperature information be mapped to 240 °~
In the range of 0 °, mapping function can be adjusted according to demand herein, finally give the environmental model using color performance temperature height.
Step 5)：After having coloured, model is still to be stored in the form of a cloud, therefore uses greedy projection Triangulation Algorithm, is led to
The parameter of adjustment trigonometric ratio is crossed, will entirely put cloud trigonometric ratio, strengthens visual effect.
After the completion of above-mentioned steps, the environmental model that temperature height is showed by color is finally given, is so far completed pair
The modeling of three-dimensional thermal source environment.
Fire-fighting unmanned plane can determine heat source position rapidly according to the environmental model, the time required to reducing fire extinguishing；Going out simultaneously
Secondary economic loss can be reduced according to the secondary fire origin of environmental model detection of concealed after fire.
It should be noted last that the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted.Although ginseng
The present invention is described in detail according to embodiment, it will be understood by those within the art that, to the technical side of the present invention
Case is modified or equivalent substitution, and without departure from the spirit and scope of technical solution of the present invention, it all should cover in the present invention
Right among.
Claims (5)
1. a kind of three-dimensional thermal source environmental model based on low cost determines environmental information method, it is characterised in that：Step is as follows：
Step 1：Thermal imaging is measured, determines its angle of visual field；
Step 2：Realized using two-dimensional laser equipment combination mechanical device and three-dimensional modeling is carried out to environment, obtained result is environment
Three-dimensional point cloud model；
Step 3：The thermal source information of environment is obtained using thermal imaging system, obtained result is two-dimentional temperature matrices；
Step 4：The model that step 2 obtains is merged with the temperature matrices that step 3 obtains according to the angle of visual field, obtains that there is heat
Source information three-dimensional point cloud model；
Step 5：The point cloud model that step 4 is obtained carries out trigonometric ratio, obtains final three-dimensional heat source model, fire-fighting unmanned machine
Thermal source is determined using described three-dimensional heat source model.
2. a kind of three-dimensional thermal source environmental model based on low cost according to claim 1 determines environmental information method, its
It is characterised by：In the step 1, the method for determining the angle of visual field is：
The parameter k related to the angle of visual field is obtained by sdk, by measuring two groups of k values and corresponding angle of visual field size, you can according to
The k values of any time determine the angle of visual field size at the moment.
3. a kind of three-dimensional thermal source environmental model based on low cost according to claim 1 determines environmental information method, its
It is characterised by：In the step 2, the method for obtaining threedimensional model is：
The angle of the plane of scanning motion of two-dimensional laser is quickly constantly changing using mechanical device, then two dimensional laser scanning is obtained
Multiple planes according to scanning when angle fusion under same coordinate system, so as to obtain the threedimensional model of environment.
4. a kind of three-dimensional thermal source environmental model based on low cost according to claim 1 determines environmental information method, its
It is characterised by：In the step 4, using the angle of visual field size of thermal imaging during fusion, model is coloured, detailed process is,
First by point cloud model by coordinate system transformation, transform under the coordinate system where temperature matrices, further according to each in temperature matrices
Vertical angle corresponding to individual temperature and level angle (i.e. the angle of pitch and yaw angle) determine the temperature information of the point in corresponding points cloud,
Finally colourity packing is recycled to be coloured according to temperature value to a cloud.
5. a kind of three-dimensional thermal source environmental model based on low cost according to claim 1 determines environmental information method, its
It is characterised by：In the step 5, Triangulation Algorithm is projected using greediness, corresponding parameter is set according to scene scale, realizes point cloud
Trigonometric ratio.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711135287.9A CN107808412A (en) | 2017-11-16 | 2017-11-16 | A kind of three-dimensional thermal source environmental model based on low cost determines environmental information method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711135287.9A CN107808412A (en) | 2017-11-16 | 2017-11-16 | A kind of three-dimensional thermal source environmental model based on low cost determines environmental information method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107808412A true CN107808412A (en) | 2018-03-16 |
Family
ID=61580348
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711135287.9A Pending CN107808412A (en) | 2017-11-16 | 2017-11-16 | A kind of three-dimensional thermal source environmental model based on low cost determines environmental information method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107808412A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109490899A (en) * | 2018-11-12 | 2019-03-19 | 广西交通科学研究院有限公司 | Fire source localization method in a kind of tunnel based on laser radar and infrared thermal imager |
| CN110672212A (en) * | 2019-09-19 | 2020-01-10 | 珠海格力电器股份有限公司 | Spatial three-dimensional temperature field detection method, computer readable storage medium and intelligent household appliance |
| CN110717987A (en) * | 2019-10-11 | 2020-01-21 | 徐州中矿奥特麦科技有限公司 | Data fusion method based on stock ground model and temperature model |
| CN111968221A (en) * | 2020-08-03 | 2020-11-20 | 广东中科瑞泰智能科技有限公司 | Dual-mode three-dimensional modeling method and device based on temperature field and live-action video stream |
| CN112345084A (en) * | 2020-11-05 | 2021-02-09 | 北京易达恩能科技有限公司 | Three-dimensional temperature field construction method and device based on digital twin environment |
| CN114534134A (en) * | 2022-03-18 | 2022-05-27 | 安徽阿拉丁航空航天有限公司 | Online unmanned full-automatic fire prevention rescue unmanned aerial vehicle device and system that puts out a fire |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103376163A (en) * | 2012-04-21 | 2013-10-30 | 哈尔滨宝亮凯瑞科技发展有限公司 | Hot spot and fire point detection method used for forest fire prevention based on thermal imaging |
| CN107067470A (en) * | 2017-04-05 | 2017-08-18 | 东北大学 | Portable three-dimensional reconstruction of temperature field system based on thermal infrared imager and depth camera |
| CN107123162A (en) * | 2016-02-24 | 2017-09-01 | 中国科学院沈阳自动化研究所 | Three-dimensional environment surface triangle gridding construction method based on two-dimensional laser sensor |
-
2017
- 2017-11-16 CN CN201711135287.9A patent/CN107808412A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103376163A (en) * | 2012-04-21 | 2013-10-30 | 哈尔滨宝亮凯瑞科技发展有限公司 | Hot spot and fire point detection method used for forest fire prevention based on thermal imaging |
| CN107123162A (en) * | 2016-02-24 | 2017-09-01 | 中国科学院沈阳自动化研究所 | Three-dimensional environment surface triangle gridding construction method based on two-dimensional laser sensor |
| CN107067470A (en) * | 2017-04-05 | 2017-08-18 | 东北大学 | Portable three-dimensional reconstruction of temperature field system based on thermal infrared imager and depth camera |
Non-Patent Citations (1)
| Title |
|---|
| 何旭等: "基于二维激光传感器的三维图像获取***", 《电子技术》 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109490899A (en) * | 2018-11-12 | 2019-03-19 | 广西交通科学研究院有限公司 | Fire source localization method in a kind of tunnel based on laser radar and infrared thermal imager |
| CN110672212A (en) * | 2019-09-19 | 2020-01-10 | 珠海格力电器股份有限公司 | Spatial three-dimensional temperature field detection method, computer readable storage medium and intelligent household appliance |
| CN110717987A (en) * | 2019-10-11 | 2020-01-21 | 徐州中矿奥特麦科技有限公司 | Data fusion method based on stock ground model and temperature model |
| CN110717987B (en) * | 2019-10-11 | 2023-03-14 | 徐州中矿奥特麦科技有限公司 | Data fusion method based on stock ground model and temperature model |
| CN111968221A (en) * | 2020-08-03 | 2020-11-20 | 广东中科瑞泰智能科技有限公司 | Dual-mode three-dimensional modeling method and device based on temperature field and live-action video stream |
| CN112345084A (en) * | 2020-11-05 | 2021-02-09 | 北京易达恩能科技有限公司 | Three-dimensional temperature field construction method and device based on digital twin environment |
| CN112345084B (en) * | 2020-11-05 | 2021-09-28 | 北京易达恩能科技有限公司 | Three-dimensional temperature field construction method and device based on digital twin environment |
| CN114534134A (en) * | 2022-03-18 | 2022-05-27 | 安徽阿拉丁航空航天有限公司 | Online unmanned full-automatic fire prevention rescue unmanned aerial vehicle device and system that puts out a fire |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107808412A (en) | A kind of three-dimensional thermal source environmental model based on low cost determines environmental information method | |
| CN104330074B (en) | Intelligent surveying and mapping platform and realizing method thereof | |
| CA2875820C (en) | 3-d scanning and positioning system | |
| CN103245322B (en) | A kind of distance-finding method based on binocular stereo vision and system | |
| CN104200086A (en) | Wide-baseline visible light camera pose estimation method | |
| CN102509348B (en) | Method for showing actual object in shared enhanced actual scene in multi-azimuth way | |
| KR20190089957A (en) | Mismatch detection system, composite reality system, program and mismatch detection method | |
| CN110470238A (en) | A kind of hand-held laser 3 d scanner, scan method and device | |
| CN109816731B (en) | Method for accurately registering RGB (Red Green blue) and depth information | |
| CN106550228A (en) | Obtain the equipment of the depth map of three-dimensional scenic | |
| WO2021203883A1 (en) | Three-dimensional scanning method, three-dimensional scanning system, and computer readable storage medium | |
| CN103337069B (en) | High-quality three-dimensional color image acquisition methods and device based on multiple camera | |
| CN110132226A (en) | The distance and azimuth angle measurement system and method for a kind of unmanned plane line walking | |
| US20150332474A1 (en) | Orthogonal and Collaborative Disparity Decomposition | |
| CN105157602A (en) | Remote three-dimensional scanning system and method based on machine vision | |
| CN107749070A (en) | The acquisition methods and acquisition device of depth information, gesture identification equipment | |
| CN110879080A (en) | High-precision intelligent measuring instrument and measuring method for high-temperature forge piece | |
| CN109900221A (en) | A kind of handheld three-dimensional scanning system | |
| CN106210474A (en) | A kind of image capture device, virtual reality device | |
| CN105004324A (en) | Monocular vision sensor with triangulation ranging function | |
| CN110108236A (en) | A kind of high-temperature forging line reconstruct size fast vision measuring system and method | |
| CN113902809A (en) | Method for jointly calibrating infrared camera and laser radar | |
| CN110617772A (en) | Non-contact type line diameter measuring device and method | |
| CN109191533A (en) | Tower crane high-altitude construction method based on assembled architecture | |
| CN114543787B (en) | Millimeter-scale indoor map positioning method based on fringe projection profilometry |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180316 |
|
| WD01 | Invention patent application deemed withdrawn after publication |