Infrared thermal imaging temperature measurement system and method

Abstract

The application relates to an infrared thermal image temperature measurement system, belonging to the technical field of infrared temperature measurement, which comprises a thermal imager main body, a recess is arranged in the thermal imager main body, a plurality of U-shaped frames are arranged in the recess, the adjacent U-shaped frames are connected through sliding or rotation, the U-shaped frame located in the inner layer is driven to extend out of the recess or adjust the angle of the U-shaped frame; a plurality of first infrared probes are arranged on the two side walls and the bottom horizontal arm of each layer of U-shaped frames at intervals, and a first temperature and humidity sensor is arranged at the connecting position of the side wall and the bottom horizontal arm and the middle position of the bottom horizontal arm; the sliding or rotation connection of the plurality of U-shaped frames can realize the multi-angle extension and adjustment of the inner layer frame, and the angle limitation of the traditional thermal imager is broken; the side wall and the bottom horizontal arm of each layer of U-shaped frames are distributed with a plurality of infrared probes, the multi-angle thermal radiation data of the same target can be acquired at the same time, a three-dimensional thermal distribution model is generated through algorithm fusion, and the measurement error is reduced.

Description

Technical Field

[0001] This application relates to the technical field of infrared temperature measurement, and in particular to an infrared thermal imaging temperature measurement system and method. Background Technology

[0002] In the field of industrial equipment inspection, infrared thermal imagers, as a non-contact inspection tool, are widely used in equipment condition monitoring in industries such as power, machinery, and chemicals. Especially in power systems, detecting thermal defects in electrical components inside distribution cabinets is a crucial step in preventing equipment failures and ensuring the safe operation of the power grid. However, traditional thermal imagers face significant technical bottlenecks when dealing with complex enclosed spaces such as distribution cabinets. Specific problems include: traditional thermal imagers often employ fixed or single-axis rotating structures, which, limited by the size of the device and the lens angle, make it difficult to penetrate narrow areas inside the distribution cabinet (such as gaps between multiple busbars or areas with dense cable joints). For example, the interior of a distribution cabinet is typically a three-dimensional, multi-layered structure with densely distributed components. Traditional equipment can only perform external scanning through the cabinet door opening, unable to directly inspect deeper layers or obstructed areas, easily overlooking potential localized overheating hazards caused by poor contact or insulation aging. Furthermore, the angle adjustment range of traditional equipment is limited (as opposed to...). The current horizontal / vertical rotation angle is ≤180°, which cannot meet the multi-angle and multi-directional detection needs of the inner wall of the distribution cabinet, resulting in widespread detection blind spots. In addition, most existing infrared imagers are handheld, but due to the limited range of arm extension of the operator, it is difficult to extend the device deep into the cabinet or bypass obstructing components. For example, cable joints at the rear or top corner of the cabinet may be blocked by components in front. Furthermore, infrared thermal imaging detection has high requirements for the shooting angle. It is necessary to align the device with the target area at a certain angle, either vertically or at an angle, in order to obtain clear and accurate temperature data. However, when operating handheld, it is difficult to flexibly adjust the device angle due to the human posture and the direction of the cabinet opening.

[0003] Chinese Patent Application No. 202323360009.7, filed on December 11, 2023, discloses an infrared thermal imaging monitoring and analysis device, including a base. A mounting plate is fixed to the rear bottom of the base. A motor is fixed to the middle of the bottom of the base. A mounting seat is fixed above the base at the upper end of the motor's output shaft. An adjustment device is fixed to the rear top of the mounting seat. Support plates are symmetrically fixed to the left and right sides of the top of the mounting seat. A through hole is opened on the upper right surface of the support plate. A monitoring and analysis instrument is jointly mounted on the front top of the two support plates. A connecting device is provided in the middle of the rear surface of the monitoring and analysis instrument. The base is fixed to the wall to be fixed by the mounting plate. The rotation of the motor drives the mounting base to rotate, which in turn drives the support plate and adjustment device to rotate. The rotation of the support plate drives the monitoring and analysis instrument to rotate through the connecting device, thereby adjusting the left and right rotation of the monitoring and analysis instrument. Although this infrared thermal imaging monitoring and analysis instrument device achieves left and right rotation of the equipment by driving the mounting base and support plate to rotate by the motor, and the electric telescopic rod and suction cup adjust the pitch angle, its main structure is usually a rigid single frame. It can only make macroscopic angle fine adjustments (such as horizontal rotation ±60°, pitch angle adjustment ±45°) from the outside of the equipment. When facing the complex structure of the power distribution cabinet, such as multiple busbars and dense cable joints, it cannot reach the narrow gaps inside the cabinet, resulting in blind spots in the detection of hidden locations such as the back of the equipment and behind the partition, with a high risk of missed detection.

[0004] Regarding the aforementioned technologies, the inventors believe that existing temperature measurement systems have the drawback of being unable to penetrate the narrow gaps inside the cabinet, resulting in a high risk of missed detections. Summary of the Invention

[0005] To address the aforementioned technical problems, this application provides an infrared thermal imaging temperature measurement system and method.

[0006] This application provides an infrared thermal imaging temperature measurement system and method, which adopts the following technical solution:

[0007] An infrared thermal imaging temperature measurement system includes a thermal imager body. The thermal imager body has a groove, and multiple U-shaped frames are arranged in the groove. Adjacent U-shaped frames are slidably or rotatably connected, causing the inner U-shaped frame to extend out of the groove or adjusting the angle of the U-shaped frame. Multiple first infrared probes are spaced apart on the two side walls and the bottom crossarm of each U-shaped frame. First temperature and humidity sensors are arranged at the connection between the side wall and the bottom crossarm and at the middle position of the bottom crossarm. Each first infrared probe and the first temperature and humidity sensor is electrically connected to the control system.

[0008] By adopting the above technical solution, the sliding or rotating connection of the multi-layer U-shaped frame can realize the extension and adjustment of the inner frame at multiple angles, breaking through the viewing angle limitation of traditional thermal imagers, and allowing for detection in narrow areas inside closed equipment such as power distribution cabinets (such as busbar gaps and cable interlayers), thus eliminating blind spots in detection.

[0009] Preferably, the U-shaped frame has three layers. The outermost U-shaped frame is fixedly connected to the inner wall of the groove. Two vertically arranged linear slide rails are provided on each of the two side walls of the U-shaped frame. The other two U-shaped frames are arranged in parallel and are slidably connected to the corresponding linear slide rails. Hinges are also connected to the side walls of the two U-shaped frames. The other end of the hinge is slidably connected to the side wall corresponding to the outermost U-shaped frame. The hinge axis of each hinge is connected to the output shaft of the drive motor. The first infrared probe of the outermost U-shaped frame is tilted upward. The first infrared probe of one of the other two U-shaped frames is horizontally arranged, and the first infrared probe of the other U-shaped frame is tilted downward.

[0010] By adopting the above technical solution, three infrared probes at different angles simultaneously collect data. The control system can fuse multi-source thermal image information through algorithms to eliminate temperature measurement errors caused by the viewing angle deviation of a single probe. For example, when a probe detects an abnormal hot spot, environmental interference can be eliminated and the real fault point can be confirmed through cross-verification with other probes. Combined with temperature and humidity sensor data, environmental compensation is performed on the infrared measurement values ​​to improve the accuracy of temperature measurement.

[0011] Preferably, the linear slide rail includes a base disposed on the U-shaped frame, a track disposed on the base, a screw rotatably connected to the upper and lower sides of the base, a slider screwed to the screw and sliding along the track, and a rotating motor connected to the bottom of the screw, wherein the rotating motor is electrically connected to the control system.

[0012] By adopting the above technical solution, each screw is connected to a rotating motor, meaning that each U-shaped frame can be raised and lowered independently. This allows the sensor to be accurately aligned with the target area, avoiding missed detections caused by obstruction or positional deviation of the outer frame. This is especially useful for structurally complex and concealed areas (such as corners and cable stacks) or components that require separate monitoring (such as easily overheated connectors and fuses).

[0013] Preferably, storage slots are provided on both side walls of the outermost U-shaped frame. The storage slots are located below the linear slide rail. A guide slide rail is provided in the storage slot, and an electric push rod is provided at the bottom of the guide slide rail. A retractable probe is slidably connected to the guide slide rail. The bottom of the retractable probe is connected to the electric push rod through a universal joint. From top to bottom, a miniature infrared probe, a vibration sensor, and a second temperature and humidity sensor are provided on the outer wall of the retractable probe. The electric push rod, the miniature infrared probe, the vibration sensor, and the second temperature and humidity sensor are all electrically connected to the control system.

[0014] By adopting the above technical solution, the probe is driven by an electric push rod and can extend from the storage slot into narrow gaps inside the distribution cabinet (such as gaps in busbars and contactor back plates). The minimum detection distance can reach 5mm, which makes up for the blind spots that multi-layer frames cannot reach due to volume limitations. For example, it can perform contact or near-field infrared detection on small components that are prone to heat, such as bolt connections and cable terminals inside the distribution cabinet. The temperature resolution is high, and the accuracy is 5 times higher than that of conventional non-contact detection.

[0015] Preferably, the thermal imager body includes three sections of body connected by hinges. The outer walls of the front and rear sections of the body are provided with multiple sets of retractable magnetic feet. The retractable magnetic feet are used to adhere to the inner wall of the temperature cabinet to be measured and move on it. Furthermore, each retractable magnetic foot and the corresponding body section is provided with a rotating joint axis for turning.

[0016] By adopting the above technical solution, in conjunction with the previously used retractable probe and multi-layer U-shaped frame, the three-section body can carry the main imaging lens deep into the rear of the cabinet (such as the back of a circuit breaker), while the magnetic feet' adsorption capacity in narrow areas compensates for the limitations of the frame structure due to its size and the limitations of the handheld thermometer due to human posture and the direction of the cabinet opening (such as the gap between the bottom of the cabinet and the ground), forming a "three-dimensional detection network without blind spots".

[0017] Preferably, the retractable magnetic foot includes a miniature magnetic chuck, a piezoelectric ceramic push rod, and a spherical universal joint. The adsorption surface of the miniature magnetic chuck faces the inner wall of the temperature measuring cabinet. One end of the piezoelectric ceramic push rod is connected to the side of the miniature magnetic chuck away from the adsorption surface, and the other end is connected to the spherical universal joint. The spherical universal joint is connected to the outer wall of the body, and the miniature magnetic chuck is electrically connected to the control system.

[0018] By adopting the above technical solution, the miniature magnetic chuck can penetrate into narrow gaps inside the cabinet (such as the 5-10mm space between busbars). The permanent magnet design ensures stable adsorption even on cabinet walls covered with oil and dust. With multiple sets of retractable magnetic feet on the front / rear section of the thermal imager body, each miniature magnetic chuck can independently adjust its posture through piezoelectric ceramic push rods and spherical universal joints. When the body moves, some miniature magnetic chucks are adsorbed and fixed, while others "step" by extending and retracting the piezoelectric ceramic push rods and turning through the spherical universal joints. The overall motion error is small, ensuring stable alignment of the detection sensor.

[0019] Preferably, the end of the rotary joint shaft is connected to the inner side wall of the body via a bearing, and one end of the rotary joint shaft is provided with a T-shaped groove. The spherical universal joint is provided with a T-shaped locking block that engages with the T-shaped groove. The other end of the rotary joint shaft is connected to the output shaft of the servo motor via a gear set. The gear set includes a first-stage driving gear, a first-stage driven gear, a second-stage driving gear, and a second-stage driven gear. The first-stage driving gear is sleeved on the output shaft of the servo motor and meshes with the first-stage driven gear. The second-stage driving gear is coaxially arranged with the first-stage driven gear. The second-stage driven gear is sleeved on the rotary joint shaft and meshes with the second-stage driving gear.

[0020] By adopting the above technical solution, the T-shaped slot of the rotating joint shaft is engaged with the T-shaped block of the spherical universal joint. When the joint shaft rotates, the friction between the slot and the block drives the spherical universal joint and the entire retractable magnetic foot to rotate synchronously, thereby adjusting the orientation of the adsorption surface.

[0021] Preferably, a displacement sensor is provided on one section of the body, and an angle sensor is installed on the rotating joint shaft. Both the displacement sensor and the angle sensor are electrically connected to the control system.

[0022] By adopting the above technical solution, the displacement sensor detects the moving distance of the thermal imager body in real time, the angle sensor is used to detect the rotation angle of the rotary joint axis, and the control system is used to receive the signals uploaded by the two sensors, compare the position information detected by the displacement sensor with the predetermined path, send a turning signal to the servo when the path deviates, and detect the steering angle according to the signal uploaded by the angle sensor to avoid over-turning or under-turning.

[0023] Preferably, the tail section of the body located at the rear is provided with an anchoring groove, and a disc-type spiral spring and a steel cable are provided in the anchoring groove. One end of the steel cable is wound around the central axis of the disc-type spiral spring, and the other end is connected to a magnetic anchoring block through a ball joint. When the magnetic anchoring block is extended, it is attracted to the inner wall of the temperature measuring cabinet.

[0024] By adopting the above technical solution, when encountering a smooth, tilted, or vibrating environment or when the distance between the thermal imager body and the inner wall of the cabinet changes, the magnetic anchor block extends from the rear of the body and adheres to the inner wall, greatly improving the overall anti-overturning ability and positional stability.

[0025] An infrared thermal imaging temperature measurement method includes the following steps:

[0026] S1: The thermal imager body is placed inside the temperature measuring cabinet. Each first infrared probe and the first temperature and humidity sensor begin to detect the temperature and humidity inside the temperature measuring cabinet and transmit the detection results to the control system.

[0027] S2: Each layer of the U-shaped frame begins to move and extend out of the groove. During the movement of the U-shaped frame, the first infrared probe and the first temperature and humidity sensor on the corresponding U-shaped frame detect the temperature and humidity at different locations again, and transmit the detection results to the control system.

[0028] S3: When the U-shaped frame moves to its maximum displacement, it is driven to rotate by the rotating connection structure. During the rotation, the first infrared probe and the first temperature and humidity sensor detect the temperature and humidity at different locations and transmit the detection results to the control system.

[0029] S4: When the U-shaped frame rotates to its maximum angular displacement, the control system drives it to rotate in the direction of rotation, and after rotating back to its original position, it retracts into the groove.

[0030] By adopting the above technical solution, the sliding or rotating connection of the multi-layer U-shaped frame can realize the extension and adjustment of the inner frame at multiple angles, breaking through the viewing angle limitation of traditional thermal imagers, and allowing for detection in narrow areas inside closed equipment such as power distribution cabinets (such as busbar gaps and cable interlayers), thus eliminating blind spots in detection.

[0031] In summary, this application includes at least one of the following beneficial technical effects:

[0032] 1. This invention, through the sliding or rotating connection of multiple U-shaped frames, enables the inner frame to extend and adjust at multiple angles, breaking through the viewing angle limitations of traditional thermal imagers. It allows for detection in narrow areas inside enclosed equipment such as power distribution cabinets (e.g., gaps between busbars, cable interlayers), eliminating blind spots. Multiple infrared probes are distributed on the side walls and bottom crossarms of each U-shaped frame, which can simultaneously acquire multi-angle thermal radiation data of the same target. The data is then fused using algorithms to generate a three-dimensional thermal distribution model, thereby reducing measurement errors.

[0033] 2. This invention deploys temperature and humidity sensors at key locations to monitor changes in temperature and humidity in the detection environment in real time, and can automatically compensate for the impact of environmental factors on thermal imaging data; by working in conjunction with infrared probes and temperature and humidity sensors, it can perceive the surrounding environment in real time and automatically avoid obstacles. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the structure of an infrared thermal imaging temperature measurement system according to the present invention.

[0035] Figure 2 This is a schematic diagram of the U-shaped frame in this invention.

[0036] Figure 3 This is a side view of the outermost U-shaped frame in this invention.

[0037] Figure 4 This is a schematic diagram of the retractable probe in this invention.

[0038] Figure 5 This is a schematic diagram of the retractable magnetic foot in this invention.

[0039] Figure 6 This is a schematic diagram of the disc-type spiral spring in this invention.

[0040] Explanation of reference numerals in the attached drawings: 1. Thermal imager body; 101. Body; 2. Groove; 3. U-shaped frame; 4. First infrared probe; 5. First temperature and humidity sensor; 6. Linear slide rail; 61. Base; 62. Track; 63. Screw; 64. Slider; 66. Rotary motor; 7. Hinge; 8. Drive motor; 9. Storage slot; 10. Guide slide rail; 11. Electric push rod; 12. Retractable probe; 13. Universal joint; 14. Miniature infrared probe; 15. Vibration sensor; 1 6. Second temperature and humidity sensor; 17. Retractable magnetic foot; 171. Miniature magnetic chuck; 172. Piezoelectric ceramic push rod; 173. Spherical universal joint; 174. Rack; 19. Anchoring groove; 20. Disc-type spiral spring; 21. Steel cable; 22. Ball joint; 23. Magnetic anchoring block; 24. Rotary joint shaft; 25. Bearing; 27. First-stage drive gear; 28. First-stage driven gear; 29. ​​Second-stage drive gear; 30. Second-stage driven gear; 31. Servo motor. Detailed Implementation

[0041] The following is in conjunction with the appendix Figure 1-6 This application will be described in further detail.

[0042] This application discloses an infrared thermal imaging temperature measurement system. (Refer to...) Figure 1-6The device includes a thermal imager body 1, a groove 2 inside the thermal imager body 1, and multiple U-shaped frames 3 inside the groove 2. Adjacent U-shaped frames 3 are slidably or rotatably connected, causing the inner U-shaped frame 3 to extend out of the groove 2 or adjusting the angle of the U-shaped frame 3. Multiple first infrared probes 4 are spaced apart on the two side walls and the bottom cross arm of each U-shaped frame 3. First temperature and humidity sensors 5 are provided at the connection between the side wall and the bottom cross arm and at the middle position of the bottom cross arm. Each first infrared probe 4 and first temperature and humidity sensor 5 is electrically connected to the control system.

[0043] In this embodiment, the sliding or rotating connection of the multi-layer U-shaped frame 3 allows for multi-angle extension and adjustment of the inner frame, breaking through the viewing angle limitations of traditional thermal imagers. When the frame extends, its detection range extends in depth, allowing for detection in narrow areas inside enclosed equipment such as distribution cabinets (e.g., busbar gaps, cable interlayers), eliminating blind spots. Furthermore, multiple first infrared probes 4 are distributed on the sidewalls and bottom crossarms of each U-shaped frame 3, enabling simultaneous acquisition of multi-angle thermal radiation data of the same target. The control system uses algorithms to fuse and generate a three-dimensional thermal distribution model, thereby reducing measurement errors. Additionally, first temperature and humidity sensors 5 are deployed at key locations for real-time monitoring. By monitoring changes in temperature and humidity in the detection environment, the system can automatically compensate for the impact of environmental factors on thermal imaging data. For example, in high temperature and high humidity environments, the emissivity parameter of the first infrared probe 4 can be dynamically adjusted to make the temperature measurement closer to the true value. In addition, during the movement of the U-shaped frame 3, the first infrared probe 4 and the first temperature and humidity sensor 5 work together to perceive the surrounding environment in real time and automatically avoid obstacles (such as protruding bolts in the power distribution cabinet). That is, if an abnormal high temperature or excessive humidity is detected in a certain area, the control system can locate the abnormal position based on the data and drive the U-shaped frame 3 to adjust the extension length or rotation angle so that the infrared probe and sensor in the corresponding area are closer to the abnormal point.

[0044] In some embodiments, the U-shaped frame 3 has three layers. The outermost U-shaped frame 3 is fixedly connected to the inner wall of the groove 2. Two vertically arranged linear slide rails 6 are respectively provided on the two side walls of the U-shaped frame 3. The other two U-shaped frames 3 are arranged in parallel and are slidably connected to the corresponding linear slide rails 6. The two side walls of the two U-shaped frames 3 are also connected to hinges 7. The other end of the hinge 7 is slidably connected to the side wall corresponding to the outermost U-shaped frame 3. The hinge axis of each hinge 7 is connected to the output shaft of the drive motor 8. The first infrared probe 4 of the outermost U-shaped frame 3 is inclined upward. The first infrared probe 4 of one of the other two U-shaped frames 3 is arranged horizontally, and the first infrared probe 4 of the other U-shaped frame 3 is inclined downward.

[0045] In this embodiment, the two U-shaped frames 3 located in the inner layer slide along the outermost U-shaped frame 3, which can realize the linear extension and contraction of the entire frame (the maximum extension length can reach 2-3 times the length of the outer frame), meeting the equipment's needs for detection in deep space (such as the detection of components deep in the power distribution cabinet); the two U-shaped frames 3 located in the inner layer are also hinged to the outermost frame, which increases the frame's rotational freedom by ±30° on the basis of extension and contraction. For example, when the equipment body cannot get close to the detection target or face the components at the corner, the pitch angle of the thermal imager lens can be adjusted by fixing the outer frame and rotating the middle two layers, realizing the composite action of "extension and contraction + steering", covering the blind spots that are difficult to reach by the traditional single sliding structure.

[0046] Specifically, the first infrared probe of the outermost U-shaped frame 3 is tilted upward, such as at an elevation angle of 30°, to detect high-level heat points such as busbars and cable joints at the top of the distribution cabinet. The first infrared probe 4 of the middle U-shaped frame 3 is set horizontally to cover planar distributed components such as circuit breakers and contactors in the middle layer of the distribution cabinet. The first infrared probe 4 of the inner U-shaped frame 3 is tilted downward, such as at a depression angle of 30°, to detect low-level equipment such as grounding devices and capacitor banks at the bottom of the distribution cabinet. The three layers of probes form an "upper-middle-lower" three-dimensional monitoring network, achieving no blind spots in the internal space of the distribution cabinet and avoiding missed detections caused by obstruction or limited field of view of traditional single-angle probes (such as abnormal temperature on the back of the busbar).

[0047] In some embodiments, the linear slide rail 6 includes a base 61 disposed on the U-shaped frame 3, a track 62 disposed on the base 61, a screw 63 rotatably connected to the upper and lower sides of the base 61, a slider 64 screwed to the screw 63 and sliding along the track 62, and a rotating motor 66 connected to the bottom of the screw 63. The rotating motor 66 is electrically connected to the control system.

[0048] In this embodiment, the control system controls the operation of each rotating motor 66. When it is necessary to perform overall temperature measurement on vertically arranged electrical components and horizontally distributed circuit boards in the distribution cabinet, the control system controls each rotating motor 66 to start working simultaneously. The rotation of the rotating motor 66 can drive the screw 63 to rotate, thereby converting the rotational motion into the linear motion of the slider 64, which in turn drives the U-shaped frame 3 to rise and fall. When detecting concealed areas with complex structures (such as corners and cable stacks), or some components that need to be monitored separately (such as easily overheated connectors and fuses), the control system needs to control the two rotating motors 66 corresponding to the U-shaped frame 3 to work separately.

[0049] In some embodiments, storage slots 9 are provided on both side walls of the outermost U-shaped frame 3. The storage slots 9 are located below the linear slide rail 6. A guide slide rail 10 is provided in the storage slot 9, and an electric push rod 11 is provided at the bottom of the guide slide rail 10. A retractable probe 12 is slidably connected on the guide slide rail 10. The bottom of the retractable probe 12 is connected to the electric push rod 11 through a universal joint 13. The outer wall of the retractable probe 12 is provided with a miniature infrared probe 14, a vibration sensor 15, and a second temperature and humidity sensor 16 from top to bottom. The electric push rod 11, the miniature infrared probe 14, the vibration sensor 15, and the second temperature and humidity sensor 16 are all electrically connected to the control system.

[0050] In this embodiment, the bottom of the retractable probe 12 is connected to the electric push rod 11 via a universal joint 13. It can automatically adjust its posture during extension to adapt to multi-angle detection needs such as vertical, horizontal, and tilt. For example, when detecting the inside of the heat dissipation hole on the side panel of the power distribution cabinet, the retractable probe 12 can bend 30° to extend into the hole, avoiding blind spots caused by the frame's inability to turn. In addition, the outer wall of the retractable probe 12 integrates a miniature infrared probe 14, a vibration sensor 15, and a second temperature and humidity sensor 16 from top to bottom. It can simultaneously collect the target's thermal characteristics, mechanical vibration signals, and environmental parameters. Through correlation analysis (such as abnormal temperature + abnormal vibration spectrum + increased humidity), it can accurately determine the type of equipment failure (such as poor contact, mechanical loosening, or moisture), avoiding misjudgment based on a single parameter (such as a simple temperature increase may be caused by environmental humidity rather than component failure).

[0051] In some embodiments, the thermal imager body 1 includes three body sections 101 connected to each other by hinges. The outer walls of the body sections 101 at the front and rear are provided with multiple sets of retractable magnetic feet 17. The retractable magnetic feet 17 are used to adhere to the inner wall of the temperature cabinet to be measured and move on it. A rotating joint shaft 24 for turning is provided between the retractable magnetic feet 17 and the corresponding body sections 101.

[0052] In this embodiment, the three body sections 101 are connected by hinged shafts (rotation angle ±120°), forming curved postures such as "S-shape" and "L-shape," easily passing through narrow passages inaccessible to rigid structures, such as 90° corners inside the cabinet (e.g., the transition area between horizontal busbars and vertical columns inside a switch cabinet) and gaps between beams. Compared to the traditional single-section body section 101, its passage capacity is increased by more than 4 times. In addition, the retractable magnetic feet 17 can firmly adhere to the inner wall of the cabinet, preventing slippage even when moving on vertical surfaces (e.g., the inner wall of the cabinet side door) or inclined surfaces (e.g., the inclined surface on the top of a transformer), thus solving the problem of suction power attenuation of vacuum suction cups in dusty / oily environments.

[0053] In some embodiments, the retractable magnetic foot 17 includes a miniature magnetic chuck 171, a piezoelectric ceramic push rod 172, and a spherical universal joint 173. The adsorption surface of the miniature magnetic chuck 171 faces the inner wall of the temperature measuring cabinet. One end of the piezoelectric ceramic push rod 172 is connected to the side of the miniature magnetic chuck 171 away from the adsorption surface, and the other end is connected to the spherical universal joint 173. The spherical universal joint 173 is connected to the outer wall of the body 101, and the miniature magnetic chuck 171 is electrically connected to the control system.

[0054] In this embodiment, the cyclical movement is achieved through a "adsorption-extension-release-displacement" motion: the control system controls the front micro magnetic chuck 171 to be energized and adsorbed onto the inner wall of the power distribution cabinet (metal material), and the piezoelectric ceramic push rod 172 extends to push the middle and rear sections forward; the rear micro magnetic chuck 171 is energized and adsorbed, the front section is de-energized and released, and the piezoelectric ceramic push rod 172 retracts to pull the front section to follow; by adjusting the adsorption sequence and extension amount of each group of micro magnetic chucks 171, straight-line walking, turning and vertical climbing can be achieved.

[0055] Specifically, the miniature magnetic chuck 171 uses high-energy-product neodymium iron boron material, and its adsorption force can reach its own weight.

[0056] With a suction power of 50-80 times (single suction cup adsorption force ≥50N), it can maintain reliable fixation even when facing slight oil stains or oxide layers on the inner wall of the cabinet, solving the problem of the sudden drop in suction power of traditional vacuum suction cups in dusty / oily environments.

[0057] In some embodiments, the end of the rotary joint shaft 24 is connected to the side wall of the body 101 via a bearing 25, and one end of the rotary joint shaft 24 is provided with a T-shaped slot. The spherical universal joint 173 is provided with a T-shaped locking block that engages with the T-shaped slot. The other end of the rotary joint shaft 24 is connected to the output shaft of the servo motor 31 via a gear set. The gear set includes a first-stage driving gear 27, a first-stage driven gear 28, a second-stage driving gear 29, and a second-stage driven gear 30. The first-stage driving gear 27 is sleeved on the output shaft of the servo motor 31 and meshes with the first-stage driven gear 28. The second-stage driving gear 29 is coaxially arranged with the first-stage driven gear 28. The second-stage driven gear 30 is sleeved on the rotary joint shaft 24 and meshes with the second-stage driving gear 29. A displacement sensor is provided on a section of the body (101), and an angle sensor is installed on the rotary joint shaft 24. Both the displacement sensor and the angle sensor are electrically connected to the control system.

[0058] In this embodiment, a rotary joint is added between each set of retractable magnetic feet 17 and the body 101, driven by a servo motor 31, which can change the movement direction of the feet within the adsorption surface; for example, when moving vertically to the side of the distribution cabinet, if it is necessary to turn to the left for lateral movement, the joint first rotates the magnetic feet 90° so that the adsorption direction of the suction cup is parallel to the lateral path, and then starts the movement process of the retractable magnetic feet 17; during operation, the servo motor 31 drives the first-stage drive gear 27 to rotate, and the first-stage drive gear 27 meshes with the first-stage driven gear 28 to form a reduction ratio of 1:2.5-1:5, which reduces the speed while increasing the torque. The second-stage driving gear 29 is fixed coaxially with the second-stage driven gear 30, and the two rotate synchronously. The second-stage driving gear 29 then meshes with the second-stage driven gear 30 to form a secondary reduction of 1:2.67-1:3.2, with a total reduction ratio of 1:6.67-1:16. The final torque is amplified to 33-160 kg·cm, ensuring sufficient force to drive the magnetic foot to rotate. The second-stage driven gear 30 is sleeved on the rotary joint shaft 24 and achieves rigid transmission through a key connection (such as a flat key or spline), driving the rotary joint shaft 24 to rotate 360° around the bearing center (inside the side wall of the body 101), thereby changing the direction of movement of the thermal imager body 1.

[0059] Specifically, the first temperature and humidity sensor 5 on the U-shaped frame 3 can collect the ambient temperature and humidity distribution in real time. When it detects that the temperature and humidity data of the current area is stable (no obvious heat points), or there is a sudden change in temperature and humidity in the adjacent area (there may be hidden heat points), the sensor will feed the signal back to the control system to trigger the turning requirement. At the same time, in the thermal imaging image collected by the first infrared probe 4, if there is obvious structural occlusion in the edge area (such as the partition of the power distribution cabinet, the edge of the component), and the temperature data of the occluded area is missing, the system can determine that there is a blind spot in the current field of view. The system can analyze the direction of the occlusion through the algorithm and generate a turning adjustment signal (this turning signal can also be replaced by the signal of the probe extension). In addition, the turning signal is detected by displacement sensor and angle sensor. When the thermal imager body 1 moves along the predetermined trajectory, the displacement sensor can detect the deviation between the current position and the preset path. When it is necessary to turn around the obstacle or switch the detection area, the displacement signal is linked with the infrared / temperature and humidity signal to ensure accurate positioning to the target area after turning. The angle sensor monitors the current turning angle in real time and compares it with the target angle preset by the control system. The turning amplitude is adjusted through the difference signal to avoid over-turning or under-turning.

[0060] In some embodiments, the rear end of the body 101 located at the rear section is provided with an anchoring groove 19, and a disc-type spiral spring 20 and a steel cable 21 are provided in the anchoring groove 19. One end of the steel cable 21 is wound around the central axis of the disc-type spiral spring 20, and the other end is connected to a magnetic anchoring block 23 through a ball joint 22. When the magnetic anchoring block 23 is extended, it is attracted to the inner wall of the temperature measuring cabinet. The central axis of the disc-type spiral spring 20 is fixed in the anchoring box or the anchoring groove. Its structure and working principle are as follows: a slot is provided on the outer wall of the spiral spring body 204, and a pawl is locked in the slot. The telescopic rod of the micro electromagnetic push rod is connected to the locking end of the pawl. When the anchoring magnetic block is extended, the telescopic rod extends and pushes the locking end of the pawl to swing upward, so that the pawl is disengaged from the slot and the locking of the disc-type spiral spring 20 is released. After the locking is released, the disc-type spiral spring 20 drives the central axis to rotate under the action of elastic potential energy, and the steel cable is released synchronously.

[0061] Due to the narrow space and dense cables inside the distribution cabinet, and the potential for equipment vibration (such as from operating transformers or fans) or external environmental interference (such as minor collisions during operation), the extension of the inner U-shaped frame 3 from the thermal imager body 1 can cause the system's center of gravity to shift outwards. Without fixed support, it may sway, shift, or even jam due to its own weight or external disturbances. Furthermore, for concealed areas inside the distribution cabinet, such as deep cavities, corners, and cable layers, coverage requires the inner U-shaped frame to extend deeply or rotate at multiple angles. If the tail is not fixed, the frame may shift due to minor external forces during detection, such as cable friction or airflow disturbances, causing the sensor to detach from the target area and affecting detection continuity. Therefore, a magnetic anchor block needs to be installed at the tail of the body to provide stable support for the entire system, counteract the torque during frame extension, and ensure that the first infrared probe remains continuously aligned with the concealed area.

[0062] Specifically, during operation, when the thermal imager body 1 (rear section 101) moves to the target position, it needs to be stabilized by rear-end auxiliary fixation (such as when the front section 101 adjusts its angle for temperature measurement). The components then coordinate: the magnetic anchor block 23 first activates its magnetic force (electromagnetic type generates a strong magnet through energization, permanent magnet type enhances the magnetic force through magnetic circuit switching), instantly raising the magnetic force of the adsorption surface to a threshold (ensuring adsorption of the cabinet's metal inner wall). Then, the rear section 101 of the thermal imager body 1 slightly pushes backward, propelling the magnetic anchor block 23 outward from the anchoring groove 19. At this time, the steel cable 21 is pulled out. When the steel cable 21 is pulled out, the disc-type spiral spring 20 is... Further tightening (increasing elastic potential energy) generates a reverse pulling force, which is transmitted to the magnetic anchor block 23 through the steel cable 21, ensuring that it always maintains a tendency to "adhere to the inner wall of the cabinet" and that the anchor block can fit tightly when it contacts the inner wall. When the thermal imager body 1 completes its current position and needs to move to the next target point, all components reset in coordination. The magnetic anchor block 23 first shuts off the magnetic force (electromagnetic power off, permanent magnet switching magnetic circuit), and the attraction force with the inner wall of the cabinet disappears. After losing the attraction force, the disc-type spiral spring 20 releases the stored elastic potential energy, the steel cable 21 is retracted, and the steel cable 21 pulls the magnetic anchor block 23 to retract into the anchor groove 19.

[0063] The working principle of the infrared thermal imaging temperature measurement system in this application is as follows: After the thermal imager body 1 is placed on the inner wall of the power distribution cabinet, the front section of the micro magnetic chuck 171 is energized and adsorbs onto the inner wall of the power distribution cabinet (metal material), and the piezoelectric ceramic push rod 172 extends to push the middle and rear sections forward; the rear section of the micro magnetic chuck 171 is energized and adsorbed, the front section is de-energized and released, and the piezoelectric ceramic push rod 172 retracts to pull the front section forward; by adjusting the adsorption sequence and extension amount of each group of micro magnetic chucks 171, straight-line walking, turning and vertical climbing can be achieved; when the retractable magnetic foot 17 performs the "adsorption-extension" action... The linear motion of the piezoelectric ceramic push rod 172 is converted into the rotational motion of the linkage shaft through gears, synchronously driving the rotation motor 66 of the U-shaped frame 3 to rotate. The rotation of the rotation motor 66 drives the two middle U-shaped frames 3 to slide upward through the transmission gear 67 and the input gear 65. At this time, the infrared probe of the outermost U-shaped frame is tilted upward (e.g., at an elevation angle of 30°), which can detect high-level heat points such as busbars and cable joints on the top of the distribution cabinet. The infrared probe of the middle U-shaped frame is set horizontally, covering the circuit breakers, contactors and other planar distributed components in the middle layer of the distribution cabinet. The infrared probes of the frame are tilted downwards (e.g., at a 30° angle) to target low-level equipment such as grounding devices and capacitor banks at the bottom of the distribution cabinet. The three layers of probes form an "upper-middle-lower" three-dimensional monitoring network, achieving comprehensive coverage of the internal space of the distribution cabinet. When the device body 101 cannot get close to the target or faces components at corners, the drive motor 8 drives the hinge shaft to rotate, thereby rotating the two middle frame layers and adjusting the tilt angle of the thermal imager lens. When detecting narrow gaps inside the distribution cabinet, such as busbar gaps or contactor backplates (which can be determined by the first temperature and humidity sensor and...), the infrared probes can also be used to monitor these gaps. (Signal judgment of the first infrared probe). The probe is driven by the electric push rod 11 and can extend from the storage slot 9. In addition, the outer wall of the probe integrates a miniature infrared probe 14, a vibration sensor 15, and a second temperature and humidity sensor 16 from top to bottom. It can simultaneously collect the thermal characteristics, mechanical vibration signals and environmental parameters of the target. Through correlation analysis (such as abnormal temperature + abnormal vibration spectrum + increased humidity), it can accurately determine the type of equipment failure (such as poor contact, mechanical loosening, moisture), avoiding misjudgment of a single parameter (such as a simple increase in temperature may be caused by environmental humidity rather than component failure).

[0064] This application also discloses an infrared thermal imaging temperature measurement method, including the following steps:

[0065] S1: The thermal imager body 1 is placed inside the temperature measuring cabinet. Each first infrared probe 4 and the first temperature and humidity sensor 5 begins to detect the temperature and humidity inside the temperature measuring cabinet and transmits the detection results to the control system.

[0066] S2: Each layer of U-shaped frame 3 begins to move and extends out of the groove 2. During the movement of the U-shaped frame 3, the first infrared probe 4 and the first temperature and humidity sensor 5 on the corresponding U-shaped frame 3 detect the temperature and humidity at different positions again, and transmit the detection results to the control system.

[0067] S3: When the U-shaped frame 3 moves to the maximum displacement position, it is driven to rotate by the rotating connection structure 18. During the rotation, the first infrared probe 4 and the first temperature and humidity sensor 5 detect the temperature and humidity at different positions and transmit the detection results to the control system.

[0068] S4: When the U-shaped frame 3 rotates to its maximum angular displacement, the control system drives it to rotate in the direction of rotation, and after rotating back to its original position, it retracts into the groove 2.

[0069] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An infrared thermal imaging temperature measurement system, characterized in that: The device includes a thermal imager body (1), which has a groove (2) inside. The groove (2) has multiple U-shaped frames (3) inside. Adjacent U-shaped frames (3) are slidably or rotatably connected to each other, so that the inner U-shaped frame (3) can extend out of the groove (2) or the angle of the U-shaped frame (3) can be adjusted. Each U-shaped frame (3) has multiple first infrared probes (4) spaced apart on its two side walls and bottom crossarm. A first temperature and humidity sensor (5) is provided at the connection between the side wall and the bottom crossarm and at the middle position of the bottom crossarm. Each first infrared probe (4) and the first temperature and humidity sensor (5) are electrically connected to the control system. The U-shaped frame (3) has three layers. The outermost U-shaped frame (3) is connected to the groove (2) inside. The inner wall of the groove (2) is fixedly connected. Two vertically arranged linear slide rails (6) are provided on the two side walls of the U-shaped frame (3). The other two U-shaped frames (3) are arranged in parallel and are slidably connected to the corresponding linear slide rails (6). The two side walls of the two U-shaped frames (3) are also connected to hinges (7). The other end of the hinges (7) is slidably connected to the side wall corresponding to the outermost U-shaped frame (3). The hinge shaft of each hinge (7) is connected to the output shaft of the drive motor (8). The first infrared probe (4) of the outermost U-shaped frame (3) is inclined upward. The first infrared probe (4) of one of the other two U-shaped frames (3) is horizontally arranged, and the first infrared probe (4) of the other U-shaped frame (3) is inclined downward.

2. The infrared thermal imaging temperature measurement system according to claim 1, characterized in that: The linear slide rail (6) includes a base (61) on the U-shaped frame (3), a track (62) on the base (61), a screw (63) rotatably connected to the upper and lower sides of the base (61), a slider (64) screwed to the screw (63) and sliding along the track (62), and a rotating motor (66) connected to the bottom of the screw (63). The rotating motor (66) is electrically connected to the control system.

3. The infrared thermal imaging temperature measurement system according to claim 2, characterized in that: Storage slots (9) are provided on both sides of the outermost U-shaped frame (3). The storage slots (9) are located below the linear slide rail (6). A guide slide rail (10) is provided in the storage slot (9), and an electric push rod (11) is provided at the bottom of the guide slide rail (10). A retractable probe (12) is slidably connected on the guide slide rail (10). The bottom of the retractable probe (12) is connected to the electric push rod (11) through a universal joint (13). The outer wall of the retractable probe (12) is provided with a miniature infrared probe (14), a vibration sensor (15), and a second temperature and humidity sensor (16) from top to bottom. The electric push rod (11), the miniature infrared probe (14), the vibration sensor (15), and the second temperature and humidity sensor (16) are all electrically connected to the control system.

4. The infrared thermal imaging temperature measurement system according to claim 3, characterized in that: The thermal imager body (1) includes three sections (101) connected by hinges. The outer walls of the front and rear sections of the body (101) are provided with multiple sets of retractable magnetic feet (17). The retractable magnetic feet (17) are used to adhere to the inner wall of the temperature cabinet to be measured and move on it. The retractable magnetic feet (17) and the corresponding body (101) are provided with a rotating joint shaft (24) for turning.

5. The infrared thermal imaging temperature measurement system according to claim 4, characterized in that: The retractable magnetic foot (17) includes a miniature magnetic chuck (171), a piezoelectric ceramic push rod (172), and a spherical universal joint (173). The adsorption surface of the miniature magnetic chuck (171) faces the inner wall of the temperature measuring cabinet. One end of the piezoelectric ceramic push rod (172) is connected to the side of the miniature magnetic chuck (171) away from the adsorption surface, and the other end is connected to the spherical universal joint (173). The spherical universal joint (173) is connected to the outer wall of the body (101). The miniature magnetic chuck (171) is electrically connected to the control system.

6. The infrared thermal imaging temperature measurement system according to claim 5, characterized in that: The end of the rotary joint shaft (24) is connected to the side wall of the body (101) via a bearing (25), and one end of the rotary joint shaft (24) is provided with a T-shaped slot. The ball joint (173) is provided with a T-shaped locking block that is engaged with the T-shaped slot. The other end of the rotary joint shaft (24) is connected to the output shaft of the servo motor (31) via a gear set. The gear set includes a first-stage driving gear (27), a first-stage driven gear (28), a second-stage driving gear (29), and a second-stage driven gear (30). The first-stage driving gear (27) is sleeved on the output shaft of the servo motor (31) and meshes with the first-stage driven gear (28). The second-stage driving gear (29) is coaxially arranged with the first-stage driven gear (28). The second-stage driven gear (30) is sleeved on the rotary joint shaft (24) and meshes with the second-stage driving gear (29). The servo motor (31) is electrically connected to the control system.

7. The infrared thermal imaging temperature measurement system according to claim 6, characterized in that: A displacement sensor is provided on one section of the body (101), and an angle sensor is installed on the rotary joint shaft (24). Both the displacement sensor and the angle sensor are electrically connected to the control system.

8. The infrared thermal imaging temperature measurement system according to claim 7, characterized in that: The rear of the body (101) is provided with an anchoring groove (19). The anchoring groove (19) is provided with a disc-type spiral spring (20) and a steel cable (21). One end of the steel cable (21) is wound around the central axis of the disc-type spiral spring (20), and the other end is connected to a magnetic anchor block (23) through a ball joint (22). When the magnetic anchor block (23) is extended, it is attracted to the inner wall of the temperature measuring cabinet.

9. An infrared thermal imaging temperature measurement method, characterized in that: The infrared thermal imaging temperature measurement system according to any one of claims 1-8 includes the following steps: S1: The main body of the thermal imager is placed inside the temperature-measuring cabinet, and each first infrared probe and first temperature and humidity sensor begins to detect the temperature and humidity inside the temperature-measuring cabinet and transmits the detection results to the control system; S2: Each layer of the U-shaped frame begins to move and extend out of the groove. During the movement of the U-shaped frame, the first infrared probe and first temperature and humidity sensor on the corresponding U-shaped frame detect the temperature and humidity at different positions again and transmit the detection results to the control system; S3: When the U-shaped frame moves to the maximum displacement, it is driven to rotate by the rotating connection structure. During the rotation, the first infrared probe and first temperature and humidity sensor detect the temperature and humidity at different positions and transmit the detection results to the control system; S4: When the U-shaped frame rotates to the maximum angular displacement, the control system drives it to rotate in the direction of rotation, and after rotating back to the original position, it retracts into the groove.

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