CN106297142B - A kind of unmanned plane mountain fire exploration control method and system - Google Patents
A kind of unmanned plane mountain fire exploration control method and system Download PDFInfo
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Abstract
The embodiment of the invention discloses a kind of unmanned plane mountain fire exploration control method and systems, wherein, unmanned plane mountain fire explores control method, by to visible image, short-wave infrared image, medium-wave infrared image and LONG WAVE INFRARED image are pre-processed, splicing fusion, the processes such as bright temperature inverting, obtain the brightness temperature value of each pixel in fusion evaluation and the fusion evaluation, then according to the brightness temperature value in the fusion evaluation and the fusion evaluation on each pixel, identify the position of open firing point and dying fire point, finally, position is put according to fire, analyze mountain fire coverage and the distance between mountain fire central point and transmission line of electricity, determine mountain fire grade, and early warning is carried out according to mountain fire grade.Compared with prior art, open firing point and dying fire point can be effectively distinguished, and can be according to mountain fire grade, carry out timely early warning, it can effectively improve mountain fire recall rate and success rate of putting out a fire to save life and property, reduce the security risk for the personnel that put out a fire to save life and property, and then ensure the safe and reliable operation of transmission line of electricity.
Description
Technical field
The present invention relates to electric power geological exploration fields, explore control method more particularly to a kind of unmanned plane mountain fire and are
System.
Background technology
Usually, mountain fire is divided into open fire and dying fire.Open fire usually has apparent flame (flare) ascension, reaction acute
Strong, heat radiation is strong, and the person's of putting out a fire to save life and property danger when putting out a fire to save life and property is larger.And dying fire is commonly called as glowing often without flame, is similar to the combustion of cigarette
It burns, is especially not easy to discriminate whether to have burnt thoroughly, and dying fire is easy resume combustion, therefore more difficult to putting out a fire to save life and property for dying fire, and dying fire
Caused by lose also bigger.The transmission of electricity corridor environment of China mountain Gao Linmi, objectively determines the season in drying short of rain, mountain fire
The possibility to take place frequently.
Many transmission line of electricity point different zones in China and season are in icing, mountain fire, geological disaster directly affect model
In enclosing.These regions have the characteristics that complicated climate variability, geological environment, mountain Gao Linmi and mistiness wind are big, utilize manual inspection
The mountainous region of thousands of miles is transmitted electricity corridor, not only to expend huge manpower and materials, and to mountain fire detect the promptness of early warning also without
Method is protected, therefore unmanned plane surveys effective supplement of means as manned helicopter and artificial the condition of a disaster, in reply power transmission line
There is outstanding advantages of motor-driven, flexible, fast, efficient, safe when the condition of a disaster exploration of road.
However in the prior art, when being detected to mountain fire using unmanned plane, there are still be difficult to differentiate between open fire and dying fire
And to having determined that the problem of fire point cannot carry out the condition of a disaster condition evaluation well, cause that mountain fire recall rate is relatively low, effect of putting out a fire to save life and property
Difference, personnel's personal safety when putting out a fire to save life and property mountain fire of putting out a fire to save life and property are difficult to ensure and be difficult to judge mountain fire grade and carry out mountain fire early warning in time
Deng the larger threat of safe operation composition to transmission line of electricity.
Invention content
A kind of unmanned plane mountain fire exploration control method and system are provided in the embodiment of the present invention, to solve in the prior art
Existing open fire and dying fire when explore to power transmission line corridor mountain fire using unmanned plane be difficult to differentiate between and to mountain fire image model
Enclose the problem of cannot carrying out rational the condition of a disaster condition evaluation.
In order to solve the above-mentioned technical problem, the embodiment of the invention discloses following technical solutions：
A kind of unmanned plane mountain fire disclosed by the embodiments of the present invention explores control method, including：
Receive visible image, short-wave infrared image, medium-wave infrared image, LONG WAVE INFRARED image and phase that unmanned plane obtains
The coordinate information answered；
It can to the visible image, short-wave infrared image, medium-wave infrared image and LONG WAVE INFRARED Yunnan snub-nosed monkey, acquisition
Light-exposed pre-treatment image, short-wave infrared pre-treatment image, medium-wave infrared pre-treatment image and LONG WAVE INFRARED pre-treatment image；
Respectively to the visible light pre-treatment image, short-wave infrared pre-treatment image, medium-wave infrared pre-treatment image and length
Wave infrared preprocessing image carries out splicing fusion, obtains fusion evaluation；
Bright temperature inverting is carried out to the fusion evaluation, calculates the brightness temperature value of each pixel in the fusion evaluation；
According to the fusion evaluation and brightness temperature value, open firing point and dying fire point are detected and identified；
According to the coordinate information of the open firing point and dying fire point, mountain fire coverage and mountain fire central point and power transmission line are analyzed
The distance between road determines mountain fire grade, and carries out early warning according to the mountain fire grade.
Preferably, described according to the fusion evaluation and brightness temperature value, it detects and identifies open firing point and dying fire point, wrap
It includes：
Judge whether the brightness temperature value is higher than preset value；
If the brightness temperature value is less than the preset value, it is determined that the corresponding seat of pixel in the fusion evaluation
Cursor position is without fiery point；
Otherwise, judge whether the fusion evaluation has light；
If the fusion evaluation has light, it is determined that the corresponding coordinate position of pixel in the fusion evaluation is bright
It is fiery, and the open firing point is demarcated；
If the fusion evaluation is without light, it is determined that the corresponding coordinate position of pixel in the fusion evaluation is dark
It is fiery, and it is fixed to click through rower to the dying fire.
Preferably, described pre- to the visible image, short-wave infrared image, medium-wave infrared image and LONG WAVE INFRARED image
Processing, including：
Calculate the reflectivity and short-wave infrared image, the medium-wave infrared image and LONG WAVE INFRARED of the visible image
The radiance of image；
The visible image, short-wave infrared image, medium-wave infrared image and LONG WAVE INFRARED image are filtered respectively
And image enhancement.
Preferably, it is described to the visible image, short-wave infrared image, medium-wave infrared image and LONG WAVE INFRARED image into
Row filtering and image enhancement, including：
Median filtering method and histogram method are utilized respectively to the visible image, short-wave infrared image, medium-wave infrared shadow
Picture and LONG WAVE INFRARED image is filtered and image enhancement.
Preferably, described that bright temperature inverting is carried out to the fusion evaluation, calculate each pixel in the fusion evaluation
Brightness temperature value, including：
According to the reflectivity and radiance, the radiance value of each pixel in the fusion evaluation is obtained；
According to the radiance value of each pixel in the fusion evaluation, using Planck's law of radiation, described in calculating
The brightness temperature value of each pixel in fusion evaluation.
Preferably, the coordinate information according to the open firing point and dying fire point is analyzed in mountain fire coverage and mountain fire
The distance between heart point and transmission line of electricity determine mountain fire grade, including：
Calculate the distance between the mountain fire central point and transmission line of electricity；
If the distance between the mountain fire central point and transmission line of electricity are in 1km, it is determined that the mountain fire grade is tight
Anxious the condition of a disaster；
If the distance between the mountain fire central point and transmission line of electricity are in 1km to 3km, it is determined that the mountain fire grade
For general the condition of a disaster；
If the distance between the mountain fire central point and transmission line of electricity are other than 3km, it is determined that the mountain fire grade is
Common the condition of a disaster.
Preferably, the emergency includes：
Calculate the mountain fire coverage；
If the mountain fire coverage is in 30 hectares, it is determined that the mountain fire grade is I grades of emergencies；
If the mountain fire coverage is in 30 hectares to 60 hectares, it is determined that the mountain fire grade is II grades of urgent calamities
Feelings；
If the mountain fire coverage is in 60 hectares to 100 hectares, it is determined that the mountain fire grade is that III level is urgent
The condition of a disaster.
The embodiment of the invention also discloses a kind of unmanned plane mountain fires to explore control system, including the data being sequentially connected electrically are read
Modulus block, data preprocessing module, image joint Fusion Module, bright temperature inverting module, fire point detection module and interpretation of result with
Warning module, wherein
The data read module, visible image, short-wave infrared image, medium-wave infrared for receiving unmanned plane acquisition
Image, LONG WAVE INFRARED image and corresponding coordinate information；
The data preprocessing module, for the visible image, short-wave infrared image, medium-wave infrared image and length
Wave infrared image pre-processes, obtain visible light pre-treatment image, short-wave infrared pre-treatment image, medium-wave infrared pre-treatment image and
LONG WAVE INFRARED pre-treatment image；
The image joint Fusion Module, for realizing to visible light pre-treatment image, short-wave infrared pre-treatment image, in
Wave infrared preprocessing image and the splicing fusion of LONG WAVE INFRARED pre-treatment image, obtain fusion evaluation；
The bright temperature inverting module, the brightness temperature value for obtaining the fusion evaluation；
The fire point detection module, for realizing the detection and identification of open firing point and dying fire point；
The interpretation of result and warning module, for analyzing between mountain fire coverage and mountain fire central point and transmission line of electricity
Distance, determine mountain fire grade, and early warning is carried out according to the mountain fire grade.
By above technical scheme as it can be seen that a kind of unmanned plane mountain fire provided in an embodiment of the present invention explores control method and is
System, wherein control method is by carrying out visible image, short-wave infrared image, medium-wave infrared image and LONG WAVE INFRARED image
The processes such as pretreatment, splicing fusion, bright temperature inverting, obtain the brightness temperature of each pixel in fusion evaluation and the fusion evaluation
Value, then according to the brightness temperature value in the fusion evaluation and the fusion evaluation on each pixel, identifies open firing point and dying fire
The position of point finally puts position according to fire, analyzes mountain fire coverage and the distance between mountain fire central point and transmission line of electricity,
It determines mountain fire grade, and early warning is carried out according to mountain fire grade.Compared with prior art, unmanned plane mountain disclosed by the embodiments of the present invention
Fire exploration control method, can effectively distinguish open firing point and dying fire point, and can carry out timely early warning according to mountain fire grade, can
It effectively improves mountain fire recall rate and success rate of putting out a fire to save life and property, reduces the security risk for the personnel that put out a fire to save life and property, and then ensure the safety of transmission line of electricity
Reliability service.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, for those of ordinary skill in the art
Speech, without creative efforts, other drawings may also be obtained based on these drawings.
Fig. 1 is the flow diagram that a kind of unmanned plane mountain fire provided in an embodiment of the present invention explores control method；
Fig. 2 is that a kind of unmanned plane mountain fire provided in an embodiment of the present invention is explored in control method according to fusion evaluation and fusion
The brightness temperature value of each pixel in image, detects and identifies the flow diagram of open firing point and dying fire point；
Fig. 3 is the structural schematic diagram that a kind of unmanned plane mountain fire provided in an embodiment of the present invention explores control system.
Specific implementation mode
In order to make those skilled in the art more fully understand the technical solution in the present invention, below in conjunction with of the invention real
The attached drawing in example is applied, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described implementation
Example is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
The every other embodiment that technical staff is obtained without making creative work, should all belong to protection of the present invention
Range.
Referring to Fig. 1, for a kind of flow diagram of unmanned plane mountain fire exploration control method provided in an embodiment of the present invention.This
The unmanned plane mountain fire that inventive embodiments disclose explores control method, and mountain fire spy is being carried out to power transmission line corridor with unmanned plane
When surveying, take the mode of UAV flight's multispectral camera, obtain that multispectral camera takes about ring residing for transmission line of electricity
Visible image, short-wave infrared image, medium-wave infrared image, LONG WAVE INFRARED image and the corresponding coordinate letter of above-mentioned image in border
Breath is the determination of the calibration and mountain fire grade of mountain fire open firing point and dying fire point, has prepared condition.
Simultaneously, it should be noted that be Forest Police weight since 100 hectares or more of forest mountain fires belong to fire disaster
Point monitoring range.Unmanned plane mountain fire exploitation method provided in an embodiment of the present invention, as large-scale unmanned plane and manual inspection method
Important supplement, emphasis monitoring be 100 hectares of mountain fire the condition of a disasters below, and according to mountain fire Edge Distance transmission line of electricity away from
From being classified to mountain fire the condition of a disaster.
Unmanned plane mountain fire disclosed by the embodiments of the present invention explores control method, including：
S1000 receives visible image, short-wave infrared image, medium-wave infrared image, LONG WAVE INFRARED shadow that unmanned plane obtains
Picture and corresponding coordinate information.
Specially：The environment residing for transmission line of electricity is shot using the multispectral camera carried on unmanned plane, is obtained
Visible image, short-wave infrared image, medium-wave infrared image and the LONG WAVE INFRARED image of the current inspection position of unmanned plane, and should
Visible image, short-wave infrared image, medium-wave infrared image and LONG WAVE INFRARED image real-time Transmission are to unmanned aerial vehicle (UAV) control device, together
When, unmanned aerial vehicle (UAV) control device by the visible image, short-wave infrared image, medium-wave infrared image and LONG WAVE INFRARED image together with it is upper
The coordinate information stated visible image, short-wave infrared image, medium-wave infrared image and LONG WAVE INFRARED image while generated passes in real time
It send to unmanned plane mountain fire and explores control system.Wherein, which can be by carrying the modes such as GPS positioning system on unmanned plane
It realizes.Visible image, the short-wave infrared shadow that unmanned plane mountain fire exploration control system real-time reception is sent by unmanned aerial vehicle (UAV) control device
Picture, medium-wave infrared image, LONG WAVE INFRARED image and coordinate information corresponding with above-mentioned image.
S2000 obtains visible image, short-wave infrared image, medium-wave infrared image and LONG WAVE INFRARED Yunnan snub-nosed monkey
Visible light pre-treatment image, short-wave infrared pre-treatment image, medium-wave infrared pre-treatment image and LONG WAVE INFRARED pre-treatment image.
Specially：It is red to the visible image, short-wave infrared image, medium wave that receive that unmanned plane mountain fire explores control system
Outer image and LONG WAVE INFRARED image are pre-processed, and the mainly geometric correction including image, radiation calibration, image denoising are pre-processed
With the operations such as image enhancement, obtain visible light pre-treatment image, short-wave infrared pre-treatment image, medium-wave infrared pre-treatment image and
LONG WAVE INFRARED pre-treatment image.
Further, as a preferred embodiment, in step S2000, to visible image, short-wave infrared image, in
Wave infrared image and LONG WAVE INFRARED Yunnan snub-nosed monkey, specifically include：
In step S2100, the reflectivity and above-mentioned short-wave infrared image, medium-wave infrared of above-mentioned visible image are calculated
The radiance of image and LONG WAVE INFRARED image.
Reflectivity is the ratio of body surface reflection and incident irradiation level, generally in [0,1] range, sometimes in order to
Storage is convenient and expands certain multiple, such as amplifies 10,000 times [0,10000].Herein, it is seen that the reflectivity of optical image refers to earth's surface
Reflectivity, the i.e. reflectivity of earth surface, it is not influenced by cloud layer and constituent of atomsphere.Under normal conditions, Reflectivity for Growing Season is
It is calculated from radiance image, there is many computation models, such as radiative transfer model, be exactly actually to remove cloud layer, big
Gas component and the process for closing on the influence of the factors such as atural object.Specific formula for calculation in relation to above-mentioned reflectivity is those skilled in the art
Known, this will not be repeated here.
The radiance of short-wave infrared image, medium-wave infrared image and LONG WAVE INFRARED image refers to that earth's surface object is absorbed or reflected
The ability of heat.Radiance in relation to infrared image is calculated as the conventionally calculation mode of this field, and this will not be repeated here.
It is red to above-mentioned visible image, short-wave infrared image, medium-wave infrared image and long wave respectively in step S2200
Outer image is filtered and image enhancement.
It is merged in order to filtering clutter interference, enhancing image effect and convenient for the splicing of image, the exploration of unmanned plane mountain fire
Control system respectively to visible image, short-wave infrared image, medium-wave infrared image and LONG WAVE INFRARED image carry out geometric correction,
The filtering such as radiation calibration, image denoising and image enhancement and image enhancement operation.The filtering carried out to image and image enhancement behaviour
All it is the routine operation of image processing field, this will not be repeated here.
Further, it can be utilized respectively median filtering method and histogram method as a preferred method, to above-mentioned visible
Optical image, short-wave infrared image, medium-wave infrared image and LONG WAVE INFRARED image is filtered and image enhancement.The histogram of image
Figure, refers to the probability distribution of all gray values in image.Image is handled using the histogram method of image, i.e., it will be to be corrected
The histogram of image is matched with the histogram of reference picture, makes two images with same or similar gray value probability point
Cloth achievees the purpose that atural object of the same name has same grayscale value in two images.Atmospheric correction is carried out using histogram method, it can be apparent
Enhance image effect, is conducive to the image mosaic to be carried out in next step fusion.
S3000, respectively to visible light pre-treatment image, short-wave infrared pre-treatment image, medium-wave infrared pre-treatment image and
LONG WAVE INFRARED pre-treatment image carries out splicing fusion, obtains fusion evaluation.
Specially：Unmanned plane mountain fire explores control system respectively to visible light pre-treatment image, the short-wave infrared of same wave band
Pre-treatment image, medium-wave infrared pre-treatment image and LONG WAVE INFRARED pre-treatment image are spliced, and specific splicing includes spy
The operations such as extraction, characteristic matching, picture registration and image light and color homogenization are levied, spliced visible image, short-wave infrared are obtained
Image, medium-wave infrared image and LONG WAVE INFRARED image；Visible image to the different-waveband obtained after splicing, short-wave infrared again
Image, medium-wave infrared image and LONG WAVE INFRARED image, carry out mutual image co-registration, and it is apparent to finally obtain a contrast,
The fusion evaluation of mountain fire image clearly.
S4000 carries out bright temperature inverting to above-mentioned fusion evaluation, calculates the brightness temperature of each pixel in the fusion evaluation
Value.
Specially：Unmanned plane mountain fire exploration control system obtains the radiance of each pixel in above-mentioned fusion evaluation
Value, and convert the radiance value of each pixel in the fusion evaluation to brightness temperature value.
As a preferred embodiment, in step S4000, bright temperature inverting is carried out to above-mentioned fusion evaluation, calculates above-mentioned melt
The brightness temperature value of group photo each pixel as in, specifically includes：
In step S4100, according to above-mentioned reflectivity and radiance, the spoke of each pixel in above-mentioned fusion evaluation is obtained
Penetrate brightness value.
Specially：According to the reflectivity of above-mentioned visible image and short-wave infrared image, medium-wave infrared image and long wave
The radiance of infrared image calculates the radiance value of above-mentioned fusion evaluation using the calculation formula of radiation calibration.Related radiation
The calculation formula of calibration is the general formula for calculating radiance value, is well known to those skilled in the art, does not do herein superfluous
It states.
In step S4200, according to the radiance value of each pixel in above-mentioned fusion evaluation, planck radiation is utilized
Law calculates the brightness temperature value of each pixel in above-mentioned fusion evaluation.
Planck's law of radiation is heating power conduction fundamentum between generally acknowledged object, it is believed that unit area, unit interval
The biquadratic of radiant power and temperature is directly proportional, therefore can utilize Planck's law of radiation that the radiation of above-mentioned fusion evaluation is bright
Angle value is converted into the brightness temperature value of each pixel in the corresponding blending image.
S5000 detects and identifies open firing point and dying fire point according to above-mentioned fusion evaluation and brightness temperature value.
Specially：Unmanned plane mountain fire explores control system according to above-mentioned fusion evaluation and brightness temperature value, and making full use of can
The characteristics of light-exposed image and infrared image, carry out open firing point and dying fire point detection and identification, and the open firing point to detecting and
Dying fire point carries out coordinate calibration.
It is a kind of detailed process schematic diagram of above-mentioned steps S5000 provided in an embodiment of the present invention referring to Fig. 2.As one
Kind preferred embodiment, according to above-mentioned fusion evaluation and brightness temperature value, detects in step S5000 and identifies open firing point and dying fire
The process of point specifically includes：
In step S5100, judge whether the brightness temperature value of each pixel in above-mentioned fusion evaluation is higher than preset value.
Preset value is to convert the temperature at practical fiery point to corresponding numerical value after brightness temperature value, this preset value can
It is obtained after test of many times.In addition, judging whether the brightness temperature value of each pixel in above-mentioned fusion evaluation is higher than herein
Preset value is to be explored control system by the brightness temperature value of each pixel in above-mentioned fusion evaluation by unmanned plane mountain fire and be somebody's turn to do
Preset value is compared.
In step S5200, if the brightness temperature value is less than the preset value, it is determined that the pixel in above-mentioned fusion evaluation
The corresponding coordinate position of point is without fiery point.
If the brightness temperature value of each pixel is less than the preset value in above-mentioned fusion evaluation, then it is assumed that above-mentioned fusion shadow
The corresponding coordinate position of current pixel point as in does not have ignition condition, and then determines the corresponding coordinate position of current pixel point
Without fiery point.
In step S5300, otherwise, if the brightness temperature value is greater than or equal to the preset value, above-mentioned fusion is judged
Whether there is light in image.
If the brightness temperature value of each pixel is greater than or equal to the preset value in above-mentioned fusion evaluation, then it is assumed that above-mentioned
The corresponding coordinate position of current pixel point in fusion evaluation is fiery point, and further judges the current picture in above-mentioned fusion evaluation
Whether vegetarian refreshments has light.
In step S5400, if above-mentioned fusion evaluation has light, it is determined that the current pixel point in above-mentioned fusion evaluation
Corresponding coordinate position is open firing point, and is demarcated to the open firing point.
If the current pixel point in above-mentioned fusion evaluation has light, it is determined that the corresponding coordinate position of the current pixel point
For open firing point, and the coordinate is demarcated as open firing point.
In step S5500, if above-mentioned fusion evaluation is without light, it is determined that the current pixel point in above-mentioned fusion evaluation
Corresponding coordinate position is dying fire point, and it is fixed to click through rower to the dying fire.
If the current pixel point in above-mentioned fusion evaluation is without light, it is determined that the corresponding coordinate position of the current pixel point
For dying fire point, and the coordinate is demarcated as dying fire point.
S6000 analyzes mountain fire coverage and mountain fire central point and transmission of electricity according to the coordinate information of open firing point and dying fire point
The distance between circuit determines mountain fire grade, and carries out early warning according to the mountain fire grade.
Specially：According to the coordinate information of the open firing point of all calibration and dying fire point, the coverage of mountain fire is constructed simultaneously
Determine mountain fire central point, measure the distance between mountain fire central point and transmission line of electricity, and according to the coverage of the mountain fire and
The distance between mountain fire central point and transmission line of electricity determine mountain fire grade, finally according to the mountain fire grade, carry out mountain fire early warning.
The determination method of mountain fire central point can be：According to the mountain fire range calibrated, the mountain fire edges of regions is determined, with
The geometric center point of the constituted figure of mountain fire edges of regions is as the mountain fire central point.Certainly, the determination of the mountain fire central point
Can also be the other manner for the condition that meets, this will not be repeated here.
As a preferred embodiment, in step S6000, according to the coordinate information of above-mentioned open firing point and dying fire point, analysis
Mountain fire coverage and the distance between mountain fire central point and transmission line of electricity, determine mountain fire grade, specifically include：
In step S6100, the distance between above-mentioned mountain fire central point and transmission line of electricity are calculated.
The mountain fire central point determined in foundation fusion evaluation and the distance between each pixel corresponding to transmission line of electricity,
Calculate the actual range between mountain fire central point and transmission line of electricity.Specific computational methods can be proportion of utilization ruler etc., herein
It does not repeat.
In step S6200, if the distance between above-mentioned mountain fire central point and transmission line of electricity are in 1km, it is determined that mountain
Fiery grade is emergency.
If the actual range between mountain fire central point and transmission line of electricity within the scope of 1km, illustrates mountain fire distance transmission of electricity
Circuit is especially close, and the influence to transmission line of electricity is also especially big, needs that particularly urgent measure is taken to put out a fire, therefore unmanned plane mountain
Fire exploration control system determines that the mountain fire grade is emergency, and sends corresponding the condition of a disaster pre-warning signal.
In step S6300, if the distance between above-mentioned mountain fire central point and transmission line of electricity in 1km to 3km, really
It is general the condition of a disaster to determine mountain fire grade.
If the actual range between mountain fire central point and transmission line of electricity within the scope of 1km to 3km, illustrates mountain fire distance
Transmission line of electricity is closer, and the influence to transmission line of electricity is also larger, needs to take urgent measure and put out a fire, therefore unmanned plane mountain fire is surveyed
It visits control system and determines that the mountain fire grade is general the condition of a disaster, and send corresponding the condition of a disaster pre-warning signal.
In step S6400, if the distance between mountain fire central point and transmission line of electricity are other than 3km, it is determined that mountain fire
Grade is common the condition of a disaster.
If the actual range between mountain fire central point and transmission line of electricity other than 3km, illustrates mountain fire apart from power transmission line
Farther out, the influence to transmission line of electricity is also smaller on road, needs to take reasonable measure and put out a fire, therefore the exploration control of unmanned plane mountain fire
System determines that mountain fire grade is common the condition of a disaster, and sends corresponding the condition of a disaster pre-warning signal.
Mountain fire grade is distinguished in this way, and sends different the condition of a disaster pre-warning signals, is conducive to mountain fire and puts out a fire to save life and property work
Rationally effectively expansion reduces mountain fire and puts out a fire to save life and property the security risk of personnel.
In the grade classification carried out for mountain fire the condition of a disaster, emergency due to it is especially close apart from transmission line of electricity, to transmission of electricity
The influence of circuit also can be very big, can further be classified to emergency here；And for general the condition of a disaster and common calamity
Feelings, since mountain fire influence area is within 100 hectares, and farther out apart from transmission line of electricity, the difficulty put out is smaller, to transmission line of electricity
Caused by influence not to be especially big, therefore exhaustive division is not done to above-mentioned general the condition of a disaster and common the condition of a disaster.
As a preferred embodiment, in step S6200, emergency can also according to the size of mountain fire coverage, into
One step divides emergency：
In step S6210：Calculate mountain fire coverage.
If the actual range between mountain fire central point and transmission line of electricity in 1km, determines that mountain fire grade is emergency
When, the geometric figure that can be formed according to the pixel corresponding to the mountain fire range demarcated in fusion evaluation calculates the geometric graph
The area of shape, the corresponding actual size for calculating mountain fire coverage.
In step S6220：If mountain fire coverage is in 30 hectares, it is determined that mountain fire grade is I grades of emergencies.
If mountain fire coverage, in 30 hectares, apart from transmission line of electricity, close, difficulty of putting out a fire to save life and property influences greatly, on transmission line of electricity
Greatly, it is thus determined that this kind of mountain fire grade is I grades of emergencies.
In step S6230, if mountain fire coverage is in 30 hectares to 60 hectares, it is determined that mountain fire grade is II grades
Emergency.
If mountain fire coverage is in 30 hectares to 60 hectares, apart from transmission line of electricity compared with close, difficulty of putting out a fire to save life and property is larger, right
Transmission line of electricity is affected, it is thus determined that this kind of mountain fire grade is II grades of emergencies.
In step S6240, if mountain fire coverage is in 60 hectares to 100 hectares, it is determined that mountain fire grade is III
Grade emergency.
If mountain fire coverage in 60 hectares to 100 hectares, apart from transmission line of electricity recently, difficulty of putting out a fire to save life and property it is maximum,
Maximum is influenced on transmission line of electricity, it is thus determined that this kind of mountain fire grade is III level emergency.
Unmanned plane mountain fire disclosed by the embodiments of the present invention explores control method, by obtaining the mostly light by being carried on unmanned plane
Compose visible image, short-wave infrared image, medium-wave infrared image and the LONG WAVE INFRARED of the transmission line of electricity local environment of camera shooting
Image and corresponding coordinate information, to the visible image, short-wave infrared image, medium-wave infrared image and LONG WAVE INFRARED image
It pre-processed, splice fusion, bright temperature inverting, and according to the brightness temperature of each pixel on fusion evaluation and the fusion evaluation
Value, detects and demarcates open firing point and dying fire point, final to determine mountain fire grade, and carries out early warning.
Compared with prior art, the light and brightness temperature value in fusion evaluation are can make full use of, open firing point is distinguished
With dying fire point, and reasonably mountain fire the condition of a disaster can be assessed and timely early warning according to the fiery point coordinates and range of calibration, effectively
It improves mountain fire recall rate and success rate of putting out a fire to save life and property, reduces the security risk for the personnel that put out a fire to save life and property, and then ensure that the safety of transmission line of electricity can
By operation.
It is corresponding with a kind of unmanned plane mountain fire exploration control method disclosed by the embodiments of the present invention, the present invention also provides
A kind of unmanned plane mountain fire exploration control system embodiment.It is that a kind of unmanned plane mountain fire provided in an embodiment of the present invention is surveyed referring to Fig. 3
Visit the structural schematic diagram of control system.
Unmanned plane mountain fire provided in an embodiment of the present invention explores control system, including the digital independent mould being sequentially connected electrically
Block, data preprocessing module, image joint Fusion Module, bright temperature inverting module, fire point detection module and interpretation of result and early warning
Module.
Wherein, data read module, the visible image, short-wave infrared image, medium wave for receiving unmanned plane acquisition are red
Outer image, LONG WAVE INFRARED image and corresponding coordinate information, the coordinate information be unmanned plane during mountain fire inspection with it is above-mentioned
The coordinate information that visible image, short-wave infrared image, medium-wave infrared image and LONG WAVE INFRARED image capturing generate simultaneously.
Data preprocessing module, for red to above-mentioned visible image, short-wave infrared image, medium-wave infrared image and long wave
Outer Yunnan snub-nosed monkey obtains visible light pre-treatment image, short-wave infrared pre-treatment image, medium-wave infrared pre-treatment image and long wave
Infrared preprocessing image.
Image joint Fusion Module, for realizing red to visible light pre-treatment image, short-wave infrared pre-treatment image, medium wave
Outer pre-treatment image and the splicing fusion of LONG WAVE INFRARED pre-treatment image, obtain fusion evaluation.
Bright temperature inverting module, the brightness temperature value for obtaining the fusion evaluation.
Fire point detection module, for realizing the detection and identification of open firing point and dying fire point.
Interpretation of result and warning module, for analyzing between mountain fire coverage and mountain fire central point and transmission line of electricity
Distance determines mountain fire grade, and carries out early warning according to the mountain fire grade.
Unmanned plane mountain fire provided in an embodiment of the present invention explores control system, is received by unmanned plane using data read module
Visible image, short-wave infrared image, the medium-wave infrared shadow of the transmission line of electricity local environment of the multispectral camera shooting of upper carrying
Picture and LONG WAVE INFRARED image and corresponding coordinate information；By data preprocessing module and image joint Fusion Module to above-mentioned
Image is pre-processed, splices fusion respectively, obtains fusion evaluation；Bright temperature is carried out to the fusion evaluation using bright temperature inverting module
Inverting obtains the brightness temperature value of each pixel on the fusion evaluation；According to each on the fusion evaluation and fusion evaluation
The brightness temperature value of pixel detects and calibrates open firing point and dying fire point in fire puts detection module, and in interpretation of result and
In warning module, mountain fire grade is determined with mountain fire coverage according to the fire of calibration point position, carries out early warning.
Compared with prior art, unmanned plane mountain fire provided in an embodiment of the present invention explores control system, can make full use of
Light in fusion evaluation and brightness temperature value, distinguish open firing point and dying fire point, and can be according to the fiery point coordinates and model of calibration
It encloses, reasonably mountain fire the condition of a disaster is assessed and timely early warning, effectively increase mountain fire recall rate and success rate of putting out a fire to save life and property, reduction are flutterred
The security risk of personnel is rescued, and then ensures the safe and reliable operation of transmission line of electricity.
By the description of above embodiment of the method, it is apparent to those skilled in the art that the present invention can
Realized by the mode of software plus required general hardware platform, naturally it is also possible to by hardware, but in many cases the former
It is more preferably embodiment.Based on this understanding, technical scheme of the present invention substantially makes tribute to the prior art in other words
The part offered can be expressed in the form of software products, which is stored in a storage medium, packet
Some instructions are included to use so that a computer equipment (can be personal computer, server or the network equipment etc.) executes
All or part of the steps of the method according to each embodiment of the present invention.And storage medium above-mentioned includes：Read-only memory
(ROM), the various media that can store program code such as random access memory (RAM), magnetic disc or CD.
For convenience of description, it is divided into various units when description apparatus above with function to describe respectively.Certainly, implementing this
The function of each unit is realized can in the same or multiple software and or hardware when invention.
It is described by the way of progressive between embodiment in this specification, identical similar part is mutual between each embodiment
Mutually referring to each embodiment focuses on the differences from other embodiments.Especially for system embodiment
For, since it is substantially similar to the method embodiment, so describing fairly simple, referring to the portion of embodiment of the method in place of correlation
It defends oneself bright.System embodiment described above is only schematical, wherein the list illustrated as separating component
Member may or may not be physically separated, and the component shown as unit may or may not be physics
Unit, you can be located at a place, or may be distributed over multiple network units.It can select according to the actual needs
Some or all of module therein achieves the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creation
Property labour in the case of, you can to understand and implement.
It should be noted that herein, such as the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion so that method or system including a series of elements include not only those elements, but also is wrapped
Other elements that are not explicitly listed are included, or further include for this method or the intrinsic element of system.Do not having more
In the case of more limitations, the element that is limited by sentence "including a ...", it is not excluded that including the element method or
There is also other identical elements in person's system.
The above is only the specific implementation mode of the present invention, is made skilled artisans appreciate that or realizing this hair
It is bright.Various modifications to these embodiments will be apparent to one skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest range caused.
Claims (6)
1. a kind of unmanned plane mountain fire explores control method, which is characterized in that including：
Receive the visible image that unmanned plane obtains, short-wave infrared image, medium-wave infrared image, LONG WAVE INFRARED image and corresponding
Coordinate information；
To the visible image, short-wave infrared image, medium-wave infrared image and LONG WAVE INFRARED Yunnan snub-nosed monkey, visible light is obtained
Pre-treatment image, short-wave infrared pre-treatment image, medium-wave infrared pre-treatment image and LONG WAVE INFRARED pre-treatment image；
It is red to the visible light pre-treatment image, short-wave infrared pre-treatment image, medium-wave infrared pre-treatment image and long wave respectively
Outer pre-treatment image carries out splicing fusion, obtains fusion evaluation；
Bright temperature inverting is carried out to the fusion evaluation, calculates the brightness temperature value of each pixel in the fusion evaluation；
Judge whether the brightness temperature value is higher than preset value；
If the brightness temperature value is less than the preset value, it is determined that the corresponding coordinate bit of pixel in the fusion evaluation
It sets without fiery point；
Otherwise, judge whether the fusion evaluation has light；
If the fusion evaluation has light, it is determined that the corresponding coordinate position of pixel in the fusion evaluation is open fire
Point, and the open firing point is demarcated；
If the fusion evaluation is without light, it is determined that the corresponding coordinate position of pixel in the fusion evaluation is dying fire
Point, and it is fixed to click through rower to the dying fire；
According to the coordinate information of the open firing point and dying fire point, analyze mountain fire coverage and mountain fire central point and transmission line of electricity it
Between distance, determine mountain fire grade, and early warning is carried out according to the mountain fire grade.
2. unmanned plane mountain fire according to claim 1 explores control method, which is characterized in that described to the visible shadow
Picture, short-wave infrared image, medium-wave infrared image and LONG WAVE INFRARED Yunnan snub-nosed monkey, including：
Calculate the reflectivity and short-wave infrared image, the medium-wave infrared image and LONG WAVE INFRARED image of the visible image
Radiance；
The visible image, short-wave infrared image, medium-wave infrared image and LONG WAVE INFRARED image are filtered and are schemed respectively
Image intensifying.
3. unmanned plane mountain fire according to claim 2 explores control method, which is characterized in that described to the visible shadow
Picture, short-wave infrared image, medium-wave infrared image and LONG WAVE INFRARED image is filtered and image enhancement, including：
Be utilized respectively median filtering method and histogram method to the visible image, short-wave infrared image, medium-wave infrared image and
LONG WAVE INFRARED image is filtered and image enhancement.
4. unmanned plane mountain fire according to claim 2 explores control method, which is characterized in that described to the fusion evaluation
Bright temperature inverting is carried out, the brightness temperature value of each pixel in the fusion evaluation is calculated, including：
According to the reflectivity and radiance, the radiance value of each pixel in the fusion evaluation is obtained；
According to the radiance value of each pixel in the fusion evaluation fusion is calculated using Planck's law of radiation
The brightness temperature value of each pixel in image.
5. unmanned plane mountain fire according to claim 1 explores control method, which is characterized in that described according to the open firing point
With the coordinate information of dying fire point, mountain fire coverage and the distance between mountain fire central point and transmission line of electricity are analyzed, determines mountain fire
Grade, including：
Calculate the distance between the mountain fire central point and transmission line of electricity；
If the distance between the mountain fire central point and transmission line of electricity are in 1km, it is determined that the mountain fire grade is urgent calamity
Feelings；
If the distance between the mountain fire central point and transmission line of electricity are in 1km to 3km, it is determined that the mountain fire grade is one
As the condition of a disaster；
If the distance between the mountain fire central point and transmission line of electricity are other than 3km, it is determined that the mountain fire grade is common
The condition of a disaster.
6. unmanned plane mountain fire according to claim 5 explores control method, which is characterized in that the emergency includes：
Calculate the mountain fire coverage；
If the mountain fire coverage is in 30 hectares, it is determined that the mountain fire grade is I grades of emergencies；
If the mountain fire coverage is in 30 hectares to 60 hectares, it is determined that the mountain fire grade is II grades of emergencies；
If the mountain fire coverage is in 60 hectares to 100 hectares, it is determined that the mountain fire grade is the urgent calamity of III level
Feelings.
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| CN107481465A (en) * | 2017-08-21 | 2017-12-15 | 昆明理工大学 | A kind of aerial unmanned plane infrared monitoring method for early warning of forest adaptive cruise |
| CN107610082B (en) * | 2017-09-20 | 2024-02-06 | 中国水利水电科学研究院 | Higher spatial resolution regional surface temperature unmanned aerial vehicle acquisition device and system |
| CN110998596B (en) * | 2017-09-28 | 2023-11-07 | 苹果公司 | Night sensing |
| CN107784277B (en) * | 2017-10-17 | 2021-08-31 | 国网湖南省电力公司 | Mountain fire identification method and system |
| EP3671681A4 (en) | 2017-11-30 | 2020-08-26 | SZ DJI Technology Co., Ltd. | Maximum temperature point tracking method, device and drone |
| CN108470418A (en) * | 2018-04-02 | 2018-08-31 | 深圳汇创联合自动化控制有限公司 | A kind of accurate building fire early warning system of early warning |
| CN109410159A (en) * | 2018-09-11 | 2019-03-01 | 上海创客科技有限公司 | Binocular visible light and infrared thermal imaging complex imaging system, method and medium |
| CN111445663B (en) * | 2019-01-16 | 2021-10-19 | 阜宁泰利泵业有限公司 | On-site safety alarm system |
| CN109727430B (en) * | 2019-01-16 | 2020-11-13 | 郑益丽 | On-site safety alarm system |
| CN109978806A (en) * | 2019-03-22 | 2019-07-05 | 云南谦实科技有限公司 | A kind of method, apparatus and computer media carrying out the inspection of route hidden danger based on multi-spectral imager |
| CN111207838B (en) * | 2020-03-11 | 2021-02-19 | 中南大学 | Molten iron temperature measuring device based on special infrared spectrum wave band |
| CN111311866A (en) * | 2020-03-18 | 2020-06-19 | 云南电网有限责任公司带电作业分公司 | Satellite data fusion mountain fire monitoring and fire deduction-based early warning method and system |
| CN111882811A (en) * | 2020-07-27 | 2020-11-03 | 安徽九洲农业科技有限公司 | Fire-fighting unmanned aerial vehicle for identifying fire point |
| CN112164197B (en) * | 2020-09-24 | 2022-11-25 | 海南电网有限责任公司电力科学研究院 | Multispectral-based power transmission line forest fire survey early warning device |
| CN112785809B (en) * | 2020-12-31 | 2022-08-16 | 四川弘和通讯有限公司 | Fire re-ignition prediction method and system based on AI image recognition |
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