CN116294664A

CN116294664A - Industrial furnace body data monitoring device

Info

Publication number: CN116294664A
Application number: CN202310087185.3A
Authority: CN
Inventors: 潘冬; 李奕天; 蒋朝辉; 桂卫华; 余浩洋; 易遵辉
Original assignee: Central South University
Current assignee: Central South University
Priority date: 2023-02-09
Filing date: 2023-02-09
Publication date: 2023-06-23

Abstract

The invention provides an industrial furnace body data monitoring device, which comprises a protective shell, wherein the protective shell comprises a protective shell body and an electric appliance protective shell, and the protective shell body comprises an outer shell body and an inner shell body; an infrared-visible light double-channel imaging tube is fixedly arranged in the inner shell; the infrared-visible light double-channel imaging tube is internally provided with a visible light imaging tube and an infrared light imaging tube; an objective lens group, a plurality of relay lens groups and a visible light imaging chip are arranged in the visible light imaging tube, and the visible light imaging chip is in communication connection with the upper computer; an objective lens group, a plurality of relay lens groups, a reflecting structure and an infrared light imaging chip are arranged in the infrared light imaging tube, and the infrared light imaging chip is in communication connection with the upper computer. According to the invention, the temperature field information and the morphology information of the material of interest in the industrial kiln are synchronously acquired, so that the on-line monitoring of the internal body data of the industrial kiln is realized.

Description

Industrial furnace body data monitoring device

Technical Field

The invention relates to the technical field of industrial kiln equipment, in particular to an industrial kiln body data monitoring device.

Background

The industrial kiln is energy-consuming equipment which is vital in the process industries such as building materials, metallurgy, chemical industry and the like, the inside of the industrial kiln is subjected to complex physical and chemical reactions under the action of high temperature, and in the reaction process, the temperature field and the morphology of materials of interest in the kiln are dynamically changed in real time, and the information directly reflects the running condition of the industrial kiln, so that important reference data are provided for operators to regulate the industrial kiln; therefore, on-line monitoring of temperature field information and morphology information of materials in the furnace is important for stable control of the industrial furnace.

Because of the high-temperature, high-pressure and high-dust airtight reaction environment in the industrial furnace, the internal temperature data and the material depth data are mostly obtained through thermocouples and mechanical trial rods, but the method can only obtain information of a limited number of points, and cannot obtain the temperature field and the shape information of the whole material in the furnace; the temperature field or morphology information of the materials in the furnace can be obtained through an infrared light or visible light endoscope, but the existing detection method is mainly focused on the detection of single information, and the relevance among different information is not considered; in fact, the temperature field and the morphology of the materials are not independent, taking a blast furnace as an example, in the reaction process of the blast furnace, descending furnace charge and upward flowing high-temperature gas move in opposite directions, the gas flow at the lower part of the material surface is more vigorous, the temperature is higher, and meanwhile, the morphology change of the furnace charge can also cause temperature measurement errors; therefore, the association relation between the information is considered, so that more reliable and accurate reference data can be provided for operators; in order to better describe the spatial distribution of various information and the coupling relation thereof, the invention uses the volume data as the representation mode of the information in the furnace; the volume data is structured data composed of temperature, morphology and other information and coupling relation thereof, and the minimum composition unit of the volume data is voxels with space geometrical properties, such as temperature field, morphology and the like of materials in the furnace.

In addition, because the camera parameters such as the angle of view and the focal length between the infrared camera and the visible light camera have large differences, constraint conditions such as epipolar constraint in the existing binocular three-dimensional reconstruction method cannot be met, and therefore complex algorithms are required to be designed to realize the matching and parallax estimation of the heterogeneous images. Therefore, the infrared and visible light channels in the volume data monitoring device designed by the invention have the same structure, so that the acquired visible light image and the acquired infrared image have almost the same imaging parameters, the process of matching the characteristic points or contours of the heterogeneous image is avoided, the parallax estimation algorithm is simplified, the burden of an upper computer is reduced, and the instantaneity is improved.

The patent with application publication number of CN10365204A discloses an industrial endoscope for observing information in a high-temperature furnace, which converts an original optical fiber backlight mode into a parallel light direct backlight mode, improves the light energy utilization efficiency, eliminates the constraint on a backlight light source, enables the industrial endoscope to acquire a real furnace condition image in a closed non-light industrial furnace, has strong guiding significance on field production, but only acquires a visible light image, and cannot provide key information of temperature distribution in the furnace for operators.

The patent with application publication number CN104257341A discloses an endoscope device capable of simultaneously monitoring infrared light and visible light, the endoscope device adopts the scheme that an infrared branch is formed through a color separation plate, visible light is reflected to form a visible light path, then an infrared beam is conducted on the infrared branch through a field lens and a secondary imaging lens group, imaging is conducted through an infrared camera, and visible light is conducted on the visible light branch through an imaging lens group, and imaging is conducted through a CCD camera; the patent can obtain visible light and infrared images at the same time, but does not design high-temperature protection measures and cannot work in complex environments of industrial kilns.

The patent with the publication number of CN109031646B discloses a real-view infrared industrial endoscope and an imaging method thereof, in the technical scheme disclosed by the patent, infrared and visible light are simultaneously acquired through a beam splitter and a filter, an infrared image and a visible light image are formed through an infrared movement and a CCD camera, acquisition of depth information is realized by means of an industrial furnace internal image acquired by double lenses, three-dimensional reconstruction is completed, the beam splitter can cause certain loss of optical information, imaging quality of infrared and visible light can be reduced, and meanwhile, the invention does not consider the relationship between the three-dimensional shape and temperature of furnace burden.

Disclosure of Invention

The invention aims to provide a monitoring device for industrial furnace body data, which not only can acquire richer furnace information in a larger view field and reduce attenuation and distortion in the information transmission process to obtain high-quality visible light images and infrared thermal images so as to obtain high-fidelity morphology voxels and temperature voxels, but also can ensure long-time stable operation of equipment in a high-temperature environment and avoid dust pollution optical systems, reconstruct the body data in the industrial furnace on line, and solve the technical problem of low construction precision of the surface body data of the materials of the existing industrial furnace.

The technical scheme of the invention is as follows:

the utility model provides an industrial furnace kiln body data monitoring devices, including the protecting sheathing, the protecting sheathing is including being located the front end and being the protecting sheathing casing of cylinder form and being located the rear end, being the cylinder form and being connected with the protecting sheathing casing, the protecting sheathing casing is including outer casing and along its inside inlayer casing of axial fixed mounting at outer casing.

The infrared-visible light double-channel imaging tube is fixedly arranged inside the inner shell along the axial direction of the inner shell, the infrared-visible light double-channel imaging tube is cylindrical, the front end of the infrared-visible light double-channel imaging tube is positioned in the inner cavity of the protective shell and forms a horn mouth with the front end of the inner protective shell, and the rear end of the infrared-visible light double-channel imaging tube extends outwards to be arranged in the inner cavity of the protective shell of the electrical appliance.

The infrared-visible light double-channel imaging tube is internally provided with a cylindrical visible light imaging tube and an infrared light imaging tube which are axially distributed in parallel up and down; the front end in the tube of the visible light imaging tube is provided with an objective lens group along the axial direction of the front end, the middle end in the tube is provided with a plurality of relay lens groups, the rear end of the tube extends outwards and is connected with a visible light imaging chip on the end face, the visible light imaging chip is in communication connection with an upper computer, and the visible light imaging tube, the objective lens group and the relay lens group which are arranged in the visible light imaging tube and the visible light imaging chip form a visible light camera; the infrared imaging tube comprises an infrared imaging tube, an infrared imaging chip, an upper computer, an infrared imaging tube, a relay lens group and an infrared imaging chip, wherein the front end in the tube of the infrared imaging tube is provided with the objective lens group along the axial direction of the infrared imaging tube, the middle end in the tube is provided with the relay lens group, the rear end of the tube extends outwards to form a bent tubular structure, the bent part in the tube is provided with a reflecting structure, the end face of the rear end of the tube is connected with the infrared imaging chip, the infrared imaging chip is in communication connection with the upper computer through a power supply-data bus, and the infrared imaging tube, the objective lens group, the relay lens group and the infrared imaging chip which are arranged in the infrared imaging tube form an infrared camera; spacer rings are arranged between adjacent relay lens groups and between the relay lens groups and the objective lens groups.

The upper computer comprises an image acquisition module, an estimation module, a visible light clear image module, a compensation module and a volume data construction module, wherein the image acquisition module is used for synchronously acquiring a visible light image and an infrared image in the industrial furnace from a visible light imaging chip and an infrared light imaging chip; the estimation module is used for estimating dust transmittance of the visible light image based on the light and dark channel priori principle; the visible light clear image module is used for obtaining a visible light clear image according to the dust transmissivity of the visible light image; the compensation module is used for mapping and obtaining the dust transmittance of the infrared image according to the dust transmittance of the visible light image, and establishing an infrared temperature measurement compensation model based on the dust transmittance of the infrared image; and the volume data construction module is used for constructing industrial kiln material volume data based on the visible light clear image and the infrared temperature measurement compensation model.

The volume data construction module comprises a parallax image acquisition unit, a three-dimensional point cloud acquisition unit and a kiln material volume data acquisition unit; the parallax image acquisition unit is used for carrying out stereo matching on the visible clear image and the infrared image to obtain a parallax image; the three-dimensional point cloud acquisition unit is used for converting the parallax image into a depth image and carrying out coordinate transformation on the depth image to obtain three-dimensional point cloud of the material surface of the industrial furnace; and the furnace material body data acquisition unit is used for mapping the target real temperature output by the infrared temperature measurement compensation model onto the three-dimensional point cloud through coordinates to obtain the body data of the surface of the industrial furnace material.

Further, the objective lens group at the front end in the tube of the visible light imaging tube is a visible light objective lens group, and the relay lens group arranged at the middle end in the tube is a visible light relay lens group; the objective lens group arranged at the front end in the tube of the infrared imaging tube is an infrared light objective lens group, and the relay lens group arranged at the middle end in the tube is an infrared light relay lens group.

Further, the objective lens group comprises a lens I, a lens II, a lens III and a lens IV, wherein the lens I and the lens II are connected through a spacer I, the lens II and the lens III are connected through a diaphragm and the spacer II in sequence, and the lens III and the lens IV are connected through the spacer III; the lens I, the space ring I, the lens II, the diaphragm and the space ring II, the lens III, the space ring III and the lens IV are sequentially arranged in sequence from front to back and are sequentially matched into an integrated structure.

Further, the relay lens group is a cylindrical lens, and adjacent cylindrical lenses are connected through a spacing ring IV; the columnar lens comprises negative lenses with inward concave surfaces positioned at two sides and thick biconvex lenses with outward convex surfaces positioned at two sides and positioned at the middle part, and the concave surfaces of the negative lenses are matched with the convex surfaces at two sides of the thick biconvex lenses to form an integrated structure.

Further, the lens I, the lens II and the spacer I are all cylindrical, and the lens I and the lens II are sequentially adhered into a whole; the front end face and the rear end face of the diaphragm penetrate through a conical opening, and the bottom of the conical opening faces towards the lens II and is adhered with the lens II; the section of the lens III is in a sector shape, the bottom end face of the lens III faces the space ring II, and a groove is formed in the center of the bottom end face inwards; the spacer ring II is cylindrical, the front end face of the spacer ring II is adhered to the rear end face of the diaphragm, the center of the rear end face of the spacer ring II is outwards convex, and the convex is matched with the groove on the lens III; the spacer ring III is cylindrical, and the front end surface of the spacer ring III is inwards provided with a cambered surface groove which is matched with the spherical surface on the lens III; the lens IV is cylindrical, and the front end face of the lens IV is bonded with the space ring III; the central axes of the lens I, the space ring I, the lens II, the diaphragm and the space ring II, the lens III, the space ring III and the lens IV are positioned on the same straight line.

Further, an annular chamber formed between the outer shell and the inner shell is a ventilating duct, the ventilating duct is communicated with an air inlet arranged on the upper side of the outer surface of the electric appliance protecting shell through an air inlet hole on the end face of the rear end of the protecting shell, and the ventilating duct is communicated with the outside through a dust outlet hole on the lower part of the end face of the front end of the protecting shell.

The annular chamber formed between the inner shell and the infrared-visible light double-channel imaging tube is a water circulation pipeline, the water circulation pipeline is communicated with a water inlet arranged on the lower side of the outer surface of the electric appliance protecting shell through a water inlet pipeline on the end face of the rear end of the protecting shell, and the water circulation pipeline is communicated with a water outlet arranged on the upper side of the outer surface of the electric appliance protecting shell through a water outlet pipeline on the end face of the rear end of the protecting shell.

Further, the estimation module comprises an estimated infrared temperature measurement compensation model establishment unit, an atmospheric light value calculation unit, a bright and dark channel dust transmittance weight optimal value calculation unit and a dust transmittance calculation unit.

The device comprises an estimated infrared temperature measurement compensation model establishing unit, a dust transmittance estimating unit and a dust detection unit, wherein the estimated infrared temperature measurement compensation model establishing unit is used for establishing a dust transmittance estimating model based on a priori of a bright-dark channel; the atmospheric light value calculation unit is used for calculating the atmospheric light values of different brightness areas in the visible light image; the device comprises a bright-dark channel dust transmittance calculating unit, a bright-dark channel dust transmittance calculating unit and a bright-dark channel dust transmittance calculating unit, wherein the bright-dark channel dust transmittance calculating unit is used for calculating the bright-dark channel dust transmittance of different brightness areas in a visible light image based on atmospheric light values of the different brightness areas in the visible light image and a dust transmittance estimation model; the computing unit of the dust transmittance weight optimal value of the bright and dark channel is used for constructing an adaptability function based on the image energy gradient, establishing a particle swarm parameter optimization model and computing the dust transmittance weight optimal value of the bright and dark channel; and the dust transmittance calculating unit is used for obtaining the dust transmittance of the visible light image based on the optimal value of the dust transmittance weight of the bright and dark channels and the dust transmittance of the bright and dark channels in different brightness areas in the visible light image.

The atmosphere light value calculating unit comprises a region dividing subunit, a bright channel atmosphere light value calculating subunit, an edge region atmosphere light value calculating subunit and a middle region atmosphere light value calculating subunit; wherein the region dividing subunit is used for dividing the visible light image into a very bright central flame region J through double-threshold segmentation _B Extremely dark edge region J _D And an intermediate region J _G The method comprises the steps of carrying out a first treatment on the surface of the A bright channel atmosphere light value calculating subunit, configured to calculate, according to the bright channel priori, a bright channel atmosphere light value in a central flame region and an intermediate region of the visible light image, as a central flameThe calculation formula of the regional atmosphere light value is as follows: a is that _B ＝g(m(J _B ) And), wherein A _B Atmospheric light value for central flame region, m (J) _B ) Representing set J _B The first 0.1% of the set of pixels with the highest mid-gray value, g (m (J) _B ) (J) represents m _B ) Is a gray average value of (2); an edge region atmospheric light value calculating subunit, configured to calculate a dark channel atmospheric light value a in the edge region and the middle region of the visible light image according to the dark channel prior _D As the atmospheric light value of the edge area, a specific calculation formula is as follows: a is that _D ＝g(m(J _D ) And), wherein A _D Is the atmospheric light value of a dark channel, m (J) _D ) Representing set J _D The first 0.1% of the set of pixels with the highest mid-gray value, g (m (J) _D ) (J) represents m _D ) Is a gray average value of (2); an intermediate region atmospheric light value calculating subunit for averaging the bright channel atmospheric light value and the dark channel atmospheric light value to obtain an intermediate region atmospheric light value A _G The calculation formula is as follows:

the calculation unit of the dust transmittance of the bright and dark channels calculates the dust transmittance of the bright and dark channels of different brightness areas in the visible light image based on the atmospheric light values of the different brightness areas in the visible light image and the dust transmittance estimation model, and the calculation formula is as follows:

wherein τ _dark And τ _bright Dark channel and bright channel dust transmittance, J, of visible light image respectively ^dark (x) And J ^bright (x) Respectively a dark channel and a bright channel of the visible light image, wherein x is a pixel point in the visible light image, and ω is a protection pointLeaving an empirical value of the depth of field of the image.

The light and dark channel dust transmittance weight optimal value calculating unit comprises a function construction subunit and a light and dark channel dust transmittance weight optimal value obtaining subunit.

The function construction subunit is configured to construct an fitness function, where the fitness function specifically is:

wherein fit (J (x, a)) is an fitness function, I (x) is an original image interfered by dust fog, J (x, a) is a visible light image, and tau _dark And τ _bright Dark channel and bright channel dust transmittance, a and a, respectively, of visible light images _best The method comprises the steps of respectively obtaining a dust transmittance weight parameter and a weight optimal value of a bright and dark channel, wherein G (J (x, a)) is the sum of boundary intensity values after edge detection of a visible light image by using a Sobel operator, H (J (x, a)) is the entropy of the visible light image, and E (J (x, a)) is the energy gradient value of the visible light image.

And the bright and dark channel dust transmittance weight optimal value obtaining subunit is used for carrying out parameter optimization on the bright and dark channel dust transmittance weight of the visible light imaging channel according to the fitness function to obtain the bright and dark channel dust transmittance optimal value of the visible light imaging channel.

Further, the compensation module comprises a visible light clear image acquisition unit, a dust transmittance acquisition unit, a correction unit and an infrared temperature measurement compensation model establishment unit.

The visible light clear image acquisition unit acquires a visible light clear image according to the dust transmittance of the visible light image, and the specific calculation formula is as follows:

wherein J _{Clear and clear} (x) For visible clear image τ _VIS Is the dust transmissivity of the visible light image, and τ _VIS ＝a _best ·τ _bright +(1-a _best )·τ _dark I (x) is the original image disturbed by the dust mist.

Wherein, the dust transmittance obtaining unit is used for obtaining dust transmittance tau 'of the infrared image through the dust transmittance mapping of the visible light image by utilizing a coordinate mapping mode' _IR (x) The specific calculation formula is as follows:

wherein τ' _IR (x) And τ _VIS (x) Dust transmission, R, of infrared and visible images, respectively ₁ ，t ₁ Representing the relative position between the visible camera and the world coordinate system, R ₂ ，t ₂ Representing the relative position between the infrared camera and the world coordinate system.

And the correction unit is used for correcting the dust transmittance of the infrared image according to the base line distance of the visible light camera and the infrared light camera, the distance between the base line center and the target and the size of the infrared image.

The infrared temperature measurement compensation model building unit is used for building an infrared temperature measurement compensation model according to the corrected dust transmissivity of the infrared image, and specifically comprises the following steps:

wherein T is the target real temperature, T ₀ For infrared temperature measurement under dust interference, deltaT represents the temperature difference of infrared images under dust interference, a, b, c and d are fitting parameters respectively, and tau _IR Is the dust transmittance of the corrected infrared image.

The correction unit comprises a correction coefficient calculation subunit and a correction subunit.

The correction coefficient calculation subunit is configured to obtain a correction coefficient according to a baseline distance between the visible light camera and the infrared light camera, a distance between a center of the baseline and a target, and a size of an infrared image, where a calculation formula is as follows:

Wherein, delta (τ' _IR ) For correction factor τ' _IR To correct the dust transmittance of the infrared image before, l is the baseline distance of the visible light camera and the infrared light camera, s is the distance between the center of the baseline and the target, and w and h are the width and height of the infrared image size.

The correction subunit corrects the dust transmittance of the infrared image according to the correction coefficient, and the calculation formula is as follows:

τ _IR (x)＝τ′ _IR (x)+δ(τ′ _IR )，

wherein τ _IR (x) Is the dust transmittance of the corrected infrared image.

Further, the compensation module comprises a dust transmittance acquisition unit, a correction unit and an infrared temperature measurement compensation model establishment unit.

wherein T is the target real temperature, T ₀ For infrared temperature measurement under dust interference, deltaT represents the temperature difference of infrared images under dust interference, a, b, c and d are fitting parameters respectively, and tau _IR Is the dust transmittance of the corrected infrared image. Further, the correction unit comprises a correction coefficient calculation subunit and a correction subunit.

τ _IR (x)＝τ′ _IR (x)+δ(τ′ _IR )，

wherein τ _IR (x) Is the dust transmittance of the corrected infrared image.

In the invention, an infrared light imaging tube and a visible light imaging tube have the same optical system structure, and are sequentially an objective lens group, a plurality of groups of relay lens groups and an imaging chip; the objective lens group is positioned at the forefront end of the imaging tube and is used for collecting optical information in the severe environment of the industrial kiln; the relay lens group is connected with the objective lens group through a spacer ring with proper length, optical information acquired by the objective lens group is transmitted to the imaging chip, the length of the infrared light imaging tube and the length of the visible light imaging tube are controlled by adjusting the number and focal length of the relay lens group, and the relay lens groups are also connected through the spacer ring; the rear end of the infrared imaging tube extends to the outside of the dual-channel imaging tube and is connected with a reflecting structure in parallel, then the infrared imaging tube is connected with the infrared imaging chip, and the visible light imaging tube extends to the rear of the reflecting structure of the infrared imaging tube and is connected with the visible light imaging chip.

In the invention, the infrared imaging tube and the objective lens group in the visible light imaging tube have the same optical structure, the objective lens group adopts an asymmetric inverse long focal structure, and a lens I for sealing protection, a lens II with negative power, a diaphragm, a lens III with positive power and a lens IV are sequentially arranged from the object side to the image side along the optical axis, and the lenses are connected through a space ring.

In the invention, the infrared imaging tube and the relay lens group in the visible light imaging tube have the same optical structure, the relay lens group adopts a Hopkins lens group structure and consists of two identical columnar lenses, each columnar lens is formed by bonding a thick biconvex lens and two identical negative lenses, and the columnar lenses are connected through a spacing ring.

In the invention, the electric appliance protecting shell is positioned outside the industrial furnace kiln body and comprises an infrared light imaging chip, a visible light imaging chip and a power supply-data bus, wherein the lower end of the electric appliance protecting shell is provided with a water inlet communicated with a water cooling channel, and the upper end of the electric appliance protecting shell is provided with an air inlet communicated with an air cooling pipeline and a water outlet communicated with the water cooling channel.

In the invention, the protective shell is cylindrical and is divided into two layers, the outer shell comprises a ventilation pipeline for air cooling, the inner shell comprises a water circulation pipeline for water cooling, and the ventilation pipeline and the water circulation pipeline are respectively connected with an air inlet, a water inlet and a water outlet on the electric appliance protective shell; the front end of the shell is in a horn shape, the horn mouth faces the front end of the inner cavity of the shell and is communicated with the outside, and a dust outlet hole is formed below the horn mouth; a dust cover which does not affect the imaging field of view is arranged at the forefront end of the shell.

In the process of acquiring industrial furnace body data by using the industrial furnace body data monitoring device, in order to improve the reconstruction precision of the three-dimensional morphology of the materials in the furnace, the imaging mode of acquiring infrared light and visible light information through a spectroscope after single-lens imaging is not adopted, but the multi-mode image with parallax is acquired by adopting the infrared and visible light binocular imaging mode, and the three-dimensional morphology of the materials in the furnace is reconstructed by adopting the three-dimensional matching mode.

Because the industrial kiln in the industrial production process can have high temperature and high pressure, the opening area of the peeping port for installing the monitoring device is not too large in consideration of the tightness and the safety of the kiln production process; in order to normally work in a severe environment, the outside of the infrared-visible light dual-channel imaging tube is protected by a protective shell, the two points lead to the limitation of the longitudinal caliber of the dual-channel imaging tube, the infrared imaging tube and the visible light imaging tube are required to be closely arranged side by side, the imaging chip is large in size and cannot be installed in the infrared-visible light dual-channel imaging tube or directly connected with the side by side imaging tube, and therefore, the infrared imaging tube is connected with the imaging chip by the reflecting structure which is a right-angle cylinder with the same diameter as the imaging tube and is provided with the reflecting lens at a right angle; through the reflection configuration, imaging chip can install in imaging tube side, has solved because space restriction imaging chip can't be connected with imaging tube's problem, has guaranteed simultaneously that the optical information of relay lens group transmission fully gets into in the imaging chip.

In order to obtain an imaging lens with a large visual angle and a small focal length, an objective lens group adopts an inverse long focal structure, wherein a negative power lens II is used for scattering incident light and reducing a field angle, a positive power lens III and a positive power lens IV are used for focusing light from a second lens, so that the principal light is ensured to exit parallel to an optical axis after passing through the objective lens group, a telecentric beam path is formed in an image space, and all the light enters a relay lens group; the lens can effectively prevent the image edge from deteriorating, avoid causing larger vignetting and damaging the uniformity of off-axis image plane illumination.

Considering the conditions of furnace wall thickness, installation difficulty, instrument service life and the like, the imaging chip is not directly connected with the objective lens group, but is arranged in the electric appliance protection shell outside the furnace wall, and the optical information acquired by the objective lens group is transmitted to the imaging chip through a plurality of groups of relay lens groups; the relay lens group adopts a Hopkins lens group structure, wherein focal planes of the front and rear cylindrical lens groups need to be kept overlapped, light rays emitted by one point pass through the front cylindrical lens group and become parallel light rays, the parallel light rays are focused on the same point of the focal plane again after passing through the rear cylindrical lens group, and off-axis aberration generated by cylindrical lenses with the same structure are identical in size and opposite in direction and can be offset.

In order to ensure that the volume data monitoring device can normally work in a high-temperature environment in an industrial furnace, a cooling mode of combining circulating water cooling and through air cooling is adopted; the circulating water cooling system is used for feeding water through a water inlet arranged at the lower end of the electric appliance protection shell, and discharging the water from a water outlet through a water circulation channel in the protection shell, so that the recycling of cooling water is realized; the through air cooling system ventilates through an air inlet arranged at the upper end of the electric appliance protection shell, passes through the ventilation pipe port and blows out from the horn mouth, and meanwhile, blown air flow can prevent the lens from crusting and plays a certain protection role on the lens.

In order to overcome the influence of high dust in the industrial furnace, a dust cover is arranged on the outer side of the bell mouth, a dust outlet hole is formed in the lower portion of the bell mouth, and dust falling due to gravity is blown out by air cooling and blowing out airflow, so that the dust is prevented from entering an optical system to cause lens pollution.

Finally, after the multi-mode image with parallax is acquired by the upper computer, the three-dimensional shape of the material is rebuilt based on the stereoscopic vision principle, and the volume data matched with the three-dimensional shape of the material is built based on the camera imaging model, so that the shape voxels and the temperature voxels are built, and the on-line monitoring of the industrial furnace body data is realized.

Compared with the prior art, the industrial furnace body data monitoring device provided by the invention synchronously acquires the temperature field information and the furnace burden morphology information in the industrial furnace, realizes the on-line reconstruction of body data by an upper computer, provides effective guidance for operators, and has the beneficial effects that:

1. the information such as the temperature, the morphology and the like of the materials of interest in the industrial furnace is described by using the form of the volume data, and the spatial coupling relation among multiple types of information is reserved.

2. An infrared-visible light double-channel imaging tube for binocular imaging is designed, wherein the infrared imaging tube and the visible light imaging tube are arranged in parallel, and temperature field information and visible light information of materials in the furnace are synchronously acquired, so that acquisition of furnace body data information is realized; the infrared light imaging tube or visible light imaging tube, the objective lens group with the inverse long-focus structure, the relay lens group with the Hopkins lens group structure and the imaging chip form a camera, so that richer in-furnace information in a larger view field can be obtained, attenuation and distortion in the information transmission process can be reduced, a high-quality visible light image and an infrared thermal image can be obtained, and therefore high-fidelity morphology voxels and temperature voxels can be obtained, multi-mode optical information with parallax can be obtained synchronously, and data support is provided for three-dimensional reconstruction of material morphology based on the stereoscopic vision principle.

3. In the aspect of protecting the shell, a cooling system and a dustproof system are designed, and the cooling system adopts a mode of combining circulating water cooling and through air cooling, so that the cooling effect is enhanced, the working stability of equipment is improved, and the service life of the equipment is prolonged; the dustproof system comprises a dustproof cover which does not influence the view field and a dust outlet hole below the lens, so that the possibility that dust covers the lens and contaminates the lens is reduced, and the protective shell ensures long-time stable operation of the equipment in a high-temperature environment and avoids dust pollution to the optical system; meanwhile, the method can also stably operate in a severe environment with high temperature, high pressure, high dust and airtight no light in the industrial kiln, synchronously acquire the temperature field and the morphology information of the materials of interest in the industrial kiln, transmit the temperature field and the morphology information to an upper computer, reconstruct the volume data in the industrial kiln on line and provide reliable guidance for operators.

4. In the imaging aspect, the objective lens group with the inverse tele structure is adopted to acquire the optical information in the furnace, and the objective lens group designed by the invention can effectively prevent the image edge from deteriorating, avoid causing larger vignetting and damaging the uniformity of off-axis image plane illumination.

5. In the aspect of the light guide structure, the relay lens group with the Hopkins lens group structure is adopted to transmit optical information, and off-axis aberrations generated by the relay lens groups with the same structure are identical in size and opposite in direction and can be mutually offset.

6. The reflection structure is designed to connect the infrared imaging tube and the infrared imaging chip, so that the problem that the infrared imaging chip cannot be installed under the condition of severely limited space is solved, and smooth imaging of the infrared imaging chip is ensured.

7. According to the invention, the three-dimensional reconstruction, temperature compensation and three-dimensional mapping of the material morphology are realized through the upper computer, the temperature voxels and morphology voxels of the material in the furnace are obtained, the on-line monitoring of the interested material body data in the industrial furnace is realized, and the beneficial effects are as follows:

(1) Aiming at the problem that the surface information of the material of the industrial furnace is difficult to acquire, the invention applies the volume data monitoring device to the surface volume data acquisition of the material of the industrial furnace for the first time, and utilizes the acquired visible light and infrared temperature information to construct high-fidelity material volume data.

(2) Aiming at the influence of high dust in an industrial furnace on temperature field detection, the invention provides an atmospheric light value estimation method based on image brightness area differentiation by combining with a light-dark channel priori to obtain preliminary light-dark channel dust transmittance, and optimizes the light-dark channel dust transmittance weight by combining with an improved image energy gradient function and a particle swarm optimization algorithm to obtain accurate dust transmittance.

(3) According to the invention, on the basis of calculating the dust transmissivity of the visible light imaging passage, a visible light image definition model is established, the visible light image definition is recovered, and the image quality is ensured.

(4) The invention builds a compensation model between the dust transmittance and the infrared temperature measurement error, realizes the compensation of the infrared temperature measurement result under the dust interference, and ensures the temperature precision in the volume data.

(5) According to the method, the dust transmittance of the infrared image is corrected according to the base line distance between the visible light camera and the infrared light camera, the distance between the base line center and the target and the size of the infrared image, so that the accurate dust transmittance of the infrared image is obtained, and the construction accuracy of the material body data of the industrial furnace is further improved.

(6) According to the invention, the cross-spectrum visible light morphology information and the temperature information are brought into the same system through the volume data monitoring device, and then the temperature data is mapped onto the three-dimensional point cloud in a direct coordinate mapping mode, so that the accuracy of the volume data is effectively ensured.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute an undue limitation of the invention; in the drawings:

FIG. 1 is a schematic diagram of the external structure of an industrial furnace body data monitoring device according to an embodiment of the invention;

FIG. 2 is a schematic diagram of the internal structure of an industrial furnace body data monitoring device according to an embodiment of the invention;

FIG. 3 is a schematic structural diagram of an infrared-visible dual-channel imaging tube according to an embodiment of the present invention;

FIG. 4 is a schematic view of an objective lens assembly according to an embodiment of the present invention;

fig. 5 is a schematic view of a relay lens assembly according to an embodiment of the present invention.

In the reference numerals, 1, a power-data bus; 2. an electric appliance protective shell; 3. an air inlet; 4. a water outlet; 5. a protective housing shell; 6. a dust cover; 7. a water inlet; 8. a visible light imaging chip; 9. a visible light imaging tube; 10. an infrared-visible light dual-channel imaging tube; 11. a ventilation duct; 12. a water outlet pipe; 13. a reflective structure; 14. an infrared imaging chip; 15. an infrared imaging tube; 16. a water inlet pipe; 17. a dust outlet hole; 18. a visible light relay lens group; 19. a visible light objective lens group; 20. an infrared light relay lens group; 21. an infrared light objective lens group; 22. a lens I; 23. a lens II; 24. a lens III; 25. a lens IV; 26. a spacer I; 27. a diaphragm; 28. a spacer II; 29. a spacer III; 30. a negative lens; 31. a thick lenticular lens; 32. spacer IV.

Detailed Description

Embodiments of the invention are described in detail below with reference to the attached drawings, but the invention can be implemented in a number of different ways, which are defined and covered by the claims.

As shown in fig. 1 and 2, the embodiment of the invention provides an industrial furnace body data monitoring device, which comprises a protection unit, wherein the protection unit comprises a protection shell 5 and an electric appliance protection shell 2 connected with the rear end of the shell, the electric appliance protection shell 2 is arranged outside a furnace body, an infrared light imaging chip 14 extending to the outside of an infrared-visible light double-channel imaging tube 10, a visible light imaging chip 8 and a power supply-data bus 1 are arranged in the electric appliance protection shell 2, the lower end of the electric appliance protection shell is provided with a water inlet 7 communicated with a water cooling channel, and the upper end of the electric appliance protection shell is provided with an air inlet 3 and a water outlet 4; the shell 5 of the protective shell stretches into the furnace, the shell is divided into two layers, the outer shell comprises a ventilation pipeline 11 connected with the air inlet 3, and the inner shell comprises an outlet pipeline 12 and an inlet pipeline 16 connected with the water inlet 7 and the water outlet 4; the front end of the shell is in a horn shape, the horn mouth is towards the front end of the inner cavity of the shell and is communicated with the outside, a dust outlet hole 17 is formed below the horn mouth, and the forefront end of the shell is provided with a dust cover 6 which does not influence the imaging view field.

The visible light imaging chip 8 and the infrared light imaging chip 14 are in communication connection with an upper computer through a power supply-data bus 1, and the upper computer comprises an image acquisition module, an estimation module, a visible light clear image module, a compensation module and a volume data construction module, wherein the image acquisition module is used for synchronously acquiring a visible light image and an infrared image in an industrial furnace from the visible light imaging chip 8 and the infrared light imaging chip 14; the estimation module is used for estimating dust transmittance of the visible light image based on the light and dark channel priori principle; the visible light clear image module is used for obtaining a visible light clear image according to the dust transmissivity of the visible light image; the compensation module is used for mapping and obtaining the dust transmittance of the infrared image according to the dust transmittance of the visible light image, and establishing an infrared temperature measurement compensation model based on the dust transmittance of the infrared image; the volume data construction module is used for constructing material volume data of the industrial furnace based on the visible light clear image and the infrared temperature measurement compensation model; the volume data construction module comprises a parallax image acquisition unit, a three-dimensional point cloud acquisition unit and a kiln material volume data acquisition unit; the parallax image acquisition unit is used for carrying out stereo matching on the visible clear image and the infrared image to obtain a parallax image; the three-dimensional point cloud acquisition unit is used for converting the parallax image into a depth image and carrying out coordinate transformation on the depth image to obtain three-dimensional point cloud of the material surface of the industrial furnace; and the furnace material body data acquisition unit is used for mapping the target real temperature output by the infrared temperature measurement compensation model onto the three-dimensional point cloud through coordinates to obtain the body data of the surface of the industrial furnace material.

As shown in fig. 3, the inner cavity of the shell comprises a strip-shaped infrared-visible light dual-channel imaging tube 10, which comprises a visible light imaging tube 9 and an infrared light imaging tube 15, wherein the visible light imaging tube 9 comprises a group of visible light objective lens groups 19 arranged at the front end of the visible light imaging tube, a visible light imaging chip 8 arranged at the rear end of the visible light imaging tube, and four groups of visible light relay lens groups 18 connected with the visible light objective lens groups 19 and the visible light imaging chip 8, and the lens groups are connected through space rings and control the distance; the infrared imaging tube 15 comprises a group of infrared light objective lens groups 21 arranged at the front end of the imaging tube, an infrared light imaging chip 14 arranged at the rear end of the imaging tube, a reflecting structure 13 arranged in front of the infrared light imaging chip 14, and four groups of infrared light relay lens groups 20 connected with the infrared light objective lens groups 21 and the reflecting structure 13, wherein the lens groups are connected through a space ring and the distance is controlled.

As shown in fig. 4, the objective lens group adopts an asymmetric inverse tele structure, and is sequentially provided with a lens I22, a lens II23, a diaphragm 27, a lens III24 and a lens IV25 from the object side to the image side along the optical axis, and the lenses are respectively connected through a spacing ring I26, a spacing ring II28 and a spacing ring III29 and the distance between the lenses is controlled; wherein, because the objective lens group is in direct contact with the environment in the furnace, the lens I22 is required to be sealed and protected to prevent dust from polluting the optical system, and the lens I22 is made of high-temperature-resistant, high-hardness and wear-resistant sapphire crystals; lens II23 is used to scatter incident light and reduce the field angle; lens III24, lens IV25 are used to focus the light from lens II 23; in this way, the chief ray passes through the lens IV25 and exits parallel to the optical axis, forming a telecentric beam path in image space.

As shown in fig. 5, the relay lens group adopts a hopkins lens group structure and consists of two identical columnar lenses, each columnar lens is formed by bonding a thick biconvex lens 31 and two identical negative lenses 30, the image space focal plane of the lens group is kept overlapped with the object space focal plane of the following lens group, the light rays emitted by one object point become parallel rays after passing through the front lens group, and the parallel rays are refocused on the same object point of the focal plane after passing through the rear lens group; the inter-lens distance is controlled by spacer IV 32.

The industrial furnace body data monitoring device provided by the embodiment of the invention comprises the following steps of:

and 1, installing a body data monitoring device on the wall of the industrial furnace, wherein the body data monitoring device comprises a protective shell body 5 which enters the interior of the industrial furnace, and an electric appliance protective shell 2 is arranged on the outer side of the wall.

Step 2, continuously introducing water and air into the water inlet 7 and the air inlet 3 to ensure that water circulation is smooth, and enabling the warmed water to flow out through the water outlet 4, wherein the cooling system is kept continuously working in the image capturing process

Step 3, capturing visible light information through a visible light objective lens group 19, enabling the visible light information to enter a visible light relay lens group 18, transmitting the visible light information to a visible light imaging chip 8 through four visible light relay lens groups 18, generating a visible light digital image, and transmitting the visible light digital image to an upper computer through a power supply-data bus 1; the infrared light information is captured by the infrared light objective lens group 21, enters the infrared light relay lens group 20, is transmitted to the reflecting structure 13 by the four infrared light relay lens groups 20, then is received by the infrared light imaging chip 14 to generate an infrared light digital image, and is finally transmitted to the upper computer by the power supply-data bus 1.

Step 4, obtaining the volume data of the materials in the furnace by parallax matching and temperature mapping through the upper computer, constructing the volume data in the industrial furnace, and displaying the real operation condition in the furnace for operators in real time and intuitively; in this embodiment, the main steps for obtaining the volume data by the upper computer are as follows:

(1) The design is simultaneously applicable to a multispectral camera calibration plate of visible spectrum and infrared spectrum, and the visible light camera and the infrared light camera in the volume data monitoring device are respectively calibrated to acquire the internal and external parameters of the dual-channel camera.

(2) Establishing a dust transmittance estimation model based on a bright-dark channel priori, calculating atmospheric light values of areas with different brightness of a visible light image, then calculating visible light and dark channel dust transmittance of corresponding areas according to the bright-dark channel priori to obtain preliminary dust transmittance distribution, then constructing an adaptability function based on an image energy gradient, establishing a particle swarm parameter optimization model, and calculating dust transmittance weights of the bright-dark channels of the visible light imaging channel to obtain accurate dust transmittance of the visible light imaging channel.

(3) And establishing an image sharpening model, taking the calculated dust transmittance of the visible light imaging path as input, and recovering a visible light image in a dust-free state.

(4) And combining camera calibration parameters, mapping visible spectrum dust transmittance distribution to an infrared scene through a homography matrix, then establishing an infrared temperature measurement compensation model, compensating temperature measurement errors caused by dust, and guaranteeing temperature accuracy of constructed volume data.

(5) And (3) performing cross-spectrum stereo matching on the clear visible light image and the infrared image to obtain a parallax image, converting the parallax image into a depth image and a three-dimensional point cloud, and directly mapping temperature data onto the three-dimensional point cloud according to the internal and external parameters of the dual-channel camera obtained in the step (1) to form volume data.

The specific implementation scheme for obtaining the volume data through the upper computer is as follows:

(1) Calibrating camera parameters inside body data monitoring device

The Zhang Zhengyou calibration method is a mature and accurate camera parameter calibration method, for the calibration of a visible light camera, a printing paper checkerboard is generally adopted as a calibration plate, but because the infrared emissivity of the printing paper checkerboard is basically consistent, characteristic information such as corner points of the checkerboard is difficult to clearly describe during infrared imaging, the checkerboard of materials with different emissivity needs to be manufactured again to adapt to the calibration of a multispectral camera.

Specifically, the invention adopts an aluminum plate with emissivity of 0.11-0.19 at normal temperature and matte black paint with emissivity of about 0.95 at normal temperature, after the surface of the aluminum plate is subjected to wire drawing treatment, black parts of the checkerboard are uniformly filled with the paint, as shown in formula (1), and the Zhang's checkerboard calibration method can be described as follows:

Let the camera calibration plate be planar in the world coordinate system XOY plane, i.e. z=0, where [ u v 1] ^T Homogeneous coordinates representing the projection of the point of the plane of the calibration plate onto the image plane, [ X Y1 ]] ^T Representing the homogeneous coordinates of the points on the plane of the calibration plate. K is an internal parameter matrix of the camera, R= [ R ] ₁ r ₂ r ₃ ]And t is the rotation matrix and translation vector of the camera coordinate system relative to the world coordinate system, respectively. And (3) making:

where H is a homography matrix, from the nature of the rotation matrix,

and II r ₁ ‖＝‖r ₂ Ii=1, each image has the following constraints on the in-camera parameter matrix:

a simultaneous unit (2) (3) for obtaining the internal parameters of the camera and further obtaining the external parameters r according to the constraints of the n images ₁ ,r ₂ ,r ₃ And t, wherein,

for visible light channel and infrared channel, R is used respectively ₁ ，t ₁ And R is ₂ ，t ₂ Representing respective external parameters, i.e. R ₁ ，t ₁ Representation canRelative position between the visible light camera and the world coordinate system, R ₂ ，t ₂ Representing the relative position between the infrared camera and the world coordinate system, and setting the non-homogeneous coordinates of any point P in the world coordinate system, the visible camera and the infrared camera coordinate system as x respectively _w ，x ₁ ，x ₂ Then by:

elimination of x _w Obtaining the geometric relation between the visible light camera and the infrared light camera:

(2) Visible imaging path dust transmittance calculation

The imaging and temperature measurement precision of equipment is affected by high dust environment in an industrial furnace, and the visible light image in the furnace is analyzed to obtain an excessively bright area and an excessively dark area, such as coal gas flame (excessively bright) and material surface edge (excessively dark), so that the invention synthesizes the prior of a bright-dark channel, and firstly, the visible light image is used for estimating the dust transmittance in an imaging passage.

According to the prior knowledge of the dark channel, when the imaging path of the image J is not interfered by dust and the like, the dark channel J of the image ^dark Toward 0, when there is interference of dust or the like, a dark channel J of an image ^dark Does not tend to be 0, i.e., in the visible and infrared images acquired by the present invention, the dark channels:

wherein J ^C Representing the color channel of the image J, Ω (x) represents a window centered at the pixel point x. Modeling from fog patterns:

I(x)＝J(x)τ(x)+A(1-τ(x)) (8)

where I (x) is the original hazy image, J (x) is the haze free image, and a is the global amount of atmospheric light value. Let τ (x) denote the imaging path transmittance, then there is:

then the minimum values of the region and the color channel are simultaneously taken from two sides of the equation to calculate, thereby obtaining the transmissivity tau of the dark channel _dark Is defined by the estimation formula:

where ω=0.95 is an empirical value that preserves the depth of field of the image.

The bright channel priors correspond to the dark channel priors, i.e. in a local area of most natural scenes, at least one color channel has a larger pixel value. In the dust visible light and infrared images obtained by the invention, the bright channel J ^bright Local quantities a (x) that do not tend to 255, but rather tend to atmospheric light values:

similar to dark channels, light channel dust transmittance τ _bright The estimation is:

then, the bright-dark channel dust transmittance is weighted and the dust transmittance distribution as a visible light imaging path:

τ _VIS ＝a·τ _bright +(1-a)·τ _dark (13)

wherein, the value range of a is more than or equal to 0 and less than or equal to 1.

According to a calculation formula of the brightness reaching dust transmittance, the calculation of an atmospheric light value A is a key for calculating the dust transmittance of two channels, and as the brightness distribution of visible light images on the surface of materials of an industrial furnace is uneven, wherein extremely bright flame areas do not accord with a dark channel priori theory, and also extremely dark areas on the edges of the images do not accord with a bright channel priori, the basic steps for calculating the atmospheric light value of the difference of the brightness areas of the images are as follows:

1) Dividing the visible light image J into extremely bright central flame regions J by dual threshold segmentation _B Extremely dark edge region J _D And an intermediate region J _G 。

2) According to the prior of the bright channel, calculating to obtain the atmospheric light value A of the bright channel in the central flame area and the middle area of the image _B As the central flame zone atmospheric light value. Defining a function m (P) to represent the first 0.1% of the maximum value in the set P, and using g (Q) to represent the gray average value of the pixel point set Q, then A _B The method comprises the following steps:

A _B ＝g(m(J _B )) (14)

3) According to dark channel priori, calculating to obtain dark channel atmospheric light value A in image edge region and middle region _D As the edge area atmospheric light value:

A _D ＝g(m(J _D )) (15)

4) Averaging the atmospheric light value of the bright channel and the atmospheric light value of the dark channel to obtain an atmospheric light value A of a general brightness area _G ：

After the atmospheric light value with differentiated image brightness areas is obtained, for a pixel point x in a visible light image, the transmittance of a dark channel is as follows:

the light channel transmittance is calculated as:

after preliminary dust transmittance distribution of the bright and dark channels is obtained, the dust transmittance weight coefficient of the bright and dark channels needs to be further determined, an intelligent algorithm is used in the embodiment of the invention, the visible light image quality recovered according to the dust transmittance is measured by adopting an effective evaluation criterion, and the fitness function fit is combined with the image entropy and the edge intensity and the image energy gradient:

fit(J(x,a))＝log(log(G(J(x,a))))H(J(x,a))E(J(x,a)) (19)

wherein J (x, a) is a visible light image to be evaluated, and is calculated from the weighted dust transmittance distribution:

g (J (x, a)) is the sum of boundary intensity values after edge detection of the visible light image using the Sobel operator, H (J (x, a)) is the entropy of the visible light image, and E (J (x, a)) is the energy gradient value of the visible light image, which are calculated as:

E＝∑ _x ∑ _y {‖f(x+1,y)-f(x,y)‖ ₂ +‖f(x,y+1)-f(x,y)‖ ₂ } (23)

Wherein p is _i Representing the proportion of pixels with gray values i (0.ltoreq.i.ltoreq.255) in the image.

From (20), the image quality is basically determined by the value of a, the value of a is continuously optimized by using the above fitness function, and the corresponding a when the fitness function fit (J (x, a)) takes the maximum value is taken as the weight optimal value to obtain tau _VIS I.e. the determined dust transmittance distribution of the visible imaging path.

(3) Visible light image sharpening

Because the visible light imaging quality is mainly interfered by dust, on the basis of accurately calculating the dust transmittance, the invention optimizes the dust transmittance distribution tau obtained in the previous step according to an image degradation model under the dust interference _VIS Substitution:

wherein J _{Clear and clear} (x) For visible clear image τ _VIS Is the dust transmissivity of the visible light image, and τ _VIS ＝a _best ·τ _bright +(1-a _best )·τ _dark I (x) is an original image interfered by dust fog, and finally a visible light image without dust interference is obtained.

(4) Infrared temperature measurement compensation model

In order to estimate that the infrared imaging passage is divided into transmittance distribution by using the dust transmittance distribution of the visible light imaging passage, the invention is based on the two-channel three-dimensional calibration, firstly, the dust transmittance tau 'of the corresponding pixel point of the infrared imaging passage is obtained through the obtained dust transmittance mapping of the visible light passage by utilizing a coordinate mapping mode' _IR (x)：

τ′ _IR (x)＝τ _VIS (x)·R+t (25)

Then, a correction term delta is defined, and the correction term delta is separated from the base line distance l of the two cameras, the distance s between the center of the base line and the target, and the pixel point transmissivity tau' _IR The visible light is related to the infrared image sizes h and w, is used for correcting the transmissivity difference caused by the visual angle difference of the imaging system, and is obtained by experimental calibration:

the infrared imaging path dust transmittance can be expressed as:

τ _IR (x)＝τ′ _IR (x)+δ(τ′ _IR ) (27)

the infrared image reflects the thermal distribution condition of the surface of the measured object, and the temperature measurement is influenced by environmental factors such as the emissivity of the surface of the object, the atmospheric attenuation and the like due to the nonlinear relation between the infrared radiation received by the thermal imaging equipment and the temperature of the measured object, and the infrared image only can give qualitative description of the radiation temperature of the surface of the measured object. Therefore, the absolute temperature value of the measured object must be calibrated by comparing the measured object with the reference object. In order to study the actual influence of dust on infrared temperature measurement, the embodiment of the invention uses a high-precision blackbody furnace as a reference object, measures the temperature of the blackbody furnace by using an infrared camera, and constructs the dust transmittance tau of an infrared imaging passage from the angle of data modeling _IR Infrared measurement data T ₀ And target real temperature data T:

Wherein Δt represents the temperature difference of the corresponding pixel of the infrared image under the dust interference. For delta T, the invention fixes the positions of the thermal imager and the blackbody furnace at constant ambient temperature, and respectively collects blackbody furnace temperature data with or without dust interference. Fitting the measurement data by a least square method to obtain a nearest fitting curve between the temperature difference and the dust transmittance, wherein a, b, c and d are fitting parameters respectively, and the model has higher precision due to nonlinearity of the fitting curve.

(5) Volume data construction based on coordinate direct mapping

After the clear visible light image and the compensated temperature data of the surface of the material of the industrial furnace are obtained, the visible light image and the infrared image are subjected to three-dimensional matching according to a general binocular three-dimensional vision three-dimensional reconstruction method to obtain a visible light and infrared parallax image, and then the visible light and infrared parallax image is converted to obtain a depth image. And then converting the depth image into a three-dimensional point cloud according to the coordinate system conversion relation.

If Z is recorded as the depth value of the corresponding point in the depth image of the surface of the material of the industrial furnace, p (x) _IR ,y _IR ,T _IR ) For a point in the infrared image containing real temperature information, f is the focal length of the infrared camera, p _W (X _W ,Y _W ,Z _W T _W ) A point containing temperature information for the surface of the material of the industrial furnace. Then p (x) can be calculated according to the coordinate system mapping relation obtained in the system calibration link _IR ,y _IR ,T _IR ) Mapping to the three-dimensional point cloud to realize that the three-dimensional point cloud is expanded into a three-dimensional temperature field:

thus, the construction of the high-fidelity volume data is realized.

According to the embodiment of the invention, the infrared-visible light dual-channel imaging tube is designed, and comprises an objective lens group, a relay lens group and an imaging chip, wherein the infrared imaging tube and the visible light imaging tube are arranged in parallel and imaged independently, so that the multi-mode optical information with parallax is synchronously acquired to construct morphology voxels and temperature voxels; the infrared imaging tube and the imaging chip are connected through the design of the reflecting structure, the reflecting structure is a right-angle cylinder with the same diameter as the imaging tube, and the reflecting lens is arranged at the right angle, so that the problem that the imaging chip cannot be arranged under the condition that the space is severely limited is solved, and the imaging chip is ensured to smoothly image; the optical information in the furnace is also obtained by designing an objective lens group with a reverse long-focus structure; the objective lens group consists of a lens I, a negative power lens II, a positive power lens III and a positive power lens IV, so that the imaging lens has the characteristics of large field of view and small focal length, and the problems of blurring of the image edges and uneven brightness are effectively solved; the relay lens group with the Hopkins lens group structure is designed to transfer the optical information acquired by the objective lens group, and the relay lens group consists of symmetrical columnar lenses, so that the loss in the optical information transmission process is reduced, and the influence of off-axis aberration is avoided; the protective shell with a cooling system and a dustproof design is designed for the severe environment with high temperature, high pressure and high dust inside the industrial furnace; the method comprises the steps of building a dust estimation model, an image quality evaluation and definition model, an infrared temperature measurement compensation model and a volume data reconstruction model which are combined with a brightness channel prior through an upper computer, and realizing online reconstruction of interested material volume data in an industrial furnace; in summary, the embodiment of the invention monitors the volume data in the industrial kiln on line through the designed industrial kiln volume data monitoring device, thereby realizing synchronous acquisition of the temperature field information and the morphology information of the materials of interest in the industrial kiln, and providing important basis conditions for judging the conditions of the industrial kiln, regulating and controlling the reaction in the kiln and the like.

Claims

1. The utility model provides an industrial furnace kiln body data monitoring devices, including the protecting sheathing, the protecting sheathing is including being located front end and being protective housing casing (5) of cylinder form and being located the rear end, being the cylinder form and being connected with protective housing casing (5) electrical apparatus protective housing (2), protective housing casing (5) are including outer casing and follow its axial fixed mounting at the inside inlayer casing of outer casing, its characterized in that:

an infrared-visible light double-channel imaging tube (10) is fixedly arranged inside the inner shell along the axial direction of the inner shell, the infrared-visible light double-channel imaging tube (10) is in a cylinder shape, the front end of the infrared-visible light double-channel imaging tube is positioned in the inner cavity of the protective shell (5) and forms a horn mouth with the front end of the inner shell, and the rear end of the infrared-visible light double-channel imaging tube extends outwards to be arranged in the inner cavity of the electric appliance protective shell (2);

the infrared-visible light double-channel imaging tube (10) is internally provided with a cylindrical visible light imaging tube (9) and an infrared light imaging tube (15) which are axially distributed in an up-down parallel manner; the front end in the tube of the visible light imaging tube (9) is axially provided with an objective lens group, the middle end in the tube is provided with a plurality of relay lens groups, the rear end of the tube extends outwards and is connected with a visible light imaging chip (8) on the end face, and the visible light imaging chip (8) is in communication connection with an upper computer; the visible light imaging tube (9), the objective lens group and the relay lens group which are arranged in the visible light imaging tube (9) and the visible light imaging chip (8) form a visible light camera;

The front end in the tube of the infrared imaging tube (15) is provided with an objective lens group along the axial direction, the middle end in the tube is provided with a plurality of relay lens groups, the rear end of the tube extends outwards to form a bent tubular structure, the bent part in the tube is provided with a reflecting structure (13), the end face of the rear end of the tube is connected with an infrared imaging chip (14), and the infrared imaging chip (14) is in communication connection with an upper computer through a power supply-data bus (1); spacer rings are arranged between the adjacent relay lens groups and between the relay lens groups and the objective lens groups; the infrared light imaging tube (15), the objective lens group and the relay lens group which are arranged in the infrared light imaging tube (15) and the infrared light imaging chip (14) form an infrared light camera;

the upper computer comprises an image acquisition module, an estimation module, a visible light clear image module, a compensation module and a volume data construction module, wherein the image acquisition module is used for synchronously acquiring a visible light image and an infrared image in the industrial furnace from a visible light imaging chip (8) and an infrared light imaging chip (14); the estimation module is used for estimating dust transmittance of the visible light image based on the light and dark channel priori principle; the visible light clear image module is used for obtaining a visible light clear image according to the dust transmissivity of the visible light image; the compensation module is used for mapping and obtaining the dust transmittance of the infrared image according to the dust transmittance of the visible light image, and establishing an infrared temperature measurement compensation model based on the dust transmittance of the infrared image; the volume data construction module is used for constructing material volume data of the industrial furnace based on the visible light clear image and the infrared temperature measurement compensation model;

2. An industrial furnace body data monitoring device as claimed in claim 1 wherein:

the objective lens group at the front end in the tube of the visible light imaging tube (9) is a visible light objective lens group (19), and the relay lens group arranged at the middle end in the tube is a visible light relay lens group (18); an objective lens group arranged at the front end in the infrared imaging tube (15) is an infrared light objective lens group (21), and a relay lens group arranged at the middle end in the tube is an infrared light relay lens group (20).

3. An industrial furnace body data monitoring device according to claim 1 or 2, wherein:

The objective lens group comprises a lens I (22), a lens II (23), a lens III (24) and a lens IV (25), wherein the lens I (22) and the lens II (23) are connected through a spacer I (26), the lens II (23) and the lens III (24) are connected through a diaphragm (27) and a spacer II (28) in sequence, and the lens III (24) and the lens IV (25) are connected through a spacer III (29); lens I (22), space ring I (26), lens II (23), diaphragm (27) and space ring II (28), lens III (24), space ring III (29) and lens IV (25) are arranged in sequence from front to back and are matched into an integral structure in sequence.

4. An industrial furnace body data monitoring device according to claim 1 or 2, wherein:

the relay lens group is a columnar lens, and adjacent columnar lenses are connected through a spacing ring IV (32); the cylindrical lens comprises negative lenses (30) with concave surfaces facing inwards and thick biconvex lenses (31) with convex surfaces facing outwards and positioned at the middle part, and the concave surfaces of the negative lenses (30) and the convex surfaces of the thick biconvex lenses (31) are matched into an integral structure.

5. A device for monitoring industrial furnace body data according to claim 3, wherein:

the lens I (22), the lens II (23) and the spacer I (26) are all cylindrical, and the lens I (22) and the lens II (23) are sequentially adhered into a whole; the front end face and the rear end face of the diaphragm (27) penetrate through a conical opening, and the bottom face of the conical opening faces the lens II (23) and is adhered to the lens II (23); the section of the lens III (24) is in a sector shape, the bottom end face of the lens III faces the space ring II (28), and a groove is formed in the center of the bottom end face inwards; the spacer ring II (28) is cylindrical, the front end face of the spacer ring II is adhered to the rear end face of the diaphragm (27), the center of the rear end face of the spacer ring II is outwards protruded, and the protrusions are matched with grooves on the lens III (24); the space ring III (29) is cylindrical, the front end surface of the space ring III is provided with an arc surface groove inwards, and the arc surface groove is matched with a spherical surface on the lens III (24); the lens IV (25) is cylindrical, and the front end face of the lens IV is bonded with the space ring III (29); the central axes of the lens I (22), the space ring I (26), the lens II (23), the diaphragm (27) and the space ring II (28), the lens III (24), the space ring III (29) and the lens IV (25) are positioned on the same straight line.

6. An industrial furnace body data monitoring device as claimed in claim 1 wherein:

the annular chamber formed between the outer shell and the inner shell is a ventilating duct, the ventilating duct is communicated with an air inlet (3) arranged on the upper side of the outer surface of the electric appliance protection shell (2) through an air inlet hole on the end face of the rear end of the protective shell (5), and the ventilating duct is communicated with the outside through a dust outlet hole on the lower part of the end face of the front end of the protective shell (5);

the annular chamber formed between the inner shell and the infrared-visible light double-channel imaging tube (10) is a water circulation pipeline, the water circulation pipeline is communicated with a water inlet (7) arranged on the lower side of the outer surface of the electric appliance protection shell (2) through a water inlet pipeline (16) on the end face of the rear end of the protective shell (5), and the water circulation pipeline is communicated with a water outlet (4) arranged on the upper side of the outer surface of the electric appliance protection shell (2) through a water outlet pipeline (12) on the end face of the rear end of the protective shell (5).

7. The industrial furnace body data monitoring device according to claim 1, wherein the compensation module comprises a dust transmittance acquisition unit, a correction unit and an infrared temperature measurement compensation model establishment unit;

wherein, the dust transmittance is obtained A unit for obtaining dust transmittance τ 'of the infrared image by dust transmittance mapping of the visible light image by means of coordinate mapping' _IR (x) The specific calculation formula is as follows:

wherein τ' _IR (x) And τ _VIS (x) Dust transmission, R, of infrared and visible images, respectively ₁ ，t ₁ Representing the relative position between the visible camera and the world coordinate system, R ₂ ，t ₂ Representing a relative position between the infrared light camera and the world coordinate system;

a correction unit for correcting dust transmittance of the infrared image according to a base line distance of the visible light camera and the infrared light camera, a distance between a base line center and a target, and a size of the infrared image;

8. The industrial furnace body data monitoring device according to claim 7, wherein the correction unit comprises a correction coefficient calculation subunit and a correction subunit;

wherein, delta (τ' _IR ) For correction factor τ' _IR For the dust transmissivity of the infrared image before correction, l is the baseline distance between the visible light camera and the infrared light camera, s is the distance between the center of the baseline and the target, and w and h are the width and the height of the infrared image size;

τ _IR (x)＝τ′ _IR (x)+δ(τ′ _IR )，

wherein τ _IR (x) Is the dust transmittance of the corrected infrared image.