CN114112972B - Closed space SF 6 Gas leakage infrared telemetry device and imaging positioning method thereof - Google Patents
Closed space SF 6 Gas leakage infrared telemetry device and imaging positioning method thereof Download PDFInfo
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Abstract
Closed space SF 6 An infrared remote measuring device for gas leakage and an imaging positioning method thereof belong to a closed space SF 6 The leakage detection technical field solves the problems of low cost performance and difficult quick positioning of leakage points of the conventional device; the night vision camera is arranged on the coaxial registration bracket and is connected with the signal processing industrial personal computer; the infrared focal plane detector is arranged in parallel with the central axis of the night vision camera at equal height, is respectively connected with the power supply control board and the signal processing industrial personal computer, and the lens of the infrared focal plane detector is sequentially provided with an infrared window, an infrared lens and an SF (sulfur hexafluoride) from left to right along the central axis 6 The multi-element correction filter, the signal processing industrial personal computer is connected with the power supply control board; power supply control board and SF 6 The multi-element correction filter is connected, and the cost performance of the device is high; imaging and displaying the leaked gas, recording SF 6 Gas telemetry field of view space coordinates and SF 6 Cloud group alarm image data is utilized to calculate the three-dimensional space coordinates of the leakage points by means of binocular three-dimensional positioning reconstruction, and the functions of large-scale and high-precision inspection monitoring and leakage imaging positioning are achieved.
Description
Technical Field
The invention belongs to a closed space SF 6 The technical field of leakage detection relates to a closed space SF 6 An infrared remote measuring device for gas leakage and an imaging positioning method thereof.
Background
The airtight space of the power industry mainly comprises a power transmission pipe gallery, an underground transformer substation, an indoor transformer substation and the like. The closed scenes have small occupied area and strong environment adaptability, and are widely applied to areas with dense urban personnel, dense buildings, complex geographic environments and the like. According to statistics, up to now, the national net company is developing more than 8000 in the operation room, more than 50 in the underground substation, and the utility tunnel project represented by the scow GIL (Gas Insulated Line, gas insulated pipeline) is developing in various places. Using SF 6 The (Sulphur Hexafluoride, sulfur hexafluoride) gas-insulated electrical equipment has compact size, small size, electromagnetic environment friendliness, high safety and the like, and is widely applied in electric power enclosed spaces, wherein only SF in Sutong GIL 6 The amount of gas used is up to 800 tons. SF (sulfur hexafluoride) 6 The gas is used as an insulating and arc extinguishing medium in the equipment, once a large amount of leakage occurs, the insulating performance of the equipment is reduced, and the operation fault of the equipment is caused; and SF (sulfur hexafluoride) 6 The gas greenhouse effect is CO 2 Is 23900 times more than 3200 years in the air, is one of six gases which are forbidden to be discharged in the Kyoto protocol of the United nations climate change framework convention, and is SF 6 The density is 5 times of that of air, the air is preferably gathered to the space low-lying place, and SF is purified 6 The gas has asphyxia and SF after operation 6 The gas may contain highly toxic decomposition products, so that if a large amount of SF occurs in the enclosed space 6 The leakage of gas is extremely easy to cause the casualties of aggregation, and serious social influence is brought.
At present, the sulfur hexafluoride gas leakage monitoring of the enclosed space at home and abroad adopts the technical scheme of a distributed sensor, the sensor is arranged at different positions of the enclosed space, and when the leaked gas is diffused to a sensor site and gathered to a certain concentration, the sensor can respond. Therefore, the method is seriously dependent on the gas diffusion speed and concentration, and has the problems of lag in monitoring data, low sensitivity, incapability of accurately positioning and the like. In addition, the sensor is easy to age and lose efficacy, and the service life is short. 2016, the national network Anhui province power limited company is indoor SF 6 The special work of the performance general investigation of the leakage alarm device finds that the qualification rate of the leakage monitoring sensor installed in the indoor substation is less than 30 percent. Therefore, there is a need to study SF 6 Novel technology for monitoring gas leakage and developing novel airtight space SF 6 Intelligent monitoring system for gas leakage and SF (sulfur hexafluoride) realization 6 Early warning and accurate positioning of leakage.
In the prior art, the publication of the publication No. 2015, positioning detection of SF by using a laser imaging technology 6 The laser imaging leak detector emits infrared laser to the equipment to be detected and scans the equipment when the equipment gas leakage is detected (Tian Yong and the like, northeast power technology, 2005). If there is no leakage, the reflected infrared light energy is unchanged, if there is leakage, the reflected infrared light energy will be reduced, and the video image taken by the instrument will show a smoke-like shadow. SF (sulfur hexafluoride) 6 The greater the gas concentration, the more laser energy is absorbed, and the more obvious the smoke shadow is, and whether gas leakage, leakage points, the movement direction of the leaked gas and leakage speed are judged according to the conditions. The detection method has short detection time, can realize visual charged detection, is more easily influenced by the flow velocity and humidity of the outside air, and has poor detection stability.
Existing SF 6 The gas leakage infrared spectrum detection device utilizes interferometer structure light splitting and uses Fourier transform technology to obtain target spectrum information, then establishes a spectrum identification database, and extracts target spectrum characteristics to complete target qualitative and quantitative analysis. For power scene SF 6 The single gas leak detection application, fourier infrared spectroscopy techniques suffer from the following drawbacks:1) Because of adopting the interferometer light splitting structure, the equipment has large volume and high cost; 2) The device can effectively detect thousands of gas types and more, and is only used for SF 6 The gas detection has low cost performance; therefore, there is a need to design a sealed space SF with simple structure and high cost performance 6 Infrared remote measuring device for gas leakage.
The most advanced field detection means at present is a long-distance, non-contact and spectrum technology represented by Fourier infrared spectrum telemetry, not only utilizes spectrum analysis to improve the precision and the detection sensitivity, but also is beneficial to realizing the scene large-scale autonomous inspection by a passive telemetry mode, and greatly meets the electric scene SF 6 Practical requirements for leak detection, but how to implement SF 6 Quick positioning of gas leakage points remains an industry challenge.
Disclosure of Invention
The invention aims to design a closed space SF 6 The infrared remote measuring device for gas leakage and its imaging positioning method are aimed at solving the problems of large volume, high cost, low cost performance and closed space SF of existent device 6 The industrial problem of difficult quick positioning of the gas leakage points.
The invention solves the technical problems through the following technical scheme:
closed space SF 6 A gas leak infrared telemetry device comprising: coaxial registration bracket (1), night vision camera (2), infrared focal plane detector (3), signal processing industrial personal computer (4), power supply control board (5) and SF 6 A multi-element correction filter (6), an infrared lens (7) and an infrared window (8); the night vision camera (2) is fixedly arranged on the coaxial registration bracket (1), and the night vision camera (2) is connected with the signal processing industrial personal computer (4) through a data line; the infrared focal plane detector (3) is arranged in parallel with the central axis of the night vision camera (2) at the same height, and the lens of the infrared focal plane detector (3) is sequentially provided with an infrared window (8), an infrared lens (7) and an SF from left to right along the central axis 6 A multivariate calibration filter (6); the infrared focal plane detector (3) is connected with the power control board (5) through a power line and is connected with the signal processing industrial personal computer (4) through a data line; signal processing industrial personal computer (4) and power supply control board(5) The data line is connected with the power line; power supply control board (5) and SF 6 The multi-element correction filters (6) are connected with each other through a power line and a data line;
the registering method of the infrared telemetry device comprises the following steps:
s1, calibrating an image scaling factor: taking a chessboard pattern target plate as a background, respectively acquiring chessboard pattern images by a night vision camera (2) and an infrared focal plane detector (3), selecting a certain chessboard pattern by a frame, calculating the total number of pixels of the two images in the grid, and respectively marking as NP visible And NP infrared Calculating an infrared image scaling factor q=np visible /NP infrared After the scaling factor is obtained, scaling the whole infrared image according to Q;
s2, coaxially adjusting and registering: selecting the sun as an infinity target, moving the whole coaxial registration structure, firstly adjusting the central axis of the view field of the infrared focal plane detector (3) to align with the sun, then adjusting the central axis of the view field of the night vision camera (2) to align with the sun, and considering that the view fields of the night vision camera (2) and the infrared focal plane detector (3) are coaxial when the central axes of the two view fields of the night vision camera (2) and the infrared focal plane detector (3) are aligned with the infinity target; because the night vision camera (2) and the infrared focal plane detector (3) have a distance d from the optical axis, the pixel is shifted to enable the target patterns on the images of the night vision camera and the infrared focal plane detector to coincide, and thus the field of view coaxial registration is completed.
Adopt airtight space SF 6 The imaging positioning method of the infrared remote measuring device for gas leakage comprises the following steps:
S11、SF 6 gas leakage distribution imaging display processing: a night vision camera (2) is adopted to acquire a scene image of the closed space and is used as SF 6 A background plot of gas leakage distribution; will be identified as SF 6 The pixels of the gas are synthesized into SF according to the quantitative concentration interval 6 A gas concentration distribution pseudo-color image; the SF is carried out according to the registration mapping relation of the coaxial pixels of the field of view 6 Merging the pseudo-color image with gas concentration distribution and the background image into SF 6 A gas leakage profile;
s12, detecting SF 6 Gas leakage alarm first and second spatial coordinates:SF is carried out 6 The infrared remote measuring device for gas leakage is carried on the inspection robot and advances according to a set route, and when SF is carried out 6 SF discovery by infrared telemetry of gas leakage 6 After gas leakage and alarm, SF is checked 6 Display position of gas cloud on image, if SF 6 Recording the current SF when the gas cloud cluster is positioned at the set position in the image 6 If not, continuing to advance until the coordinate recording condition is met; SF (sulfur hexafluoride) 6 The infrared telemetry device for gas leakage continues to advance until the SF at the same position is found again 6 Gas leaks and SF 6 The gas cloud is positioned at a position symmetrical to the set position in the image and records the current SF 6 If not, continuing to advance until the coordinate recording condition is met;
s13, positioning reconstruction: using successively recorded SF 6 Spatial coordinates and SF of infrared remote measuring device for gas leakage 6 Gas cloud alarm image data and SF (sulfur hexafluoride) calculation by adopting binocular three-dimensional positioning reconstruction method 6 And (5) the three-dimensional space coordinates of the gas leakage points and the space coordinates of the gas leakage points are stored.
As a further improvement of the technical scheme of the invention, the identification is SF 6 The method of the pixel of the gas is as follows:
s111, acquiring leaked SF by adopting an infrared focal plane detector (3) 6 A gas multi-element correction score map;
s112, utilizing a surrounding pixel average filling method to solve the SF caused by partial pixel damage or signal abnormality of the infrared focal plane detector (3) 6 Correcting bad pixels in the gas multi-element correction score graph;
s113 to SF 6 Smoothing the gas multi-element correction score graph, and aiming at the background area and SF 6 The gas region carries out region average center intensity calculation so as to facilitate image segmentation;
s114 to SF 6 Dividing the gas multi-element correction score graph to obtain a background area and SF (sulfur hexafluoride) 6 A gas region;
s115 to SF 6 Gas and its preparation methodSignal-to-noise ratio enhancement is carried out on the multivariate correction score graph, and SF is carried out 6 The gas multivariate calibration score map is converted to a signal to noise ratio image,
s116, performing gradient calculation on the signal-to-noise ratio image and simultaneously removing edge pixels;
s117, regarding the segmented background area and SF 6 The gas region is subjected to local threshold segmentation;
s118, according to the local threshold segmentation result, taking the set of pixel points larger than the threshold as SF 6 Gas area, finish SF 6 Identification of the gas.
The invention has the advantages that:
(1) The closed space SF of the invention 6 Infrared remote measuring device for gas leakage, low cost and SF 6 The multi-element correction filter special for gas performs light splitting and data processing, so that the equipment cost is reduced, the equipment volume is reduced, the data processing is rapid, and SF is realized by matching with an infrared imaging focal plane detector, a coaxial night vision camera and a rotary scanning platform 6 Positioning gas leakage in real time; compared with the prior art, the device reduces the volume, the weight and the cost of the device and improves the SF 6 Gas leak detection cost performance.
(2) The technical proposal of the invention firstly leads the leaked invisible SF to be leaked 6 Gas imaging display process, re-recorded SF 6 Gas telemetry space coordinates and SF 6 Cloud cluster alarm image data and then calculating SF by using binocular three-dimensional positioning reconstruction method 6 The three-dimensional space coordinates of the gas leakage points are combined with the inspection robot, so that the functions of large-scale and high-precision inspection monitoring and leakage imaging positioning can be realized, the technical blank in the field is filled, and the accurate coordinates are provided for the next recovery processing.
Drawings
FIG. 1 shows a closed space SF according to an embodiment of the present invention 6 A structural diagram of the infrared telemetry device for gas leakage;
FIG. 2 shows a closed space SF according to an embodiment of the present invention 6 An image scaling factor calibration schematic diagram of the gas leakage infrared telemetry device;
FIG. 3 shows a closed space SF according to an embodiment of the present invention 6 A coaxial adjustment registration schematic of the gas leakage infrared telemetry device;
FIG. 4 shows a closed space SF according to an embodiment of the present invention 6 Schematic diagram of detection principle of infrared remote measuring device for gas leakage;
FIG. 5 is a flow chart of an imaging positioning method according to an embodiment of the present invention;
FIG. 6 is an SF of an embodiment of the present invention 6 A gas distribution imaging display;
FIG. 7 is a diagram of an embodiment of the present invention identified as SF 6 A method flow chart of a pixel of gas;
FIG. 8 is an SF of an embodiment of the present invention 6 Identifying a result diagram of the gas multi-element correction score diagram;
FIG. 9 is an SF of an embodiment of the present invention 6 A schematic diagram of a binocular three-dimensional positioning reconstruction method for gas leakage.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions in the embodiments of the present invention will be clearly and completely described in the following in conjunction with the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The technical scheme of the invention is further described below with reference to the attached drawings and specific embodiments:
example 1
As shown in fig. 1, a closed space SF 6 A gas leak infrared telemetry device comprising: coaxial registration support 1, night vision camera 2, infrared focal plane detector 3, signal processing industrial personal computer 4, power supply control board 5, SF 6 A multi-element correction filter 6, an infrared lens 7 and an infrared window 8; the night vision camera 2 is fixedly arranged on the coaxial registration bracket 1, and the night vision camera 2 is connected with the signal processing industrial personal computer 4 through a data line; the infrared focal plane detector 3 andthe central axis of the night vision camera 2 is arranged in parallel at the same height, and the lens of the infrared focal plane detector 3 is sequentially provided with an infrared window 8, an infrared lens 7 and an SF from left to right along the central axis 6 A multivariate calibration filter 6; the infrared focal plane detector 3 is connected with the power supply control board 5 through a power line and is connected with the signal processing industrial personal computer 4 through a data line; the signal processing industrial personal computer 4 is connected with the power supply control board 5 through a power line and a data line; power supply control board 5 and SF 6 The multivariate calibration filter 6 is connected with the data line through a power line.
The closed space SF 6 The registration method of the infrared remote measuring device for gas leakage is as follows:
a. image scaling factor calibration
Because the single-pixel field angles of the night vision camera 2 and the infrared focal plane detector 3 are different, the image scaling factors of the night vision camera 2 and the infrared focal plane detector are required to be calibrated before field registration, so that the same target keeps consistent in size on the image.
As shown in fig. 2, with a checkerboard target plate as a background, the night vision camera 2 and the infrared focal plane detector 3 respectively acquire checkerboard images, a certain checkerboard is selected by a frame, and the total number of pixels of the two images in the checkerboard is calculated and respectively marked as NP visible And NP infrared Calculating an infrared image scaling factor q=np visible /NP infrared After the scaling factor is obtained, the entire infrared image is scaled by Q.
b. Coaxially adjusted registration
As shown in fig. 3, selecting the sun as an infinity target, moving the whole device, firstly adjusting the central axis of the view field of the infrared focal plane detector 3 to align with the sun, then adjusting the central axis of the view field of the night vision camera 2 to align with the sun, and considering that the view fields of the night vision camera 2 and the infrared focal plane detector 3 are coaxial when the central axes of the two view fields of the night vision camera 2 and the infrared focal plane detector 3 are aligned with the infinity target.
Because the night vision camera 2 and the optical axis of the infrared focal plane detector 3 have a distance d, the pixels need to be shifted to enable the target patterns on the images of the night vision camera 2 and the infrared focal plane detector to coincide, and thus the field of view coaxial registration is completed.
As shown in fig. 4, the closed space SF 6 Detection principle of infrared telemetry device for gas leakage: SF generation by gas utilization equipment in electric power enclosed space 6 SF (sulfur hexafluoride) when gas leaks 6 The infrared radiation of gas enters the infrared telemetering device and passes through SF 6 Automatic SF completion after multi-element correction of filter 6 6 Feature extraction and recognition calculation, the calculation result is received by the infrared focal plane detector 3 and SF is completed 6 Gas leakage imaging display.
The device work flow:
a. the power supply control board 5 powers on all the power utilization components;
b. the night vision camera 2 is coaxial with the field of view of the infrared focal plane detector 3 by adjusting the coaxial registration bracket 1;
c. the visible near infrared rays of the scene are captured by the night vision camera 2 and converted into electric signals to be transmitted to the signal processing industrial personal computer 4;
d. scene light passes through infrared window 8 and infrared lens 7 to SF 6 The multi-element correction filter 6 outputs corrected infrared radiation, and the corrected infrared radiation is input into the infrared focal plane detector 3 to be converted into an electric signal and transmitted to the signal processing industrial personal computer 4;
e. the recognition processing result of the signal processing industrial personal computer 4 is fused with the scene image to realize SF 6 Gas leakage imaging positioning.
As shown in fig. 5, implement SF 6 A method of gas leak imaging positioning comprising the steps of:
1、SF 6 gas leakage distribution imaging display process
1) A night vision camera (2) is adopted to acquire a scene image of the closed space and is used as SF 6 A background plot of gas leakage distribution;
2) Will be identified as SF 6 The pixels of the gas are synthesized into SF according to the quantitative concentration interval 6 A gas concentration distribution pseudo-color image;
3) The SF is carried out according to the registration mapping relation of the coaxial pixels of the field of view 6 Merging the pseudo-color image with gas concentration distribution and the background image into SF 6 The gas leakage profile is shown in fig. 6.
As shown in FIG. 7, the identification is SF 6 The method of the pixel of the gas is as follows:
1) Acquisition of SF 6 Score graph: SF (sulfur hexafluoride) 6 SF for gas leakage 6 Infrared focal plane detection in gas telemetry visual field coaxial registration structure device for directly acquiring SF 6 The multi-element correction result is called SF 6 A multivariate correction score map;
2) Correcting bad pixels: SF for partial pixel damage or signal abnormality of infrared focal plane detector 6 The multi-element correction score map has bad pixels, and the bad pixels are corrected by using a surrounding pixel average filling method;
3) Signal averaging: the score map is subjected to general smoothing filtering processing, and the background area and SF are aimed at 6 The gas region carries out region average center intensity calculation so as to facilitate the next image segmentation;
4) Image segmentation: dividing the score map by adopting a general image dividing method to obtain a background area and SF (sulfur hexafluoride) 6 A gas region;
5) Signal-to-noise ratio enhancement: the MRCE algorithm is adopted to enhance the signal-to-noise ratio of the score map, and the score map is converted into a signal-to-noise ratio image;
the MRCE algorithm principle is as follows: the global low contrast of the target and the background, and the local neighborhood of the target can be converted into a target area with high contrast of the target and the background. MRCE uses a series of different sliding modules as filters on each pixel of the image, excludes the local neighborhood of the pixel under test, enhances the global fuzzy region of interest, converts the "scoring image" into a "signal-to-noise image" by expressing the local intensity statistics of the scoring image intensity, and the value of each pixel in the signal-to-noise image represents the highest local signal-to-noise value of all the modules calculated.
6) Image gradient calculation: performing gradient calculation on the signal-to-noise ratio image by adopting a general image gradient calculation method, and simultaneously removing edge pixels;
7) Local threshold setting: for segmented background areas and SF 6 A gas region, which is subjected to local threshold segmentation;
8)SF 6 and (3) identification: according to the local threshold segmentation result, the pixel point set with the view larger than the threshold is SF 6 Gas area, finish SF 6 And (5) gas identification.
As shown in FIG. 8, the identification is SF 6 The method of the picture elements of the gas is directed to the SF obtained 6 The multi-element correction score graph processing can effectively inhibit SF 6 Noise pixels in the multivariate correction score graph can improve the effective signal identification accuracy while suppressing noise, reduce false alarm and missing report rate, and improve SF 6 And (3) gas leakage detection effect.
2. Detection of SF 6 Gas leakage alarm first space coordinate and second space coordinate
As shown in FIG. 9, L (X, Y, Z) is the spatial coordinates of the gas leakage point, and C1 is SF before movement 6 Image plane of infrared remote measuring device for gas leakage, C2 is SF after moving 6 Infrared remote measuring device image plane, O for gas leakage 1 For moving the front infrared telemetry coordinate system, O 2 For moving the post-infrared telemetry coordinate system, a 1 (u, v) is SF before moving the gas leakage point 6 Projection on image plane of infrared remote measuring device for gas leakage, a 2 (u, v) is SF of the gas leakage point after moving 6 Projection of the gas leak infrared telemetry image plane.
SF 6 The infrared remote measuring device for gas leakage is carried on the inspection robot to advance according to a set route, and when SF is carried out 6 SF discovery by infrared telemetry of gas leakage 6 After gas leakage and alarm, SF is checked 6 Display position of cloud on image, if SF 6 And if the cloud cluster is positioned at the middle 1/3 position of the right part of the image, recording the current space coordinate of the telemetering instrument, otherwise, continuing to advance until the coordinate recording condition is met.
SF 6 The infrared telemetry device for gas leakage continues to advance for a plurality of meters until the SF at the same position is found again 6 Gas leaks and SF 6 And if the cloud cluster is positioned at the middle 1/3 position of the left part of the image, recording the current space coordinate of the telemetering instrument, otherwise, continuing to advance until the coordinate recording condition is met.
Using successively recorded SF 6 Spatial coordinates and SF of infrared remote measuring device for gas leakage 6 Cloud cluster alarm image data and binocular three-dimensional positioning reconstruction methodCalculation of SF 6 Three-dimensional space coordinates of the gas leakage points. The conventional binocular three-dimensional positioning reconstruction method can be seen in depth perception and positioning technology research based on binocular vision (Beijing university of post, 2 nd month in 2020, deng Xin first), and is to perform three-dimensional space coordinate positioning on a visible object, however, the leaked SF of the invention 6 The gas is invisible and SF is required to leak 6 And (3) performing gas imaging display processing, converting the gas imaging display processing into a visible target, and performing three-dimensional space coordinate positioning by adopting a binocular three-dimensional positioning reconstruction method.
3. Location reconstruction
Using successively recorded SF 6 Spatial coordinates and SF of infrared remote measuring device for gas leakage 6 The SF is calculated by adopting a binocular three-dimensional positioning reconstruction method for the gas cloud alarming image data 6 And (5) the three-dimensional space coordinates of the gas leakage points and the space coordinates of the gas leakage points are stored. Through SF 6 The coordinate relation before and after the gas leakage infrared telemetry device moves and the camera parameters calculate the space coordinates of the gas leakage point L:
1)SF 6 gas leakage infrared telemetry camera correction: at SF 6 After the gas leakage infrared telemetry device moves, the front-back position change necessarily causes the image planes C1 and C2 to be not parallel, the two image planes are required to be positioned on the same plane through correction, and each row in the image has the same direction and coordinate;
2) 3D re-projection: SF according to the parallax of the gas leakage point 6 Geometric position of infrared remote measuring device for gas leakage, focal length parameter of camera, and SF (sulfur hexafluoride) calculation by using triangulation method 6 And the distance from the gas leakage infrared telemetry device to the gas leakage point is calculated, and the spatial coordinates of the gas leakage point are calculated.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (3)
1. Closed space SF 6 The infrared telemetry device for gas leakage is characterized by comprising: coaxial registration bracket (1), night vision camera (2), infrared focal plane detector (3), signal processing industrial personal computer (4), power supply control board (5) and SF 6 A multi-element correction filter (6), an infrared lens (7) and an infrared window (8); the night vision camera (2) is fixedly arranged on the coaxial registration bracket (1), and the night vision camera (2) is connected with the signal processing industrial personal computer (4) through a data line; the infrared focal plane detector (3) is arranged in parallel with the central axis of the night vision camera (2) at the same height, and the lens of the infrared focal plane detector (3) is sequentially provided with an infrared window (8), an infrared lens (7) and an SF from left to right along the central axis 6 A multivariate calibration filter (6); the infrared focal plane detector (3) is connected with the power control board (5) through a power line and is connected with the signal processing industrial personal computer (4) through a data line; the signal processing industrial personal computer (4) is connected with the power supply control board (5) through a power line and a data line; power supply control board (5) and SF 6 The multi-element correction filters (6) are connected with each other through a power line and a data line;
the registering method of the infrared telemetry device comprises the following steps:
s1, calibrating an image scaling factor: taking a chessboard pattern target plate as a background, respectively acquiring chessboard pattern images by a night vision camera (2) and an infrared focal plane detector (3), selecting a certain chessboard pattern by a frame, calculating the total number of pixels of the two images in the grid, and respectively marking as NP visible And NP infrared Calculating an infrared image scaling factor q=np visible /NP infrared After the scaling factor is obtained, scaling the whole infrared image according to Q;
s2, coaxially adjusting and registering: selecting the sun as an infinity target, moving the whole coaxial registration structure, firstly adjusting the central axis of the view field of the infrared focal plane detector (3) to align with the sun, then adjusting the central axis of the view field of the night vision camera (2) to align with the sun, and considering that the view fields of the night vision camera (2) and the infrared focal plane detector (3) are coaxial when the central axes of the two view fields of the night vision camera (2) and the infrared focal plane detector (3) are aligned with the infinity target; because the night vision camera (2) and the infrared focal plane detector (3) have a distance d from the optical axis, the pixel is shifted to enable the target patterns on the images of the night vision camera and the infrared focal plane detector to coincide, and thus the field of view coaxial registration is completed.
2. A closed space SF using the method of claim 1 6 The imaging positioning method of the infrared remote measuring device for gas leakage comprises the following steps:
S11、SF 6 gas leakage distribution imaging display processing: a night vision camera (2) is adopted to acquire a scene image of the closed space and is used as SF 6 A background plot of gas leakage distribution; will be identified as SF 6 The pixels of the gas are synthesized into SF according to the quantitative concentration interval 6 A gas concentration distribution pseudo-color image; the SF is carried out according to the registration mapping relation of the coaxial pixels of the field of view 6 Merging the pseudo-color image with gas concentration distribution and the background image into SF 6 A gas leakage profile;
s12, detecting SF 6 Gas leakage alarm first and second spatial coordinates: SF is carried out 6 The infrared remote measuring device for gas leakage is carried on the inspection robot and advances according to a set route, and when SF is carried out 6 SF discovery by infrared telemetry of gas leakage 6 After gas leakage and alarm, SF is checked 6 Display position of gas cloud on image, if SF 6 Recording the current SF when the gas cloud cluster is positioned at the set position in the image 6 If not, continuing to advance until the coordinate recording condition is met; SF (sulfur hexafluoride) 6 The infrared telemetry device for gas leakage continues to advance until the SF at the same position is found again 6 Gas leaks and SF 6 The gas cloud is positioned at a position symmetrical to the set position in the image and records the current SF 6 If not, continuing to advance until the coordinate recording condition is met;
s13, positioning reconstruction: using successively recorded SF 6 Spatial coordinates and SF of infrared remote measuring device for gas leakage 6 Gas cloud alarm image numberAccording to the SF calculation by adopting binocular three-dimensional positioning reconstruction method 6 And (5) the three-dimensional space coordinates of the gas leakage points and the space coordinates of the gas leakage points are stored.
3. The method of positioning for imaging of claim 2, wherein the identification is SF 6 The method of the pixel of the gas is as follows:
s111, acquiring leaked SF by adopting an infrared focal plane detector (3) 6 A gas multi-element correction score map;
s112, utilizing a surrounding pixel average filling method to solve the SF caused by partial pixel damage or signal abnormality of the infrared focal plane detector (3) 6 Correcting bad pixels in the gas multi-element correction score graph;
s113 to SF 6 Smoothing the gas multi-element correction score graph, and aiming at the background area and SF 6 The gas region carries out region average center intensity calculation so as to facilitate image segmentation;
s114 to SF 6 Dividing the gas multi-element correction score graph to obtain a background area and SF (sulfur hexafluoride) 6 A gas region;
s115 to SF 6 Signal-to-noise ratio enhancement is carried out on the gas multi-element correction score graph, and SF is carried out 6 The gas multivariate calibration score map is converted to a signal to noise ratio image,
s116, performing gradient calculation on the signal-to-noise ratio image and simultaneously removing edge pixels;
s117, regarding the segmented background area and SF 6 The gas region is subjected to local threshold segmentation;
s118, according to the local threshold segmentation result, taking the set of pixel points larger than the threshold as SF 6 Gas area, finish SF 6 Identification of the gas.
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