Infrared on-line monitoring field inspection device and inspection method

Abstract

The invention relates to the related field of online monitoring devices, and discloses an infrared online monitoring field inspection device and method, and the method comprises the steps: 1, determining the position relation between a black body small hole and an object; 2, according to the position relation in the step 1, determining the movement mode of the black body small hole; 3, the black body small hole is driven to move according to the movement mode in the step 2, so that the black body small hole is aligned with the object, the devices are accurately inspected regularly on site, the fine change of the performance of electronic elements in the equipment can be found in time, the measurement precision is calibrated in real time, and the measurement accuracy is improved. Therefore, the accuracy and the reliability of judging the running state of the power equipment and the like are remarkably improved. Therefore, electric power operation and maintenance personnel can take targeted maintenance measures in advance, the probability of occurrence of equipment faults is effectively reduced, power failure time and economic loss caused by the equipment faults are greatly reduced, and a solid guarantee is provided for safe and stable operation of an electric power system.

Description

Technical Field

[0001] The present invention relates to the field of online monitoring devices, and in particular to an infrared online monitoring field inspection device and an inspection method. Background Art

[0002] Infrared thermal imaging detection technology is effective in detecting poor conductor connections and insulation defects in power equipment, and plays an important role in early warning of equipment defects in operation. Therefore, a large number of infrared thermal imaging online monitoring devices are installed on power transmission and transformation equipment in my country. However, a large number of outdoor infrared thermal imaging online monitoring devices are affected by natural environments such as high and low temperatures, exposure to the sun, humidity, wind and sand, and bird droppings during long-term operation, as well as the combined influence of electromagnetic environments such as high electric fields and high magnetic fields of energized equipment. The performance of internal electronic components in online monitoring may age or deteriorate, resulting in poor measurement accuracy, which in turn affects the accurate judgment of the operating status of power equipment. Major hidden dangers are not discovered in time after they occur, and regular on-site inspections of online monitoring devices are required. Laboratory black bodies have small observation apertures and are inconvenient to move, making them unsuitable for on-site infrared imaging monitoring and long-distance inspection and comparison.

[0003] Therefore, the above problems are solved by an infrared online monitoring field inspection device and inspection method. Summary of the invention

[0004] The purpose of the present invention is to provide an infrared online monitoring field inspection device and inspection method to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solution: Step 1: confirming the positional relationship between the blackbody hole and the object;

[0006] Step 2: According to the positional relationship in step 1, determine the movement mode of the blackbody hole;

[0007] Step 3: Use the movement method of step 2 to drive the black body hole to move, so that the black body hole is aligned with the object.

[0008] Preferably, the determining the positional relationship between the blackbody pinhole and the object comprises:

[0009] Step 1: Set up a signal transmitter and a signal receiver on the black body;

[0010] Step 2: The signal transmitter transmits a detection signal, and based on the received response signal, calculates the position relationship of the object relative to the black body;

[0011] Step 3: Obtain the positional relationship between the blackbody hole and the blackbody;

[0012] Sub-step 4: Confirm the positional relationship between the blackbody hole and the object.

[0013] Preferably, the calculating the positional relationship of the object relative to the black body comprises:

[0014] Get the distance information between the object and the black body;

[0015] Get the angle relationship between the object and the black body;

[0016] Based on the acquired distance information and angle relationship between the object and the black body, the relative position relationship of the object with respect to the black body is obtained.

[0017] Preferably, the obtaining of the distance information between the object and the black body comprises:

[0018] Through the time difference between signal transmission and reception, a set of possible positions of the object relative to the black body is established.

[0019] Preferably, the acquiring the angle relationship between the object and the black body comprises:

[0020] The time difference between signal emission and reception is used to extract and analyze the object response signal, and feature matching is performed with common object models pre-stored in the database. Once the target object is identified, the pixel coordinate position of the object in the image can be calculated through the image coordinate system combined with the optical parameters of the imaging device (such as focal length, field of view, etc.), and then converted into actual angular coordinates relative to the black body.

[0021] Preferably, the movement mode of the blackbody aperture is determined as follows:

[0022] After accurately acquiring the position relationship of the object relative to the black body, including distance information and angle relationship, through the signal transmission and reception mechanism and related algorithms, the system drives the gimbal to drive the black body to adjust so that the small hole of the black body is aligned with the object.

[0023] Technical effects and advantages of the present invention:

[0024] 1. The present invention effectively solves the problem of decreased measurement accuracy of infrared thermal imaging online monitoring devices operating outdoors due to long-term exposure to harsh environments. By regularly and accurately inspecting these devices on site, it is possible to promptly detect subtle changes in the performance of electronic components inside the equipment and perform real-time calibration of the measurement accuracy, thereby significantly improving the accuracy and reliability of judging the operating status of power equipment and the like. This helps power operation and maintenance personnel take targeted maintenance measures in advance, effectively reduces the probability of equipment failure, greatly reduces power outage time and economic losses caused by equipment failure, and provides a solid guarantee for the safe and stable operation of the power system.

[0025] 2. The present invention realizes the all-round and accurate calibration of the infrared online monitoring device, which can not only ensure that it can still provide accurate monitoring data in complex environments, but also can comprehensively detect and evaluate the key parts of the device such as the optical system, detector performance, and signal processing algorithm. Through in-depth analysis of the inspection data, it is helpful to timely discover the potential fault hazards and performance bottlenecks of the device, and provide equipment manufacturers and users with an important basis for optimizing equipment design, improving production processes, and formulating reasonable maintenance strategies, thereby comprehensively improving the performance and quality of the entire infrared monitoring system, and providing strong technical guarantees for safe production, scientific management, and environmental protection in related industries. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of the present invention. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0028] Infrared thermal imaging detection technology is effective in detecting poor conductor connections and insulation defects in power equipment, and plays an important role in early warning of equipment defects in operation. Therefore, a large number of infrared thermal imaging online monitoring devices are installed on power transmission and transformation equipment in my country. However, a large number of outdoor infrared thermal imaging online monitoring devices are affected by natural environments such as high and low temperatures, exposure to the sun, humidity, wind and sand, and bird droppings during long-term operation, as well as the combined influence of electromagnetic environments such as high electric fields and high magnetic fields of energized equipment. The performance of internal electronic components in online monitoring may age or deteriorate, resulting in poor measurement accuracy, which in turn affects the accurate judgment of the operating status of power equipment. Major hidden dangers are not discovered in time after they occur, and regular on-site inspections of online monitoring devices are required. Laboratory black bodies have small observation apertures and are inconvenient to move, making them unsuitable for on-site infrared imaging monitoring and long-distance inspection and comparison.

[0029] The present invention provides Figure 1 An infrared online monitoring field inspection device and inspection method are shown,

[0030] S1. Confirm the positional relationship between the blackbody hole and the object;

[0031] S2. Setting a signal transmitter and a signal receiver on the black body;

[0032] S3, the signal transmitter transmits a detection signal, and based on the received response signal, calculates the position relationship of the object relative to the black body;

[0033] The signal transmitter and signal receiver are carefully arranged on the surface of the black body. The signal transmitter uses advanced pulsed laser emission technology to emit detection signals with high energy, high directivity and narrow pulse width. The signal propagates at the speed of light in space. When it encounters the target object to be tested, it will be reflected. The signal receiver is equipped with a highly sensitive photoelectric detector, which can quickly and accurately capture the weak response signal reflected back.

[0034] S4, obtaining the positional relationship between the blackbody pinhole and the blackbody;

[0035] S5, calculating the position relationship of the object relative to the black body comprises:

[0036] S6, obtaining the distance information between the object and the black body;

[0037] By accurately measuring the time difference between signal transmission and reception, and using the physical principle that the speed of light is constant in a vacuum (the speed of light is about 299792458m / s), the straight-line distance between the object and the black body is calculated according to the formula d=c×Δt / 2 (where d represents the distance, c represents the speed of light, and Δt represents the time difference). Since the signal may be affected by environmental factors (such as atmospheric refraction and scattering) during propagation, it is necessary to introduce corresponding correction algorithms in the calculation process to improve the accuracy of distance calculation. Through multiple measurements and data processing, a set of possible positions of the object relative to the black body is established, thereby obtaining more accurate distance information between the object and the black body.

[0038] S7, obtaining the angle relationship between the object and the black body;

[0039] The time difference between signal transmission and reception is used to extract and analyze the response signal reflected by the object in depth. First, advanced signal processing algorithms, such as wavelet transform and Fourier transform, are used to filter and reduce noise on the signal to extract key feature information from the signal. Then, these feature information is matched with a large number of common object models pre-stored in the database with high precision. The object models in the database cover objects of various shapes, materials and surface characteristics. By comparing the characteristics of the reflected signal (such as amplitude, phase, frequency, etc.) with the model characteristics, once a target object model with a high degree of match is found, the pixel coordinate position of the object in the image is calculated with the help of a high-precision image coordinate system and combined with the precise optical parameters of the imaging device (such as focal length, field of view, pixel size, etc.). Finally, through complex geometric calculations and coordinate conversion algorithms, the pixel coordinate position is converted into the actual angle coordinate relative to the black body, thereby obtaining the angle relationship between the object and the black body. In this process, in order to improve the accuracy of angle calculation, it is also necessary to correct errors such as distortion and chromatic aberration of the imaging device.

[0040] S7. Confirm the positional relationship between the blackbody hole and the object.

[0041] The movement mode of the blackbody hole is determined as follows:

[0042] After the positional relationship of the object relative to the black body (including accurate distance information and angle information) is accurately obtained through the above-mentioned advanced signal transmission and reception mechanism and complex related algorithms, the system control center will generate detailed motion instructions according to the preset motion control algorithm. These instructions are sent to the pan-tilt drive device through a high-speed data transmission line. The pan-tilt adopts a high-precision servo motor drive system and has a high-resolution position feedback sensor, which can realize the precise translational motion control of the black body in the horizontal and vertical directions, and the translation accuracy can reach the millimeter level or even higher. At the same time, the pan-tilt can also drive the black body to perform precise rotational motion around the vertical and horizontal axes, and the rotation angle accuracy can be controlled at the milliradian level. During the movement, the real-time position feedback sensor will continuously feed back the current position information of the black body hole to the control system. The control system adjusts the motor speed and direction in real time according to the deviation between the preset target position and the actual position through advanced PID (proportional-integral-differential) control algorithm or other intelligent control algorithm to ensure that the black body hole can quickly and accurately align with the object. During the adjustment process, the movement speed, acceleration, deceleration and other parameters can also be dynamically optimized according to the actual situation to improve the efficiency and accuracy of the adjustment, while avoiding equipment vibration and positioning errors caused by too fast or too hasty movement.

[0043] When the position relationship of the object relative to the black body, including distance information and angle relationship, is accurately obtained through the signal transmission and reception mechanism and related algorithms, if the object deviates from the central axis of the black body hole by a certain distance in the horizontal direction, the system will drive the black body hole to translate along the horizontal guide rail. For example, if it is calculated that the object is 5 cm to the left of the central axis of the black body hole, the control system will instruct the motor to drive the black body hole to translate to the left at a certain speed (such as 2 cm / s) until it reaches the target position, so that the black body hole is aligned with the object in the horizontal direction. This translation speed can be dynamically adjusted according to the actual needs of the site and the accuracy requirements of the equipment. In monitoring scenarios with extremely high accuracy requirements, the speed may be reduced to 0.5 cm / s or even lower to ensure the smoothness and accuracy of the movement.

[0044] Similarly, in the vertical direction, if the position of the object is higher or lower than the initial position of the black body hole, the black body hole will move up and down under the action of the vertical lifting device. For example, if the object is 3 cm above the black body hole, the vertical lifting motor starts, driving the black body hole to rise at a suitable speed (such as 1.5 cm / s). During this period, the motion trajectory is continuously corrected through real-time position monitoring feedback, and finally precise vertical alignment is achieved.

[0045] Rotational movement according to angular deviation:

[0046] Using the method mentioned above to obtain the angular relationship between the object and the black body, once an angular deviation between the object and the black body hole is detected, the black body hole needs to perform a corresponding rotation movement to compensate for the angular difference. If the azimuth angle of the object relative to the black body is 30° away from the positive axis of the black body hole, the rotating platform at the bottom of the black body will be driven by a high-precision servo motor to drive the black body hole to rotate around the vertical axis. The angular velocity of rotation is adaptively adjusted according to the size of the angular deviation and the dynamic changes on site. In general, when the angular deviation is small (such as less than 10°), the angular velocity is set to 5° / second. As the angular deviation increases, the angular velocity is appropriately increased, but at the same time, the stability of the movement must be taken into account to avoid inaccurate positioning due to rapid rotation.

[0047] In addition to adjusting the azimuth angle, the blackbody aperture also needs to rotate around the horizontal axis for the deviation of the object in the pitch angle. For example, if the object has a 15° elevation angle relative to the blackbody aperture in the pitch direction, the blackbody aperture will slowly rotate and lift around the horizontal axis through the linked rotation mechanism, and the pitch angle will be accurately adjusted in combination with real-time angle monitoring feedback until it fully matches the angle of the object, ensuring that the blackbody aperture can receive the radiation signal from the object at the best angle and guaranteeing the accuracy of infrared monitoring.

[0048] Multi-degree-of-freedom compound motion control:

[0049] In complex on-site environments, the position and angle of objects often change at the same time, which requires the blackbody aperture to be able to perform compound motion with multiple degrees of freedom. For example, when an object has a horizontal displacement of 4 cm, a 20° deviation in azimuth, and a 10° change in pitch angle, the control system will coordinate the horizontal translation motor, the vertical rotation motor, and the pitch rotation motor at the same time, and drive the blackbody aperture to perform compound motion in an orderly manner according to the preset priority and motion planning algorithm. First, the horizontal displacement may be adjusted first so that the blackbody aperture quickly approaches the approximate horizontal position of the object. In this process, the rotation angle is fine-tuned synchronously to adapt to the dynamic changes in the object's angle. Finally, through multiple iterative optimizations, the blackbody aperture is accurately aligned with the object in three-dimensional space, meeting the stringent requirements of infrared online monitoring for accurate positioning of the blackbody aperture and the object.

[0050] Example

[0051] The device includes a wide-angle surface source blackbody 6, a pan / tilt 5, a control box unit 4, a carrier 3 and a mobile power source.

[0052] The wide-angle surface source blackbody is a large-size wide-angle surface source blackbody 6. To ensure that the infrared thermal imaging monitoring device can effectively observe the radiation surface of the blackbody 6 at a long distance (within 15 meters), the diameter of the radiation surface of the blackbody 6 is 15 cm. To ensure that the inspection temperature range meets the range of abnormal heating of power equipment, the temperature range of the blackbody is +5 to +400°C, and the ambient operating temperature of the blackbody is -40 to +60°C. When in use, the blackbody 6 is fixed on the pan-tilt 5, and the detection angle of the blackbody 6 during the inspection process is controlled by adjusting the pan-tilt 5 to meet the appropriate infrared inspection centering angle.

[0053] The load-bearing capacity of the pan-tilt head 5 is not less than 15 kg, which meets the load-bearing capacity of the black body 6. The pan-tilt head 5 can rotate in the horizontal and vertical directions. In order to prevent the pan-tilt head 5 from rotating too much and causing the center of gravity to become unstable, the horizontal rotation angle range and the vertical rotation angle range of the pan-tilt head 5 are constrained respectively. The horizontal rotation angle range is -90° to +90°, and the vertical rotation angle range is 0° to 60°. The black body 6 is integrated with the pan-tilt head 5 (bolted and not disassembled at ordinary times). The black body 6 has a handle for easy lifting and placing. There are hand-tightened quick bolts around the lower part of the pan-tilt head 5. Usually, the black body 6 is integrated with the pan-tilt head 5 and separated from the control box unit 4.

[0054] The control box unit 4 is composed of a black body 6 controller and a pan-tilt controller. The black body controller is used to control the temperature rise and fall of the black body, and the pan-tilt controller is used to adjust the rotation angle of the pan-tilt 5. The control modes of the controller include local buttons, handle remote control (control distance 10 meters), and PC software control (long-distance control), which are suitable for different application scenarios. The controller unit 4 is wrapped in a metal box on the outside, and the inside is a 4G communication module and a controller unit 4. There is a skirt on the lower side of the metal box and a hand-tightened quick bolt. The wall thickness of the metal box is appropriate (neither too heavy, nor too strong). There is a partition in the middle of the upper layer of the metal box for support and isolation (4G and drawer). Usually the controller unit 4 is integrated with the carrier 3, and the controller unit 4 can be quickly removed when regular inspection is required. In order to facilitate the presence of auxiliary items such as walkie-talkies, laser rangefinders, handle remote controls, and ambient thermometers, a plastic drawer is set inside the metal box.

[0055] The carrier 3 is a manual lifting cart. In order to meet the on-site inspection of the high-altitude infrared imaging monitoring device, the cart platform can be raised and lowered, and the maximum height of the lifting platform from the ground is 1.5 meters. To ensure that the cart meets the complex terrain needs of the substation, the four wheels of the cart are large-diameter wheels for easy obstacle crossing. In order to ensure the stability of the black body 6 together with the pan-tilt head 5 after the carrier is raised, four retractable brackets are installed near the wheels of the cart. The brackets have threaded feet with manually adjustable heights for easy leveling. In order to prevent induced electricity from harming the human body in the substation environment, the frequently touched parts such as the vehicle handrails are insulated (coated with an insulating layer and sprayed with insulating paint), and grounding terminals and grounding wires are specially reserved to ensure good grounding during work.

[0056] The mobile power supply is an independent mobile power box with a continuous output power of 3000W (3 hours), which is responsible for supplying power to the black body and the pan / tilt head.

[0057] When inspecting an infrared thermal imaging monitoring device, the staff will push the mobile black body 6 to a suitable position in front of the device to be inspected, and control the angle of the pan / tilt 5, the temperature of the black body 6 and the height of the black body 6 as needed. The infrared thermal imaging monitoring device backstage cooperates with the staff to operate the control system of the device to be inspected (set parameters, observation angle of the inspected monitoring device), so that the monitoring angle of the device to be inspected is aligned with the target surface of the black body 6 radiation source, and the on-site inspection is completed.

[0058] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An infrared online monitoring field inspection device and inspection method, characterized in that: Step 1: Confirm the positional relationship between the blackbody hole and the object; Step 2: According to the positional relationship in step 1, determine the movement mode of the blackbody hole; Step 3: Use the movement method of step 2 to drive the black body hole to move, so that the black body hole is aligned with the object.

2. The infrared online monitoring on-site inspection device and inspection method according to claim 1, characterized in that: The confirmation of the positional relationship between the blackbody pinhole and the object comprises: Step 1: Set up a signal transmitter and a signal receiver on the black body; Step 2: The signal transmitter transmits a detection signal, and based on the received response signal, calculates the position relationship of the object relative to the black body; Step 3: Obtain the positional relationship between the blackbody hole and the blackbody; Sub-step 4: Confirm the positional relationship between the blackbody hole and the object.

3. The infrared online monitoring on-site inspection device and inspection method according to claim 2, characterized in that: The calculating position relationship of the object relative to the black body comprises: Get the distance information between the object and the black body; Get the angle relationship between the object and the black body; Based on the acquired distance information and angle relationship between the object and the black body, the relative position relationship of the object with respect to the black body is obtained.

4. The infrared online monitoring on-site inspection device and inspection method according to claim 3, characterized in that: The obtaining of the distance information between the object and the black body comprises: Through the time difference between signal transmission and reception, a set of possible positions of the object relative to the black body is established.

5. The infrared online monitoring on-site inspection device and inspection method according to claim 4, characterized in that: The obtaining of the angle relationship between the object and the black body comprises: The time difference between signal emission and reception is used to extract and analyze the object response signal, and feature matching is performed with common object models pre-stored in the database. Once the target object is identified, the pixel coordinate position of the object in the image can be calculated through the image coordinate system combined with the optical parameters of the imaging device (such as focal length, field of view, etc.), and then converted into actual angular coordinates relative to the black body.

6. The infrared online monitoring on-site inspection device and inspection method according to claim 5, characterized in that: The movement mode of determining the blackbody hole is: After accurately acquiring the position relationship of the object relative to the black body, including distance information and angle relationship, through the signal transmission and reception mechanism and related algorithms, the system drives the gimbal to drive the black body to adjust so that the small hole of the black body is aligned with the object.

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