Power patrol inspection robot infrared temperature measuring device and method integrating distance and viewing angles

Abstract

The invention relates to a power patrol inspection robot infrared temperature measuring device and a power patrol inspection robot infrared temperature measuring method integrating a distance and viewing angles. The temperature measuring device comprises a robot cart body, and a positioning mechanism, a CCD camera, an infrared thermal imager, an ultrasonic range finder sensor, a control processingmodule and an upper computer which are arranged on the robot cart body. The temperature measuring device further comprises a first tilt angle sensor and a second tilt angle sensor, wherein the firsttilt angle sensor is used for measuring a positioning mechanism vertical elevation angle and an infrared thermal imager observation viewing angle, and the second tilt angle sensor is used for measuring a robot cart body climbing angle. According to the power patrol inspection robot infrared temperature measuring method, an actual distance between the infrared thermal imager and an object body is calculated by means of the measured angles and a straight-line distance, and the actual distance and the observation angle are substituted into a compensation formula to correct or compensate for measured temperature. Compared with the prior art, the power patrol inspection robot infrared temperature measuring device and the power patrol inspection robot infrared temperature measuring method can compensate for the influence of the observation distance and the observation viewing angle on an infrared temperature measuring result, are suitable for temperature patrol inspection of a power patrol inspection robot, a patrol inspection UAV and a related functional patrol inspection instrument, thus have high practical value.

Description

technical field

[0001] The invention relates to an infrared temperature measurement and compensation technology for power equipment, in particular to an infrared temperature measurement device and method for a power inspection robot with comprehensive distance and viewing angle. Background technique

[0002] Routine infrared inspection of substation equipment is a conventional technical means to ensure the safe and stable operation of power equipment. In recent years, the traditional manual infrared inspection mode is gradually developing into a robot infrared inspection mode. However, in the actual application process of inspection robots, they are faced with the problem of infrared temperature detection accuracy. Due to the influence of attenuation, there is a deviation between the temperature measurement result and the actual temperature; in addition, the inspection robot and the surface normal of the thermal defect of the equipment are often not on the same horizontal p...

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