CN102878983A - Method for measuring surface temperature field of coal gangue pile by laser scanner and thermal infrared imager - Google Patents
Method for measuring surface temperature field of coal gangue pile by laser scanner and thermal infrared imager Download PDFInfo
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Abstract
The invention relates to a method for measuring a surface temperature field of a coal gangue pile by a laser scanner and a thermal infrared imager, and belongs to the technical field of non-contact measuring techniques and environment monitoring. The method comprises the following steps: dividing coal gangue into multiple shooting areas, wherein each shooting area corresponds to an image of the thermal infrared imager, four mark points are arranged in each shooting area, and the mark points are required to be positioned in overlapping regions of adjacent images; arranging a scanning base station and establishing one mapping control point; shooting thermal infrared images of surface temperature of the coal gangue pile by means of the thermal infrared imager; and further, acquiring topographic data of the coal gangue pile by the three-dimensional laser scanner, and acquiring information of space coordinates of the mapping control point and the scanning base station by means of a total station. By combination, coordinate transformation and composition of the acquired images and data, the data of the surface temperature field of the coal gangue pile can be obtained, and the temperature information and the space coordinate information of any point on the surface of the coal gangue pile can be obtained from the data of the surface temperature field.
Description
Technical field
The invention belongs to non-contact measurement and environmental monitoring technology field, particularly laser scanner and infrared heat image instrument measuring coal gangue hill surface temperature field method.
Background technology
Self-ignition coal gangue hill is very large to the environmental risk of the harm of environment and existence, and therefore, the improvement of self-ignition coal gangue hill has become the focus of current research.Improvement key to Coal Gangue Heap is to verify high-temperature region and kindling point, in order to take corresponding fire extinguishing and fire-retardant counter-measure, reaches the purpose of improvement.
Domestic and international studies show that coal gangue hill: the main parameter of burning is temperature, therefore, utilize temperature sensing to determine that the position of kindling point is feasible, so the detection of coal gangue hill surface and deep temperature field just becomes the basic and crucial of self-ignition coal gangue hill improvement.
Infrared measurement of temperature belongs to a kind of method of non-contact temperature measuring, measure its surface temperature by the measurement to the infrared energy of object self radiation, all be widely used at aspects such as production and processing, electric power, medical science, fire-fightings, also greatly promoted the development of thermal infrared imager; From the principle of thermal infrared imager, it is feasible measuring coal gangue hill surface temperature information with it, but can't obtain volume coordinate information, namely can't determine the locus of each temperature spot.
The difficult problem of measuring surface temperature field of gangue mountain is:
1) measurement of coal gangue hill landform especially burn, the obtaining of the spatial information that is difficult to arrive the zone such as precipitous.
2) coal gangue hill hazardous location temperature information obtains comprehensively fast.
3) stack of volume coordinate information and temperature information.
The applicant has proposed based on the method for measuring surface temperature field of gangue mountain of total powerstation and thermal infrared imager (ZL201110005011.X), authorize on July 4th, 2012, wherein the locus of each temperature spot adopts total powerstation to obtain, and needs to measure all monumented points; On August 8th, 2012 disclosed a kind of fast construction method (application number: CN201210120593.6) with waste dump surface temperature field of space reference, adopt GPS RTK technology to gather the reference mark coordinate, and need to lay the reference mark that can control the bed rearrangement waste dump and can reflect the landforms variation characteristic of waste dump at waste dump, laid 20 reference mark in the embodiment.
The method that three-dimensional laser scanner adopts contactless high-rate laser to measure is with a geometric properties on cloud form performance target object surface.Instrument self Emission Lasers bundle is to rotary optical center, camera lens is by rotating fast and in an orderly manner laser successively inswept tested zone, in case touch object, light beam is reflected back toward scanner at once, thereby inner micro computer calculates laser facula and scanner distance between the two by the flight time of calculating light beam.Meanwhile, instrument measures horizontal angle and the vertical angle of each laser beam by built-in angle measurement system, and then obtains each analyzing spot and define volume coordinate information in the coordinate system at scanner.Advantage is that data acquisition speed is fast, real-time; Data acquisition is comprehensive, and precision is high; All weather operations.Be not subjected to the impact of light, initiative is strong.The aspects such as topographic mapping, deformation monitoring, historical relic's protection have been widely used at present.
Summary of the invention
The objective of the invention is especially to burn, precipitous etc. be difficult to arrive the spatial information in zone and the quick acquisition of temperature information for the measurement that solves the coal gangue hill landform, a kind of laser scanner and infrared heat image instrument measuring coal gangue hill surface temperature field method are proposed, be intended to and superpose with the laser scanning data of volume coordinate information and the same area thermal infrared images with temperature information, realize the Quick Measurement of gangue locus, arbitrfary point, surface and temperature, for the improvement of self-ignition coal gangue hill provides shoring of foundation.
Laser scanner of the present invention and infrared heat image instrument measuring coal gangue hill surface temperature field method is characterized in that, may further comprise the steps:
1) coal gangue hill thermal infrared shooting area is divided and the monumented point laying: coal gangue hill is carried out site inspection, determine coal gangue hill surface area and lineament, lay and take the seat in the plane; Distance according to pixel value, resolution and shooting seat in the plane and the coal gangue hill of thermal infrared imager, gangue is divided into several thermal infrared shooting areas, the piece image of the corresponding thermal infrared imager of each shooting area, calculate thus the picture number of coal gangue hill shooting area number and thermal infrared imaging, each image border guarantees 5-10% Duplication.Lay 4 monumented points at each thermal infrared shooting area, and each monumented point is used for the splicing of thermal infrared images in corresponding doubling of the image zone, adjacent heat infrared shooting zone;
2) lay at the laser scanner scans station: according to the topography and geomorphology characteristics of coal gangue hill topographical surface feature and periphery, the scanning distance of combining laser scanning instrument is laid scanning movement, divides the coal gangue hill scanning area, so that do not interspace between each scanning area;
3) near figure root control points layout: the laser scanner scans station, lay a figure root reference mark, adopt total powerstation and the translocation of known control point to obtain the volume coordinate information (X at figure root reference mark
Figure, Y
Figure, Z
Figure);
4) take on the spot and measure: in the shooting seat in the plane ready-portioned shooting area is taken one by one thermal infrared images with thermal infrared imager; Set up three-dimensional laser scanner at the scanning movement of laying and obtain the coal gangue hill surface data; Adopt total powerstation and the reference mark translocation of figure root to obtain the volume coordinate information (X of scanning movement
Sweep, Y
Sweep, Z
Sweep);
5) laser scanning data is processed: according to the volume coordinate information (X of scanning movement
Sweep, Y
Sweep, Z
Sweep) scan-data that corresponding scanning movement is obtained carries out one by one coordinate conversion and splice, and obtains the terrain data of coal gangue hill, i.e. the volume coordinate information (X of coal gangue hill surface any point
Coal, Y
Coal, Z
Coal);
6) the thermal infrared images data are processed: utilize monumented point corresponding in the adjacent heat infrared image overlapping region to carry out Image Mosaics; Obtain the thermal infrared images that a width of cloth comprises whole coal gangue hill any point temperature information (t); Extract the planimetric coordinates information (X of 4-6 monumented point by the terrain data of coal gangue hill
Mark, Y
Mark); Planimetric coordinates information according to monumented point is carried out coordinate conversion to thermal infrared images, obtains a width of cloth and comprises whole coal gangue hill any point planimetric coordinates information (X
Red, Y
Red) and the thermal infrared images of temperature information (t);
7) coal gangue hill terrain data and thermal infrared images superpose: coal gangue hill terrain data and thermal infrared images after will processing by the planimetric coordinates corresponding relation superpose, and can obtain the surface temperature field data of coal gangue hill; Can obtain temperature information (t) and the volume coordinate information (X of coal gangue hill surface any point from this surface temperature field data
Coal, Y
Coal, Z
Coal).
The present invention mainly has following technological merit:
1) the field work amount is little.With respect to adopting total powerstation and GPS RTK to obtain coal gangue hill space surface coordinate information, adopt three-dimensional laser scanner to not be used in and lay the reference mark on the coal gangue hill, realized non-contact measurement, reduced the field work amount;
2) adopt the three-dimensional laser scanner technology can avoid being difficult to arrive the zone in burning, precipitous etc. and lay reference mark, the security that has improved Spatial data capture.
Description of drawings
Fig. 1 is the inventive method process flow diagram.
Fig. 2 thermal infrared imager is taken the schematic diagram of seat in the plane laying and coal gangue hill surface shooting area.
The schematic diagram that Fig. 3 thermal infrared images monumented point is laid.
The schematic diagram that Fig. 4 three-dimensional laser scanner scanning movement is laid and the coal gangue hill scanning area is divided.
Embodiment
A kind of laser scanner and infrared heat image instrument measuring coal gangue hill surface temperature field method that the present invention proposes reach by reference to the accompanying drawings embodiment and are described in detail as follows:
A kind of laser scanner and infrared heat image instrument measuring coal gangue hill surface temperature field method that the present invention proposes as shown in Figure 1, may further comprise the steps:
1) coal gangue hill thermal infrared shooting area is divided and the monumented point laying: coal gangue hill is carried out site inspection, determine coal gangue hill surface area and lineament, lay and take the seat in the plane; Distance according to pixel value, resolution and shooting seat in the plane and the coal gangue hill of thermal infrared imager, gangue is divided into several thermal infrared shooting areas, the piece image of the corresponding thermal infrared imager of each shooting area, calculate thus the picture number of coal gangue hill shooting area number and thermal infrared imaging, each image border guarantees the Duplication of 5-10%.Lay 4 monumented points at each thermal infrared shooting area, and each monumented point is used for the splicing of thermal infrared images in corresponding doubling of the image zone, adjacent heat infrared shooting zone; Adopt the DL-700C thermal infrared imager in the present embodiment, resolution 1.3mrad, pixel 320 * 240, as shown in Figure 2, according to the characteristics of coal gangue hill 21, lay and take seat in the plane 22, by resolution * (taking the distance of seat in the plane 22 and coal gangue hill 21) * pixel, obtain the area size that a width of cloth thermal infrared imager image 23 can be taken, divide the thermal infrared shooting area 24 of coal gangue hill.Because require the image border that the Duplication of 5-10% is arranged, the thermal infrared shooting area of coal gangue hill is slightly less than thermal infrared imager image actual photographed zone 5-10%.As shown in Figure 3, corresponding coal gangue hill shooting area is laid monumented point 31,32 in the overlapping region of image 23;
2) lay at the laser scanner scans station: according to the topography and geomorphology characteristics of coal gangue hill topographical surface feature and periphery, the scanning distance of combining laser scanning instrument is laid scanning movement, divides the coal gangue hill scanning area, so that do not interspace between each scanning area; As shown in Figure 4, according to the sweep limit that the scanning distance of the terrain feature of coal gangue hill 21 and three-dimensional laser scanner forms, lay scanning movement 41, divide coal gangue hill scanning area 42.
3) near figure root control points layout: the laser scanner scans station, lay a figure root reference mark, adopt total powerstation and the translocation of known control point to obtain the volume coordinate information (X at figure root reference mark
Figure, Y
Figure, Z
Figure);
4) take on the spot and measure: in the shooting seat in the plane ready-portioned shooting area is taken one by one thermal infrared images with thermal infrared imager; Set up three-dimensional laser scanner at the scanning movement of laying and obtain the coal gangue hill surface data; Adopt total powerstation and the reference mark translocation of figure root to obtain the volume coordinate information (X of scanning movement
Sweep, Y
Sweep, Z
Sweep); As shown in Figure 2, taking seat in the plane 21, with thermal infrared imager ready-portioned shooting area 23 is taken one by one.As shown in Figure 4, set up three-dimensional laser scanner at scanning movement 41, scanning area 42 is scanned.Adopt total powerstation and the reference mark translocation of figure root to obtain the volume coordinate information (X of scanning movement 41
Sweep, Y
Sweep, Z
Sweep).
5) laser scanning data is processed: according to the volume coordinate information (X of scanning movement
Sweep, Y
Sweep, Z
Sweep) scan-data that corresponding scanning movement is obtained carries out one by one coordinate conversion and splice, and obtains the terrain data of coal gangue hill, i.e. the volume coordinate information (X of coal gangue hill surface any point
Coal, Y
Coal, Z
Coal); As shown in Figure 4, utilize the volume coordinate information (X of scanning movement 41
Sweep, Y
Sweep, Z
Sweep) can obtain the volume coordinate information of the scanning area any point of corresponding scanning movement, can obtain the volume coordinate information (X of gangue any point after the splicing
Coal, Y
Coal, Z
Coal);
6) the thermal infrared images data are processed: utilize monumented point corresponding in the adjacent heat infrared image overlapping region to carry out Image Mosaics; Obtain the thermal infrared images that a width of cloth comprises whole coal gangue hill any point temperature information (t); Extract the planimetric coordinates information (X of 4-6 monumented point by the terrain data of coal gangue hill
Mark, Y
Mark); Planimetric coordinates information according to monumented point is carried out coordinate conversion to thermal infrared images, obtains a width of cloth and comprises whole coal gangue hill any point planimetric coordinates information (X
Red, Y
Red) and the thermal infrared images of temperature information (t); As shown in Figure 3, the monumented point 31 that utilizes the adjacent film size 23 of thermal infrared to share splices adjacent film size one by one;
7) coal gangue hill terrain data and thermal infrared images superpose: coal gangue hill terrain data and thermal infrared images after will processing by the planimetric coordinates corresponding relation superpose, and can obtain the surface temperature field data of coal gangue hill; Can obtain temperature information (t) and the volume coordinate information (X of coal gangue hill surface any point from this surface temperature field data
Coal, Y
Coal, Z
Coal).
Claims (1)
1. a laser scanner and infrared heat image instrument measuring coal gangue hill surface temperature field method is characterized in that, may further comprise the steps:
1) coal gangue hill thermal infrared shooting area is divided and the monumented point laying: coal gangue hill is carried out site inspection, determine coal gangue hill surface area and lineament, lay and take the seat in the plane; Distance according to pixel value, resolution and shooting seat in the plane and the coal gangue hill of thermal infrared imager, gangue is divided into several thermal infrared shooting areas, the piece image of the corresponding thermal infrared imager of each shooting area, calculate thus the picture number of coal gangue hill shooting area number and thermal infrared imaging, each image border guarantees 5-10% Duplication.Lay 4 monumented points at each thermal infrared shooting area, and each monumented point is used for the splicing of thermal infrared images in corresponding doubling of the image zone, adjacent heat infrared shooting zone;
2) lay at the laser scanner scans station: according to the topography and geomorphology characteristics of coal gangue hill topographical surface feature and periphery, the scanning distance of combining laser scanning instrument is laid scanning movement, divides the coal gangue hill scanning area, so that do not interspace between each scanning area;
3) near figure root control points layout: the laser scanner scans station, lay a figure root reference mark, adopt total powerstation and the translocation of known control point to obtain the volume coordinate information (X at figure root reference mark
Figure, Y
Figure, Z
Figure);
4) take on the spot and measure: in the shooting seat in the plane ready-portioned shooting area is taken one by one thermal infrared images with thermal infrared imager; Set up three-dimensional laser scanner at the scanning movement of laying and obtain the coal gangue hill surface data; Adopt total powerstation and the reference mark translocation of figure root to obtain the volume coordinate information (X of scanning movement
Sweep, Y
Sweep, Z
Sweep);
5) laser scanning data is processed: according to the volume coordinate information (X of scanning movement
Sweep, Y
Sweep, Z
Sweep) scan-data that corresponding scanning movement is obtained carries out one by one coordinate conversion and splice, and obtains the terrain data of coal gangue hill, i.e. the volume coordinate information (X of coal gangue hill surface any point
Coal, Y
Coal, Z
Coal);
6) the thermal infrared images data are processed: utilize monumented point corresponding in the adjacent heat infrared image overlapping region to carry out Image Mosaics; Obtain the thermal infrared images that a width of cloth comprises whole coal gangue hill any point temperature information (t); Extract the planimetric coordinates information (X of 4-6 monumented point by the terrain data of coal gangue hill
Mark, Y
Mark); Planimetric coordinates information according to monumented point is carried out coordinate conversion to thermal infrared images, obtains a width of cloth and comprises whole coal gangue hill any point planimetric coordinates information (X
Red, Y
Red) and the thermal infrared images of temperature information (t);
7) coal gangue hill terrain data and thermal infrared images superpose: coal gangue hill terrain data and thermal infrared images after will processing by the planimetric coordinates corresponding relation superpose, and can obtain the surface temperature field data of coal gangue hill; Can obtain temperature information (t) and the volume coordinate information (X of coal gangue hill surface any point from this surface temperature field data
Coal, Y
Coal, Z
Coal).
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103759833A (en) * | 2013-10-16 | 2014-04-30 | 哈尔滨汽轮机厂有限责任公司 | Blade-welding temperature-field program-control real-time temperature measurement device |
| CN106768367A (en) * | 2017-02-20 | 2017-05-31 | 哈尔滨工业大学 | A kind of three-dimensional infrared thermal wave image-forming detecting system and method |
| CN107870613A (en) * | 2017-11-07 | 2018-04-03 | 中国能源建设集团安徽省电力设计院有限公司 | A kind of circular coal yard with self-ignition of coal pile preventing and treating function |
| CN110146062A (en) * | 2019-05-08 | 2019-08-20 | 西安长庆科技工程有限责任公司 | A kind of coordinate system method for transformation based on mapping base point measurement pointcloud data |
| CN110333239A (en) * | 2019-06-24 | 2019-10-15 | 中国矿业大学(北京) | Determine that exposed wall facing brick coheres the method and system on defect IR thermal imaging inspection opportunity |
| CN110717987A (en) * | 2019-10-11 | 2020-01-21 | 徐州中矿奥特麦科技有限公司 | Data fusion method based on stock ground model and temperature model |
| CN110988956A (en) * | 2019-11-25 | 2020-04-10 | 中国辐射防护研究院 | Method and device for measuring space gamma dose rate radiation field |
| CN111896112A (en) * | 2020-07-08 | 2020-11-06 | 江苏方天电力技术有限公司 | Boiler water wall temperature distribution rapid detection analysis evaluation system |
| CN112345084A (en) * | 2020-11-05 | 2021-02-09 | 北京易达恩能科技有限公司 | Three-dimensional temperature field construction method and device based on digital twin environment |
| CN116625582A (en) * | 2023-07-24 | 2023-08-22 | 上海安宸信息科技有限公司 | Movable gas leakage monitoring system for petroleum and petrochemical gas field station |
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| CN103759833A (en) * | 2013-10-16 | 2014-04-30 | 哈尔滨汽轮机厂有限责任公司 | Blade-welding temperature-field program-control real-time temperature measurement device |
| CN106768367A (en) * | 2017-02-20 | 2017-05-31 | 哈尔滨工业大学 | A kind of three-dimensional infrared thermal wave image-forming detecting system and method |
| CN107870613A (en) * | 2017-11-07 | 2018-04-03 | 中国能源建设集团安徽省电力设计院有限公司 | A kind of circular coal yard with self-ignition of coal pile preventing and treating function |
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| CN110717987A (en) * | 2019-10-11 | 2020-01-21 | 徐州中矿奥特麦科技有限公司 | Data fusion method based on stock ground model and temperature model |
| CN110717987B (en) * | 2019-10-11 | 2023-03-14 | 徐州中矿奥特麦科技有限公司 | Data fusion method based on stock ground model and temperature model |
| CN110988956A (en) * | 2019-11-25 | 2020-04-10 | 中国辐射防护研究院 | Method and device for measuring space gamma dose rate radiation field |
| CN111896112A (en) * | 2020-07-08 | 2020-11-06 | 江苏方天电力技术有限公司 | Boiler water wall temperature distribution rapid detection analysis evaluation system |
| CN112345084B (en) * | 2020-11-05 | 2021-09-28 | 北京易达恩能科技有限公司 | Three-dimensional temperature field construction method and device based on digital twin environment |
| CN112345084A (en) * | 2020-11-05 | 2021-02-09 | 北京易达恩能科技有限公司 | Three-dimensional temperature field construction method and device based on digital twin environment |
| CN116625582A (en) * | 2023-07-24 | 2023-08-22 | 上海安宸信息科技有限公司 | Movable gas leakage monitoring system for petroleum and petrochemical gas field station |
| CN116625582B (en) * | 2023-07-24 | 2023-09-19 | 上海安宸信息科技有限公司 | Movable gas leakage monitoring system for petroleum and petrochemical gas field station |
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