TW201820020A - Method and device for integrating three-dimensional images and infrared thermal images - Google Patents
Method and device for integrating three-dimensional images and infrared thermal images Download PDFInfo
- Publication number
- TW201820020A TW201820020A TW105137503A TW105137503A TW201820020A TW 201820020 A TW201820020 A TW 201820020A TW 105137503 A TW105137503 A TW 105137503A TW 105137503 A TW105137503 A TW 105137503A TW 201820020 A TW201820020 A TW 201820020A
- Authority
- TW
- Taiwan
- Prior art keywords
- image
- infrared thermal
- camera
- infrared
- lifting
- Prior art date
Links
Landscapes
- Radiation Pyrometers (AREA)
- Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
Abstract
Description
本發明係有關於一種立體影像與紅外線熱影像整合方法及其裝置，尤指一種可將標的物之可見光影像照片及紅外線熱影像照片進行立體化圖像及紅外線熱影像圖資建立與匹配，以獲得標的物外型及與其外型相對位置溫度分佈狀況之影像整合方法及其裝置。The invention relates to a method and a device for integrating a stereoscopic image and an infrared thermal image, in particular to a method for establishing and matching a stereoscopic image and an infrared thermal image data of a visible light image photograph and an infrared thermal image photograph of a target object, Image integration method and device for obtaining the appearance of the target object and the temperature distribution of the relative position with the appearance.
按，電氣或機械設備等時常會因為設備過載、負載不平衡、散熱不良及材質劣化、老化等因素，造成設備故障，該等電氣或機械設備故障雖可由目測觀看設備表面是否有絕緣布焦黑、電容器外殼膨脹或配電盤、開關箱等處有無燻黑痕跡，來判斷設備狀況，或以觸摸方式來感覺是否有不當發熱現象；然，採用目測或觸摸等方式有賴工安人員客觀、細心的巡檢，才可達到維護設備安全要求，另以觸摸方式則有觸電、燙傷等危險，且當設備外觀發生焦黑、膨脹等異常變化時，其內部通常損害已相當嚴重、已須進行設備之更換，另隨著檢測設備數量增加，此種利用目測或觸摸方式在執行上更為困難。Press, electrical or mechanical equipment, etc. often cause equipment failure due to equipment overload, unbalanced load, poor heat dissipation, material degradation, aging and other factors. Although these electrical or mechanical equipment failures can be visually observed whether the surface of the equipment is insulated with black, The expansion of the capacitor shell or the presence of blackening marks on the switchboard, switch box, etc., to determine the condition of the equipment, or to feel whether there is inappropriate heating by touch; however, the use of visual inspection or touch depends on the objective and careful inspection of the workers To meet the safety requirements of maintenance equipment, and there is the risk of electric shock, burns, etc. by touching, and when the appearance of the equipment is burnt or swollen, the internal damage is usually quite serious, and the equipment must be replaced. As the number of inspection devices increases, this type of visual or touch method is more difficult to perform.
再者，現有醫療上對疾病診斷方式，包括病歷、症狀、問診及體格檢查結果等，醫療人員利用該些資料來判斷患者的生理狀態，但大部分疾病都非由表面特徵可易見者，通常有許多疾病係無法由觀察人體外表特徵得知人體實際生理狀況，由於人類是常溫動物，因此，體溫係人體重要健康指標，人體的免疫系統等健康狀況會藉由體溫變化來呈現，如果身體某部位發生病變，通常該部位也會因為血液循環加快或抑制等因素，以致產生相應溫度變化，並將此溫度變化傳導至體表，而呈現出與周圍或左右部位不同溫度，因此，若能掌握人體異常溫度變化部位，即可有利於疾病的發現與治療。In addition, the existing medical diagnosis methods for diseases include medical records, symptoms, interrogation, and physical examination results. Medical personnel use these data to judge the patient's physiological state, but most diseases are not easily seen by surface features. There are usually many disease systems that can not know the actual physiological status of the human body by observing the external characteristics of the human body. Because humans are normal temperature animals, the body temperature is an important health indicator of the human body, and the human immune system and other health conditions will be presented by changes in body temperature. Disease occurs in a certain part, usually due to factors such as accelerated blood circulation or inhibition, resulting in a corresponding temperature change and transmitting this temperature change to the body surface, showing a different temperature from the surrounding or left and right parts, so if you can Mastering the location of abnormal temperature changes in the human body can facilitate the discovery and treatment of diseases.
緣是，本發明人有鑑於現有於工業或醫療等領域常無法由表面特徵查知設備或人體內部實際狀況，而延誤改善與治療，而造成工安危險或疾病損害等缺失，乃藉其多年於相關領域的製造及設計經驗和知識的輔佐，並經多方巧思，研創出本發明。The reason is that in view of the fact that the existing characteristics in the industrial or medical fields are often unable to detect the actual conditions of the device or the human body from the surface characteristics, the improvement and treatment are delayed, resulting in the loss of industrial safety hazards or disease damage. With the help of manufacturing and design experience and knowledge in related fields, and after many ingenuity, the invention was developed.
本發明係有關於一種立體影像與紅外線熱影像整合方法及其裝置，其主要目的係為了提供一種可將標的物之可見光影像照片及紅外線熱影像照片進行立體化圖像及紅外線熱影像圖資建立與匹配，以獲得標的物外型及與其外型相對位置溫度分佈狀況之影像整合方法及其裝置。The invention relates to a method and a device for integrating a stereoscopic image and an infrared thermal image, the main purpose of which is to provide a visible image photo and an infrared thermal image photo of a target object to establish a stereoscopic image and an infrared thermal image. And matching to obtain an image integration method and device for the appearance of the target object and the temperature distribution of its relative position.
為了達到上述實施目的，本發明人乃研擬如下立體影像與紅外線熱影像整合裝置，係包含有一機體，並於該機體組設有一旋轉單元，且於該旋轉單元其旋轉座組接有一升降單元，又於該升降單元之升降座上組設有相鄰並排設立之影像照相機及紅外線照相機，且使該影像照相機之鏡頭與紅外線照相機其鏡頭呈相對反向設置，另使該影像照相機及紅外線照相機分別於其鏡頭旁側處組設有至少二雷射發射器，並使該影像照相機及紅外線照相機其雷射發射器組設位置相對應，復設有一主控單元，該主控單元係內載有一影像整合處理程式，並使該主控單元與該旋轉單元、升降單元、影像照相機及紅外線照相機以有線或無線訊號連結。In order to achieve the above-mentioned implementation objectives, the present inventors have developed the following three-dimensional image and infrared thermal image integration device, which includes a body, and a rotation unit is provided in the body group, and a lifting unit is connected to the rotation base of the rotation unit , And on the lifting seat of the lifting unit, an image camera and an infrared camera are arranged adjacent to each other, and the lens of the image camera and the infrared camera are arranged in opposite directions, and the image camera and the infrared camera are also arranged. At least two laser emitters are respectively arranged on the side of the lens, and the laser emitters of the image camera and the infrared camera are arranged correspondingly, and a main control unit is provided. The main control unit is built in There is an image integration processing program, and the main control unit is connected with the rotating unit, the lifting unit, the image camera and the infrared camera by wired or wireless signals.
如上所述之立體影像與紅外線熱影像整合裝置，其中，該旋轉單元係包含有一旋轉動力源，並使該旋轉動力源裝設於該機體內，另於該機體外部設置該旋轉座，且使該旋轉動力源之傳動部與該旋轉座相組接。The stereoscopic image and infrared thermal image integration device as described above, wherein the rotating unit includes a rotating power source, and the rotating power source is installed in the body, and the rotating base is provided outside the body, and the The transmission part of the rotary power source is connected with the rotary seat.
如上所述之立體影像與紅外線熱影像整合裝置，其中，該升降單元係包含有二螺桿，乃使該二螺桿一端與該旋轉座相組接，又使該升降座二側於對應該二螺桿處各組設有一軸筒，並使該二軸筒各成型有一螺孔，以分別與該二螺桿相螺接，另設有一升降動力源，係使該升降動力源組設於該升降座，並於該二軸筒間設有至少一傳動件，且使該升降動力源之傳動部與該傳動件相組接，而使該升降動力源與二軸筒間以該傳動件相連結，復於該二螺桿另端組設有一止擋塊。The stereoscopic image and infrared thermal image integration device as described above, wherein the lifting unit includes two screws, so that one end of the two screws is connected to the rotating seat, and the two sides of the lifting seat are corresponding to the two screws Each group is provided with a shaft barrel, and each of the two shaft barrels is formed with a screw hole to be screwed with the two screws respectively, and a lifting power source is provided, so that the lifting power source group is set on the lifting seat, At least one transmission member is provided between the two shaft barrels, and the transmission part of the lifting power source is assembled with the transmission member, and the transmission power source and the two shaft barrels are connected by the transmission member. A stop block is provided at the other end of the two screws.
如上所述之立體影像與紅外線熱影像整合裝置，其中，該主控單元係主要包含有一處理部件、一資料儲存部件及一操作暨顯示部件，並使該資料儲存部件及操作暨顯示部件與其處理部件相耦接，且於該資料儲存部件內儲存有該影像整合處理程式。The stereoscopic image and infrared thermal image integration device as described above, wherein the main control unit mainly includes a processing component, a data storage component and an operation and display component, and the data storage component and the operation and display component and its processing The components are coupled, and the image integration processing program is stored in the data storage component.
如上所述之立體影像與紅外線熱影像整合裝置，其中，該影像整合處理程式主控單元係包含有3D點雲模組與影像圖資匹配模組。The stereoscopic image and infrared thermal image integration device as described above, wherein the image integration processing program main control unit includes a 3D point cloud module and an image image matching module.
如上所述之立體影像與紅外線熱影像整合裝置，係進一步提供一種立體影像與紅外線熱影像整合方法，係主要以數個影像照相機對一標的物進行可見光影像拍攝，另使數個紅外線照相機對該標的物進行紅外線熱影像拍攝，又使該影像照相機及紅外線照相機分別於其鏡頭旁側處組設有至少二雷射發射器，並使該影像照相機及紅外線照相機其雷射發射器組設位置相對應，以於該影像照相機及紅外線照相機拍攝時，使其雷射發射器發射出雷射光束，並投射於該標的物上，以於標的物上產生校準光點，而與標的物一併拍攝，續將該影像照相機及紅外線照相機拍攝後之可見光影像照片及紅外線熱影像照片傳送至一主控單元，以由該主控單元內載之影像整合處理程式將可見光影像照片及紅外線熱影像照片提供之二維數位影像經序列組合及立體成像程序導出結構深度，並建立三維點雲資料，以產生立體化圖像及紅外線熱影像圖資，再以該可見光影像照片及紅外線熱影像照片中拍攝到之校準光點作為其立體化圖像及紅外線熱影像圖資相對位置校準，以進行立體化圖像及紅外線熱影像圖資對應重疊匹配，而獲得該標的物外型及與其外型相對應之溫度分佈狀況。The stereoscopic image and infrared thermal image integration device as described above further provides a stereoscopic image and infrared thermal image integration method, which mainly uses a plurality of image cameras to take visible light images of a target object, and a plurality of infrared cameras Infrared thermal image shooting of the target object, and the image camera and the infrared camera are respectively provided with at least two laser emitters on the side of the lens, and the laser emitters of the image camera and the infrared camera are arranged in relative positions Correspondingly, when the image camera and the infrared camera shoot, the laser emitter emits a laser beam and projects it on the target object to generate a calibration light spot on the target object and shoot together with the target object , Continue to transmit the visible light image photos and infrared thermal image photos taken by the image camera and infrared camera to a main control unit, and the visible light image photos and infrared thermal image photos are provided by the image integration processing program contained in the main control unit Structure derived from two-dimensional digital images through sequence combination and stereo imaging program And create three-dimensional point cloud data to generate stereoscopic images and infrared thermal image data, and then use the calibration light points captured in the visible light image photos and infrared thermal image photos as their stereoscopic images and infrared thermal images The relative position of the map data is calibrated, so that the stereoscopic image and the infrared thermal image data are overlapped and matched to obtain the appearance of the target and the temperature distribution corresponding to the appearance.
藉此，利用本發明之立體影像與紅外線熱影像整合方法及其裝置即可由立體影像形式顯示出該標的物完整外觀形狀，另以紅外線熱影像形式顯示出該標的物熱輻射能量分佈狀況，而通過將紅外線熱影像與可見光立體影像整合在一起後，係可同時觀察紅外線熱資訊與可見光資訊，以便利進行標的物內部異常損壞處及其外觀上對應該異常損壞處之相對位置辨識，據此，以應用於軍事、醫藥及工程等領域，俾便利提供設備與人體等檢驗、分析者。Therefore, the method and device for integrating the stereoscopic image and the infrared thermal image of the present invention can display the complete appearance shape of the target object in the form of a stereoscopic image, and the thermal radiation energy distribution of the target object in the form of an infrared thermal image, and By integrating the infrared thermal image and the visible light stereoscopic image, the infrared thermal information and the visible light information can be observed at the same time, so as to facilitate the identification of the abnormal damage inside the target object and the relative position of the appearance corresponding to the abnormal damage, accordingly In order to be applied to military, medical and engineering fields, it is convenient to provide equipment and human body inspection and analysis.
而為令本發明之技術手段及其所能達成之效果，能夠有更完整且清楚的揭露，茲詳細說明如下，請一併參閱揭露之圖式及圖號：In order to enable the technical means of the present invention and the effects it can achieve, a more complete and clear disclosure can be made. The detailed description is as follows. Please refer to the disclosed drawings and figures:
首先，請參閱第一圖所示，為本發明之立體影像與紅外線熱影像整合裝置，係包含：First of all, please refer to the first figure, which is a three-dimensional image and infrared thermal image integration device of the present invention, which includes:
一機體（１），係設有一基台（１１），並於該基台（１１）內設有一旋轉動力源，且使該旋轉動力源之傳動部與一位於該基台（１１）外部之轉盤（１２）相組接，又於該轉盤（１２）上垂直連結有一呈中空之組立座（１３）；A machine body (1) is provided with a base (11), and a rotary power source is provided in the base (11), and the transmission part of the rotary power source and a base located outside the base (11) The turntable (12) is connected together, and a hollow vertical stand (13) is vertically connected on the turntable (12);
一旋轉單元（２），係包含有一該旋轉動力源，並使該旋轉動力源裝設於該機體（１）之組立座（１３）內，且使該旋轉動力源其傳動部與一位於該機體（１）其組立座（１３）外部之旋轉座（２１）相組接；A rotating unit (2) includes a rotating power source, and the rotating power source is installed in the assembly seat (13) of the body (1), and the rotating power source has a transmission part and a The body (1) its assembly base (13) and the external rotating base (21) are connected together;
一升降單元（３），係包含有二螺桿（３１），乃使該二螺桿（３１）一端與該旋轉座（２１）相組接，又設有一升降座（３２），係使該升降座（３２）二側於對應該二螺桿（３１）處各組設有一軸筒（３２１），並使該軸筒（３２１）成型有螺孔，以分別與該二螺桿（３１）相螺接，另設有一升降動力源，乃使該升降動力源組設於升降座（３２）後端面，並位於二軸筒（３２１）間，該升降動力源可為正、反向轉動之伺服馬達，又於該二軸筒（３２１）間設有至少一傳動件，且使該升降動力源之傳動部與該傳動件相組接，而使該升降動力源與二軸筒（３２１）間以該傳動件相連結，復於該二螺桿（３１）另端組設有一止擋塊（３３）；A lifting unit (3) includes two screws (31), so that one end of the two screws (31) is connected with the rotating seat (21), and a lifting seat (32) is provided to make the lifting seat (32) A shaft barrel (321) is provided on each side of the group corresponding to the two screws (31), and the shaft barrel (321) is formed with screw holes to be screwed with the two screws (31), There is also a lifting power source, so that the lifting power source is located on the rear face of the lifting seat (32) and is located between the two shaft barrels (321). The lifting power source can be a servo motor that rotates forward and reverse, and At least one transmission part is arranged between the two shaft barrels (321), and the transmission part of the lifting power source is connected with the transmission part, so that the transmission between the lifting power source and the two shaft barrels (321) Connected to each other, a stop block (33) is provided on the other end of the two screws (31);
一影像照相機（４），係使該影像照相機（４）組設於該升降座（３２）前端面，並使該影像照相機（４）位於其鏡頭（４１）旁側處組設有至少二雷射發射器（４２），本發明係使該影像照相機（４）位於其鏡頭（４１）相對二側處各組設有一雷射發射器（４２）；An image camera (4), the image camera (4) is arranged on the front end surface of the lifting seat (32), and the image camera (4) is arranged on the side of the lens (41) with at least two mines A laser transmitter (42), the present invention makes the image camera (4) located on the two opposite sides of its lens (41) and each group is provided with a laser transmitter (42);
一紅外線照相機（５），乃使該紅外線照相機（５）組設於該升降座（３２）前端面，並與該影像照相機（４）相鄰並排設立，又使該影像照相機（４）之鏡頭（４１）與紅外線照相機（５）其鏡頭（５１）呈相對反向設置，另使該紅外線照相機（５）位於其鏡頭（５１）旁側處組設有至少二雷射發射器（５２）〔如第六圖所示〕，本發明係使該紅外線照相機（５）位於其鏡頭（５１）相對二側處各組設有一雷射發射器（５２），而使該影像照相機（４）及紅外線照相機（５）其雷射發射器（４２）、（５２）組設位置相對應；An infrared camera (5) is that the infrared camera (5) is set on the front end surface of the lifting base (32) and is set up side by side with the image camera (4), and the lens of the image camera (4) (41) The lens (51) of the infrared camera (5) is arranged opposite to each other, and the infrared camera (5) is arranged at the side of the lens (51) with at least two laser emitters (52) [ As shown in the sixth figure], the present invention makes the infrared camera (5) located on the opposite side of the lens (51) of each group is provided with a laser emitter (52), and the image camera (4) and infrared The camera (5) corresponds to the positions of the laser transmitters (42) and (52);
一主控單元（６），該主控裝置（６）係可為桌上型電腦、筆記型電腦、平板電腦或智慧型手機等，乃包含有一處理部件、一資料儲存部件及一操作暨顯示部件（６１），並使該資料儲存部件及操作暨顯示部件（６１）與其處理部件相耦接，該處理部件係為微處理器、該資料儲存部件係為硬碟或記憶體等，另該操作暨顯示部（６１）係為觸控螢幕或鍵盤、滑鼠與螢幕之組合，且於該資料儲存部件內儲存有影像整合處理程式，該影像整合處理程式係包含有3D點雲模組與影像圖資匹配模組等程式模組，又使該主控單元（６）與該機體（１）之旋轉動力源、旋轉單元（２）之旋轉動力源、升降單元（３）之升降動力源、影像照相機（４）及紅外線照相機（５）以有線或無線訊號連結，以由該主控單元（６）控制該機體（１）之旋轉動力源、旋轉單元（２）之旋轉動力源、升降單元（３）之升降動力源、影像照相機（４）及紅外線照相機（５）作動，並接收該影像照相機（４）及紅外線照相機（５）拍攝之照片。A main control unit (6), the main control device (6) can be a desktop computer, a notebook computer, a tablet computer or a smart phone, etc., which includes a processing component, a data storage component and an operation and display Component (61), and the data storage component and the operation and display component (61) are coupled with its processing component, the processing component is a microprocessor, the data storage component is a hard disk or memory, etc. The operation and display part (61) is a combination of a touch screen or a keyboard, a mouse and a screen, and an image integration processing program is stored in the data storage unit. The image integration processing program includes a 3D point cloud module and Program modules such as image matching modules, and the main control unit (6) and the rotary power source of the body (1), the rotary power source of the rotary unit (2), and the lifting power source of the lifting unit (3) , The image camera (4) and the infrared camera (5) are connected by a wired or wireless signal, and the main control unit (6) controls the rotating power source and rotating unit (2) of the body (1) The source of rotary power, lifting unit (3) of the elevator power source, the camera image (4) and an infrared camera (5) actuation, and receives the video camera (4) and an infrared camera (5) imaging the picture.
據此，請一併參閱第二圖所示，當本發明進行立體影像與紅外線熱影像整合時，其實施步驟係包含：According to this, please also refer to the second figure, when the present invention integrates the stereoscopic image and the infrared thermal image, the implementation steps include:
Ａ.立體影像拍攝：請一併參閱第三、四圖所示，係將本發明之四個立體影像與紅外線熱影像整合裝置（Ａ）分別架設於一標的物（Ｂ）其左、右兩側之上、下方處，再由主控單元（６）驅動該升降單元（３）之升降動力源作動，以經由傳動件帶動升降座（３２）內之軸筒（３２１）轉動，而使升降座（３２）藉由軸筒（３２１）之螺孔與螺桿（３１）螺接組設，而沿著螺桿（３１）升降作動，以於升降座（３２）的升降範圍中，使影像照相機（４）朝向標的物（Ｂ）之鏡頭（４１）對標的物（Ｂ）外型進行拍攝，另可依拍攝視角所需，由主控單元（６）驅使機體（１）之旋轉動力源經由轉盤（１２）帶動組立座（１３）轉動一角度，或驅使旋轉單元（２）之旋轉動力源帶動旋轉座（２１）轉動一角度等，以使透過旋轉單元（２）及升降單元（３）裝載於組立座（１３）上之影像照相機（４）及紅外線照相機（５）旋轉適度角度後進行拍攝，而於拍攝同時，設置於影像照相機（４）二側之雷射發射器（４２）會發出雷射光束投射於標的物（Ｂ）上，以於該標的物（Ｂ）上產生校準光點，而與標的物（Ｂ）一併進行拍攝，使該影像照相機（４）拍攝後之可見光影像照片（７）即包含有該標的物（Ｂ）外型及投射其上之校準光點（７１）；A. Stereoscopic image shooting: Please refer to the third and fourth figures together. The four stereoscopic image and infrared thermal image integration devices (A) of the present invention are respectively erected on a target object (B). At the upper and lower sides, the main control unit (6) drives the lifting power source of the lifting unit (3) to drive the shaft tube (321) in the lifting seat (32) through the transmission member to rotate, so that the lifting The seat (32) is formed by screwing the screw hole of the shaft barrel (321) and the screw (31), and moves up and down along the screw (31), so that the image camera (in the lifting range of the lift seat (32) 4) The lens (41) facing the target (B) shoots the appearance of the target (B), and the main control unit (6) drives the rotating power source of the body (1) via the turntable according to the shooting angle (12) Drive the assembly stand (13) to rotate an angle, or drive the rotary power source of the rotary unit (2) to drive the rotary base (21) to rotate an angle, etc., so as to pass through the rotary unit (2) and the lifting unit (3) The image camera (4) and infrared camera (5) mounted on the assembly stand (13) are rotated at an appropriate angle to shoot, and at the same time of shooting, the laser transmitter (42) installed on both sides of the image camera (4) will The emitted laser beam is projected on the target object (B) to generate a calibrated light spot on the target object (B), and is photographed together with the target object (B) to make the visible light after the imaging camera (4) shoots The image photograph (7) contains the appearance of the target (B) and the calibration light spot (71) projected on it;
Ｂ.紅外線熱影像拍攝：當完成標的物（Ｂ）其可見光影像拍攝後，請一併參閱第五、六圖所示，該主控單元（６）係接續驅使旋轉動力源帶動旋轉座（２１）旋轉180度，以使經由升降單元（３）間接組設於旋轉座（２１）之影像照相機（４）及紅外線照相機（５）變換其位置，而使紅外線照相機（５）之鏡頭（５１）朝向標的物（Ｂ），續主控單元（６）係再驅使升降單元（３）其升降座（３２）升降作動，以進行該標的物（Ｂ）之紅外線熱影像拍攝，而於拍攝同時，位設於紅外線照相機（５）二側之雷射發射器（５２）係會發出雷射光束，以投射於標的物（Ｂ）上，而於標的物（Ｂ）上產生校準光點，以與標的物（Ｂ）一併進行拍攝，而使該紅外線照相機（５）拍攝後之紅外線熱影像照片（８）包含有該標的物（Ｂ）之溫度分布狀態及投射其上之校準光點（８１）；B. Infrared thermal image shooting: When the visible light image of the object (B) is completed, please refer to the fifth and sixth figures, the main control unit (6) is connected to drive the rotating power source to drive the rotating base (21) ) Rotate 180 degrees to change the position of the image camera (4) and infrared camera (5) that are indirectly assembled on the rotating base (21) via the lifting unit (3), so that the lens (51) of the infrared camera (5) Towards the target object (B), the main control unit (6) then drives the lifting unit (3) to move up and down the lifting seat (32) to perform infrared thermal imaging of the target object (B). The laser emitters (52) located on both sides of the infrared camera (5) emit a laser beam to project on the target object (B), and a calibration light spot is generated on the target object (B) to The target object (B) is photographed together, and the infrared thermal image photograph (8) after the infrared camera (5) is taken contains the temperature distribution state of the target object (B) and projected thereon Calibration light spot (81);
Ｃ.立體影像與紅外線熱影像整合：續該影像照相機（４）及紅外線照相機（５）係會將其拍攝後之可見光影像照片（７）及紅外線熱影像照片（８）傳送至主控單元（６），再由該主控單元（６）內載之影像整合處理程式藉其3D點雲模組，將該影像照相機（４）及紅外線照相機（５）拍攝之可見光影像照片（７）及紅外線熱影像照片（８）等二維數位影像經序列組合及立體成像程序導出結構深度，並建立三維點雲資料，以產生立體化圖像及紅外線熱影像圖資，請一併參閱第七圖所示，繼該影像整合處理程式之影像圖資匹配模組再以該可見光影像照片（７）及紅外線熱影像照片（８）中拍攝到之校準光點（７１）、（８１）作為其立體化圖像及紅外線熱影像圖資相對位置校準，以進行立體化圖像及紅外線熱影像圖資對應重疊匹配，依此，以獲得該標的物（Ｂ）外型及與其外型相對應位置處之溫度分佈狀況。C. Integration of stereo image and infrared thermal image: Continued The image camera (4) and infrared camera (5) will send the visible light image photos (7) and infrared thermal image photos (8) after shooting to the main control unit ( 6) Then, the image integration processing program contained in the main control unit (6) uses its 3D point cloud module to take visible light image photos (7) and infrared rays of the image camera (4) and infrared camera (5) Thermal image photos (8) and other two-dimensional digital images are derived from the structural depth through sequence combination and stereo imaging procedures, and three-dimensional point cloud data is created to generate stereoscopic images and infrared thermal image data. Please refer to the seventh figure. The image matching module of the image integration processing program then uses the calibration light spots (71) and (81) captured in the visible light image photos (7) and infrared thermal image photos (8) as its stereoscopic The relative position of the image and the infrared thermal image data is calibrated, so that the stereoscopic image and the infrared thermal image data are overlapped and matched accordingly, so as to obtain the target (B) is its appearance and shape corresponding to the temperature distribution at the position.
藉此，利用本發明將立體影像與紅外線熱影像整合技術，係可由立體影像形式顯示出該標的物（Ｂ）完整外觀形狀，另以紅外線熱影像形式顯示出該標的物（Ｂ）熱輻射能量分佈狀況，而通過將紅外線熱影像與可見光立體影像整合在一起後，即可同時觀察紅外線熱資訊與可見光資訊，以便利進行標的物（Ｂ）內部異常損壞處及其外觀上對應該異常損壞處之相對位置辨識，藉由本發明之立體影像與紅外線熱影像整合技術，不僅可應用於機器、電氣等設備之工安檢測，也可應用於人體醫療檢測等，另工安人員或醫療人員係可由主控單元（６）之操作暨顯示部（６１）操控旋轉所建構之三維影像，以從各種不同角度來觀察設備或人體表面特徵與內部溫度狀況，並藉由數位影像放大或縮小的功能，以簡便地觀看到整體性溫度分佈與局部溫度分佈狀態，據此，俾利於應用在軍事、醫藥及工程等領域，以提供工安人員或醫療人員為設備或人體進行分析、檢驗等便利性者。In this way, the integration technology of the stereoscopic image and the infrared thermal image by the present invention can display the complete appearance shape of the target object (B) in the form of a stereoscopic image, and the thermal radiation energy of the target object (B) in the form of infrared thermal image The distribution situation, and by integrating the infrared thermal image and the visible light stereoscopic image, the infrared thermal information and the visible light information can be observed at the same time to facilitate the object (B) internal abnormal damage and its appearance corresponds to the abnormal damage The relative position identification of the present invention can be applied not only to the inspection of machinery and electrical equipment, but also to the medical inspection of human bodies, etc., through the integrated technology of stereoscopic images and infrared thermal images of the present invention. The operation and display part (61) of the main control unit (6) controls the three-dimensional images constructed by the rotation to observe the surface characteristics of the device or the human body and the internal temperature conditions from various angles, and uses the digital image to zoom in or out. In order to easily observe the overall temperature distribution and local temperature distribution, according to this Conducive to serve in the military, medicine and engineering and other fields, to provide industrial safety personnel or medical personnel for analysis, testing and other equipment for the convenience of the person or body.
前述之實施例或圖式並非限定本發明之立體影像與紅外線熱影像整合方法及其裝置實施態樣，本發明之立體影像與紅外線熱影像整合裝置（Ａ）不僅限於分別架設於標的物（Ｂ）其左、右兩側之上、下方處，該立體影像與紅外線熱影像整合裝置（Ａ）設置位置及數量係可依據標的物（Ｂ）形狀、曲面複雜度及檢測視角限制等進行調節，凡所屬技術領域中具有通常知識者所為之適當變化或修飾，皆應視為不脫離本發明之立體影像與紅外線熱影像整合方法及其裝置專利範疇。The foregoing embodiments or drawings are not limited to the implementation method of the three-dimensional image and infrared thermal image integration method and device of the present invention. The three-dimensional image and infrared thermal image integration device (A) of the present invention is not limited to being erected on the target object (B ) Above and below the left and right sides, the installation position and number of the stereoscopic image and infrared thermal image integration device (A) can be adjusted according to the shape of the object (B), the complexity of the curved surface and the limitation of the viewing angle, etc. Any appropriate changes or modifications made by those with ordinary knowledge in the technical field should be regarded as not departing from the patent scope of the stereoscopic image and infrared thermal image integration method and device of the present invention.
綜上所述，本發明之實施例確能達到所預期功效，又其所揭露之具體構造，不僅未曾見諸於同類產品中，亦未曾公開於申請前，誠已完全符合專利法之規定與要求，爰依法提出發明專利之申請，懇請惠予審查，並賜准專利，則實感德便。To sum up, the embodiments of the present invention can indeed achieve the expected effect, and the specific structure disclosed by it has not only not been seen in similar products, nor has it been disclosed before the application, and has fully complied with the provisions of the Patent Law and As required, I filed an application for an invention patent in accordance with the law, urged to be granted an examination, and granted the patent.
（１）‧‧‧機體(1) ‧‧‧Body
（１１）‧‧‧基台(11) ‧‧‧ Abutment
（１２）‧‧‧轉盤(12) ‧‧‧ turntable
（１３）‧‧‧組立座(13) ‧‧‧ assembly stand
（２）‧‧‧旋轉單元(2) ‧‧‧ Rotating unit
（２１）‧‧‧旋轉座(21) ‧‧‧rotating seat
（３）‧‧‧升降單元(3) ‧‧‧ Lifting unit
（３１）‧‧‧螺桿(31) ‧‧‧ screw
（３２）‧‧‧升降座(32) ‧‧‧ Lifting seat
（３２１）‧‧‧軸筒(321) ‧‧‧ shaft barrel
（３３）‧‧‧止擋塊(33) ‧‧‧stop block
（４）‧‧‧影像照相機(4) ‧‧‧ video camera
（４１）‧‧‧鏡頭(41) ‧‧‧ lens
（４２）‧‧‧雷射發射器(42) ‧‧‧Laser launcher
（５）‧‧‧紅外線照相機(5) Infrared camera
（５１）‧‧‧鏡頭(51) ‧‧‧ lens
（５２）‧‧‧雷射發射器(52) ‧‧‧Laser launcher
（６）‧‧‧主控單元(6) ‧‧‧ main control unit
（６１）‧‧‧操作暨顯示部件(61) ‧‧‧Operation and display parts
（７）‧‧‧可見光影像照片(7) ‧‧‧ visible light image photos
（７１）‧‧‧校準光點(71) ‧‧‧ Calibration spot
（８）‧‧‧紅外線熱影像照片(8) ‧‧‧ infrared thermal image photos
（８１）‧‧‧校準光點(81) ‧‧‧ Calibration spot
（Ａ）‧‧‧立體影像與紅外線熱影像整合裝置(A) ‧‧‧ Integrated device of stereo image and infrared thermal image
（Ｂ）‧‧‧標的物(B) Subject matter
第一圖：本發明之立體圖The first picture: the perspective view of the present invention
第二圖：本發明之流程圖Figure 2: Flowchart of the present invention
第三圖：本發明之使用狀態圖The third figure: the use state diagram of the present invention
第四圖：本發明之可見光影像照片拍攝狀態圖The fourth figure: the state of the visible light image photo shooting of the present invention
第五圖：本發明之另一使用狀態圖Fifth figure: Another state diagram of the present invention
第六圖：本發明之紅外線熱影像照片拍攝狀態圖Figure 6: The state of the infrared thermal image photo shooting of the present invention
第七圖：本發明之可見光影像照片與紅外線熱影像照片匹配狀態圖Figure 7: Matching state diagram of visible light image photos and infrared thermal image photos of the present invention
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW105137503A TWI607276B (en) | 2016-11-16 | 2016-11-16 | Method and device for integrating three-dimensional images and infrared thermal images |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW105137503A TWI607276B (en) | 2016-11-16 | 2016-11-16 | Method and device for integrating three-dimensional images and infrared thermal images |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| TWI607276B TWI607276B (en) | 2017-12-01 |
| TW201820020A true TW201820020A (en) | 2018-06-01 |
Family
ID=61230701
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW105137503A TWI607276B (en) | 2016-11-16 | 2016-11-16 | Method and device for integrating three-dimensional images and infrared thermal images |
Country Status (1)
| Country | Link |
|---|---|
| TW (1) | TWI607276B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI691939B (en) | 2018-10-15 | 2020-04-21 | 財團法人工業技術研究院 | Dual-view image device for monitoring heat source and image processing method thereof |
| CN111504475A (en) | 2019-01-31 | 2020-08-07 | 财团法人工业技术研究院 | Thermal image sensing system and thermal image sensing method |
| TWI761802B (en) * | 2020-04-08 | 2022-04-21 | 國立臺灣大學 | Method for detecting skin and soft tissue infection |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8659698B2 (en) * | 2007-05-17 | 2014-02-25 | Ilya Blayvas | Compact 3D scanner with fixed pattern projector and dual band image sensor |
| TWM479727U (en) * | 2013-05-21 | 2014-06-11 | Taiwan Caretech Corp | Device for synchronously performing photography and 3D X-ray scanning |
| CN104605813A (en) * | 2013-11-05 | 2015-05-13 | 南京理工高新技术发展有限公司 | Medical 3D infrared tomography system and method |
| CN105784596B (en) * | 2016-03-08 | 2019-01-25 | 浙江大学 | A kind of multifunctional sample room can be used for thermal infrared camera |
-
2016
- 2016-11-16 TW TW105137503A patent/TWI607276B/en not_active IP Right Cessation
Also Published As
| Publication number | Publication date |
|---|---|
| TWI607276B (en) | 2017-12-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110392247A (en) | For monitoring the video camera monitoring system and its calibration method of patient in the medical system based on hole | |
| EP2841158B1 (en) | 3d camera system | |
| TW201820020A (en) | Method and device for integrating three-dimensional images and infrared thermal images | |
| CN105744257B (en) | A kind of optical invisible device | |
| CN103702612B (en) | Image processing system, device, method and medical diagnostic imaging apparatus | |
| Yang et al. | Geometric calibration of IR camera using trinocular vision | |
| CN107543616A (en) | Utilize the machine condition monitoring system of three-dimensional thermal imaging | |
| JP2012050519A (en) | Mammographic apparatus | |
| JP6279341B2 (en) | X-ray diagnostic equipment | |
| CN110458104B (en) | Human eye sight direction determining method and system of human eye sight detection system | |
| CN106205268A (en) | A kind of X-ray simulation camera system and method | |
| JP7157409B2 (en) | 3D image generation device, 3D image generation method, and 3D image generation program | |
| US20180333081A1 (en) | Patient monitoring system | |
| CN111766949B (en) | Three-dimensional image display device, display method, electronic device, and storage medium | |
| JP2012029742A (en) | Radiological image capturing and displaying method and apparatus | |
| US20120249533A1 (en) | Stereoscopic display apparatus | |
| TWI640744B (en) | Depth sensing photography system | |
| ES2812851T3 (en) | Preview device | |
| JP2012165358A (en) | Stereoscopic image display device | |
| TWI635255B (en) | Method and system for tracking object | |
| Kocmanova et al. | Multispectral data fusion for robotic reconnaissance and mapping | |
| US20230073934A1 (en) | Constellations for tracking instruments, such as surgical instruments, and associated systems and methods | |
| CN206792384U (en) | Medical infrared thermal imaging instrument based on all-in-one machine structure | |
| Chen et al. | A stereo range computation method using thermal infrared and visible cameras | |
| US12051214B2 (en) | Methods and systems for imaging a scene, such as a medical scene, and tracking objects within the scene |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| MM4A | Annulment or lapse of patent due to non-payment of fees |