Thermal imaging temperature monitoring method, thermal imaging temperature monitoring device, thermal imaging temperature monitoring equipment and inspection robot

Abstract

The invention relates to a thermal imaging temperature monitoring method, device and equipment and an inspection robot. The method comprises the following steps: acquiring first real-time temperature data of a target monitoring area, wherein the first real-time temperature data is data obtained by performing real-time temperature acquisition on the target monitoring area of a target monitoring object by an inspection robot through thermal imaging equipment in an inspection process; when the highest temperature data in the first real-time temperature data exceeds a preset first threshold value, determining a high-temperature attention area from the target monitoring area according to the highest temperature data; and acquiring second real-time temperature data corresponding to the high-temperature attention area from the first real-time temperature data, and determining a temperature monitoring result based on the second real-time temperature data. By adopting the method, the false alarm rate in the coal mine thermal imaging monitoring process can be effectively reduced, and the recognition accuracy of abnormal high temperature is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of temperature monitoring, and in particular to a thermal imaging temperature monitoring method, device, equipment and inspection robot. BACKGROUND

[0002] The coal pile of an open-pit coal mine may cause spontaneous combustion due to oxidation reaction, and the local overheating phenomenon may occur in the equipment such as the conveyor belt, belt conveyor and motor during long-time operation, so it is necessary to monitor the temperature of the coal pile and various equipment of the open-pit coal mine.

[0003] In the traditional technology, the inspection equipment carrying an infrared thermal imaging device is used to inspect the coal pile and various equipment, and an alarm device is triggered when it is detected that the temperature exceeds the normal temperature range, so as to realize preventive maintenance.

[0004] However, the current thermal imaging temperature monitoring method has the problem of high false alarm rate. SUMMARY

[0005] Therefore, it is necessary to provide a thermal imaging temperature monitoring method, device, equipment and inspection robot capable of reducing the false alarm rate in view of the above technical problems.

[0006] In a first aspect, the present application provides a thermal imaging temperature monitoring method, comprising:

[0007] obtaining first real-time temperature data of a target monitoring area, the first real-time temperature data being data obtained by a thermal imaging device of an inspection robot in a real-time temperature collection process of a target monitoring object in the target monitoring area;

[0008] determining a high-temperature attention area from the target monitoring area according to the highest temperature data in the first real-time temperature data when the highest temperature data exceeds a preset first threshold value;

[0009] obtaining second real-time temperature data corresponding to the high-temperature attention area from the first real-time temperature data, and determining a temperature monitoring result based on the second real-time temperature data.

[0010] In one of the embodiments, the determination of the temperature monitoring result based on the second real-time temperature data comprises:

[0011] statistically analyzing and processing the second real-time temperature data to obtain area temperature data corresponding to the high-temperature attention area;

[0012] determining the temperature monitoring result as abnormal and triggering an alarm device to alarm when the area temperature data meets a preset alarm condition.

[0013] In one of the embodiments, the area temperature data comprises an area average temperature.

[0014] statistical analysis on the second real-time temperature data to obtain regional temperature data corresponding to the high-temperature attention region, including:

[0015] correcting the second real-time temperature data by using the preset reflectivity to obtain corrected temperature data;

[0016] performing mean value processing on the corrected temperature data to obtain a regional average temperature.

[0017] In one of the embodiments, the regional temperature data includes a regional gradient temperature.

[0018] statistical analysis on the second real-time temperature data to obtain regional temperature data corresponding to the high-temperature attention region, including:

[0019] performing difference calculation processing on the second real-time temperature data corresponding to the edge position of the high-temperature attention region to obtain a regional gradient temperature.

[0020] In one of the embodiments, the high-temperature attention region is determined according to the highest temperature data, including:

[0021] determining the position coordinates corresponding to the highest temperature data in the target monitoring region, and determining the high-temperature attention region with the position coordinates as the center.

[0022] In one of the embodiments, the high-temperature attention region is determined from the target monitoring region according to the highest temperature data, including:

[0023] obtaining the first real-time temperature data corresponding to each position coordinate in the target monitoring region at multiple time points;

[0024] performing continuity analysis on the multiple first real-time temperature data corresponding to each position coordinate, and generating a candidate attention region according to the position coordinates whose first real-time temperature data continuously exceeds a preset second threshold value;

[0025] taking the candidate attention region including the position coordinates corresponding to the highest temperature data as the high-temperature attention region.

[0026] In a second aspect, the application further provides a thermal imaging temperature monitoring device, including:

[0027] a data acquisition module, configured to acquire first real-time temperature data of a target monitoring region, the first real-time temperature data being data obtained by a patrol robot using a thermal imaging device to collect the target monitoring region of a target monitoring object in a patrol process;

[0028] a region division module, configured to determine a high-temperature attention region from the target monitoring region according to the highest temperature data in the case that the highest temperature data in the first real-time temperature data exceeds a preset first threshold value.

[0029] determine a temperature monitoring result based on the second real-time temperature data.

[0030] In a third aspect, the present application also provides an electronic device, comprising a memory and a processor, the memory storing a computer program, and the processor implementing the thermal imaging temperature monitoring method of the first aspect when executing the computer program.

[0031] In a fourth aspect, the present application also provides an inspection robot, which is equipped with the electronic device of the third aspect and a thermal imaging device, the thermal imaging device being configured to collect real-time temperature of a target monitoring area of a target monitoring object to obtain first real-time temperature data of the target monitoring area.

[0032] In one of the embodiments, the inspection robot stops moving when the highest temperature data in the first real-time temperature data exceeds a preset first threshold, so that the electronic device determines the high-temperature attention area according to the highest temperature data.

[0033] The thermal imaging temperature monitoring method, device, equipment and inspection robot described above can be used in the outdoor open application scenarios such as coal yards, coal conveying belts and rollers, and can perform secondary determination on the high-temperature attention area triggered by exceeding the preset first threshold, so as to eliminate false high-temperature points caused by sunlight reflection or instantaneous interference by using different regional temperature characteristics, thereby effectively reducing the false positive rate in the process of coal mine thermal imaging monitoring and improving the identification accuracy of abnormal high temperature without increasing additional hardware on the basis of existing thermal imaging hardware. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the drawings needed to be used in the description of the embodiments of the present application or the related art will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0035] Figure 1 It is an application environment diagram of the thermal imaging temperature monitoring method in one embodiment;

[0036] Figure 2 It is a flowchart of the thermal imaging temperature monitoring method in one embodiment;

[0037] Figure 3 It is a flowchart of the thermal imaging temperature monitoring method in another embodiment;

[0038] Figure 4A structural block diagram of a thermal imaging temperature monitoring device in an embodiment;

[0039] Figure 5 An internal structural diagram of a computer device in an embodiment. DETAILED DESCRIPTION

[0040] For the purpose, technical solutions and advantages of the present application to be more clear, the present application is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0041] It should be noted that the terms "first", "second" and the like used in the present application can be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from the second element. The terms "include" and "have" and any variations thereof used in the present application are intended to cover non-exclusive inclusion. The term "multiple" used in the present application refers to two and more than two. The term "and / or" used in the present application refers to one of the options, or any combination of multiple options.

[0042] The thermal imaging temperature monitoring method provided by the embodiments of the present application can be applied to the application environment as shown in the figure. Figure 1 The terminal 102 communicates with the server 104 through the network. The data storage system can store the data required to be processed by the server 104. The data storage system can be integrated on the server 104, or placed on the cloud or other network servers. The terminal 102 is used to obtain first real-time temperature data of a target monitoring area. The first real-time temperature data is obtained by a patrol robot using a thermal imaging device to collect real-time temperature of a target monitoring object in a target monitoring area during a patrol process. In a case where the highest temperature data in the first real-time temperature data exceeds a preset first threshold value, a high-temperature attention area is determined from the target monitoring area according to the highest temperature data. Second real-time temperature data corresponding to the high-temperature attention area is obtained from the first real-time temperature data, and a temperature monitoring result is determined based on the second real-time temperature data. The server 104 is used to obtain the temperature monitoring result from the terminal 102.

[0043] The terminal 102 can include, but is not limited to, various unmanned patrol vehicles, unmanned aerial vehicles, low-altitude flying vehicles, robots, Internet of Things devices and portable wearable devices as patrol devices. The portable wearable device can be a smart watch, a smart bracelet, a handheld device, a head-mounted device, etc. The patrol device is equipped with a thermal imaging device. The server 104 can be a standalone physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server providing cloud computing services.

[0044] In one exemplary embodiment, as shown in Figure 2 a thermal imaging temperature monitoring method is provided, and the method is applied to Figure 1 the terminal 102 in the system 100 as an example, including the following steps 202 to 206. Among them:

[0045] Step 202, obtaining first real-time temperature data of a target monitoring area.

[0046] Among them, the first real-time temperature data is obtained by the inspection robot using the thermal imaging device to collect the target monitoring area of the target monitoring object in the inspection process. The thermal imaging technology can quickly and comprehensively reflect the overall temperature distribution of the target monitoring area, identify potential hot spots, and provide basis for early intervention.

[0047] Among them, the target monitoring object is a coal conveying belt, a coal pile or a metal roller, and the target monitoring area is the area of interest of the inspection robot at each moment in the inspection process. The first real-time temperature data can include a pixel matrix composed of temperature data of each position point in the target monitoring area. Each pixel point in the pixel matrix corresponds to the temperature data of the corresponding position in the target monitoring area.

[0048] Step 204, in the case that the highest temperature data in the first real-time temperature data exceeds a preset first threshold, determining a high-temperature attention area from the target monitoring area according to the highest temperature data.

[0049] Among them, in the case that the highest temperature data in the first real-time temperature data exceeds the preset first threshold, it indicates that there may be an abnormally high temperature in the target monitoring area. The high-temperature attention area containing the highest temperature point and its adjacent area can be determined based on the highest temperature data, so as to determine whether the highest temperature data belongs to a non-alarm interference situation or an abnormal alarm situation.

[0050] For example, the way to determine the high-temperature attention area can include but is not limited to determining the high-temperature attention area based on temperature uniformity, gradient distribution and fluctuation amplitude, etc.

[0051] For example, the non-alarm interference situation can include high temperature caused by sunlight reflection or mechanical heat source; the abnormal alarm situation can include local overheating phenomenon of the conveying belt, the belt machine, the motor and other equipment in long-time operation, or high temperature caused by equipment failure and circuit short circuit.

[0052] Step 206, obtaining second real-time temperature data corresponding to the high-temperature attention area from the first real-time temperature data, and determining a temperature monitoring result based on the second real-time temperature data.

[0053] The process of determining the temperature monitoring result refers to excluding high temperature caused by local interference factors such as sunlight irradiating the metal surface reflection and the excavator engine. In the embodiment of the application, the high temperature caused by the interference factors such as reflection generally presents as a high-temperature point centering on the center, and the temperature near the center point is greatly different from the center. When the metal is actually at high temperature, the temperature in the area near the highest point is relatively balanced. The second real-time temperature data corresponding to the high-temperature attention area is analyzed to obtain the temperature monitoring result. In the case of abnormal temperature monitoring result, it indicates that the target monitoring area has an abnormal high temperature. In the case of normal temperature monitoring result, it indicates that the highest temperature data of the target monitoring area may be caused by interference factors, and does not need to be reported.

[0054] In the above thermal imaging temperature monitoring method, in the outdoor open application scene of inspecting the coal yard, the coal conveying belt and the roller, the high-temperature attention area exceeding the preset first threshold value is subjected to secondary determination, the false high-temperature point caused by sunlight reflection or instantaneous interference and other factors can be removed by using different regional temperature characteristics, thereby on the basis of the existing thermal imaging hardware, without increasing additional hardware, the false positive rate in the coal mine thermal imaging monitoring process is effectively reduced, and the identification accuracy of the abnormal high temperature is improved.

[0055] In an exemplary embodiment, determining the high-temperature attention area according to the highest temperature data includes: determining the position coordinates corresponding to the highest temperature data in the target monitoring area, and determining the high-temperature attention area with the position coordinates as the center.

[0056] Exemplarily, the high-temperature attention area can be a square or a rectangle. After the position coordinates corresponding to the highest temperature data are determined, the edge position coordinates of the high-temperature attention area can be determined according to the preset side length, and then the high-temperature attention area is determined. The high-temperature attention area can be a circle, and the position coordinates of the highest temperature data can be taken as the center of the circle to determine the high-temperature attention area based on the preset radius.

[0057] In some embodiments, the side length or radius of the high-temperature attention area can be commonly adapted. The temperature data is sampled outward from the position coordinates corresponding to the highest temperature data, and the position where the temperature drops to a certain proportion of the highest temperature data or the temperature difference is lower than the threshold value is taken as the boundary.

[0058] In some embodiments, the process of obtaining the high-temperature attention area can include: obtaining a binary image by a temperature threshold method, performing connected component analysis on the binary image, and determining a candidate area. The high-temperature attention area in an irregular shape can be obtained by denoising and contour simplification processing on the candidate area.

[0059] In a possible implementation, the high-temperature attention region is determined from the target monitoring region according to the highest temperature data, including: obtaining first real-time temperature data corresponding to each position coordinate in the target monitoring region at multiple time points; performing continuity analysis on the multiple first real-time temperature data corresponding to each position coordinate, and generating a candidate attention region according to a position coordinate whose first real-time temperature data continuously exceeds a preset second threshold value; and taking the candidate attention region including the position coordinate corresponding to the highest temperature data as the high-temperature attention region.

[0060] The multiple time points can be multiple time points starting from the time point when the highest temperature data in the first real-time temperature data exceeds the first threshold value, or can be a plurality of historical time points before the time point when the highest temperature data in the first real-time temperature data exceeds the first threshold value and a plurality of time points continuing to be monitored after the time point. The continuity analysis refers to that when the position coordinate corresponds to first real-time temperature data continuously exceeding the preset second threshold value at consecutive N time points, the position coordinate is marked as an attention high-temperature point, adjacent attention high-temperature points are merged by a region clustering algorithm based on a connected domain to form a candidate attention region, and all candidate attention regions are detected to identify a region including the position coordinate corresponding to the highest temperature data, and finally the region is determined as the high-temperature attention region.

[0061] In the embodiment of the application, the spatial thermal distribution consistency of the first real-time temperature data is used to determine the high-temperature attention region, which can eliminate isolated high-temperature pixel points, thereby avoiding false positives caused by reflected light spots; the time temperature stability of the first real-time temperature data is used to determine the high-temperature attention region with the characteristic of continuous heating, thereby effectively distinguishing transient high-temperature points caused by interference factors from real overheating regions of the equipment, and the accuracy of the temperature monitoring result can be effectively improved.

[0062] In an exemplary embodiment, the temperature monitoring result is determined based on Figure 2 In the embodiment shown in FIG. 6, the temperature monitoring result is determined based on the second real-time temperature data, including: performing statistical analysis on the second real-time temperature data to obtain region temperature data corresponding to the high-temperature attention region; in a case where the region temperature data meets a preset alarm condition, determining the temperature monitoring result as an anomaly, and triggering an alarm device to alarm.

[0063] In a possible implementation, the region temperature data includes a region average temperature; the statistical analysis on the second real-time temperature data to obtain the region temperature data corresponding to the high-temperature attention region includes: performing correction processing on the second real-time temperature data by using a preset reflectivity to obtain corrected temperature data; and performing mean value processing on the corrected temperature data to obtain the region average temperature.

[0064] The reflectivity refers to reflectivity of a surface material of the target monitoring object. For each position coordinate in the target monitoring area, the second real-time temperature data corresponding to the position coordinate is corrected according to the infrared radiation law to obtain corrected temperature data, so that the temperature deviation caused by reflected radiation is effectively eliminated, and the corrected temperature data is closer to the real surface temperature of the monitoring position. The mean value processing can be to extract the corrected temperature data corresponding to all position coordinates in the high-temperature attention area, and calculate the arithmetic mean of the corrected temperature data to obtain the area average temperature.

[0065] In some embodiments, the area average temperature can also use the median of the second real-time temperature data corresponding to each position coordinate in the high-temperature attention area, or use the truncated mean value after removing the extreme values of the upper and lower preset percentages, or first perform median filtering processing on each second real-time temperature data and then perform mean value calculation to obtain the area average temperature, so as to avoid the influence of single-pixel noise or bad points.

[0066] In a possible implementation, the area temperature data includes an area gradient temperature; the statistical analysis processing on the second real-time temperature data to obtain the area temperature data corresponding to the high-temperature attention area includes: performing difference calculation processing on the highest temperature data and the second real-time temperature data corresponding to the edge position of the high-temperature attention area to obtain the area gradient temperature.

[0067] The area gradient temperature can reflect the diffusion characteristics of temperature in space. When the temperature gradient is small, it indicates that the temperature distribution is uniform, and there may be a real heat spot in the target monitoring area. When the temperature gradient is large and the center temperature is high, it may be caused by external light reflection or environmental interference.

[0068] In the embodiments of the application, the alarm condition corresponding to the area average temperature can include: the area average temperature is greater than a preset average temperature threshold, and / or the area gradient temperature is less than or equal to a preset gradient temperature threshold. In some embodiments, the alarm condition can also include: the area average temperature of the high-temperature attention area in a plurality of continuous time points is greater than the average temperature threshold, or the area average temperature in a plurality of continuous time points continuously increases, or the area gradient temperature gradually decreases in a plurality of continuous time points. The alarm condition can also be a combination of the above alarm conditions.

[0069] When the area temperature data meets the preset alarm condition, the alarm device is triggered to alarm through sound and light alarm or the like, and alarm information can also be generated and uploaded to the server, so that the server can control the target monitoring object or notify the operation and maintenance personnel to implement maintenance measures in time.

[0070] In the embodiments of the present application, the reflectivity correction mechanism and the regional average temperature calculation are introduced to reduce the false high temperature detection results caused by interference factors, significantly reduce the probability of high temperature false alarm of thermal imaging detection in outdoor application scenarios such as open-pit coal mines with interference factors, and improve the stability and reliability of the thermal imaging temperature monitoring method.

[0071] In one exemplary embodiment, as shown in Figure 3 , a thermal imaging temperature monitoring method is provided. The method is applied to the terminal 102 in Figure 1 for example, and includes the following steps 301 to 306. Among them:

[0072] Step 301, obtaining first real-time temperature data of a target monitoring area.

[0073] The first real-time temperature data is obtained by a patrol robot using a thermal imaging device to collect real-time temperature of a target monitoring object in a target monitoring area during a patrol process.

[0074] Step 302, determining whether the highest temperature data in the first real-time temperature data exceeds a preset first threshold.

[0075] Step 303, in the case where the highest temperature data in the first real-time temperature data exceeds the preset first threshold, determining a high-temperature attention area from the target monitoring area according to the highest temperature data.

[0076] In one embodiment, step 303 can further include determining the position coordinates corresponding to the highest temperature data in the target monitoring area, and determining the high-temperature attention area centered on the position coordinates.

[0077] In one embodiment, step 303 can further include obtaining first real-time temperature data corresponding to each position coordinate in the target monitoring area at multiple time points, performing continuity analysis on the multiple first real-time temperature data corresponding to each position coordinate, generating a candidate attention area according to the position coordinates whose first real-time temperature data continuously exceeds a preset second threshold, and taking the candidate attention area including the position coordinates corresponding to the highest temperature data as the high-temperature attention area.

[0078] Step 304, obtaining second real-time temperature data corresponding to the high-temperature attention area from the first real-time temperature data, performing statistical analysis and processing on the second real-time temperature data, and obtaining regional temperature data corresponding to the high-temperature attention area.

[0079] In one of the embodiments, the area temperature data comprises an area average temperature, and the step 304 can further comprise: correcting the second real-time temperature data by using a preset reflectivity to obtain corrected temperature data; and averaging the corrected temperature data to obtain the area average temperature.

[0080] In one of the embodiments, the area temperature data comprises an area gradient temperature, and the step 304 can further comprise: calculating the difference between the highest temperature data and the second real-time temperature data corresponding to the edge position of the high-temperature attention area to obtain the area gradient temperature.

[0081] The step 305 is to determine whether the area temperature data meets a preset alarm condition.

[0082] The step 306 is to determine that the temperature monitoring result is abnormal and trigger an alarm device to alarm when the area temperature data meets the preset alarm condition.

[0083] It should be understood that, although each step in the flowchart involved in the above embodiments is displayed in sequence according to the arrow, these steps are not necessarily executed in sequence according to the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other sequences. Moreover, at least part of the steps in the flowchart involved in the above embodiments can include multiple steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of these steps or stages is not necessarily sequential, but can be executed in rotation or alternation with at least part of other steps or steps or stages in other steps. It can be understood that the steps in different embodiments can be freely combined as needed, and various non-contradictory schemes formed by the combination are within the scope of protection of the present application.

[0084] Based on the same inventive concept, the embodiments of the present application also provide a thermal imaging temperature monitoring device for implementing the above-mentioned thermal imaging temperature monitoring method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so the specific limitations in one or more thermal imaging temperature monitoring device embodiments provided below can refer to the limitations of the thermal imaging temperature monitoring method in the above text, which will not be repeated here.

[0085] In one exemplary embodiment, as shown in Figure 4 a thermal imaging temperature monitoring device is provided, comprising: a data acquisition module 402, an area division module 404, and a result determination model 406, wherein:

[0086] The data acquisition module 402 is configured to acquire first real-time temperature data of the target monitoring area, the first real-time temperature data being data obtained by the inspection robot using the thermal imaging device to collect the target monitoring area of the target monitoring object in real time during the inspection.

[0087] The region division module 404 is configured to, in a case where the highest temperature data in the first real-time temperature data exceeds a preset first threshold, determine a high-temperature attention region from the target monitoring area according to the highest temperature data.

[0088] The result determination model 406 is configured to acquire second real-time temperature data corresponding to the high-temperature attention region from the first real-time temperature data, and determine a temperature monitoring result based on the second real-time temperature data.

[0089] In one of the embodiments, the result determination model 406 is further configured to perform statistical analysis processing on the second real-time temperature data to obtain region temperature data corresponding to the high-temperature attention region, and determine the temperature monitoring result as abnormal and trigger an alarm device to perform an alarm in a case where the region temperature data meets a preset alarm condition.

[0090] In one of the embodiments, the region temperature data includes a region average temperature, and the result determination model 406 is further configured to perform correction processing on the second real-time temperature data by using a preset reflectivity to obtain corrected temperature data, and perform mean value processing on the corrected temperature data to obtain the region average temperature.

[0091] In one of the embodiments, the region temperature data includes a region gradient temperature, and the result determination model 406 is further configured to perform difference calculation processing on the second real-time temperature data corresponding to the highest temperature data and an edge position of the high-temperature attention region to obtain the region gradient temperature.

[0092] In one of the embodiments, the region division module 404 is further configured to determine a position coordinate corresponding to the highest temperature data in the target monitoring area, and determine the high-temperature attention region with the position coordinate as a center.

[0093] In one of the embodiments, the region division module 404 is further configured to acquire first real-time temperature data corresponding to each position coordinate of the target monitoring area at multiple time points, perform continuity analysis on the multiple first real-time temperature data corresponding to each position coordinate, generate a candidate attention region according to a position coordinate whose first real-time temperature data continuously exceeds a preset second threshold, and take the candidate attention region including the position coordinate corresponding to the highest temperature data as the high-temperature attention region.

[0094] The modules in the thermal imaging temperature monitoring device can be implemented by software, hardware, or a combination thereof. The modules can be embedded in or independent of a processor in a computer device in hardware form, or stored in a memory in the computer device in software form, so that the processor can call and execute the operations corresponding to the modules.

[0095] In an example embodiment, a computer device, which can be a terminal, has an internal structure as shown in Figure 5 The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. The processor, the memory, and the input / output interface are connected through a system bus, and the communication interface, the display unit, and the input device are connected to the system bus through the input / output interface. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for running the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is configured to exchange information between the processor and external devices. The communication interface of the computer device is configured to perform wired or wireless communication with external terminals. The wireless communication can be achieved through WIFI, mobile cellular network, Near Field Communication (NFC), or other technologies. The computer program is executed by the processor to implement a thermal imaging temperature monitoring method. The display unit of the computer device is configured to form a visually visible picture, which can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer overlaid on the display screen, or a key, trackball, or touchpad arranged on the housing of the computer device, or an external keyboard, touchpad, or mouse, etc.

[0096] Those skilled in the art can understand that Figure 5 The structure shown in the above

[0097] In an example embodiment, an electronic device is provided, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0098] In an example embodiment, a patrol robot is provided, which is equipped with the electronic device and the thermal imaging device in the above-described embodiments, and the thermal imaging device is used to collect real-time temperature data of a target monitoring area of a target monitoring object, to obtain first real-time temperature data of the target monitoring area.

[0099] In a possible implementation, the patrol robot stops moving when the highest temperature data in the first real-time temperature data exceeds a preset first threshold, so that the electronic device determines a high-temperature attention area according to the highest temperature data.

[0100] For example, in the process of thermal imaging temperature monitoring by using the patrol robot, the patrol robot moves linearly along the coal belt conveyor and monitors the coal belt conveyor roller by using thermal imaging. When the highest temperature data in the first real-time temperature data exceeds a preset first threshold, the patrol robot stops moving, and the highest temperature data and the position coordinates of the highest temperature data are obtained. A 65*65 pixel area is drawn as a high-temperature attention area, and the area average temperature of the high-temperature attention area is determined. If the area average temperature exceeds a threshold, the temperature monitoring result is determined as abnormal, and an alarm information is generated. If the area average temperature does not exceed the threshold, the point is determined as a non-roller high temperature, and the patrol robot continues to patrol. Through actual inspection, by using the method, the false positive rate can be reduced from 85% to 15% for the same patrol robot and the same area.

[0101] In an example embodiment, a computer readable storage medium is provided, which stores a computer program. The computer program is executed by a processor to implement the steps in the above-described method embodiments.

[0102] In an example embodiment, a computer program product is provided, which includes a computer program. The computer program is executed by a processor to implement the steps in the above-described method embodiments.

[0103] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by a computer program instructing relevant hardware. The computer program can be stored in a non-volatile computer readable storage medium. When the computer program is executed, the processes of the above-mentioned embodiment methods can be included. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. The non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. The volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, the RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., but is not limited thereto. The processor involved in the embodiments provided in the present application can be a general processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but is not limited thereto.

[0104] Any combination of the technical features of the above embodiments can be made. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist, it should be considered as the range disclosed in the present application.

[0105] The above embodiments only express several implementation ways of the present application, and the description is specific and detailed, but it should not be understood as a limitation to the patent scope of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A thermal imaging temperature monitoring method, characterized in that, The method includes: The first real-time temperature data of the target monitoring area is obtained by the inspection robot using thermal imaging equipment to collect the real-time temperature of the target monitoring area of ​​the target monitoring object during the inspection process. If the highest temperature data in the first real-time temperature data exceeds a preset first threshold, a high-temperature concern area is determined from the target monitoring area based on the highest temperature data. Obtain the second real-time temperature data corresponding to the high-temperature concern area from the first real-time temperature data, and determine the temperature monitoring result based on the second real-time temperature data.

2. The method according to claim 1, characterized in that, The step of determining the temperature monitoring result based on the second real-time temperature data includes: Statistical analysis and processing are performed on the second real-time temperature data to obtain the regional temperature data corresponding to the high-temperature concern area; If the temperature data in the area meets the preset alarm conditions, the temperature monitoring result will be determined as abnormal, and the alarm device will be triggered to sound an alarm.

3. The method according to claim 2, characterized in that, The regional temperature data includes the regional average temperature; The step of statistically analyzing the second real-time temperature data to obtain the regional temperature data corresponding to the high-temperature concern area includes: The second real-time temperature data is corrected using a preset reflectivity to obtain corrected temperature data; The corrected temperature data is averaged to obtain the average temperature of the region.

4. The method according to claim 2, characterized in that, The regional temperature data includes the regional temperature gradient. The step of statistically analyzing the second real-time temperature data to obtain the regional temperature data corresponding to the high-temperature concern area includes: The difference between the highest temperature data and the second real-time temperature data corresponding to the edge position of the high-temperature concern area is calculated to obtain the gradient temperature of the area.

5. The method according to claim 1, characterized in that, The step of determining the high-temperature concern area based on the highest temperature data includes: The location coordinates corresponding to the highest temperature data are determined in the target monitoring area, and the high temperature concern area is determined with the location coordinates as the center.

6. The method according to claim 1, characterized in that, The step of determining the high-temperature concern area from the target monitoring area based on the highest temperature data includes: Acquire the first real-time temperature data corresponding to the coordinates of each location in the target monitoring area at multiple times; A continuous analysis is performed on multiple first real-time temperature data corresponding to each of the aforementioned location coordinates, and a candidate region of interest is generated based on the location coordinates where the first real-time temperature data continuously exceeds a preset second threshold. The candidate region of interest, which includes the location coordinates corresponding to the highest temperature data, is designated as the high-temperature region of interest.

7. A thermal imaging temperature monitoring device, characterized in that, The device includes: The data acquisition module is used to acquire the first real-time temperature data of the target monitoring area. The first real-time temperature data is the data obtained by the inspection robot using thermal imaging equipment to collect the real-time temperature of the target monitoring area of ​​the target monitoring object during the inspection process. The region division module is used to determine a high-temperature concern region from the target monitoring region based on the highest temperature data when the highest temperature data in the first real-time temperature data exceeds a preset first threshold. The result determination model is used to obtain the second real-time temperature data corresponding to the high-temperature concern area from the first real-time temperature data, and to determine the temperature monitoring result based on the second real-time temperature data.

8. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. An inspection robot, characterized in that, The inspection robot is equipped with the electronic device and thermal imaging device as described in claim 8. The thermal imaging device is used to collect the real-time temperature of the target monitoring area of ​​the target monitoring object and obtain the first real-time temperature data of the target monitoring area.

10. The inspection robot according to claim 9, characterized in that, The inspection robot stops moving when the highest temperature data in the first real-time temperature data exceeds a preset first threshold, so that the electronic device can determine the high-temperature concern area based on the highest temperature data.

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