Multi-jointed folding remote sensing device for identifying heat source sink boundaries in cold-region cities

Abstract

This invention relates to the field of environmental remote sensing monitoring equipment technology, specifically to a multi-jointed folding remote sensing device for identifying heat source sink boundaries in cold-region cities. It includes a remote sensing unit integrating an environmental sensing unit, a joint control unit, a dynamic compensation unit, and a data fusion unit. A slide rail is installed around the perimeter of the unit, with an active damper and a two-degree-of-freedom hinge connected in series at the end of the slide rail to ensure precise displacement adjustment and vibration suppression of the sensor platform. Low-temperature deformation compensation adjusts the slide rail extension and contraction based on real-time temperature data to offset mechanical deformation caused by low temperatures; high-frequency vibration suppression dynamically adjusts the stiffness of the active damper to reduce the impact of vibration on the sensor; composite interference collaborative processing prioritizes vibration interference before deformation compensation, ensuring the stability and reliability of the system. This invention significantly improves the accuracy and efficiency of heat source sink boundary identification in cold-region cities, providing reliable technical support for urban thermal environment assessment.

Description

Technical Field

[0001] This invention relates to the field of environmental remote sensing monitoring equipment technology, and more specifically, to a multi-jointed folding remote sensing device for identifying heat source sink boundaries in cold-region cities. Background Technology

[0002] Thermal environment regulation in cold-region cities is an important means to improve urban climate adaptability, and accurate identification of heat source-sink boundaries is key to assessing the heat island effect and optimizing the blue-green space layout. In recent years, multi-jointed foldable remote sensing devices have shown unique advantages in local climate zoning and heat source-sink identification due to their flexible observation angles and portability. However, under extreme low-temperature conditions in cold regions, the mechanical deformation of traditional folding mechanisms can lead to pointing deviations in infrared sensors, seriously affecting the accuracy of surface temperature inversion and heat source-sink boundary identification.

[0003] Although existing technologies employ temperature-controlled designs or high-rigidity materials to suppress low-temperature deformation of folding mechanisms, significant shortcomings remain in practical applications. Existing technologies still have significant problems in real-time deformation compensation during dynamic observation. Specifically, when the equipment operates in environments below -30°C, the contraction effect of the metal joints causes 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 by meteorological measurements but is further amplified by mechanical vibrations during the observation process, ultimately causing a significant shift in the heat source sink boundary identification results and severely affecting the accuracy of urban thermal environment assessment. Summary of the Invention

[0004] This invention provides a multi-jointed folding remote sensing device for identifying heat source sink boundaries in cold-region cities. The device utilizes slide rails around its perimeter, rigidly connected to the body via flanges. An active damper and a two-degree-of-freedom hinge are connected in series at the ends of the slide rails. The system employs three strategies: low-temperature deformation compensation, high-frequency vibration suppression, and coordinated processing of complex interference. Precise adjustment of the slide rails' extension and retraction, and angle adjustment of the two-degree-of-freedom hinges, compensates for mechanical deformation caused by low temperatures. The active damper dynamically adjusts stiffness to suppress high-frequency vibrations. Under complex interference conditions, vibration interference is prioritized before deformation compensation. This addresses the problem mentioned in the background art: in extreme low-temperature environments, the systematic deviation and mechanical vibration caused by the contraction and shrinkage of metal joints lead to significant deviations in heat source sink boundary identification results.

[0005] To achieve the above objectives, the remote sensing device integrates an environmental sensing unit and a joint control unit. The environmental sensing unit integrates a sensor array to collect environmental sensing data in real time, including thermal image data, multispectral images, temperature and humidity data, and spatial attitude data. The joint control unit adjusts the angle and attitude of each joint in real time based on the temperature and humidity data and spatial attitude data using a motion control algorithm. It also includes:

[0006] The machine body has six symmetrical slide rails around its perimeter. The other end of each slide rail is connected to a two-degree-of-freedom hinge via an active damper. The other end of each two-degree-of-freedom hinge is connected to a fixed platform. Each fixed platform is equipped with a sensor group.

[0007] A dynamic compensation unit calculates the expansion and contraction compensation of the slide rail based on temperature data and simultaneously adjusts the angle of the two-degree-of-freedom hinge to counteract 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 vibration.

[0009] The dynamic compensation unit, based on thermal image data and multispectral images, first suppresses vibration interference and then compensates for low-temperature deformation when both low-temperature deformation and mechanical vibration exist simultaneously, and is used for spatial positioning in the boundary of heat source sink.

[0010] In the aforementioned technical solutions, during dynamic observation, the mechanical structure is prone to deformation under low-temperature conditions. Relying solely on high-stiffness materials cannot completely eliminate the systematic deviations caused by the contraction effect. Furthermore, mechanical vibration further amplifies these errors, affecting observation accuracy. Moreover, when the equipment simultaneously faces low-temperature deformation and mechanical vibration, coordinating the operation of each component to ensure the overall stability of the system is a complex system logic problem. This invention first adjusts the angles and attitudes of each joint in real time based on environmental perception data. The extension and retraction adjustment of the slide rail is precisely compensated based on real-time temperature data to counteract the mechanical deformation caused by low temperatures. 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 its stiffness according to the vibration spectrum characteristics to suppress high-frequency vibrations. Under combined interference conditions, the system prioritizes handling vibration interference before performing deformation compensation, ensuring coordinated operation of all components.

[0011] Based on this, the sensor group includes two sets of infrared thermal imagers, one set of multispectral 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 multispectral imagers are used to detect multispectral 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 imager and the temperature and humidity sensor are symmetrically distributed at the end of the multi-joint folding mechanism, which is used to eliminate the blind spot of the infrared thermal imager through dual-view measurement and to eliminate the influence of local environmental interference on the temperature and humidity sensor through spatial differential measurement.

[0013] This technical solution addresses the challenge of multi-jointed foldable remote sensing devices requiring high-precision environmental sensing data in extreme low-temperature environments. Traditional sensor layouts and configurations often fall short of these requirements. Firstly, in complex urban environments, single-view infrared thermal imagers are prone to blind spots, leading to the loss of crucial heat source information. Secondly, improperly placed temperature and humidity sensors may be susceptible to localized environmental interference, resulting in inaccurate measurements. Furthermore, mutual interference between sensors can also affect the accuracy of data acquisition.

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

[0015] 1. By organically combining three strategies—low-temperature deformation compensation, high-frequency vibration suppression, and synergistic processing of complex interference—the observation accuracy and reliability of multi-joint foldable remote sensing equipment in extreme low-temperature environments were significantly improved. While low-temperature deformation compensation alone can partially offset the systematic bias caused by the shrinkage effect, the sensor platform is still subject to mechanical vibration during dynamic observation, further amplifying the error in the observation results. Furthermore, relying solely on active dampers for high-frequency vibration suppression, although reducing the impact of vibration on the sensor, still cannot avoid pointing deviations caused by the shrinkage of metal components in low-temperature environments due to the lack of a deformation compensation mechanism.

[0016] 2. If only a combination of low-temperature deformation compensation and high-frequency vibration suppression strategies is designed, although it can improve the observation accuracy to a certain extent, when faced with complex compound interference, the system may focus on processing one type of interference while ignoring the other, resulting in a significant shift in the overall observation results. Since high-frequency vibration can rapidly increase the measurement error of the sensor, if vibration is not suppressed first, even if precise deformation compensation is performed, the observation data may still be inaccurate due to the influence of vibration. Therefore, by eliminating vibration interference first, the basic data during low-temperature deformation compensation can be ensured to be stable and reliable, thereby improving the accuracy of the final observation results. Attached Figure Description

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

[0018] Figure 2 This is a schematic diagram of the environmental sensing unit according to an embodiment of the present invention;

[0019] Figure 3 This is a flowchart illustrating the dynamic compensation unit of an embodiment of the present invention;

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

[0021] Figure 5This is a schematic diagram of the multi-joint folding mechanism of the remote sensing machine according to an embodiment of the present invention;

[0022] Figure 6 This is a plan view of the multi-joint folding mechanism according to an embodiment of the present invention;

[0023] Figure 7 This is a top view schematic diagram of the remote sensing sensor group structure according to an embodiment of the present invention.

[0024] The meanings of the labels in the diagram 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 sensing unit; 700. Joint control unit; 800. Dynamic compensation unit; 900. Data fusion unit. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] Here are some explanations of technical terms:

[0028] Aerospace-grade cryogenic grease is a high-performance lubricant specifically designed for extreme low-temperature environments. It maintains its lubricating properties over a wide temperature range of -60°C to 150°C, ensuring smooth operation of equipment in cold conditions. It features excellent antifreeze properties, low volatility, and superior mechanical stability, effectively reducing friction and wear and extending the service life of equipment in extreme environments.

[0029] Motion control algorithms are a class of computational methods used to precisely control the motion path and speed of mechanical systems. They aim 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 drive devices in real time.

[0030] PID controllers adjust the system output in real time through proportional, integral, and derivative control actions to minimize the error between the target value and the actual value. They can provide fast response, eliminate steady-state error, and suppress overshoot, ensuring stable and accurate system operation.

[0031] Currently, research on the thermal environment of cold-region cities suffers from decreased observation accuracy due to low-temperature deformation of multi-jointed folding mechanisms. This invention provides a multi-jointed 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 under extreme low-temperature environments. (See also...) Figure 1 As shown, the integrated control of real-time deformation correction and accurate meteorological data acquisition is achieved through a remote sensing machine and its integrated environmental sensing unit 600, joint control unit 700, dynamic compensation unit 800 and data fusion unit 900.

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

[0033] See Figure 2 , Figure 7 As shown, the environmental perception module of this remote sensing device, serving as the data acquisition front-end of the entire system, integrates multiple sensors, including two sets of infrared thermal imagers 4001, one set of multispectral imagers 4003, two sets of temperature and humidity sensors 4002, and one inertial measurement unit 4004. These 400 sensor sets all employ a special anti-freeze packaging process and are directly mounted on the end effector unit of the multi-joint folding mechanism to collect environmental perception data in real time, ensuring stable operation of the equipment even in extreme low-temperature environments.

[0034] like Figure 4 As shown, the overall structural design of the remote sensing device takes into account portability and operational flexibility. It includes a base 100, on which a cylindrical body 300 is mounted via a connecting frame 200. Six identical and symmetrical multi-joint folding mechanisms extend from the body 300, each equipped with a set of sensors. Specifically, two infrared thermal imagers 4001 are located at the ends of the two multi-joint folding mechanisms at diagonal positions, used to accurately acquire thermal image data with a high thermal resolution of 0.05℃; a multispectral imager 4003 is mounted on a separate multi-joint folding mechanism, capable of simultaneously acquiring multispectral images in the 400-1000nm band, providing key data support for identifying different land 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 environmental temperature and humidity data; and an inertial measurement unit 4004 is integrated into one of the multi-joint folding mechanisms, continuously monitoring the spatial attitude data of the device.

[0035] This design not only ensures physical separation between the sensors, reducing mutual interference, but also enhances the equipment's adaptability to harsh environments through optimized mechanical connections and thermal isolation. In particular, all sensors maintain efficient operation even at extreme low temperatures of -40°C. During operation, the environmental sensing module not only acquires thermal image data and multispectral images in real time, but also continuously monitors the equipment's spatial attitude data through the built-in inertial measurement unit 4004, while the temperature and humidity sensor 4002 continuously records temperature and humidity data. After rigorous timestamp synchronization and spatial coordinate registration, this data forms a complete standardized observation dataset, which is then transmitted to the joint control unit 700 to provide data support for subsequent precise motion control.

[0036] Based on this precise environmental perception data, the joint control unit 700 can more accurately adjust the device's attitude, thereby achieving optimal observation results. For example, when a change in local terrain or weather conditions is detected, the control system can adjust the position of the multi-joint folding mechanism in a timely manner based on the attitude information provided by the inertial measurement unit 4004, ensuring that the sensor is always at the optimal observation angle. Furthermore, by analyzing temperature and humidity data, measurement errors caused by environmental changes can be predicted and compensated for, further improving observation accuracy.

[0037] The joint control unit 700 receives a standardized observation dataset and drives the multi-joint folding mechanism to achieve precise posture adjustment through an intelligent motion control algorithm. This unit achieves closed-loop angle adjustment based on an improved PID control principle. Its core control logic can be described as follows: based on the difference between the target angle and the actual angle fed back by the encoder, combined with the cumulative difference and the rate of change, the motor drive quantity is dynamically calculated, as shown in the following formula:

[0038] U = P × E + I × ∑E + D × ΔE;

[0039] In the formula, U represents the control output (such as motor PWM signal or joint torque command), which is used to drive the actuator;

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

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

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

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

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

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

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

[0047] This remote sensing unit adopts an innovative three-layer composite structure: the outer layer is a carbon fiber reinforced composite shell, ensuring structural rigidity and reducing weight; the middle layer embeds a copper-based heat-conducting layer and distributed heating elements to maintain the operating temperature of core components; the internal transmission system uses a special low-temperature alloy steel gear set, combined with aerospace-grade low-temperature grease, to ensure reliable operation in extreme environments. Upon receiving the target observation command transmitted by the environmental sensing unit 600, the control unit sends real-time control signals to each joint via the CAN bus protocol at a refresh rate of 1kHz, driving the motors to perform precise angle adjustments.

[0048] After positioning is completed, the system fuses the actual joint angles fed back 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 using Kalman filtering to generate a six-DOF device pose matrix (including three-dimensional coordinates and Euler angle description). This data, along with time-synchronized environmental perception data, constitutes a fused observation data packet, which is uploaded to the dynamic compensation unit 800 via gigabit Ethernet. The temperature and humidity sensor 4002 not only provides crucial environmental information but also helps the system optimize its operation under different weather conditions. For example, in extreme low-temperature environments, temperature and humidity data can be used to pre-compensate for mechanical deformation caused by temperature changes, thereby improving overall observation accuracy. This integrated design allows the system to maintain a positioning accuracy of 0.03° even at -40°C. Furthermore, through the spatiotemporal correlation between the pose matrix and environmental data (including temperature and humidity data), a complete device state reference is provided for subsequent error compensation.

[0049] Although the joint control unit 700 achieves precise angle positioning, a critical problem arises during actual cold-weather operations due to the non-uniform shrinkage characteristics of metal materials at low temperatures: even if the encoder indicates that the joint has reached the theoretical angle, the actual spatial position of the end effector will still deviate by millimeters. This discrepancy between the surface and the actual position caused by material properties means that relying solely on joint angle feedback cannot guarantee the absolute pointing accuracy of the infrared sensor, which is precisely the most critical parameter for high-precision heat source identification. To address this, the present invention introduces the dynamic compensation unit 800.

[0050] The dynamic compensation unit 800 of this invention, through deep integration of a series mechanical structure and an intelligent control system, achieves efficient and coordinated suppression of low-temperature deformation and dynamic vibration in multi-joint folding mechanisms under cold environments. See also... Figure 5 , Figure 6 As shown, around the body 300 of the equipment, six retractable slide rails 5004 are rigidly connected to the body 300 via flanges 500. Each slide rail 5004 has an active damper 5003 and a two-degree-of-freedom hinge 5002 connected in series at its end, and is finally connected to the fixed platform 5001, forming a full-link compensation architecture of "deformation compensation - vibration suppression - attitude calibration".

[0051] This unit achieves intelligent compensation for low-temperature deformation and mechanical vibration interference through the coordinated operation of its mechanical structure and intelligent control system. The structure consists of three core components: a slide rail 5004, an active damper 5003, and a two-degree-of-freedom hinge 5002. These components work together to achieve complete compensation. 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 via a flange 500, employing a high-precision linear guide design capable of achieving precise displacement compensation of ±10 mm. The other end of the slide rail 5004 connects to the active damper 5003, which can adjust the damping force in real time according to vibration characteristics. The other end of the active damper 5003 is fixedly connected to the two-degree-of-freedom hinge 5002, ultimately connecting to the fixed platform 5001 via the two-degree-of-freedom hinge 5002 to ensure motion accuracy. The two-degree-of-freedom hinge 5002 uses a special bearing design, enabling fine-tuning of the angle of the fixed platform 5001 with an accuracy of ±0.01°.

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

[0053] When the ambient temperature is detected to be below -20℃, the system activates a low-temperature deformation compensation strategy. Based on real-time temperature and humidity data and the thermal expansion characteristics of the materials, the required compensation amount is precisely calculated. Specifically, the slide rail 5004 adjusts its extension and retraction with an accuracy of 0.01 mm according to temperature changes, with a compensation displacement of 1.2-1.5 mm for every 10℃ decrease in temperature, and a maximum travel of ±10 mm. Simultaneously, the dual-degree-of-freedom hinge 5002 rotates synchronously with an accuracy of 0.01°, with an angle adjustment of 0.05-0.08° for every 1 mm displacement of the slide rail 5004, and a maximum rotation range of ±1.5°. The entire compensation process has a response time controlled within 50 milliseconds. Through the precise coordinated action of the slide rail 5004 and the hinge, the fixed platform 5001 maintains a pointing accuracy of ≤0.03° even in the extreme environment of -40℃, and the compensation effect remains stable for more than 8 hours. Thermal image data from the infrared thermal imager 4001 and multispectral images from the multispectral imager 4003 are used to verify the compensation effect and ensure the accuracy of the observation data.

[0054] For mechanical vibration interference, the system employs a high-frequency vibration suppression strategy. When encountering low-frequency vibration, the damper moderately increases its damping force, while the slide rail 5004 performs a 1-2 mm buffer extension / retraction. When encountering high-frequency vibration, the damper quickly adjusts to its strongest state, while the hinge locks in its current position to prevent minor vibrations from affecting observation accuracy. The active damper 5003 absorbs low-frequency vibration energy through dynamic stiffness adjustment of the magnetorheological elastomer (range 50-1000 N / mm), while simultaneously utilizing the high-frequency resonance cancellation (±10 μm amplitude) of the piezoelectric ceramic sheet to eliminate residual vibration. Thermal image data from the infrared thermal imager 4001 and multispectral images from the multispectral imager 4003 are continuously monitored throughout this process to ensure clear and stable observation data even under vibration conditions.

[0055] In complex environments, the system initiates a collaborative interference processing strategy. When both low-temperature deformation and mechanical vibration occur simultaneously, the system prioritizes vibration interference, performing deformation compensation only after the vibration is suppressed. The entire process employs a priority arbitration mechanism to ensure coordinated operation of all components, enabling clear observational data even in extreme environments. Temperature and humidity data from the temperature and humidity sensor 4002 are used to monitor changes in environmental conditions, helping the system dynamically adjust its compensation strategy and ensuring that the observation accuracy of the infrared thermal imager 4001 and the multispectral imager 4003 is unaffected by external factors.

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

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

[0058] As the final output of this invention, the data fusion unit 900 achieves accurate identification and visualization of heat source sink boundaries in cold-region cities through intelligent multi-source data fusion processing. This unit receives standardized compensation data packets transmitted by the dynamic compensation unit 800, which include the following key information: accurate pose data after deformation and vibration compensation, corrected infrared thermal images (temperature resolution 0.05℃), multispectral images (400-1000nm band), and equipment operating status parameters.

[0059] During data processing, the system first performs spatiotemporal registration on multi-source data: by using pose data, infrared thermal images and multispectral images collected at different times are unified under the same geographic coordinate system; then, a feature fusion algorithm based on deep learning is used to extract the boundary features between blue-green spaces (water bodies, vegetation) and heat sources (buildings, roads); finally, a thermodynamic model is used to calculate the heat flux distribution, generating a heat source-sink boundary map with temperature gradients. To adapt to the characteristics of cold-region environments, the algorithm has been specifically optimized for identifying snow-covered areas, effectively distinguishing between real heat sources and interference from snow surface reflections.

[0060] In summary, through innovative multi-joint serial mechanical design and dynamic control of system processes, this invention achieves the organic unity of low-temperature deformation compensation, high-frequency vibration suppression, and synergistic processing of composite interference. It fundamentally solves the core problem of decreased observation accuracy of multi-joint foldable remote sensing equipment in cold environments due to low-temperature deformation and mechanical vibration, and provides effective technical support for high-precision identification of heat source sink boundaries in cold 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 to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-jointed foldable remote sensing device for identifying heat source sink boundaries in cold-region cities, comprising a remote sensing unit, wherein the remote sensing unit integrates an environmental sensing unit (600) and a joint control unit (700), the environmental sensing unit (600) integrating a sensor array to collect environmental sensing data in real time, characterized in that, Also includes: The machine body (300) has six symmetrical slide rails (5004) around its perimeter. The other end of each slide rail (5004) is connected to a two-degree-of-freedom hinge (5002) via an active damper (5003). The other end of each two-degree-of-freedom hinge (5002) is connected to a fixed platform (5001). Each fixed platform (5001) is equipped with a sensor group. A dynamic compensation unit (800) calculates the extension and retraction compensation of the slide rail (5004) based on temperature data and simultaneously adjusts the angle of the two-degree-of-freedom hinge (5002) to counteract the mechanical deformation caused by low temperature. The dynamic compensation unit (800) dynamically adjusts the magnetorheological 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 low-temperature deformation and mechanical vibration coexist, the dynamic compensation unit (800) first suppresses vibration interference and then compensates for low-temperature deformation, which is used for spatial positioning in the heat source sink boundary.

2. The multi-jointed folding remote sensing device for identifying heat source sink boundaries in cold-region cities according to claim 1, characterized in that: 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-jointed folding remote sensing device for identifying heat source sink boundaries in cold-region cities according to claim 2, characterized in that: The infrared thermal imager (4001) and the temperature and humidity sensor (4002) are symmetrically distributed at the end of the multi-joint folding mechanism. They are used to eliminate the blind spot of the infrared thermal imager through dual-view measurement and to eliminate the influence of local environmental interference on the temperature and humidity sensor through spatial differential measurement.

4. The multi-jointed folding remote sensing device for identifying heat source sink boundaries in cold-region cities according to claim 1, characterized in that: The joint control unit (700) performs time-stamp synchronization and spatial coordinate registration processing on the environmental perception data to generate a standardized observation dataset. Combined with the actual joint angle information fed back by the encoder, it generates a fusion observation data package containing the pose matrix of the six-degree-of-freedom device through the Kalman filter algorithm.

5. The multi-jointed folding remote sensing device for identifying heat source sink boundaries in cold-region cities according to claim 4, characterized in that: The standardized observation dataset, combined with the actual joint angle information fed back by the encoder, generates a fused observation data package containing the pose matrix of the six-degree-of-freedom device through the Kalman filter algorithm, and then transmits it to the dynamic compensation unit (800).

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

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

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

9. The multi-jointed folding remote sensing device for identifying heat source sink boundaries in cold-region cities according to claim 7, characterized in that: The dynamic compensation unit (800) obtains a standardized compensation data package by parsing the temperature data, vibration spectrum characteristics and spatial attitude data in the fused observation data package and performing deformation and vibration compensation, and then transmits it to the data fusion unit (900).

10. The multi-jointed folding remote sensing device for identifying heat source sink boundaries in cold-region cities according to claim 9, characterized in that: The data fusion unit (900) receives standardized compensation data packets, performs spatiotemporal registration on multi-source data, and extracts features of the blue-green space and heat source boundary.

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