CN102298818A - Binocular shooting fire detecting and positioning device and fire positioning method thereof - Google Patents
Binocular shooting fire detecting and positioning device and fire positioning method thereof Download PDFInfo
- Publication number
- CN102298818A CN102298818A CN2011102382420A CN201110238242A CN102298818A CN 102298818 A CN102298818 A CN 102298818A CN 2011102382420 A CN2011102382420 A CN 2011102382420A CN 201110238242 A CN201110238242 A CN 201110238242A CN 102298818 A CN102298818 A CN 102298818A
- Authority
- CN
- China
- Prior art keywords
- binocular
- fire
- stepper motor
- angle
- monocular
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The invention provides a binocular shooting fire detecting and positioning device and a fire positioning method thereof. The binocular shooting fire detecting and positioning device consists of a binocular shooting unit, a binocular vertical angle adjusting device and a binocular horizontal angle adjusting device, wherein the binocular shooting unit comprises a transparent protective shell, and two cameras, a monocular translational adjusting device, a monocular horizontal angle adjusting device and an infrared distance measuring device which are arranged in the transparent protective shell. The fire positioning method based on the binocular shooting fire detecting and positioning device comprises fire detection, base line blind area detection, finding of fire source root, active focusing, acquisition of the deflection angle of a monocular camera, self-adaptive adjustment, acquisition of the deflection included angle and camera distance of the binocular shooting unit, computation of the three-dimensional coordinates of a fire source and sending of a fire extinguishing command. In the binocular shooting fire detecting and positioning device, a video fire detection function and an image type fire positioning function are integrated, so that fire can be positioned accurately and conveniently; and the binocular shooting fire detecting and positioning device is easy to install and operate. Due to the adoption of a self-adaptive adjustment design, the requirement of positioning accuracy at any place is met.
Description
Affiliated technical field:
The present invention relates to fire disaster intelligently safety monitoring technical field, relate in particular to video fire hazard detection, image-type fire field of locating technology.
Background technology:
The fire location is the prerequisite that realizes the intelligent fire fire extinguishing, and traditional fire localization method based on the infrared distance measurement technology can't be applied in open large spaces such as airport, harbour, square, and can only carry out the range observation of one dimension, is difficult to realize three-dimensional localization.Along with the application of ccd video camera and the development of video fire hazard Detection Techniques, the image-type fire localization method based on ccd video camera has appearred.But the monocular camera system of utilizing common CCD camera to constitute positions, and can determine perpendicular to the coordinate in the plane of primary optical axis, but can't determine along the coordinate of optical axis direction, therefore can not carry out three-dimensional localization; If utilize scan-type simulation binocular camera system, because two width of cloth images that obtain certainly exist the mistiming, the image of two width of cloth different angles of obtaining with the same time of biocular systems is compared and is also certainly existed very big difference, so its bearing accuracy is not high; And must carry out the camera calibration work of complicated specialty before the part binocular camera shooting positioning system location, be difficult to popularization and application.In addition, distance between the common camera system is in case definite, and the yardstick of its location is just fixing in the accuracy requirement scope, is difficult to change automatically along with the different scale of different spaces the spacing of video camera, to satisfy locating accuracy, therefore be difficult to be applied in the various spaces of different scale." method and system (200910033034) are surveyed, put out to a kind of fire disaster intelligently based on computer vision technique " of public announcement of a patent application, it utilizes the binocular parallax technology, space length to flame is estimated, coordinates computed is relevant with camera parameter, must demarcate the parameter of camera before the location; Do not consider the distortion factor of camera, locate more rough; It has just utilized two width of cloth images of the video camera of two platform independent to handle simultaneously, does not have to focus on self-adaptation to adjust function." a kind of method of finding flames with large-space intelligent fire-fighting system (200910216545) " of public announcement of a patent application based on image, utilize a plurality of video cameras to the subregion monitoring of monitoring place, question blank is set up in the corresponding presetting bit of each video camera during initialization.Discovery has fire, seeks the corresponding video camera that fire image is arranged, and determines the presetting bit of flame according to question blank, can not carry out the accurate location of coordinate.
Summary of the invention:
The objective of the invention is to,, provide a kind of binocular camera shooting detection and locating device and fire localization method thereof at the deficiencies in the prior art.
For achieving the above object, the technical solution used in the present invention is as follows:
A kind of binocular camera shooting detection and locating device, comprise identical camera and the transparent guard shield of two parameters that belongs to the binocular camera shooting unit, two cameras are arranged in the transparent guard shield, two cameras are connected with middle transcoder controller by signal transmission line respectively, and middle transcoder controller is connected with the computing machine of Surveillance center by signal transmission line; It is characterized in that: also be provided with the monocular translation regulating device that realizes the difference left and right sides translation on surface level of two cameras in the transparent guard shield of described binocular camera shooting unit, and realize monocular level angle regulating device that two cameras rotate in surface level respectively and the infrared distance measurement device of forming by infrared correlation device; Described monocular translation regulating device comprises the parallel orbit that is packed in two left and right directions on the transparent guard shield inwall bottom surface, two all horizontally disposed stepper motors of rotating spindle are supported on the parallel orbit respectively and the independent left right translation by being installed in the rotation roller on the rotating spindle; Described monocular level angle regulating device includes two stepper motors, its rotating spindle all vertically is provided with, the upper end of two camera casings is separately fixed on the rotating spindle of two stepper motors, be provided with projecting shaft at two camera casing lower surfaces, it cooperates with the rotating shaft cover of two stepper motor casing upper surfaces in being arranged on monocular translation regulating device, make camera in the translation of the left and right sides, and can under the drive of the stepper motor in the monocular level angle regulating device, rotate; The emitter and receiver of described infrared distance measurement device is installed in respectively on the opposite flank of two stepper motor casings in the monocular translation regulating device; On the outer wall of transparent guard shield, also be provided with the vertical angle regulator of binocular of realizing that the binocular camera shooting unit rotates in perpendicular, the vertical angle regulator of this binocular comprises that rotating spindle becomes horizontally disposed stepper motor and the support bar affixed with the buildings roof, its stepper motor casing outside is fixed in the lower end of support bar, the rotating spindle of stepper motor and the horizontal supporting shaft on being arranged on transparent guard shield shell wall are affixed to become whole, and the binocular camera shooting unit is rotated in perpendicular; The transmission signals of every stepper motor, infrared correlation device is communicated with the Surveillance center computing machine by middle transcoder controller.
In order better to detect monitoring space, apparatus of the present invention also are provided with the binocular level angle regulating device that the binocular camera shooting unit is rotated in surface level: be provided with the vertical stepper motor of rotating spindle at the buildings roof, the support bar of rotating spindle that stepper motor stretches out downwards and the vertical angle regulator of binocular is fixed into integral body, and the binocular camera shooting unit can be horizontally rotated; The transmission signals of the stepper motor in the binocular level angle regulating device is communicated with the Surveillance center computing machine by middle transcoder controller; The support bar of the vertical angle regulator of described binocular can be one or two.
For making the stable operation of camera energy, can in transparent guard shield, install additional one with the guide rail that is packed in two parallel tracks on the transparent guard shield inwall bottom surface, it cooperates with the through hole of the footstock of two stepper motor casing upper surfaces that are packed in monocular level angle regulating device, make the stepper motor can be, to guarantee phenomenons such as camera does not rock in operational process along the translation of the guide rail left and right sides.
Fire localization method based on said apparatus of the present invention, it comprises at first two width of cloth images that obtain at synchronization according to binocular camera shooting detection and locating device, utilize video fire hazard probe algorithm of the prior art to detect the scene and whether have flame or smog, it is characterized in that, detect have the fire the condition of a disaster after, when Surveillance center provides the warning of signal controlling warning lamp, also carry out following steps by middle transcoder controller:
(1) the baseline blind area is detected: from Surveillance center's output adjustment signal, rotate the stepper motor of binocular level angle regulating device, the shooting visual angle of every camera is not overlapped with the baseline blind area.Described baseline blind area is meant the zone of the positive and negative η angle of baseline, and described baseline is the line at the center that horizontally rotates of camera, and described η angle is by formula η=tan
-1(L/2d) guestimate, wherein d is two distances between the CCD camera, L is the camera length dimension.
(2) seek the burning things which may cause a fire disaster root: the fire image of utilizing every camera to take is calculated burning things which may cause a fire disaster root image coordinate wherein: use frame difference method to extract the edge contour of flame in the image or smog; get edge contour bottom line the coordinate center as the image coordinate of burning things which may cause a fire disaster root (x, y).
(3) initiatively focus on: for every camera, (x is y) with the centre coordinate (x of image with wherein burning things which may cause a fire disaster root image coordinate
0, y
0) make comparisons, the side-play amount (Δ x, Δ y) of calculating camera=(x, y)-(x
0, y
0).Centre coordinate (the x of described image
0, y
0)=(M/2, N/2), wherein the resolution of image is M*N, and M is the picture traverse pixel count, and N is the picture altitude pixel count.Side-play amount according to camera is sent adjustment signal, rotate the stepper motor of the vertical angle regulator of binocular and two stepper motors of monocular level angle regulating device, driving two cameras rotates respectively, repeating step (1), (2), (3) then, the burning things which may cause a fire disaster root image coordinate of the fire image that photographs until every camera overlaps with the picture centre coordinate, finishes the focusing process.
(4) obtain the deflection angle of monocular cam: initiatively focus on finish after, according to the initial angle of the stepper motor of two monocular level angle regulating devices and the angle of rotation, obtain X deflection angle α, the β of two cameras.
(5) self-adaptation adjustment: according to deflection angle α, β, calculate the angle ψ=180-alpha-beta between two cameras, size according to ψ is sent adjustment signal, two stepper motors of mobile monocular translation regulating device, driving two cameras moves, thereby change the spacing of two cameras, 5.00 °＜ψ＜175.00 ° is satisfied until angle in repeating step (1), (2), (3), (4), (5) then.The scope of ψ can be adjusted according to the step angle of high precision stepper motor and the resolution and the experience of camera: the stepper motor step angle is more little, and camera resolution is high more, can be with the ψ expanded range; Otherwise dwindle.
(6) obtain the deflection angle and the camera spacing of binocular camera shooting unit: the spacing d that utilizes two cameras of infrared distance measurement measurement device; The initial angle of the stepper motor of record binocular level angle regulating device and the stepper motor of the vertical angle regulator of binocular and the angle of rotation, obtain the final deflection angle of the stepper motor of the stepper motor of binocular level angle regulating device and the vertical angle regulator of binocular, and then obtain the X deflection angle of binocular camera shooting unit
With vertical deflection angle θ.
(7) the burning things which may cause a fire disaster three-dimensional coordinate calculates in Surveillance center: according to following formula, calculate the burning things which may cause a fire disaster three-dimensional coordinate:
(8) the burning things which may cause a fire disaster root coordinate oriented according to binocular camera shooting detection and locating device of Surveillance center sending the fire extinguishing instruction.
The invention provides and a kind ofly integrate that video fire hazard is surveyed and the binocular camera shooting detection and the locating device of image-type fire positioning function, and based on the fire localization method of this device.The present invention can accurately locate the position of fire, adopt binocular camera shooting head system anthropomorphic dummy eye system, obtain the fire image of synchronization from different perspectives, every camera can both be positioned at fire on the axis of the primary optical axis that is parallel to oneself, there is angle between the optical axis of binocular camera shooting head, can only intersect at a point according to two straight lines, therefore can determine the position of fire.The present invention can carry out the fire location easily, adopt initiatively focusing technology, fire is focused on the primary optical axis of camera from software program control camera, utilize simple triangle relation just can easily calculate the three-dimensional coordinate of fire then, the focal length that does not need camera in the computation process fully, therefore parameters such as skew focal length also need not carry out complicated camera calibration work.This design makes the installation of apparatus of the present invention and simple and convenient, and is practical more.Self-adaptation adjustment design of the present invention makes can be according to the yardstick of different spaces, and the angle by between two cameras of spacing change that change two cameras makes its location in any place all satisfy accuracy requirement.
The present invention also can bring certain good effect: because the fitting operation of binocular camera shooting detection and locating device is simple, camera calibration work that need not specialty makes domestic consumer also can simple and conveniently use, and promotes popularizing and application of fire fighting equipment.In addition, because adaptive design of the present invention, binocular camera shooting detection and locating device can be adapted to the different spaces place automatically, and can both satisfy accuracy requirement, have improved the precision of fire fighting equipment, promote the intellectuality of fire fighting equipment.
Description of drawings
A kind of embodiment synoptic diagram front elevation of Fig. 1 binocular camera shooting detection of the present invention and locating device.
Fig. 2 is the side view of Fig. 1.
Fig. 3 comprises the intelligent fire-pretection system synoptic diagram of apparatus of the present invention.
Fig. 4 burning things which may cause a fire disaster coordinate Calculation synoptic diagram.
Fig. 5 binocular camera shooting unit vertical deflection angle θ range specification figure.
Fig. 6 baseline blind area synoptic diagram.
Fig. 7 burning things which may cause a fire disaster root finding method figure.
Fig. 8 camera side-play amount synoptic diagram.
Fig. 9 the inventive method software flow pattern.
Embodiment
The present invention is further illustrated below in conjunction with accompanying drawing.
Embodiment
Referring to Fig. 1, Fig. 2, the concrete structure of present embodiment device is as follows:
Binocular camera shooting detection and locating device are made up of binocular camera shooting unit, the vertical angle regulator of binocular, binocular level angle regulating device.
The binocular camera shooting unit comprises transparent guard shield 9, and is arranged on two CCD cameras 11, monocular level angle regulating device, monocular translation regulating device and infrared distance measurement device 14 in the transparent guard shield 9.The parameter of two CCD cameras 11 is identical, and camera resolution high position precision more is high more; Monocular level angle regulating device comprises that the identical and step angle of two parameters is less than 0.01 ° high precision stepper motor 6; Monocular translation regulating device is made of two tracks 17, guide rail 7, two stepper motors that parameter is identical 12 and rubber rotation roller 13; Infrared distance measurement device 14 is made of infrared correlation device.
The vertical angle regulator of binocular comprises that step angle is less than 0.01 ° high precision stepper motor 10, rotating shaft 15 and support bar 8.Fixedly connected with stepper motor 10 casings in support bar 8 lower ends on right side, its stepper motor 10 rotating spindles are fixedlyed connected with the right side of transparent guard shield 9.One rotating shaft 15 is installed in the left side of transparent guard shield 9, this rotating shaft 15 and stepper motor 10 rotating spindle coaxial cables, the other end of rotating shaft 15 is sleeved in the hole of support bar 8 lower ends, left side.When high precision stepper motor 10 rotates, drive the binocular camera shooting unit and in vertical plane, rotate.
Binocular level angle regulating device comprises step angle less than 0.01 ° high precision stepper motor 3 and rotating disk 4, and high precision stepper motor 3 is vertically installed, and rotating disk 4 is installed on the rotating spindle of its lower end.About the upper end of two support bars 8 be fixedly connected on the rotating disk 4 with screw 5.When high precision stepper motor 3 rotates, drive rotating disk 4 and rotate, in surface level, rotate thereby drive the binocular camera shooting unit.Have four in the mounting disc 2 of right cylinder lid shape screw 1 is installed, mounting disc 2 is fixed on the roof of buildings by the screw coupling arrangement.High precision stepper motor 3 is packed in the groove that covers shape mounting disc 2.
Described stepper motor 3, stepper motor 6, stepper motor 10, stepper motor 12, two cameras 11 are connected with middle transcoder controller by signal transmission line respectively with infrared correlation device 14, and middle transcoder controller is connected with the computing machine of Surveillance center by signal transmission line.
Referring to Fig. 3, apparatus of the present invention can be as the ingredient of intelligent fire-pretection system.Intelligent fire-pretection system generally has the image capturing system of front end, and the video image of middle-end is handled and locating device control platform, the alarm linkage fire extinguishing system of rear end.Binocular camera shooting detection of the present invention and locating device are the image capturing system of front end, and this device simulation human eye biocular systems integrates video fire hazard and surveys and the fire positioning function, in detection fire is accurately located.Surveillance center is that the video image of middle-end is handled and locating device control platform, the enforcement software of the fire localization method based on binocular camera shooting detection and locating device of the present invention places the computing machine of Surveillance center, the video image that computing machine utilizes apparatus of the present invention to collect detects the scene to be had under the situation of fire, fire is positioned, for the interlock fire extinguishing provides the target location.
Referring to Fig. 4, the foundation of initial space coordinate system: define initial installment state and (can make the optical axis of central shaft, camera of binocular camera shooting unit parallel during original state with ceiling, perhaps parallel with the edge of wall) time, the center that horizontally rotates of two the CCD cameras 11 i.e. line at two stepper motor 6 rotating spindle centers is a baseline, and the perpendicular bisector of this baseline is the central shaft of binocular camera shooting unit.The optical axis of central shaft, baseline, two CCD cameras 11 is all in same plane.With described baseline is X-axis, and described central shaft is a Y-axis, and straight line vertically downward is the Z axle, sets up space coordinates XYZ, and is called initial space.Baseline and central shaft will drive the binocular camera shooting unit rotational and change angle orientation along with stepper motor 3.State when the position of two CCD cameras 11 is back, fire location among Fig. 4, two CCD cameras 11 are positioned on the X-axis during original state.O
1And O
2The center that horizontally rotates that is two CCD cameras 11 is the rotating spindle center of two stepper motors 6, its line O
1O
2Be the adjusted baseline in location, F is a fire location.O
1F is optical axis, the O of left side CCD camera 11
2F is the optical axis of the right CCD camera 11, and OD is O
1O
2Perpendicular bisector, and at plane O
1O
2In the F, OD also is the central shaft of binocular camera shooting unit.Identify for convenience
With the θ angle, the F spot projection in the XY plane, is promptly put F ' (x ', y ', 0), corresponding central shaft OD projects to the XY plane and is OD ', and then have: α is the optical axis O of left side CCD camera 11
1F and baseline O
1O
2Between angle, β is the optical axis O of the right CCD camera 11
2F and baseline O
1O
2Between angle; θ is the angle on binocular camera shooting unit center axle OD and XY plane, this angle also is the angle of the rotating spindle of stepper motor 10 with respect to the rotation of XY plane, when stepper motor 10 drive binocular camera shooting unit rotated up and down in perpendicular, the big young pathbreaker at θ angle changed thereupon;
Be the angle on binocular camera shooting unit center axle OD and YZ plane, this angle also is the angle of the rotating spindle of stepper motor 3 with respect to the rotation of YZ plane, and its scope is
When stepper motor 3 drives the binocular camera shooting unit in horizontal plane during left-right rotation,
The big young pathbreaker at angle changes thereupon; D is the spacing of two CCD cameras 11; Point F (x, y z) are the fire location coordinate, and F ' (x ', y ', 0) be the projection coordinate of burning things which may cause a fire disaster on the XY plane.
Referring to Fig. 5, the rotating spindle of stepper motor 10 rotates the binocular camera shooting unit is rotated up and down in perpendicular, thereby changes the central shaft of binocular camera shooting unit and the angle theta on XY plane.Take scope-90 °＜θ＜90 of regulation θ ° the other way around for fear of the CCD camera.
Referring to Fig. 6, O
1, O
2The center that horizontally rotates that is respectively two CCD cameras 11 is the axle center of two stepper motors 6, and its line is a baseline.Among the figure as can be seen two CCD cameras block mutually, have the blind area, the blind area is arranged near the baseline certain angle scope, and (figure is from O
1, O
2Zone in the dotted line subtended angle of drawing is the baseline blind area).The zone of the positive and negative η angle of definition baseline is the blind area, is referred to as the baseline blind area.Have only a camera can photograph fire image owing to blocking of camera in the baseline blind area.As if the distance between two CCD cameras 11 is d, and camera is of a size of L, and η can use formula η=tan
-1(L/2d) guestimate.For the camera lens that prevents two CCD cameras 11 is relative, enter the baseline blind area, the scope of regulation α, β angle is η＜α, β＜360 °-η.
Referring to Fig. 8, (x y) is the image coordinate of burning things which may cause a fire disaster root, (x
0, y
0) be the optical axis of camera for the picture centre coordinate.The optical axis of definition CCD camera 11 is referred to as the side-play amount of camera with respect to the image coordinate side-play amount of burning things which may cause a fire disaster root.
Referring to Fig. 9, it is as follows to utilize device of the present invention to carry out the specific implementation step of fire localization method:
(1) fire detection:
For every next image information of camera transmission, Surveillance center at first can utilize fire recognizer detection scene whether to have flame or smog, if there is no, then carry out usual monitoring work by middle transcoder controller control binocular camera shooting detection and locating device; Detect have the fire the condition of a disaster after, when Surveillance center provides the signal controlling warning lamp and reports to the police, also carry out following (2) to (9) step by middle transcoder controller control binocular camera shooting detection and locating device.
(2) the baseline blind area is detected:
After detecting fire, Surveillance center at first detects burning things which may cause a fire disaster and whether is positioned at the baseline blind area.If the stepper motor 3 of Surveillance center's control binocular level angle regulating device rotates, step angle of stepper motor 3 each rotations, drive the binocular camera shooting unit rotational, thereby change the baseline blind area of binocular camera shooting unit, this process constantly repeats, and does not overlap with fire location until the baseline blind area; If not, directly carry out step (3).
(3) seek the burning things which may cause a fire disaster root:
Surveillance center utilizes burning things which may cause a fire disaster root finding method (referring to Fig. 7) to calculate burning things which may cause a fire disaster root image coordinate in every camera respectively: gather every camera fire image, use simple frame difference method to extract the bottom line of the edge contour of flame in each image or smog, get then the coordinate center of bottom line as the image coordinate of burning things which may cause a fire disaster root (x, y).
(4) initiatively focus on adjustment:
(x is y) with the centre coordinate (x of image with the image coordinate of the burning things which may cause a fire disaster root of each camera in Surveillance center
0, y
0) make comparisons, calculate the side-play amount (Δ x, Δ y) of every CCD camera 11=(x, y)-(x
0, y
0).Here centre coordinate (the x of image
0, y
0)=(M/2, N/2), wherein the resolution of image is M*N, and M is the picture traverse pixel count, and N is the picture altitude pixel count.According to side-play amount, the stepper motor 10 of the vertical angle regulator of Surveillance center's control binocular and two stepper motor 6 rotational angles of monocular level angle regulating device drive two CCD cameras 11 and rotate respectively.When Δ x＜0, two stepper motors 6 drive two CCD cameras 11 respectively and turn left, and when Δ x＞0, two stepper motors 6 drive two CCD cameras 11 respectively and turn right; When Δ y＜0, stepper motor 10 drives on two CCD cameras 11 and changes, and when Δ y＞0, stepper motor 10 drives two CCD cameras to be changeed for 11 times; Stepper motor 6 and step angle of stepper motor 10 each rotations in this process, return repeating step (2), (3), (4) then, and the burning things which may cause a fire disaster root image coordinate in every camera (x, y) overlapping with the picture centre coordinate is Δ x=0, Δ y=0 finishes the focusing process.
(5) obtain the deflection angle of monocular cam:
After initiatively focusing was finished, Surveillance center obtained the deflection angle of stepper motor 6 according to the initial angle of stepper motor 6 and the angle of rotation, i.e. deflection angle α, the β of each CCD pickup camera 11.
(6) self-adaptation adjustment:
Angle ψ=180-the alpha-beta between two CCD cameras 11 calculates according to deflection angle α, β in Surveillance center.When 5.00 °＜ψ＜175.00 °, Surveillance center's control binocular camera shooting detection finishes active focusing work with locating device; When ψ＜5.00 °, two stepper motors 12 of Surveillance center's control monocular translation regulating device move dorsad, increase the distance between two CCD cameras 11; When ψ＞175.00 °, two stepper motors 12 of Surveillance center's control monocular translation regulating device move in opposite directions, reduce two distances between the CCD camera 11.Two stepper motor 12 mobile phases of Surveillance center's control monocular translation regulating device are equidistant, guarantee that the center of two CCD cameras 11 is constant.After moving a certain distance (can get fixed value such as 0.5cm), must focus on again, 5.00 °＜ψ＜175.00 ° is satisfied until angle in repeating step (2), (3), (4), (5), (6).Here 5.00 °＜ψ of initial setting＜175.00 °, the scope of ψ can be adjusted according to the step angle of high precision stepper motor and the resolution and the experience of camera: the stepper motor step angle is more little, and camera resolution is high more, can be with the ψ expanded range; Otherwise dwindle.
(7) obtain the deflection angle and the camera spacing of binocular camera shooting unit:
Surveillance center utilizes infrared distance measurement device 14 to measure the spacing d of two CCD cameras 11.Surveillance center obtains the final vertical deflection angle of stepper motor 3 terminal level deflection angles and stepper motor 10 according to the initial angle of stepper motor 3 and stepper motor 10 and the angle of rotation, promptly obtains the X deflection angle of binocular camera shooting unit
With vertical deflection angle θ.
(8) the burning things which may cause a fire disaster three-dimensional coordinate calculates in Surveillance center:
After system initiatively focuses on, self-adaptation adjusts, the binocular camera shooting unit with respect to original state in the XY plane around Z axle (seeing) anglec of rotation clockwise against Z-direction
Calculate for convenience, Surveillance center be an X ' axle with the line (baseline when adjusting the back state) at the center that horizontally rotates of adjusted two CCD cameras 11 at first, be coordinate system X ' Y ' Z ' that the foundation of Z ' axle is assisted vertically downward, and acquisition burning things which may cause a fire disaster coordinate is:
Then auxiliary coordinates X ' Y ' Z ' is rotated counterclockwise around Z ' axle
Angle just can obtain initial coordinate system XYZ, and the Rotating Transition of Coordinate matrix is
Again the coordinate transform in X ' Y ' Z ' space is arrived the coordinate of XYZ space:
The coordinate that obtains burning things which may cause a fire disaster in the initial space is:
(9) Surveillance center sends instruction according to the burning things which may cause a fire disaster root coordinate that obtains, and control interlock water cannon is put out a fire, and reaches the purpose of timely fire containment.
Practical application is given an example: automation and intelligentification degree height of the present invention, so its implementation process is convenient and swift.1. hardware is installed with system and set up: what binocular camera shooting detection and locating device designed is that hanging is installed, by mounting disc and mounting hole this device is installed on the ceiling such as places such as warehouse, market, theaters, utilize signal transmssion line to be connected with computing machine then, warning device also is connected with computing machine.Apparatus of the present invention can be formed intelligent fire-pretection system with the linkage extinguishing system compatibility simultaneously.Be initial point with this device center during installation, set up space coordinates, directly utilize the elements of a fix, water cannon and binocular camera shooting detection and locating device can be installed on the axle of coordinate system in order to make fire extinguishing system.2. device initialization: after the system start-up, simple initialization is carried out in binocular camera shooting detection and locating device, in order to save the work of manual measurement initial angle, hardware system can keep camera parallel with coordinate axis when installing, each angle [alpha] of utilizing Surveillance center to obtain
0, β
0, θ
0,
Replacement is made zero, then according to the relative orientation in binocular camera shooting detection and locating device and place, utilize Surveillance center's control high precision stepper motor 3 and high precision stepper motor 10 to rotate, a suitable angle (only need estimate and get final product) is adjusted in the binocular camera shooting unit, to obtain the bigger visual field; Simultaneously can according to the yardstick in place tentatively determine two cameras apart from d
0(tentatively be made as the length that is slightly larger than camera, collide mutually when preventing to rotate), each initial angle α of binocular camera shooting detection and locating device
0, β
0, θ
0,
Apart from d
0Can preserve automatically.For example, general housing 5*4*3m
3The space in, suppose that binocular camera shooting detection and locating device are installed in certain drift angle, with the drift angle is initial point, article three, wall corner line is as coordinate axis, and wherein wall corner line vertically downward is the Z axle, and a wall corner line that is parallel to ground is an X-axis, another is a Y-axis, during installation with camera and Y-axis wall corner line keeping parallelism, through each initial angle, distance that can deriving means after the initialization, for example α in this example
0=90.00 °, β
0=90.00 °, θ
0=45.00 °,
d
0=30.00cm.This original state is the daily monitor state of camera system.3. the fire three-dimensional coordinate is located.When Surveillance center detects the scene and has fire, start initiatively to focus at once and adjust and the self-adaptation adjustment, finish location adjustment work, obtain at last adjust after each angle [alpha], β, θ,
With distance d.For example α in this example=86.95 °, β=87.55 °, θ=60.75 °,
D=30cm, coordinates computed are (x, y, z)=(1.10,1.06,2.72) m.
Claims (5)
1. binocular camera shooting detection and locating device, comprise identical camera and the transparent guard shield of two parameters that belongs to the binocular camera shooting unit, two cameras are arranged in the transparent guard shield, two cameras are connected with middle transcoder controller by signal transmission line respectively, and middle transcoder controller is connected with the computing machine of Surveillance center by signal transmission line; It is characterized in that: also be provided with the monocular translation regulating device that realizes the difference left and right sides translation on surface level of two cameras in the transparent guard shield of described binocular camera shooting unit, and realize monocular level angle regulating device that two cameras rotate in surface level respectively and the infrared distance measurement device of forming by infrared correlation device; Described monocular translation regulating device comprises the parallel orbit that is packed in two left and right directions on the transparent guard shield inwall bottom surface, two all horizontally disposed stepper motors of rotating spindle are supported on the parallel orbit respectively and the independent left right translation by being installed in the rotation roller on the rotating spindle; Described monocular level angle regulating device includes two stepper motors, its rotating spindle all vertically is provided with, the upper end of two camera casings is separately fixed on the rotating spindle of two stepper motors, be provided with projecting shaft at two camera casing lower surfaces, it cooperates with the rotating shaft cover of two stepper motor casing upper surfaces in being arranged on monocular translation regulating device, make camera in the translation of the left and right sides, and can under the drive of the stepper motor in the monocular level angle regulating device, rotate; The emitter and receiver of described infrared distance measurement device is installed in respectively on the opposite flank of two stepper motor casings in the monocular translation regulating device; On the outer wall of transparent guard shield, also be provided with the vertical angle regulator of binocular of realizing that the binocular camera shooting unit rotates in perpendicular, the vertical angle regulator of this binocular comprises that rotating spindle becomes horizontally disposed stepper motor and the support bar affixed with the buildings roof, its stepper motor casing outside is fixed in the lower end of support bar, the rotating spindle of stepper motor and the horizontal supporting shaft on being arranged on transparent guard shield shell wall are affixed to become whole, and the binocular camera shooting unit is rotated in perpendicular; The transmission signals of every stepper motor, infrared correlation device is communicated with the Surveillance center computing machine by middle transcoder controller.
2. binocular camera shooting detection as claimed in claim 1 and locating device, it is characterized in that, also be provided with the binocular level angle regulating device that the binocular camera shooting unit is rotated in this device in surface level: be provided with the vertical stepper motor of rotating spindle at the buildings roof, the support bar of rotating spindle that stepper motor stretches out downwards and the vertical angle regulator of binocular is fixed into integral body, and the binocular camera shooting unit can be horizontally rotated; The transmission signals of the stepper motor in the binocular level angle regulating device is communicated with the Surveillance center computing machine by middle transcoder controller.
3. binocular camera shooting detection as claimed in claim 1 or 2 and locating device is characterized in that, the support bar of the vertical angle regulator of described binocular is one or two.
4. binocular camera shooting detection as claimed in claim 1 and locating device, it is characterized in that, install additional in the described transparent guard shield one with the guide rail that is packed in two parallel tracks on the transparent guard shield inwall bottom surface, it cooperates with the through hole of the footstock of two stepper motor casing upper surfaces that are packed in monocular level angle regulating device, makes the stepper motor can be along the translation of the guide rail left and right sides.
5. based on the fire localization method of said apparatus, it comprises at first two width of cloth images that obtain at synchronization according to binocular camera shooting detection and locating device, utilize video fire hazard probe algorithm of the prior art to detect the scene and whether have flame or smog, it is characterized in that, detect have the fire the condition of a disaster after, when Surveillance center provides the warning of signal controlling warning lamp, also carry out following steps by middle transcoder controller:
(1) the baseline blind area is detected: from Surveillance center's output adjustment signal, rotate the stepper motor of binocular level angle regulating device, the shooting visual angle of every camera is not overlapped with the baseline blind area;
(2) seek the burning things which may cause a fire disaster root: the fire image of utilizing every camera to take is calculated burning things which may cause a fire disaster root image coordinate wherein: use frame difference method to extract the edge contour of flame in the image or smog; get edge contour bottom line the coordinate center as the image coordinate of burning things which may cause a fire disaster root (x, y);
(3) initiatively focus on: for every camera, (x is y) with the centre coordinate (x of image with wherein burning things which may cause a fire disaster root image coordinate
0, y
0) make comparisons, the side-play amount (Δ x, Δ y) of calculating camera=(x, y)-(x
0, y
0), side-play amount according to camera is sent adjustment signal, rotate the stepper motor of the vertical angle regulator of binocular and two stepper motors of monocular level angle regulating device, driving two cameras rotates respectively, repeating step (1), (2), (3) then, the burning things which may cause a fire disaster root image coordinate of the fire image that photographs until every camera overlaps with the picture centre coordinate, finishes the focusing process;
(4) obtain the deflection angle of monocular cam: initiatively focus on finish after, according to the initial angle of the stepper motor of two monocular level angle regulating devices and the angle of rotation, obtain X deflection angle α, the β of two cameras;
(5) self-adaptation adjustment: according to deflection angle α, β, calculate the angle ψ=180-alpha-beta between two cameras, size according to ψ is sent adjustment signal, two stepper motors of mobile monocular translation regulating device, driving two cameras moves, thereby change the spacing of two cameras, 5.00 °＜ψ＜175.00 ° is satisfied until angle in repeating step (1), (2), (3), (4), (5) then;
(6) obtain the deflection angle and the camera spacing of binocular camera shooting unit: the spacing d that utilizes two cameras of infrared distance measurement measurement device; The initial angle of the stepper motor of record binocular level angle regulating device and the stepper motor of the vertical angle regulator of binocular and the angle of rotation, obtain the final deflection angle of the stepper motor of the stepper motor of binocular level angle regulating device and the vertical angle regulator of binocular, and then obtain the X deflection angle of binocular camera shooting unit
With vertical deflection angle θ;
(7) the burning things which may cause a fire disaster three-dimensional coordinate calculates in Surveillance center: according to following formula, calculate the burning things which may cause a fire disaster three-dimensional coordinate;
(8) the burning things which may cause a fire disaster root coordinate oriented according to binocular camera shooting detection and locating device of Surveillance center sending the fire extinguishing instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110238242 CN102298818B (en) | 2011-08-18 | 2011-08-18 | Binocular shooting fire detecting and positioning device and fire positioning method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110238242 CN102298818B (en) | 2011-08-18 | 2011-08-18 | Binocular shooting fire detecting and positioning device and fire positioning method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102298818A true CN102298818A (en) | 2011-12-28 |
| CN102298818B CN102298818B (en) | 2013-07-10 |
Family
ID=45359209
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110238242 Expired - Fee Related CN102298818B (en) | 2011-08-18 | 2011-08-18 | Binocular shooting fire detecting and positioning device and fire positioning method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102298818B (en) |
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104092923A (en) * | 2014-07-21 | 2014-10-08 | 国家电网公司 | Power transmission line intelligent video distance measurement method |
| CN104092922A (en) * | 2014-07-21 | 2014-10-08 | 国家电网公司 | Transformer substation electrified body intelligent video distance management and control method |
| CN104436501A (en) * | 2014-12-15 | 2015-03-25 | 中国科学技术大学 | Fire extinguishing control method, device and system based on fire monitor technology |
| CN104853067A (en) * | 2014-12-12 | 2015-08-19 | 讯美电子科技有限公司 | Camera with transparent housing |
| CN105205969A (en) * | 2015-09-23 | 2015-12-30 | 陈一平 | Intelligent positioning device for three-dimensional space fire source detection |
| CN106506927A (en) * | 2016-12-09 | 2017-03-15 | 努比亚技术有限公司 | A kind of terminal and the method shot using terminal |
| CN107025428A (en) * | 2015-11-25 | 2017-08-08 | A.M.总建筑股份公司 | The infra-red radiation fire detector with complex function for the confined space |
| CN107516398A (en) * | 2017-08-09 | 2017-12-26 | 湖北泰龙互联通信股份有限公司 | A kind of technology of flame detecting and video image linkage |
| CN108805880A (en) * | 2018-05-28 | 2018-11-13 | 佘以道 | A kind of safety protecting method |
| CN109725340A (en) * | 2018-12-31 | 2019-05-07 | 成都纵横大鹏无人机科技有限公司 | Direct geographic positioning and device |
| CN109859436A (en) * | 2019-02-26 | 2019-06-07 | 浙江晶鲸科技有限公司 | Fire-disaster monitoring device and fire monitoring system with positioning function |
| CN109887025A (en) * | 2019-01-31 | 2019-06-14 | 沈阳理工大学 | Monocular self-adjustable fire point 3-D positioning method and device |
| CN109903507A (en) * | 2019-03-04 | 2019-06-18 | 上海海事大学 | A kind of fire disaster intelligent monitor system and method based on deep learning |
| CN110057301A (en) * | 2019-04-29 | 2019-07-26 | 慧眼自动化科技（广州）有限公司 | A kind of height detecting device and detection method based on binocular 3D parallax |
| CN110849328A (en) * | 2019-11-26 | 2020-02-28 | 安徽德睿智能技术有限公司 | Crystalline silicon measuring device based on binocular vision |
| CN111444763A (en) * | 2020-02-24 | 2020-07-24 | 珠海格力电器股份有限公司 | Security control method and device, storage medium and air conditioner |
| US10728514B2 (en) | 2014-12-04 | 2020-07-28 | SZ DJI Technology Co., Ltd. | Imaging system and method |
| CN111754574A (en) * | 2020-05-28 | 2020-10-09 | 北京中科慧眼科技有限公司 | Distance testing method, device and system based on binocular camera and storage medium |
| CN111953933A (en) * | 2020-07-03 | 2020-11-17 | 北京中安安博文化科技有限公司 | Method, device, medium and electronic equipment for determining fire area |
| CN112634578A (en) * | 2020-12-17 | 2021-04-09 | 招商局重庆交通科研设计院有限公司 | Variable escape indicating system for tunnel |
| CN113053057A (en) * | 2019-12-26 | 2021-06-29 | 杭州海康微影传感科技有限公司 | Fire point positioning system and method |
| CN113413564A (en) * | 2021-05-28 | 2021-09-21 | 浙江工业大学 | Fire source positioning and fire extinguishing control method for fire-fighting robot |
| CN114267145A (en) * | 2021-12-22 | 2022-04-01 | 江苏智库智能科技有限公司 | Warehouse area intrusion detection alarm method and system |
| WO2022217671A1 (en) * | 2021-04-14 | 2022-10-20 | 中国矿业大学 | Fire monitor system having variable-viewing-angle binocular structure, and method |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106851095B (en) * | 2017-01-13 | 2019-12-24 | 深圳拓邦股份有限公司 | Positioning method, device and system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009087974A1 (en) * | 2008-01-11 | 2009-07-16 | Panasonic Corporation | Binocular camera module |
| CN101574567A (en) * | 2009-06-08 | 2009-11-11 | 南京航空航天大学 | Computer vision technique based method and system for detecting and extinguishing fire disaster intelligently |
| CN102034092A (en) * | 2010-12-03 | 2011-04-27 | 北京航空航天大学 | Active compound binocular rapid target searching and capturing system based on independent multiple-degree-of-freedom vision modules |
-
2011
- 2011-08-18 CN CN 201110238242 patent/CN102298818B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009087974A1 (en) * | 2008-01-11 | 2009-07-16 | Panasonic Corporation | Binocular camera module |
| CN101574567A (en) * | 2009-06-08 | 2009-11-11 | 南京航空航天大学 | Computer vision technique based method and system for detecting and extinguishing fire disaster intelligently |
| CN102034092A (en) * | 2010-12-03 | 2011-04-27 | 北京航空航天大学 | Active compound binocular rapid target searching and capturing system based on independent multiple-degree-of-freedom vision modules |
Cited By (31)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104092923A (en) * | 2014-07-21 | 2014-10-08 | 国家电网公司 | Power transmission line intelligent video distance measurement method |
| CN104092922A (en) * | 2014-07-21 | 2014-10-08 | 国家电网公司 | Transformer substation electrified body intelligent video distance management and control method |
| US10728514B2 (en) | 2014-12-04 | 2020-07-28 | SZ DJI Technology Co., Ltd. | Imaging system and method |
| CN104853067A (en) * | 2014-12-12 | 2015-08-19 | 讯美电子科技有限公司 | Camera with transparent housing |
| CN104436501A (en) * | 2014-12-15 | 2015-03-25 | 中国科学技术大学 | Fire extinguishing control method, device and system based on fire monitor technology |
| CN104436501B (en) * | 2014-12-15 | 2017-11-28 | 中国科学技术大学 | A kind of control extinguishing method, apparatus and system based on fire monitor technology |
| CN105205969A (en) * | 2015-09-23 | 2015-12-30 | 陈一平 | Intelligent positioning device for three-dimensional space fire source detection |
| CN107025428A (en) * | 2015-11-25 | 2017-08-08 | A.M.总建筑股份公司 | The infra-red radiation fire detector with complex function for the confined space |
| CN107025428B (en) * | 2015-11-25 | 2022-01-25 | A.M.总建筑股份公司 | Infrared radiation fire detector with composite function for limited space |
| CN106506927A (en) * | 2016-12-09 | 2017-03-15 | 努比亚技术有限公司 | A kind of terminal and the method shot using terminal |
| CN107516398A (en) * | 2017-08-09 | 2017-12-26 | 湖北泰龙互联通信股份有限公司 | A kind of technology of flame detecting and video image linkage |
| CN108805880B (en) * | 2018-05-28 | 2019-04-30 | 广东阳光世纪智能家居科技有限公司 | A kind of safety protective dining table based on gradient analysis |
| CN108805880A (en) * | 2018-05-28 | 2018-11-13 | 佘以道 | A kind of safety protecting method |
| CN109725340A (en) * | 2018-12-31 | 2019-05-07 | 成都纵横大鹏无人机科技有限公司 | Direct geographic positioning and device |
| CN109887025A (en) * | 2019-01-31 | 2019-06-14 | 沈阳理工大学 | Monocular self-adjustable fire point 3-D positioning method and device |
| CN109859436A (en) * | 2019-02-26 | 2019-06-07 | 浙江晶鲸科技有限公司 | Fire-disaster monitoring device and fire monitoring system with positioning function |
| CN109859436B (en) * | 2019-02-26 | 2020-07-14 | 浙江晶鲸科技有限公司 | Fire monitoring device and fire monitoring system with positioning function |
| CN109903507A (en) * | 2019-03-04 | 2019-06-18 | 上海海事大学 | A kind of fire disaster intelligent monitor system and method based on deep learning |
| CN110057301A (en) * | 2019-04-29 | 2019-07-26 | 慧眼自动化科技（广州）有限公司 | A kind of height detecting device and detection method based on binocular 3D parallax |
| CN110849328A (en) * | 2019-11-26 | 2020-02-28 | 安徽德睿智能技术有限公司 | Crystalline silicon measuring device based on binocular vision |
| CN110849328B (en) * | 2019-11-26 | 2022-03-18 | 安徽德睿智能技术有限公司 | Crystalline silicon measuring device based on binocular vision |
| CN113053057A (en) * | 2019-12-26 | 2021-06-29 | 杭州海康微影传感科技有限公司 | Fire point positioning system and method |
| CN111444763A (en) * | 2020-02-24 | 2020-07-24 | 珠海格力电器股份有限公司 | Security control method and device, storage medium and air conditioner |
| CN111754574A (en) * | 2020-05-28 | 2020-10-09 | 北京中科慧眼科技有限公司 | Distance testing method, device and system based on binocular camera and storage medium |
| CN111953933B (en) * | 2020-07-03 | 2022-07-05 | 北京中安安博文化科技有限公司 | Method, device, medium and electronic equipment for determining fire area |
| CN111953933A (en) * | 2020-07-03 | 2020-11-17 | 北京中安安博文化科技有限公司 | Method, device, medium and electronic equipment for determining fire area |
| CN112634578A (en) * | 2020-12-17 | 2021-04-09 | 招商局重庆交通科研设计院有限公司 | Variable escape indicating system for tunnel |
| WO2022217671A1 (en) * | 2021-04-14 | 2022-10-20 | 中国矿业大学 | Fire monitor system having variable-viewing-angle binocular structure, and method |
| CN113413564A (en) * | 2021-05-28 | 2021-09-21 | 浙江工业大学 | Fire source positioning and fire extinguishing control method for fire-fighting robot |
| CN114267145A (en) * | 2021-12-22 | 2022-04-01 | 江苏智库智能科技有限公司 | Warehouse area intrusion detection alarm method and system |
| CN114267145B (en) * | 2021-12-22 | 2023-12-22 | 江苏智库智能科技有限公司 | Warehouse area intrusion detection alarm method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102298818B (en) | 2013-07-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102298818B (en) | Binocular shooting fire detecting and positioning device and fire positioning method thereof | |
| US11397245B2 (en) | Surveying instrument for scanning an object and for projection of information | |
| CN107401976B (en) | A kind of large scale vision measurement system and its scaling method based on monocular camera | |
| CN104506761B (en) | A kind of 360 degree of full-view stereo photography machines | |
| CN100569176C (en) | A kind ofly utilize virtual the looking-eye movement reflex method of target of looking | |
| CN104902246A (en) | Video monitoring method and device | |
| CN105424006A (en) | Unmanned aerial vehicle hovering precision measurement method based on binocular vision | |
| CN106403900B (en) | Flying object tracking location system and method | |
| CN102650886A (en) | Vision system based on active panoramic vision sensor for robot | |
| CN103285548B (en) | Method and device for positioning ground fire by monocular camera | |
| CN108447075A (en) | A kind of unmanned plane monitoring system and its monitoring method | |
| JP2008517320A (en) | Linear aberration correcting mirror and video system including the same | |
| CN103808280B (en) | A kind of based on camera to heart detection method and device | |
| CN113289290B (en) | Fire-fighting robot flame automatic aiming method, device and system | |
| CN110132226A (en) | The distance and azimuth angle measurement system and method for a kind of unmanned plane line walking | |
| CN202332234U (en) | Display device | |
| CN103148832A (en) | Detection method of installation inclination angle of video camera | |
| CN112863113A (en) | Intelligent fire-fighting system and method for automatic detector alarming and fire extinguishing and storage medium | |
| CN105031868A (en) | Self-adaption fire extinguishing method based on fire scale | |
| CN103206926A (en) | Panorama three-dimensional laser scanner | |
| CA3051425A1 (en) | Tracking image collection for digital capture of environments, and associated systems and methods | |
| EP3821780A1 (en) | Mobile robot | |
| CN105323485A (en) | Single-camera oblique image acquisition device and method | |
| CN104700409A (en) | Method for automatically adjusting preset position of camera in accordance with monitoring target | |
| US10559132B2 (en) | Display apparatus, display system, and control method for display apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130710 Termination date: 20160818 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |