CN109443553A - Infrared measurement of temperature method, apparatus, system and computer readable storage medium - Google Patents
Infrared measurement of temperature method, apparatus, system and computer readable storage medium Download PDFInfo
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- CN109443553A CN109443553A CN201810946309.8A CN201810946309A CN109443553A CN 109443553 A CN109443553 A CN 109443553A CN 201810946309 A CN201810946309 A CN 201810946309A CN 109443553 A CN109443553 A CN 109443553A
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- 238000005259 measurement Methods 0.000 title claims abstract description 31
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000009529 body temperature measurement Methods 0.000 claims abstract description 28
- 238000004590 computer program Methods 0.000 claims description 15
- 230000007547 defect Effects 0.000 claims description 5
- 230000001276 controlling effect Effects 0.000 claims description 3
- 239000002510 pyrogen Substances 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 238000007689 inspection Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000001931 thermography Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
Classifications
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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
- G01J5/52—Radiation pyrometry, e.g. infrared or optical thermometry using comparison with reference sources, e.g. disappearing-filament pyrometer
-
- 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
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- Spectroscopy & Molecular Physics (AREA)
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Abstract
The infrared measurement of temperature method based on crusing robot that the invention discloses a kind of, comprising: in robot inspection to when the equipment of thermometric, infrared image acquisition is carried out to the equipment；The infrared image of acquisition is compared with the standard picture of the equipment constructed in advance, identifies possessed part of appliance in the infrared image；Measure the temperature of the part of appliance identified.Correspondingly, the invention also discloses a kind of infrared temperature measurement apparatus, system and computer readable storage mediums.Using the embodiment of the present invention, the precise measurement of part of appliance temperature can be realized.
Description
Technical field
The present invention relates to field of computer technology more particularly to infrared measurement of temperature method, apparatus, system and computer-readable deposit
Storage media.
Background technique
Since infrared temperature-test technology has the characteristics that non-contact, visualization, high sensitivity, substation is generally used red at present
Outer thermal imaging system carries out imaging measurement to the temperature that power equipment is run, and the defect and failure of early stage are searched according to image, protects
Hinder the safe and stable operation of power equipment.General thermal infrared imager is mounted on the holder above robot, robot and holder
By positioning trip, make thermal infrared imager face power equipment, realizes and the temperature of power equipment is measured.
But this temperature measurement method can only integrally carry out temperature measurement to power equipment, and be very dependent on machine
The positioning accuracy of people and holder keep the angle of thermal infrared imager acquisition image different if robot or holder operation have deviation,
The temperature that then will lead to power equipment measurement is not also identical.
Summary of the invention
The embodiment of the present invention proposes a kind of infrared measurement of temperature method, apparatus, system and computer readable storage medium, Neng Goushi
The precise measurement of existing part of appliance temperature.
In order to solve the above-mentioned technical problem, the present invention is achieved by the following technical solutions: infrared measurement of temperature method, packet
It includes:
It runs in crusing robot to when the equipment of thermometric, infrared image acquisition is carried out to the equipment；
The infrared image of acquisition is compared with the standard picture of the equipment constructed in advance, identifies the infrared figure
The possessed part of appliance as in；
Measure the temperature of the part of appliance identified.
It preferably, further include establishing standard picture before carrying out infrared image acquisition to the equipment to thermometric,
Step are as follows:
Constantly adjustment shooting angle, to acquire the image of the equipment to thermometric different angle in normal conditions；
All images of acquisition are merged into a complete equipment image；
The band of position of all components and provincial characteristics out are remembered in the equipment image subscript, construct the standard of the equipment
Image.
Preferably, the infrared image of acquisition is being compared with the standard picture of the equipment constructed in advance, is being identified
Possessed part of appliance in the infrared image, specifically includes:
The provincial characteristics marked in the infrared image of acquisition and the standard picture is compared one by one；
If having the provincial characteristics in the infrared image, the band of position where the provincial characteristics is in institute
It states infrared image center and selects corresponding image-region, and be the corresponding equipment of the provincial characteristics by described image region recognition
Component.
Preferably, after the temperature of the part of appliance for measuring and identifying, further includes:
Obtain part of appliance described in the infrared image maximum temperature in the image area, if the maximum temperature
More than the temperature threshold of the part of appliance prestored, then alarm is issued；
Obtain part of appliance described in the infrared image maximum temperature in the image area and minimum temperature temperature
It is poor to spend, if the temperature difference is more than the temperature difference threshold value of the part of appliance prestored, issues alarm；
Equipment difference part extent described in the infrared image is obtained, between the maximum temperature in the image-region at place
Or the temperature difference between secondary high-temperature, if the temperature difference is more than the temperature difference threshold value of the voltage pyrogenicity type defect prestored,
Issue alarm.
Correspondingly, the embodiment of the present invention also provides a kind of infrared temperature measurement apparatus, comprising:
Instruction sending module sends to thermal infrared imager and claps for running in crusing robot to when the equipment of thermometric
Instruction is taken the photograph, the thermal infrared imager is made to carry out infrared image acquisition to the equipment；
Identification module, for receiving the infrared image of the thermal infrared imager feedback, and by the infrared image and in advance
The standard picture of the equipment of building is compared, and identifies possessed part of appliance in the infrared image；And
Measurement module, for measuring the temperature of the part of appliance identified.
Further, the infrared temperature measurement apparatus further include:
Sending module makes the holder constantly regulate shooting angle, and often in holder for sending regulating command to holder
After adjusting a shooting angle, Xiang Suoshu thermal infrared imager sends shooting instruction, and the thermal infrared imager is made to acquire the equipment
Image under the shooting angle；The holder is mounted on above the crusing robot, and the thermal infrared imager is mounted on
On the holder；
All images of feedback for receiving the image of the thermal infrared imager feedback, and are merged into one by merging module
Open complete equipment image；And
Mark module, for remembering the band of position of all devices component and provincial characteristics out in the equipment image subscript,
Construct the standard picture of the equipment.
Further, the identification module specifically includes:
Comparison unit, for comparing the provincial characteristics marked in the infrared image of acquisition and the standard picture one by one
It is right；
Recognition unit, if for having the provincial characteristics in the infrared image, according to where the provincial characteristics
The band of position select corresponding image-region in the infrared image center, and be the region by described image region recognition
The corresponding part of appliance of feature.
Further, the infrared temperature measurement apparatus further include:
First obtains module, for obtain part of appliance described in the infrared image the highest temperature in the image area
Degree；And
First alarm module, if the temperature threshold for the maximum temperature more than the part of appliance prestored, sends out
It alarms out；
Second obtains module, for obtain part of appliance described in the infrared image the highest temperature in the image area
The temperature difference of degree and minimum temperature；And
Second alarm module, if the temperature difference threshold value for the temperature difference more than the part of appliance prestored, sends out
It alarms out.
Correspondingly, the present invention also embodiment also provides a kind of infrared temperature measurement system, including crusing robot, holder and infrared
Thermal imaging system；The holder is mounted on above the crusing robot, and the thermal infrared imager is mounted on the holder；
Above-mentioned infrared temperature measurement apparatus is provided in the crusing robot.
Correspondingly, the present invention also embodiment also provides a kind of computer readable storage medium, the computer journey including storage
Sequence；
Wherein, equipment executes above-mentioned where controlling the computer readable storage medium when the computer program is run
Infrared measurement of temperature method.
Compared with prior art, the invention has the advantages that infrared measurement of temperature method, apparatus provided in an embodiment of the present invention, being
System and computer readable storage medium can construct in advance infrared image and the equipment after the infrared image of acquisition equipment
Standard picture be compared, find out the part of appliance having in infrared image, to measure the temperature of part of appliance, be not necessarily to
The accuracy for guaranteeing acquisition image, can be realized the precise measurement of part of appliance temperature.
Detailed description of the invention
Fig. 1 is the flow diagram of one embodiment of infrared measurement of temperature method provided by the invention；
Fig. 2 is the structural schematic diagram of one embodiment of infrared temperature measurement apparatus provided by the invention；
Fig. 3 is the structural schematic diagram of one embodiment of infrared temperature measurement system provided by the invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings.Below with reference to
The embodiment of attached drawing description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
Referring to the flow diagram of Fig. 1, first embodiment of the invention infrared measurement of temperature method provided, comprising:
S1, in robot inspection to when the equipment of thermometric, infrared image acquisition is carried out to the equipment；
S2, the infrared image of acquisition is compared with the standard picture of the equipment constructed in advance, is identified described red
Possessed part of appliance in outer image；
The temperature for the part of appliance that S3, measurement identify.
It should be noted that be equipped with holder above robot, thermal infrared imager is installed above holder, robot according to
Fixed route carries out inspection to field device.Each equipment is built with standard picture in advance and is stored in robot, the mark
Quasi- image is the overview image of equipment, and all devices component of the equipment is labeled on standard picture.
In robot inspection, when often running at an equipment, shooting angle is adjusted by holder, passes through infrared thermal imagery
Instrument acquire equipment infrared image, due to thermal infrared imager can only photographing section equipment image, acquisition infrared image be
Equipment component image.It is equipped with processing chip in robot, chip is handled after receiving the infrared image of acquisition, by infrared image
It is compared with the standard picture of the equipment, identifies that the infrared image is which parts of images of equipment, and identify red
The part of appliance having on outer image, and then measure the temperature of part of appliance.The present embodiment can be to specifically setting in equipment
The temperature of standby component measures, and effectively improves the accuracy of device temperature measurement.
Further, before the progress infrared image acquisition to the equipment, further includes:
Constantly adjustment shooting angle, to acquire image of the equipment under different angle；
All images of acquisition are merged into a complete equipment image；
The band of position of all devices component and provincial characteristics out are remembered in the equipment image subscript, construct the equipment
Standard picture.
It should be noted that due to thermal infrared imager can only photographing section equipment image, constantly adjusted by holder
The shooting angle of thermal infrared imager shoots thermal infrared imager to each section of equipment.Processing chip in robot
Image mosaic by the different angle of thermal infrared imager shooting is a complete equipment image, which is the complete of equipment
Looks image.In turn, it is outpoured possessed by the band of position and the band of position of all devices component in the equipment image subscript
Provincial characteristics, such as be labeled to the terminal plate of casing, by parts of appliance such as army cap, end shields, on a general standard picture
200 multiple equipment components can be marked.The present embodiment can be realized by the detailed mark on standard picture to infrared image
On part of appliance quickly identified.
Further, the infrared image by acquisition is compared with the standard picture of the equipment constructed in advance,
It identifies possessed part of appliance in the infrared image, specifically includes:
The provincial characteristics marked in the infrared image of acquisition and the standard picture is compared one by one；
If having the provincial characteristics in the infrared image, the band of position where the provincial characteristics is in institute
It states infrared image center and selects corresponding image-region, and be the corresponding equipment of the provincial characteristics by described image region recognition
Component.
It should be noted which equipment is detected based on standard picture has after acquiring infrared image on infrared image
Component is generally detected according to provincial characteristics, even on infrared image have with the consistent feature of provincial characteristics, then infrared
Image upper ledge selects the image-region consistent with the band of position of the provincial characteristics, and the image in the image-region is as corresponding
Part of appliance image.
Further, after the temperature of the part of appliance for measuring and identifying, further includes:
Obtain part of appliance described in the infrared image maximum temperature in the image area；
If the maximum temperature is more than the temperature threshold of the part of appliance prestored, alarm is issued.
It should be noted that can be conducted further analysis to temperature after the temperature of measuring device component.For example,
After the temperature for measuring this part of appliance of outgoing frame, judge the maximum temperature in the image-region of terminal plate whether more than 60
DEG C, if being more than, carry out general defect alarm.
Further, after the temperature of the part of appliance for measuring and identifying, further includes:
Obtain part of appliance described in the infrared image maximum temperature in the image area and minimum temperature temperature
It is poor to spend；
If the temperature difference is more than the temperature difference threshold value of the part of appliance prestored, alarm is issued.
Further, after the temperature of the part of appliance for measuring and identifying, further includes:
Equipment difference part extent described in the infrared image is obtained, between the maximum temperature in the image-region at place
Or the temperature difference between secondary high-temperature, if the temperature difference is more than the temperature difference threshold value of the voltage pyrogenicity type defect prestored,
Issue alarm.
It should be noted that after the temperature of measuring device component, it can also be between the temperature difference the item of part of appliance and relatively warm
Difference is analyzed.For example, obtaining A, B, C tri- temperature of terminal plate after the temperature of measurement this part of appliance of outgoing frame
Degree, and the temperature difference between A, B, C tri- is calculated, if temperature difference is more than 15 DEG C, alarm；Equally, A, B can also be calculated
Between temperature difference and the A temperature differences between environment, and then calculate two temperature differences ratio, if more than 60%, into
Row alarm.
Infrared measurement of temperature method provided in an embodiment of the present invention based on crusing robot, can be in the infrared figure of acquisition equipment
As after, infrared image is compared with the standard picture that the equipment constructs in advance, finds out the equipment portion having in infrared image
To measure the temperature of part of appliance, without guaranteeing the accuracy of acquisition image, the essence of part of appliance temperature can be realized in part
Really measurement.
It correspondingly, referring to fig. 2, is the structural schematic diagram for the infrared temperature measurement apparatus that second embodiment of the invention provides, comprising:
Instruction sending module 1 sends to thermal infrared imager and claps for running in crusing robot to when the equipment of thermometric
Instruction is taken the photograph, the thermal infrared imager is made to carry out infrared image acquisition to the equipment；
Identification module 2, for receiving the infrared image of the thermal infrared imager feedback, and by the infrared image and in advance
The standard picture of the equipment of building is compared, and identifies possessed part of appliance in the infrared image；And
Measurement module 3, for measuring the temperature of the part of appliance identified.
Further, the infrared temperature measurement apparatus further include:
Sending module makes the holder constantly regulate shooting angle, and often in holder for sending regulating command to holder
After adjusting a shooting angle, Xiang Suoshu thermal infrared imager sends shooting instruction, and the thermal infrared imager is made to acquire the equipment
Image under the shooting angle；The holder is mounted on above the crusing robot, and the thermal infrared imager is mounted on
On the holder；
All images of feedback for receiving the image of the thermal infrared imager feedback, and are merged into one by merging module
Open complete equipment image；And
Mark module, for remembering the band of position of all devices component and provincial characteristics out in the equipment image subscript,
Construct the standard picture of the equipment.
Further, the identification module specifically includes:
Comparison unit, for comparing the provincial characteristics marked in the infrared image of acquisition and the standard picture one by one
It is right；
Recognition unit, if for having the provincial characteristics in the infrared image, according to where the provincial characteristics
The band of position select corresponding image-region in the infrared image center, and be the region by described image region recognition
The corresponding part of appliance of feature.
Further, the infrared temperature measurement apparatus further include:
First obtains module, for obtain part of appliance described in the infrared image the highest temperature in the image area
Degree；And
First alarm module, if the temperature threshold for the maximum temperature more than the part of appliance prestored, sends out
It alarms out；
Second obtains module, for obtain part of appliance described in the infrared image the highest temperature in the image area
The temperature difference of degree and minimum temperature；And
Second alarm module, if the temperature difference threshold value for the temperature difference more than the part of appliance prestored, sends out
It alarms out.
Infrared temperature measurement apparatus provided in an embodiment of the present invention, can be after the infrared image of acquisition equipment, by infrared image
The standard picture constructed in advance with the equipment is compared, and finds out the part of appliance having in infrared image, sets to measure
The precise measurement of part of appliance temperature can be realized without guaranteeing the accuracy of acquisition image in the temperature of standby component.
It correspondingly, is that third embodiment of the invention provides a kind of infrared temperature measurement system, including crusing robot referring to Fig. 3
31, holder 32 and thermal infrared imager 33；The holder is mounted on above the crusing robot, and the thermal infrared imager is mounted on
On the holder；
The infrared temperature measurement apparatus 34 of above-mentioned second embodiment is provided in the crusing robot 31.
Correspondingly, fourth embodiment of the invention also provides another infrared temperature measurement system, including processor and memory with
And the computer program executed by the processor is stored in the memory and is configured, the processor executes the meter
Infrared measurement of temperature method as in the first embodiment is realized when calculation machine program.
Correspondingly, fifth embodiment of the invention provides a kind of computer readable storage medium, the computer journey including storage
Sequence；
Wherein, equipment executes above-mentioned where controlling the computer readable storage medium when the computer program is run
The infrared measurement of temperature method of first embodiment.
Illustratively, fourth embodiment of the invention and the 5th computer program as described in the examples can be divided into one
A or multiple modules, one or more of modules are stored in the memory, and are executed by the processor, with complete
At the present invention.One or more of modules can be the series of computation machine program instruction section that can complete specific function, should
Instruction segment is used to describe the computer program in the implementation procedure realized in a kind of infrared temperature measurement system.
Alleged processor can be central processing unit (Central Processing Unit, CPU), can also be it
His general processor, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng the processor is the control centre of the infrared temperature measurement system, entire described infrared using various interfaces and connection
The various pieces of temp measuring system.
The memory can be used for storing the computer program and/or module, and the processor is by operation or executes
Computer program in the memory and/or module are stored, and calls the data being stored in memory, is realized infrared
The various functions of temp measuring method.The memory can mainly include storing program area and storage data area, wherein storing program area
It can application program needed for storage program area, at least one function etc.；The data that storage data area can store acquisition (such as are adopted
The infrared image of collection, measurement temperature) etc..In addition, memory may include high-speed random access memory, it can also include non-
Volatile memory, such as hard disk, memory, plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), safe number
Word (Secure Digital, SD) card, flash card (Flash Card), at least one disk memory, flush memory device or its
His volatile solid-state part.
Wherein, if the module of the realization be realized in the form of SFU software functional unit and as independent product sale or
In use, can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-mentioned implementation
All or part of the process in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that
The step of above-mentioned each embodiment of the method.Wherein, the computer program includes computer program code, the computer program
Code can be source code form, object identification code form, executable file or certain intermediate forms etc..Computer-readable Jie
Matter may include: can carry the computer program code any entity or device, recording medium, USB flash disk, mobile hard disk,
Magnetic disk, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that described
The content that computer-readable medium includes can carry out increasing appropriate according to the requirement made laws in jurisdiction with patent practice
Subtract, such as does not include electric carrier signal and electricity according to legislation and patent practice, computer-readable medium in certain jurisdictions
Believe signal.
It should be noted that the apparatus embodiments described above are merely exemplary, wherein described be used as separation unit
The unit of explanation may or may not be physically separated, and component shown as a unit can be or can also be with
It is not physical unit, it can it is in one place, or may be distributed over multiple network units.It can be according to actual
It needs that some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.In addition, device provided by the invention
In embodiment attached drawing, the connection relationship between module indicate between them have communication connection, specifically can be implemented as one or
A plurality of communication bus or signal wire.Those of ordinary skill in the art are without creative efforts, it can understand
And implement.
Above is only a specific embodiment of the present invention, but technical characteristic of the invention is not limited thereto, Ren Heben
Within the field of the present invention, made changes or modifications all cover within the scope of the patent of the present invention the technical staff in field.
Claims (10)
1. infrared measurement of temperature method characterized by comprising
It runs in crusing robot to when the equipment of thermometric, infrared image acquisition is carried out to the equipment；
The infrared image of acquisition is compared with the standard picture of the equipment constructed in advance, is identified in the infrared image
Possessed part of appliance；
Measure the temperature of the part of appliance identified.
2. infrared measurement of temperature method as described in claim 1, which is characterized in that carrying out infrared figure to the equipment to thermometric
Before acquisition, further includes establishing standard picture, the steps include:
Constantly adjustment shooting angle, to acquire the image of the equipment to thermometric different angle in normal conditions；It will acquisition
All images merge into a complete equipment image；
The band of position of all components and provincial characteristics out are remembered in the equipment image subscript, construct the standard drawing of the equipment
Picture.
3. infrared measurement of temperature method as claimed in claim 2, which is characterized in that by the infrared image of acquisition in advance construct
The standard picture of the equipment is compared, and identifies possessed part of appliance in the infrared image, specifically includes:
The provincial characteristics marked in the infrared image of acquisition and the standard picture is compared one by one；
If having the provincial characteristics in the infrared image, the band of position where the provincial characteristics is described red
Outer image center selects corresponding image-region, and is the corresponding equipment portion of the provincial characteristics by described image region recognition
Part.
4. infrared measurement of temperature method as claimed in claim 3, which is characterized in that in the temperature of the part of appliance for measuring and identifying
After degree, further includes:
Obtain part of appliance described in the infrared image maximum temperature in the image area, if the maximum temperature is more than
The temperature threshold of the part of appliance prestored then issues alarm；
Obtain part of appliance described in the infrared image maximum temperature in the image area and minimum temperature temperature difference,
If the temperature difference is more than the temperature difference threshold value of the part of appliance prestored, alarm is issued；
Equipment difference part extent described in the infrared image is obtained, it is between the maximum temperature in the image-region at place or secondary
Temperature difference between high-temperature issues if the temperature difference is more than the temperature difference threshold value of the voltage pyrogenicity type defect prestored
Alarm.
5. a kind of infrared temperature measurement apparatus characterized by comprising
Instruction sending module sends shooting to thermal infrared imager and refers to for running in crusing robot to when the equipment of thermometric
It enables, the thermal infrared imager is made to carry out infrared image acquisition to the equipment；
Identification module is constructed for receiving the infrared image of the thermal infrared imager feedback, and by the infrared image with preparatory
The standard picture of the equipment be compared, identify possessed part of appliance in the infrared image；And
Measurement module, for measuring the temperature of the part of appliance identified.
6. infrared temperature measurement apparatus as claimed in claim 5, which is characterized in that the infrared temperature measurement apparatus further include: send mould
Block makes the holder constantly regulate shooting angle, and often adjust a shooting angle in holder for sending regulating command to holder
After degree, Xiang Suoshu thermal infrared imager sends shooting instruction, and the thermal infrared imager is made to acquire the equipment in the shooting angle
Under image；The holder is mounted on above the crusing robot, and the thermal infrared imager is mounted on the holder；
Merging module, for receiving the image of thermal infrared imager feedback, and by all images of feedback merge into one it is complete
Whole equipment image；And
Mark module is constructed for remembering the band of position of all devices component and provincial characteristics out in the equipment image subscript
The standard picture of the equipment.
7. infrared temperature measurement apparatus as claimed in claim 6, which is characterized in that the identification module specifically includes: comparison unit,
For the provincial characteristics marked in the infrared image of acquisition and the standard picture to be compared one by one；
Recognition unit, if for having the provincial characteristics, the position where the provincial characteristics in the infrared image
It sets region and selects corresponding image-region in the infrared image center, and be the provincial characteristics by described image region recognition
Corresponding part of appliance.
8. infrared temperature measurement apparatus as claimed in claim 7, which is characterized in that the infrared temperature measurement apparatus further include: first obtains
Modulus block, for obtain part of appliance described in the infrared image maximum temperature in the image area；And
First alarm module, if the temperature threshold for the maximum temperature more than the part of appliance prestored, issues report
It is alert；And
Second obtains module, for obtain the institute's maximum temperature in the image area of part of appliance described in the infrared image and
The temperature difference of minimum temperature；And
Second alarm module, if the temperature difference threshold value for the temperature difference more than the part of appliance prestored, issues report
It is alert.
9. a kind of infrared temperature measurement system, which is characterized in that including crusing robot, holder and thermal infrared imager；The holder peace
Above the crusing robot, the thermal infrared imager is mounted on the holder；
It is arranged in the crusing robot just like the described in any item infrared temperature measurement apparatus of claim 5 to 8.
10. a kind of computer readable storage medium, which is characterized in that the computer program including storage；
Wherein, equipment is executed as right is wanted where controlling the computer readable storage medium when the computer program is run
Seek 1 to 4 described in any item infrared measurement of temperature methods.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110319937A (en) * | 2019-05-21 | 2019-10-11 | 广州供电局有限公司 | Infrared measurement of temperature image processing method, device, computer equipment and storage medium |
| CN110568293A (en) * | 2019-09-27 | 2019-12-13 | 广东电网有限责任公司 | Monitoring method and system for power equipment |
| CN111366245A (en) * | 2020-03-12 | 2020-07-03 | 深圳达温技术服务有限公司 | Method for improving detection capability of infrared temperature measurement on abnormal heating |
| CN111738132A (en) * | 2020-06-17 | 2020-10-02 | 银河水滴科技（北京）有限公司 | Method and device for measuring human body temperature, electronic equipment and readable storage medium |
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| CN113091914A (en) * | 2021-04-06 | 2021-07-09 | 佛山华数机器人有限公司 | Industrial robot temperature testing method and system based on infrared temperature measurement |
| CN113084869B (en) * | 2021-04-06 | 2022-06-10 | 佛山华数机器人有限公司 | Industrial robot fault diagnosis method and system based on infrared temperature measurement |
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