Multi-joint folding type remote sensing equipment for identifying heat source convergence boundary of cold region city

Abstract

The invention relates to the technical field of environment remote sensing monitoring equipment, in particular to multi-joint folding type remote sensing equipment for cold region city heat source convergence boundary identification. The system comprises a remote sensing machine which is integrated with an environment sensing unit, a joint control unit, a dynamic compensation unit and a data fusion unit, a sliding rail is arranged on the periphery of a machine body, the tail end of the sliding rail is sequentially connected with an active damper and a two-degree-of-freedom hinge in series, and accurate displacement adjustment and vibration suppression of a sensor platform are ensured. The low-temperature deformation compensation performs slide rail telescopic adjustment based on real-time temperature data so as to counteract mechanical deformation caused by low temperature; the rigidity of high-frequency vibration suppression is dynamically adjusted through an active damper, and the influence of vibration on the sensor is reduced; the composite interference cooperative processing preferentially processes vibration interference and then performs deformation compensation, so that the stability and reliability of the system are ensured. According to the method, the accuracy and efficiency of cold region city heat source sink boundary identification are remarkably improved, and reliable technical support is provided for city thermal environment evaluation.

Description

Technical Field

[0001] The present invention relates to the technical field of environmental remote sensing monitoring equipment, and specifically, to a multi-joint folding remote sensing equipment for identifying the heat source and sink boundaries in cold-region cities. Background Art

[0002] The regulation of the thermal environment in cold-region cities is an important means to improve the urban climate adaptability, and the accurate identification of the heat source and sink boundaries is the key to evaluating the heat island effect and optimizing the layout of blue-green spaces. In recent years, multi-joint folding remote sensing equipment has shown unique advantages in local climate zoning and heat source and sink identification due to its flexible observation angle and portability. However, under the extreme low-temperature conditions in cold regions, the mechanical deformation of traditional folding mechanisms will cause pointing deviations of infrared sensors, seriously affecting the accuracy of land surface temperature inversion and heat source and sink boundary identification.

[0003] Although the prior art has adopted constant-temperature designs or high-stiffness materials to suppress the low-temperature deformation of folding mechanisms, there are still obvious deficiencies in practical applications. There are still significant problems in real-time deformation compensation during dynamic observation in the prior art, specifically manifested as follows: when the equipment is deployed for work in an environment below -30°C, the cold shrinkage effect of metal joints will cause a systematic deviation of more than 0.15° in the preset observation angle. This deviation not only far exceeds the 0.1° error limit allowed for meteorological measurements, but will also be further amplified due to mechanical vibrations during the observation process, ultimately resulting in a significant deviation in the heat source and sink boundary identification results, seriously affecting the accuracy of urban thermal environment assessment. Summary of the Invention

[0004] The present invention provides a multi-joint folding remote sensing equipment for identifying the heat source and sink boundaries in cold-region cities. By setting slide rails around the body, it is rigidly connected to the body using flanges, and an active damper and a two-degree-of-freedom hinge are sequentially connected in series at the end of the slide rails. The system adopts three strategies: low-temperature deformation compensation, high-frequency vibration suppression, and composite interference collaborative processing. Through precise telescopic adjustment of the slide rails and angle adjustment of the two-degree-of-freedom hinge, it compensates for the mechanical deformation caused by low temperature; uses the active damper to dynamically adjust the stiffness to suppress high-frequency vibrations; in the case of composite interference, it preferentially processes vibration interference and then performs deformation compensation, thus solving the problems raised in the above background art, that is, the systematic deviation and mechanical vibrations caused by the cold shrinkage effect of metal joints in extreme low-temperature environments, resulting in a significant deviation in the heat source and sink boundary identification results.

[0005] To achieve the above object, the remote sensing machine integrates an environmental perception unit and a joint control unit. The environmental perception unit integrates a sensor group to collect environmental perception data in real time. The environmental perception data includes thermal image data, multi-spectral images, temperature and humidity data, and spatial attitude data. The joint control unit adjusts the angles and postures of each joint in real time through a motion control algorithm based on the temperature and humidity data and the spatial attitude data. It also includes:

[0006] A body, with six symmetric slide rails arranged around the body. The other end of each slide rail is connected to a two-degree-of-freedom hinge through an active damper, and the other end of the two-degree-of-freedom hinge is connected to a fixed platform. A sensor group is fixed on each fixed platform;

[0007] A dynamic compensation unit, which calculates the telescopic compensation amount of the slide rail based on temperature data and synchronously adjusts the angle of the two-degree-of-freedom hinge to offset the mechanical deformation caused by low temperature;

[0008] The dynamic compensation unit dynamically adjusts the magnetorheological elastomer stiffness of the active damper based on spatial attitude data and locks the angle of the two-degree-of-freedom hinge to suppress high-frequency mechanical vibrations;

[0009] When there are both low-temperature deformation and mechanical vibrations, the dynamic compensation unit first suppresses the vibration interference and then compensates for the low-temperature deformation based on thermal image data and multi-spectral images, for spatial positioning in the heat source-sink boundary.

[0010] In the above technical solution, during the dynamic observation process, the mechanical structure is prone to deformation under low-temperature conditions. Simply relying on high-stiffness materials cannot completely eliminate the systematic deviation caused by the cold shrinkage effect. At the same time, mechanical vibrations will further amplify these errors, affecting the observation accuracy; in addition, when the equipment faces both low-temperature deformation and mechanical vibrations, how to coordinate the work of each component to ensure the overall stability of the system is a complex system logic problem. The present invention first adjusts the angles and postures of each joint in real time based on environmental perception data. The telescopic adjustment of the slide rail is accurately compensated based on real-time temperature data to offset the mechanical deformation caused by low temperature; the angle adjustment of the two-degree-of-freedom hinge is fine-tuned based on spatial attitude data to ensure the pointing accuracy of the sensor platform; the active damper dynamically adjusts the stiffness according to the vibration spectrum characteristics to suppress high-frequency vibrations. In the case of composite interference, the system preferentially processes the vibration interference and then performs deformation compensation to ensure the coordinated work of each component.

[0011] On this basis, the sensor group includes two sets of infrared thermal imagers, one set of multi-spectral imagers, two sets of temperature and humidity sensors, and one set of inertial measurement units. The infrared thermal imagers are used to detect thermal image data, the multi-spectral imagers are used to detect multi-spectral images, the temperature and humidity sensors are used to detect temperature and humidity data, and the inertial measurement units are used to detect spatial attitude data.

[0012] In another technical solution, the infrared thermal imagers and the temperature and humidity sensors are both symmetrically distributed at the end of the multi-joint folding mechanism, for eliminating the observation blind area of the infrared thermal imagers through dual-view measurement and eliminating the influence of local environmental interference on the temperature and humidity sensors through spatial differential measurement.

[0013] In this technical solution, although multi-joint folding remote sensing devices require high-precision environmental perception data in extremely low-temperature environments, traditional sensor layouts and configurations often struggle to meet these needs. Firstly, in complex urban environments, a single-view infrared thermal imager is prone to creating observation blind spots, resulting in the absence of key heat source information. Secondly, if humidity sensors are not properly placed, they may be affected by local environmental interference, leading to inaccurate measurement results. Additionally, mutual interference between sensors may also impact the accuracy of data collection.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0015] 1. Through the organic combination of three strategies: low-temperature deformation compensation, high-frequency vibration suppression, and composite interference collaborative processing, the observation accuracy and reliability of multi-joint folding remote sensing devices in extremely low-temperature environments have been significantly improved. If only the low-temperature deformation compensation strategy is adopted, although it can partially offset the systematic deviation caused by the cold shrinkage effect, during the dynamic observation process, the sensor platform will still be affected by mechanical vibration, leading to a further amplification of the error in the observation results. In addition, simply relying on active dampers for high-frequency vibration suppression, although it can reduce the impact of vibration on the sensors, due to the lack of a deformation compensation mechanism, it is still difficult to avoid pointing deviation caused by the cold shrinkage of metal components in low-temperature environments.

[0016] 2. If only the combination of the two strategies of low-temperature deformation compensation and high-frequency vibration suppression is designed, although the observation accuracy can be improved to a certain extent, in the face of complex composite interference, the system may focus on processing one type of interference while ignoring the other, resulting in a significant deviation in the overall observation results. Since high-frequency vibration will rapidly increase the measurement error of the sensors, if the vibration is not suppressed first, even if precise deformation compensation is carried out, the observed data may still be inaccurate due to the influence of vibration. Therefore, by first eliminating vibration interference, it can ensure the stability and reliability of the basic data during low-temperature deformation compensation, thereby improving the accuracy of the final observation results. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic diagram of the overall process structure of the present invention;

[0018] Figure 2 is a schematic diagram of the process of the environmental perception unit in an embodiment of the present invention;

[0019] Figure 3 is a schematic diagram of the process of the dynamic compensation unit in an embodiment of the present invention;

[0020] Figure 4 is a schematic three-dimensional structure diagram of the overall remote sensing machine in an embodiment of the present invention;

[0021] Figure 5Schematic structural diagram of the multi-joint folding mechanism of the remote sensing machine according to an embodiment of the present invention;

[0022] Figure 6 Planar schematic diagram of the multi-joint folding mechanism according to an embodiment of the present invention;

[0023] Figure 7 Top view schematic diagram of the sensor group structure of the remote sensing machine according to an embodiment of the present invention.

[0024] The meanings of each label in the figure are as follows:

[0025] 100, base; 200, connecting frame; 300, body; 400, sensor group; 4001, infrared thermal imager; 4002, temperature and humidity sensor; 4003, multispectral imager; 4004, inertial measurement unit; 500, flange; 5001, fixed platform; 5002, two-degree-of-freedom hinge; 5003, active damper; 5004, slide rail; 600, environmental perception unit; 700, joint control unit; 800, dynamic compensation unit; 900, data fusion unit. Specific implementation manners

[0026] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a 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 those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0027] At the same time, some technical terms are explained here:

[0028] Aviation-grade cryogenic grease is a high-performance lubricant designed specifically for extreme low-temperature environments. It can maintain its lubricating performance within a wide temperature range from -60°C to 150°C, ensuring that the equipment can still operate smoothly under cold conditions. It has excellent frost resistance, low volatility, and excellent mechanical stability, which can effectively reduce friction and wear and extend the service life of the equipment in extreme environments;

[0029] Motion control algorithms are a class of calculation methods used to precisely control the motion path and speed of mechanical systems, aiming to ensure that equipment or robots can move accurately and efficiently along a predetermined trajectory. These algorithms are usually based on feedback control systems (such as PID controllers), and compensate for the deviation between the actual position and the target position by adjusting the output of motors or other driving devices in real time;

[0030] The PID controller adjusts the system output in real time through three control actions of proportional, integral, and differential to minimize the error between the target value and the actual value. It can provide fast response, eliminate steady-state error, and suppress overshoot, ensuring that the system operates stably and precisely.

[0031] At present, in order to solve the problem of decreased observation accuracy caused by low-temperature deformation of multi-joint folding mechanisms in the study of thermal environment in cold-region cities, the present invention provides a multi-joint folding remote sensing device for identifying heat source and sink boundaries in cold-region cities, aiming to achieve high-precision dynamic identification of heat source and sink boundaries in extreme low-temperature environments. Figure 1 As shown, the integrated control of real-time deformation correction and precise collection of meteorological data is realized specifically through the remote sensing machine and its integrated environment perception unit 600, joint control unit 700, dynamic compensation unit 800 and data fusion unit 900.

[0032] In the study of thermal environment in cold-region cities, accurately identifying the regulatory effect of blue-green space on the thermal environment has always been a key challenge. This remote sensing machine is specially designed for high-precision dynamic identification of heat source and sink boundaries in cold climates, so that it can effectively overcome structural deformation and data acquisition errors caused by low temperature.

[0033] See also Figure 2 , Figure 7 As shown in the figure, as the data acquisition front end of the entire system, the environment perception module of the remote sensing machine integrates a variety of sensors, including two sets of infrared thermal imagers 4001, a set of multi-spectral imagers 4003, two sets of temperature and humidity sensors 4002, and an inertial measurement unit 4004. These 400 sensor groups are all made of a special antifreeze packaging process and are directly installed on the end execution unit of the multi-joint folding mechanism to collect environmental perception data in real time, ensuring that the equipment can still work stably in an extremely low temperature environment.

[0034] like Figure 4 As shown, the overall structural design of the remote sensing machine takes portability and operational flexibility into consideration. It includes a base 100, on which a cylindrical body 300 is provided through a connecting frame 200. Six identical and symmetrical multi-joint folding mechanisms extend from the body 300, and each mechanism is equipped with a set of sensors. Specifically, two infrared thermal imagers 4001 are respectively located at the ends of two multi-joint folding mechanisms at diagonal positions, and are used to accurately obtain thermal image data with a high thermal resolution of 0.05°C; a multispectral imager 4003 is installed on a separate multi-joint folding mechanism, which can synchronously collect multispectral images in the 400-1000nm band, providing key data support for identifying different surface cover types and their thermal characteristics; two sets of temperature and humidity sensors 4002 are symmetrically distributed on the remaining multi-joint folding mechanisms, continuously recording changes in temperature and humidity data in the environment; and an inertial measurement unit 4004 is integrated in one of the multi-joint folding mechanisms to continuously monitor the spatial posture data of the device.

[0035] This design not only ensures the physical separation between various sensors, reducing mutual interference, but also enhances the device's adaptability in harsh environments through optimized mechanical connections and thermal isolation designs. In particular, under extreme low-temperature conditions of -40°C, all sensors can still maintain efficient operation. During the device's operation, the environmental perception module not only collects thermal image data and multi-spectral images in real time, but also continuously monitors the device's spatial attitude data through the built-in inertial measurement unit 4004, while the temperature and humidity sensor 4002 constantly records temperature and humidity data. After these data are processed through strict timestamp synchronization and spatial coordinate registration, a complete standardized observation data set is formed and transmitted to the joint control unit 700, providing data support for subsequent precise motion control.

[0036] Based on these accurate environmental perception data, the joint control unit 700 can adjust the device's attitude more accurately, thereby achieving the optimal observation effect. For example, when detecting changes in local terrain or meteorological conditions, the control system can timely adjust the position of the multi-joint folding mechanism according to the attitude information provided by the inertial measurement unit 4004 to ensure that the sensor is always at the best observation angle. In addition, by analyzing the temperature and humidity data, it is also possible to predict and compensate for measurement errors caused by environmental changes, further improving the observation accuracy.

[0037] The joint control unit 700 receives the standardized observation data set and drives the multi-joint folding mechanism to complete precise attitude adjustment through an intelligent motion control algorithm. This unit realizes angle closed-loop regulation based on the improved PID control principle, and its core control logic can be described as: according to the difference between the target angle and the actual angle fed back by the encoder, combined with the cumulative amount and change rate of the difference, dynamically calculate the motor drive amount, and its formula is as follows:

[0038] U = P×E + I×∑E + D×ΔE;

[0039] In the formula, U represents the control output (such as the motor PWM signal or joint torque command) for driving the actuator;

[0040] P represents the proportional gain coefficient, which determines the response intensity of the system to the current error;

[0041] E represents the current error, that is, the difference between the target angle and the actual angle;

[0042] I represents the integral gain coefficient, which is used to eliminate the steady-state error;

[0043] ∑E represents the cumulative sum of historical errors (integral term), which corrects the long-term deviation;

[0044] D represents the differential gain coefficient, which suppresses system oscillation;

[0045] ΔE = E t-Et-1 represents the error change rate, reflecting the dynamic trend of the error.

[0046] This unit adopts a modular design. Each rotating joint is equipped with a high-precision drive system, including a cryogenic harmonic reduction motor (rated torque of 5 N·m at -40°C), a 20-bit absolute photoelectric encoder (resolution up to 0.001°), and a temperature-adaptive PID controller to ensure precise angle control even under extreme low temperatures.

[0047] This remote sensor adopts an innovative triple composite configuration: the outer layer is a carbon fiber reinforced composite material shell to ensure structural rigidity and reduce weight; the middle layer is embedded with a copper-based heat conduction layer and distributed heating elements to maintain the working temperature of the core components; the internal transmission system uses a special low-temperature alloy steel gear set, combined with aerospace-grade low-temperature grease, to ensure the motion reliability under extreme environments. When receiving the target observation instruction transmitted by the environmental perception unit 600, the control unit sends real-time control signals to each joint through the CAN bus protocol at a refresh frequency of 1 kHz, driving the motor to perform precise angle adjustment.

[0048] After positioning, the system performs Kalman filter fusion on the actual joint angle feedback by the encoder, the spatial attitude data collected by the inertial measurement unit 4004, and the temperature and humidity data recorded by the temperature and humidity sensor 4002 to generate a six-degree-of-freedom device pose matrix (including three-dimensional coordinates and Euler angle descriptions). These data, together with the environment perception data synchronized in time, jointly constitute a fusion observation data packet and are uploaded to the dynamic compensation unit 800 through a gigabit Ethernet. The temperature and humidity sensor 4002 not only provides key environmental information but also helps the system optimize its working state under different meteorological conditions. For example, in an extreme low-temperature environment, the temperature and humidity data can be used for pre-compensation of mechanical deformation caused by temperature changes, thereby improving the overall observation accuracy. This integrated design enables the system to maintain a positioning accuracy of 0.03° even in a -40°C low-temperature environment. At the same time, through the spatio-temporal correlation between the pose matrix and the environmental data (including temperature and humidity data), it provides a complete device state benchmark for subsequent error compensation.

[0049] Although the joint control unit 700 achieves precise angle positioning, during actual cold region operations, the non-uniform shrinkage characteristics of metal materials at low temperatures lead to a key problem: even if the encoder shows that the joint has reached the theoretical angle, the spatial position of the actual end effector will still have a millimeter-level offset. This phenomenon of inconsistency between the appearance and reality caused by material characteristics makes it impossible to ensure the absolute pointing accuracy of the infrared sensor solely relying on joint angle feedback, which is precisely the most critical parameter for high-precision heat source sink identification. For this reason, the present invention introduces the dynamic compensation unit 800.

[0050] Through the deep integration of the dynamic compensation unit 800 of the present invention with the intelligent control system by means of a series mechanical structure, efficient collaborative suppression of low-temperature deformation and dynamic vibration of a multi-joint folding mechanism in a cold environment is achieved. Refer to Figure 5 , Figure 6 As shown, around the equipment body 300, six retractable slide rails 5004 are rigidly connected to the body 300 through flanges 500. At the end of each slide rail 5004, an active damper 5003 and a two-degree-of-freedom hinge 5002 are connected in series in sequence, and finally connected to a fixed platform 5001, forming a full-link compensation architecture of "deformation compensation - vibration suppression - attitude calibration".

[0051] Through the collaborative work of the mechanical structure and the intelligent control system, this unit realizes intelligent compensation for low-temperature deformation and mechanical vibration interference. This structure consists of three core components: the slide rail 5004, the active damper 5003, and the two-degree-of-freedom hinge 5002, and realizes a complete compensation function through their mutual cooperation. First, six retractable slide rails 5004 are evenly distributed around the body 300. One end of each slide rail 5004 is fixed to the body 300 through a flange 500. With a high-precision linear guide design, it can achieve precise displacement compensation of ±10 mm. The other end of the slide rail 5004 is connected to the active damper 5003, and this device can adjust the damping force in real time according to the vibration characteristics. The other end of the active damper 5003 is fixedly connected to the two-degree-of-freedom hinge 5002, and finally connected to the fixed platform 5001 through the two-degree-of-freedom hinge 5002 to ensure the motion accuracy. The two-degree-of-freedom hinge 5002 adopts a special bearing design and can finely adjust the angle of the fixed platform 5001 with an accuracy of ±0.01°.

[0052] After the joint control unit 700 transmits the target pose matrix (including the theoretical pitch angle, yaw angle, and three-dimensional coordinates) and the environmental perception original data (the thermal image data of the infrared thermal imager 4001, the images of the multispectral imager 4003, and the temperature and humidity data of the temperature and humidity sensor 4002) to the dynamic compensation unit 800, as Figure 3 shown, the system first analyzes the joint temperature data and vibration spectrum characteristics in these data. Through the low-temperature - vibration coupling model, the system calculates in real time the telescopic compensation amount of the slide rail 5004, the stiffness adjustment parameter of the damper, and the fine-tuning angle of the hinge.

[0053] When the ambient temperature is detected to be lower than -20°C, the system activates the low-temperature deformation compensation strategy. Based on real-time temperature and humidity data and the thermal expansion characteristics of materials, the required compensation amount is accurately calculated. Among them, the slide rail 5004 will be adjusted for telescopic movement with an accuracy of 0.01 mm according to the temperature change. For every 10°C decrease in temperature, the corresponding compensation displacement is 1.2 - 1.5 mm, and the maximum stroke can reach ±10 mm. At the same time, the two-degree-of-freedom hinge 5002 will rotate synchronously with an accuracy of 0.01°. For every 1 mm displacement of the slide rail 5004, the angle adjustment is 0.05 - 0.08°, and the maximum rotation range is ±1.5°. The response time of the entire compensation process is controlled within 50 milliseconds. Through the precise coordinated movement of the slide rail 5004 and the hinge, it is ensured that the fixed platform 5001 can still maintain a pointing accuracy of ≤0.03° in the extreme environment of -40°C, and the compensation effect can last stably for more than 8 hours. The thermal image data of the infrared thermal imager 4001 and the multi-spectral images of the multi-spectral imager 4003 are used to verify the compensation effect and ensure the accuracy of the observation data.

[0054] For mechanical vibration interference, the system adopts a high-frequency vibration suppression strategy. When encountering low-frequency vibration, the damper moderately increases the damping force, and at the same time, the slide rail 5004 performs a buffer telescopic movement of 1 - 2 mm. When encountering high-frequency vibration, the damper quickly adjusts to the strongest state, and the hinge is locked in the current position to avoid the influence of micro-vibrations on the observation accuracy. The active damper 5003 absorbs low-frequency vibration energy through the dynamic adjustment of the stiffness of the magnetorheological elastomer (range 50 - 1000 N / mm), and at the same time uses the high-frequency resonance cancellation of the piezoelectric ceramic sheet (±10 μm amplitude) to eliminate residual jitter. The thermal image data of the infrared thermal imager 4001 and the multi-spectral images of the multi-spectral imager 4003 continuously monitor during this process to ensure that clear and stable observation data can be provided even under vibration conditions.

[0055] In a complex environment, the system activates the composite interference collaborative processing strategy. When both low-temperature deformation and mechanical vibration occur simultaneously, the system gives priority to dealing with vibration interference and then performs deformation compensation after vibration suppression. The entire process adopts a priority arbitration mechanism to ensure the coordinated operation of each component and obtain clear observation data in an extreme environment. The temperature and humidity data of the temperature and humidity sensor 4002 are used to monitor the changes in environmental conditions during this process, helping the system dynamically adjust the compensation strategy to ensure that the observation accuracy of the infrared thermal imager 4001 and the multi-spectral imager 4003 is not affected by external factors.

[0056] The system continuously monitors the thermal image data collected by the infrared thermal imager 4001. If the compensation effect is found to be unsatisfactory, the secondary compensation procedure will be automatically started to further improve the observation accuracy by fine-tuning the hinge angle and the position of the slide rail 5004. All compensation data will be recorded and used to optimize subsequent compensation strategies. Finally, the dynamic compensation unit 800 generates a standardized compensation data packet containing corrected posture data, compensation parameters and device status information, and transmits the data packet to the data fusion unit 900.

[0057] Through the collaborative work of the three-level compensation strategy (low temperature deformation compensation strategy, high frequency vibration suppression strategy and composite interference collaborative processing strategy), this remote sensing machine not only ensures that the infrared thermal imager 4001 can accurately obtain the surface temperature field distribution with a high thermal resolution of 0.05℃, but also ensures that the multispectral imager 4003 can synchronously collect multispectral images in the 400-1000 nanometer band, thus providing reliable data support for the subsequent accurate identification of different surface cover types and their thermal characteristics. The data of the temperature and humidity sensor 4002 plays a key role in the whole process, helping the system to optimize its working state under different meteorological conditions and ensure the accuracy and stability of the observation data.

[0058] The data fusion unit 900, as the final output link of the present invention, realizes the accurate identification and visualization of the boundary of the heat source sink in cold regions through intelligent fusion processing of multi-source data. The unit receives the standardized compensation data packet transmitted by the dynamic compensation unit 800, which contains the following key information: accurate posture data after deformation and vibration compensation, corrected infrared thermal image (temperature resolution 0.05°C), multispectral image (400-1000nm band) and equipment working status parameters.

[0059] During data processing, the system first performs spatiotemporal registration of multi-source data: infrared thermal images and multispectral images collected at different times are unified into the same geographic coordinate system through posture data; then a feature fusion algorithm based on deep learning is used to extract the boundary features of blue-green space (water bodies, vegetation) and heat sources (buildings, roads); finally, the heat flux distribution is calculated through a thermodynamic model to generate a heat source-sink boundary map with a temperature gradient. To adapt to the characteristics of the cold environment, the algorithm specifically optimizes the recognition accuracy of ice-covered areas, which can effectively distinguish between real heat sources and interference from snow surface reflections.

[0060] In summary, through innovative multi-joint serial mechanical design and dynamic regulation of system processes, the present invention realizes the organic unity of low-temperature deformation compensation, high-frequency vibration suppression and composite interference collaborative processing, fundamentally solving the core problem of reduced observation accuracy of multi-joint folding remote sensing equipment in cold environments due to low-temperature deformation and mechanical vibration, and provides effective technical guarantee for high-precision identification of heat source sink boundaries in cold-region cities.

[0061] The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments, and the above embodiments and the descriptions in the specification are only preferred examples of the present invention, and are not used to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements fall within the scope of the present invention claimed. The scope of the present invention claimed is defined by the appended claims and their equivalents.

Claims

1. A multi-joint folding remote sensing device for identifying the boundaries of heat sources and sinks in cold-region cities, which includes a remote sensor. The remote sensor integrates an environmental perception unit (600) and a joint control unit (700). The environmental perception unit (600) integrates a sensor group to collect environmental perception data in real time. It is characterized in that, It also includes: A body (300) with six symmetric slide rails (5004) arranged around it. The other end of each slide rail (5004) is connected to a two-degree-of-freedom hinge (5002) through an active damper (5003), and the other end of the two-degree-of-freedom hinge (5002) is connected to a fixed platform (5001). A sensor group is fixed on each fixed platform (5001). A dynamic compensation unit (800) that calculates the telescopic compensation amount of the slide rail (5004) based on temperature data and synchronously adjusts the angle of the two-degree-of-freedom hinge (5002) to counteract mechanical deformation caused by low temperature. The dynamic compensation unit (800) dynamically adjusts the magnetorheological elastomer stiffness of the active damper (5003) based on spatial attitude data and locks the angle of the two-degree-of-freedom hinge (5002) to suppress high-frequency mechanical vibration. When there are both low-temperature deformation and mechanical vibration, the dynamic compensation unit (800) first suppresses vibration interference and then compensates for low-temperature deformation for spatial positioning in the heat source-sink boundary.

2. The multi-joint folding remote sensing device for identifying the heat source-sink boundary in cold-region cities according to claim 1, wherein: The sensor group includes two sets of infrared thermal imagers (4001), one set of multispectral imagers (4003), two sets of temperature and humidity sensors (4002), and one set of inertial measurement units (4004). The infrared thermal imagers (4001) are used to detect thermal image data, the multispectral imagers (4003) are used to detect multispectral images, the temperature and humidity sensors (4002) are used to detect temperature and humidity data, and the inertial measurement units (4004) are used to detect spatial attitude data.

3. The multi-joint folding remote sensing device for identifying the heat source-sink boundary in cold-region cities according to claim 2, characterized in that: The infrared thermal imagers (4001) and the temperature and humidity sensors (4002) are both symmetrically distributed at the end of the multi-joint folding mechanism to eliminate the blind area of the infrared thermal imager's observation through dual-view measurement and eliminate the influence of local environmental interference on the temperature and humidity sensors through spatial differential measurement.

4. The multi-joint folding remote sensing device for identifying the heat source-sink boundary in cold-region cities according to claim 1, characterized in that: The joint control unit (700) performs timestamp synchronization and spatial coordinate registration processing on the environmental perception data to generate a standardized observation data set, and combines the actual joint angle information fed back by the encoder to generate a fused observation data packet containing the six-degree-of-freedom device pose matrix through the Kalman filter algorithm.

5. The multi-joint folding remote sensing device for identifying the heat source-sink boundary in cold-region cities according to claim 4, wherein: The standardized observation data set combines the actual joint angle information fed back by the encoder to generate a fused observation data packet containing the six-degree-of-freedom device pose matrix through the Kalman filter algorithm and transmits it to the dynamic compensation unit (800).

6. The multi-joint folding remote sensing device for identifying the heat source-sink boundary in cold-region cities according to claim 5, wherein: The dynamic compensation unit (800) receives the fused observation data packet and analyzes the joint temperature data and vibration spectrum characteristics therein.

7. The multi-joint folding remote sensing device for identifying the heat source-sink boundary in cold-region cities according to claim 6, characterized in that: The dynamic compensation unit (800) also includes a secondary compensation program for fine-tuning the attitude of the fixed platform (5001) when insufficient compensation is detected.

8. The multi-joint folding remote sensing device for identifying the heat source-sink boundary in cold-region cities according to claim 1, characterized in that: A base (100) is provided below the body (300) through a connecting frame (200), and the periphery of the body (300) is connected to the slide rail (5004) through a flange (500) to provide stable support for the fixed platform (5001).

9. The multi-joint folding remote sensing device for identifying the heat source-sink boundary in cold-region cities according to claim 7, wherein: The dynamic compensation unit (800) obtains a standardized compensation data packet by analyzing and fusing the temperature data, vibration spectrum characteristics, and spatial attitude data in the observation data packet, and performs deformation and vibration compensation, and then transfers it to the data fusion unit (900).

10. The multi-joint folding remote sensing device for identifying the heat source-sink boundary in cold-region cities according to claim 9, wherein: The data fusion unit (900) receives the standardized compensation data packet, performs spatio-temporal registration on multi-source data, and extracts the characteristics of the blue-green space and the heat source boundary.

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