CN103400463B - A kind of forest fires localization method based on two dimensional image and device - Google Patents
A kind of forest fires localization method based on two dimensional image and device Download PDFInfo
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Abstract
The present invention relates to fields of forest fireproof monitoring and field environment monitoring technology, specifically disclose a kind of forest fires localization method based on two dimensional image and device.The process that realizes of its localization method is: using image modalities to gather positional information, burning things which may cause a fire disaster identification module therefrom identifies condition of a fire information, and transmitted back-end processor, and the condition of a fire locating module in back-end processor therefrom orients fire location.The present invention can accurately position for forest fire, and in radius five kilometer range, error is not more than positive and negative 50 meters, provides information the most timely for forest fire protection management personnel, promotes sparking efficiency.Relatively need to use the parallax positioning mode of two infrared thermal imagers, the present invention to have only to use an infrared thermal imager to be accurately positioned, can significantly lower the construction cost of forest fire monitoring system.This localization method can automatically operate, it is not necessary to artificial assistance just can be accurately positioned for forest fires within the several seconds.
Description
Technical field
The present invention relates to fields of forest fireproof monitoring and field environment monitoring technology, more particularly, to a kind of forest fires localization method based on two dimensional image and device.
Background technology
Forest is the theme that land is ecological, has the very important ecological value and economic worth, is the most valuable resources of the mankind.But, in recent years, the forest reserves drastically reduce, and in addition to artificial destruction factor, forest fire is the main cause causing forest resource decrease.Therefore, the research of forest fire protection measure receives the attention of all parts of the world.
The forest fire protection of China has also been passed by multiple different stage, and initial forest fire protection work is mainly gone on patrol in forest and realized by arranging special staff.The mode real-time of obvious this artificial patrol is the highest, and expends substantial amounts of manpower and materials.Now, along with the development of Information technology, video equipment is utilized to carry out Forest Fire Monitoring, the condition of a fire can be found in time by the real-time imaging in forest land, and substantially detect place on fire, become a kind of forest fire protection mode of current main flow, considerably reduce the loss that forest fire brings.
In forest fire protection now and wild environment monitoring field, there are multiple different Intelligent Video Surveillance Technology, such as the automated video detection techniques such as the detection of forest fire video detection, illegal valve woods and illegal invasion.But these technology all can only detect event generation and can not the position of accurate calibration generation event, if the geographical position of range to be monitored to be learnt, general little scope monitoring system uses fixing picture pick-up device, to be manually entered monitored geographical position to provide the geographical position warning message of generation event.And the picture pick-up device on a large scale being contained on The Cloud Terrace is accomplished by being manually entered presetting bit, and it is that each presetting bit inputs monitored geographical position.These systems are not the most provided that accurate distance and the geographical position of certain measured object in scope being shot, if there are the screens such as massif in certain picture, in same picture, the actual range of different pixels may differ by dozens of kilometres, cause positioning the most inaccurate.
Summary of the invention
One purpose of the present invention be to solve in prior art can not the fire location of accurate calibration breaking out of fire, the forest fires localization method based on two dimensional image of a kind of accurate positioning is proposed.Use this forest fires localization method, it is possible to position burning things which may cause a fire disaster fast and accurately, formulate maximally effective sparking strategy for forest fire management department and rational management sparking resource provides foundation, thus reduce the loss of forest fire to greatest extent.
In order to solve the deficiencies in the prior art, its technical scheme is:
A kind of forest fires localization method based on two dimensional image, comprises the steps:
S1. global digital elevation model is set up: according to the altitude information of earth surface, form a spherical some cloud, the face of every three adjacent point one trianglees of composition, it is combined into the mountain shape figure in the whole world, and then set up global digital elevation model, set up the synopsis of global digital elevation model coordinate and spherical coordinates realistically simultaneously；
S2. the positional information of stored images collecting device: store the geographical location information of all mounted image modalities in back-end processor, and set up corresponding simulation monitoring point in described global digital elevation model；Described geographical location information includes longitude and latitude and the elevation information of image modalities position；
S3. identify forest fire: the condition of a fire information that FEP is found out according to the sensor cluster of image modalities, carry out condition of a fire identification；As identified the condition of a fire, then condition of a fire alarm, the shooting angle information that there is the bidimensional image of condition of a fire alarm, the burning things which may cause a fire disaster plane coordinates position in the bidimensional image that image modalities is gathered, the geographical location information of image modalities and image modalities are sent to back-end processor；
S4. fire location is positioned:
S41. back-end processor utilizes the plane coordinates data of bidimensional image, in global digital elevation model, at the simulation monitoring point that the image modalities monitoring burning things which may cause a fire disaster is corresponding, simulation projects one and points to the straight line of fire location on bidimensional image, enters the path of image modalities camera lens for reconstructing the visual field and light in actual environment；
The most described straight line progressively increases in global digital elevation model, every moved further one pixel value；Often increasing once, be carried out primary collision sensing, collision sense is checks whether straight line collides with any generation in global digital elevation model；
If S43. the face in straight line and global digital elevation model collides, the position so occurred in collision is exactly the physical location that forest fires occur, the i.e. position of burning things which may cause a fire disaster, the synopsis searching coordinate in global digital elevation model and spherical coordinates realistically just draws the longitude of this position, latitude and elevation information；
If after S44. straight line increases to over the distance of effective monitoring scope certain multiple, collide still without with the face in global digital elevation model, then stop again by straight-line extension；Now draw and occur in that the condition of a fire in the space of straight line process, but cannot perceived distance；Use the artificial path along simulation straight line from three-dimensional map, and coordinate real-time video monitoring information to find out the position of burning things which may cause a fire disaster.
Further, described image modalities includes that Penetrating Fog video camera and infrared thermal imager, described infrared thermal imager are provided with described sensor cluster.
Further, described bidimensional image is two-dimensional infrared line thermal imaging picture.
Further, described Penetrating Fog video camera includes CMOS or CCD width dynamic camera, the near-infrared be located on video camera images special tight shot and can intercept the near-infrared of visible light before being located at camera lens penetrates filter.
Penetrating Fog video camera gathers the near infrared spectrum imaging of environment through CMOS or CCD optical pickocff, the optical characteristics utilizing infrared ray can penetrate smog provides the grayscale image of forest environment fine definition, allows system cause dense smoke to remain to see the sharp image at scene when gathering at dense fog or breaking out of fire.
A further object of the present invention is to propose a kind of forest fires positioner based on two dimensional image, including:
Image modalities: be used for shooting required monitoring region and obtain image and be sent to processor；
Processor: including that FEP and back-end processor, described FEP are provided with burning things which may cause a fire disaster identification module, described back-end processor is provided with burning things which may cause a fire disaster locating module；
Described burning things which may cause a fire disaster identification module for analyzing the image information that image modalities gathers, identify the condition of a fire and by condition of a fire alarm, there is the bidimensional image of condition of a fire alarm, the burning things which may cause a fire disaster plane coordinates position in the bidimensional image that image modalities is gathered, the geographical location information of image modalities, the shooting angle information of image modalities are sent to burning things which may cause a fire disaster locating module；
Described burning things which may cause a fire disaster locating module is used for:
A. setting up global digital elevation model, described global digital elevation model is the altitude information according to earth surface, forms a spherical some cloud, the face of every three adjacent point one trianglees of composition, thus the global mountain shape figure combined；Set up the synopsis of global digital elevation model coordinate and spherical coordinates realistically simultaneously；
B. the information transmitted according to burning things which may cause a fire disaster identification module, location fire location: according to the plane coordinates data of the bidimensional image that burning things which may cause a fire disaster identification module is sent, in global digital elevation model, project one from the simulation monitoring point simulation that the image modalities monitoring burning things which may cause a fire disaster is corresponding and point to the straight line of fire location bidimensional image；Described straight line progressively increases in global digital elevation model, every moved further one pixel value；Often increasing once, be carried out primary collision sensing, collision sense is checks whether straight line collides with any generation in global digital elevation model；The position that face in straight line and global digital elevation model collides is the position that forest fires in reality occur, and the synopsis searching coordinate in global digital elevation model and spherical coordinates realistically just draws the longitude of this position, latitude and elevation information；If after straight line increases to over the distance of effective monitoring scope certain multiple, collide still without with the face in global digital elevation model, then stop again by straight-line extension；Now draw and occur in that the condition of a fire in the space of straight line process, but cannot perceived distance.
Further, image modalities is located on a numerical control console, under the control of a processor, drives image modalities to realize the change at shooting angle；The shooting angle information of described image modalities is the vertically and horizontally sensing angle information of numerical control console.
Further, described numerical control console repeatable accuracy is positive and negative 0.2 degree.
Wherein numerical control console can the most vertically and laterally point to angle through burning things which may cause a fire disaster identification module for the offer of burning things which may cause a fire disaster locating module when scanning forest zone.Burning things which may cause a fire disaster identification module for analyzing the image information that image modalities gathers, identify the condition of a fire and by condition of a fire alarm, there is the bidimensional image of condition of a fire alarm, the burning things which may cause a fire disaster plane coordinates position in the bidimensional image that image modalities is gathered, the geographical location information of image modalities, the shooting angle information of image modalities are sent to burning things which may cause a fire disaster locating module.
Further, described image modalities includes Penetrating Fog video camera and infrared thermal imager.
Wherein infrared thermal imager is a kind of photosensory assembly detecting far infrared spectrum, and its sensor can be refrigeration photosensory assembly or non-brake method photosensory assembly, it is possible to the far infrared that detecting object adstante febre discharges.Forest fire monitoring system mainly detects the condition of a fire with this sensor.Infrared thermal imager exports the infra-red intensity source data of every pixel 14 bit through digital interface, and the collection port transporting to FEP processes.
FEP uses technical grade computer, is typically mounted in the image modalities of forest zone, can be arranged on FEP at the computer main board of Celsius-20 to 50 degree of temperature long-term operation, burning things which may cause a fire disaster identification module.
Further, described bidimensional image is two-dimensional infrared line thermal imaging picture.
Further, described Penetrating Fog video camera includes CMOS or CCD width dynamic camera, the near-infrared be located on video camera images special tight shot and can intercept the near-infrared of visible light before being located at camera lens penetrates filter.
Penetrating Fog video camera gathers the near infrared spectrum imaging of environment, and the optical characteristics utilizing infrared ray can penetrate smog provides the grayscale image of forest environment fine definition, allows system cause dense smoke to remain to see the sharp image at scene when gathering at dense fog or breaking out of fire.
Compared with prior art, technical solution of the present invention provides the benefit that:
1) can accurately position for forest fire, in radius five kilometer range, error is not more than positive and negative 50 meters, provides information the most timely for forest fire protection management personnel, promotes sparking efficiency.
2) relatively need to use the parallax positioning mode of two infrared thermal imagers, the present invention to have only to use an infrared thermal imager to be accurately positioned, can significantly lower the construction cost of forest fire monitoring system.
3) this localization method can automatically operate, it is not necessary to artificial assistance just can be accurately positioned for forest fires within the several seconds.
Accompanying drawing explanation
Fig. 1 is positioning device structure figure of the present invention.
Fig. 2 is that two dimensional image of the present invention combines digital elevation model to forest district target positioning flow figure.
Fig. 3 is that the present invention is simulated the reverse schematic diagram projecting and finding out burning things which may cause a fire disaster in digital elevation model.
Fig. 4 is schematic diagram thermal source aloft occur that the present invention uses infrared thermal imager to obtain.
Fig. 5 is schematic diagram thermal source aloft occur that the present invention uses Penetrating Fog video camera to obtain.
Detailed description of the invention
With embodiment, technical scheme is described further below in conjunction with the accompanying drawings.
In Fig. 1,1-shell, 2-Penetrating Fog video camera, 3-infrared thermal imager, 4-camera lens, 5-digital control platform.
In Fig. 3, A-digital elevation model Digital Elevation Modle(DEM), the fire point position that draws through analogous reverse projection percussion massif of B-infrared thermal imager equipment position in digital elevation model, the C-two-dimensional infrared thermal map visual field, D-.
As in figure 2 it is shown, a kind of forest fires localization method based on two dimensional image, comprise the steps:
Set up global digital elevation model, and by this global digital elevation model in back-end processor: according to the altitude information of earth surface, form a spherical some cloud, the face of every three adjacent point one trianglees of composition, it is combined into the mountain shape figure in the whole world, and then set up global digital elevation model, set up the synopsis of global digital elevation model coordinate and spherical coordinates realistically simultaneously；
Technical grade computer (FEP) controls numerical control console scan forest scope, and the image modalities being arranged on numerical control console is for shooting required monitoring region, by the image transmitting of acquisition to back-end processor.
The positional information of stored images collecting device: store the geographical location information of all mounted image modalities in back-end processor, and set up corresponding simulation monitoring point in described global digital elevation model；Described geographical location information includes longitude and latitude and the elevation information of image modalities position；
Identification forest fire: the condition of a fire information that FEP is found out according to the sensor cluster of image modalities, carries out condition of a fire identification；As identified the condition of a fire, then condition of a fire alarm, the shooting angle information that there is the bidimensional image of condition of a fire alarm, the burning things which may cause a fire disaster plane coordinates position in the bidimensional image that image modalities is gathered, the geographical location information of image modalities and image modalities are sent to back-end processor；
Location fire location, as it is shown on figure 3,
(1) back-end processor utilizes the plane coordinates data of bidimensional image, in global digital elevation model, at the simulation monitoring point that the image modalities monitoring burning things which may cause a fire disaster is corresponding, simulation projects one and points to the straight line of fire location on bidimensional image, enters the path of image modalities camera lens for reconstructing the visual field and light in actual environment；
Fig. 3 shows the reverse projective techniques of projection imagined straight line, the geographical position of image modalities is may determine that from global digital elevation model, and this equipment shoots the picture returned and camera lens points to angle, in restructural actual environment, the visual field and light enter the path of image modalities camera lens then.In figure 3, it is known that have a district of oblique line to there occurs the condition of a fire, go out a straight line pointing to burning things which may cause a fire disaster at global digital elevation model inverse analog, direct at the massif in forest zone.
(2) described straight line progressively increases in global digital elevation model, every moved further one pixel value；Often increasing once, be carried out primary collision sensing, collision sense is checks whether straight line collides with any generation in global digital elevation model；
In the present embodiment, each minimum range unit in digital elevation model, i.e. distance between pixel and pixel, is to represent 10 centimetres in real world.This ratio can regulate in response to the speed of processor, adjust the least meeting causes model data amount the hugest, affect arithmetic speed, adjust too big can causing again simulates inaccuracy.
(3) if the face in straight line and global digital elevation model collides, the position so occurred in collision is exactly the physical location that forest fires occur, the i.e. position of burning things which may cause a fire disaster, the synopsis searching coordinate in global digital elevation model and spherical coordinates realistically just draws the longitude of this position, latitude and elevation information；
(4) if after straight line increases to over the distance of effective monitoring scope certain multiple, colliding still without with the face in global digital elevation model, then stop again by straight-line extension；Now draw and occur in that the condition of a fire in the space of straight line process, but cannot perceived distance；Use the artificial path along simulation straight line from three-dimensional map, and coordinate real-time video monitoring information to find out the position of burning things which may cause a fire disaster.
In the present embodiment, image modalities includes Penetrating Fog video camera and infrared thermal imager, and wherein infrared thermal imager is main camera assembly, and Penetrating Fog video camera is its necessary accessory part.
Infrared thermal imager can penetrate fog and dense smoke, and photographs the hot scene in forest zone at a distance, but shortcoming is owing to its image-forming principle is limited, and operator can not be allowed to distinguish the most radiate the different objects of equal far-infrared ray power.In same scope, such as there are the weeds that a tree burnt, the stone of a pile high temperature and a pile are being burnt, can be only the object of same a pile far infrared similar intensity in infrared thermal imaging thermal map, tree, stone and grass can not be distinguished.This shortcoming can affect the Management offorestry personnel judgement to the condition of a fire, and the rational management of sparking resource, so other technologies means must be utilized to supply.The most just Penetrating Fog video camera is as supplementary instrument, and it can provide image clearly to make specialty reasonably judgement with assistance Management offorestry personnel.
Penetrating Fog video camera gathers the near infrared spectrum imaging of environment, and the optical characteristics utilizing infrared ray can penetrate smog provides the grayscale image of forest environment fine definition, allows system cause dense smoke to remain to see the sharp image at scene when gathering at dense fog or breaking out of fire.The near-infrared that Penetrating Fog video camera includes CMOS or CCD width dynamic camera, be located on video camera can intercept the near-infrared of visible light and penetrate filter before imaging special tight shot and being located at camera lens.
Owing to (diffraction) and scattering (scattering) can be reflected when the visible ray colour gamut of sunlight is irradiated to fog moisture content or dense smoke, common camera, covering by the scenery of fog or smog rear is reflected light because light intensity is relatively big after the light receiver of these refractions and scattering, causes the scenery that can't see a distant place.
Filter visible ray for this in the present embodiment in video camera front end, and the mode strengthened through software the most again produces the Penetrating Fog video camera of low cost.The spectrum of solar radiation includes the near infrared ray in smog with strong penetration capacity, and the near-infrared of use penetrates filter and all visible rays can be filtered out, and selectivity receives the near infrared ray of special frequency channel.Can be absorbed in various degree because the surface color of scenery is different when the near infrared ray of the sun is irradiated to the scenery of the earth.Dark object can absorb more near infrared ray, and the object of light color can absorb less infrared ray.Wide dynamic camera distinguishes the object of different colours in forest zone by the reflection near infrared ray detecting these varying strengths.It is characteristic of the invention that and utilize wide dynamic pickup can obtain very dark and very light object sharp image characteristic in same picture to increase the collection capacity of front end data simultaneously, the software for rear end strengthens the data that algorithm provides enough.
In order to enable the necessity clearly expressing Penetrating Fog video camera when using two dimensional image to the range finding of forest district subject matter and location, it is infra-red thermal imaging figure at Fig. 4, Fig. 5 is Penetrating Fog shooting figure, it can be seen that owing to suspicious thermal source occurring in the air in the camera lens visual field, report to the police so triggering burning things which may cause a fire disaster identification software, and owing to picture is two-dimentional, it is impossible to differentiate the distance of thermal source, fire position software will be scheduled on fire point the forest at pyrotechnics rear, causes wrong report.Without Penetrating Fog video camera, operator just cannot find out from this infrared ray thermal map that this is a pyrotechnics rather than forest fires, so Penetrating Fog video camera is auxiliary accessories necessary to localization method of the present invention.
Above-described embodiment is the preferred embodiment of the present invention; it should be understood that; above-described embodiment is not limited to the present invention; those of ordinary skill in the art is in the case of the objective without departing from the principle of the present invention; change that above-described embodiment is made, revise, replace and deform, all should fall under the scope of the present invention.
Claims (10)
1. a forest fires localization method based on two dimensional image, it is characterised in that comprise the steps:
S1. global digital elevation model is set up: according to the altitude information of earth surface, form a spherical some cloud, the face of every three adjacent point one trianglees of composition, it is combined into the mountain shape figure in the whole world, and then set up global digital elevation model, set up the synopsis of global digital elevation model coordinate and spherical coordinates realistically simultaneously；
S2. the positional information of stored images collecting device: store the geographical location information of all mounted image modalities in back-end processor, and set up corresponding simulation monitoring point in described global digital elevation model；Described geographical location information includes longitude and latitude and the elevation information of image modalities position；
S3. identify forest fire: the condition of a fire information that FEP is found out according to the sensor cluster of image modalities, carry out condition of a fire identification；As identified the condition of a fire, then condition of a fire alarm, the shooting angle information that there is the bidimensional image of condition of a fire alarm, the burning things which may cause a fire disaster plane coordinates position in the bidimensional image that image modalities is gathered, the geographical location information of image modalities and image modalities are sent to back-end processor；
S4. fire location is positioned:
S41. back-end processor utilizes the plane coordinates data of bidimensional image, in global digital elevation model, at the simulation monitoring point that the image modalities monitoring burning things which may cause a fire disaster is corresponding, simulation projects one and points to the straight line of fire location on bidimensional image, enters the path of image modalities camera lens for reconstructing the visual field and light in actual environment；
The most described straight line progressively increases in global digital elevation model, every moved further one pixel value；Often increasing once, be carried out primary collision sensing, collision sense is checks whether straight line collides with any generation in global digital elevation model；
If S43. the face in straight line and global digital elevation model collides, the position so occurred in collision is exactly the physical location that forest fires occur, the i.e. position of burning things which may cause a fire disaster, the synopsis searching coordinate in global digital elevation model and spherical coordinates realistically just draws the longitude of this position, latitude and elevation information；
If after S44. straight line increases to over the distance of effective monitoring scope certain multiple, collide still without with the face in global digital elevation model, then stop again by straight-line extension；Now draw and occur in that the condition of a fire in the space of straight line process, but cannot perceived distance；Use the artificial path along simulation straight line from three-dimensional map, and coordinate real-time video monitoring information to find out the position of burning things which may cause a fire disaster.
Forest fires localization method based on two dimensional image the most according to claim 1, it is characterised in that described image modalities includes that Penetrating Fog video camera and infrared thermal imager, described infrared thermal imager are provided with described sensor cluster.
Forest fires localization method based on two dimensional image the most according to claim 2, it is characterised in that described bidimensional image is two-dimensional infrared line thermal imaging picture.
Forest fires localization method based on two dimensional image the most according to claim 2, it is characterized in that, described Penetrating Fog video camera includes CMOS or CCD width dynamic camera, the near-infrared be located on video camera can intercept the near-infrared of visible light and penetrate filter before imaging special tight shot and being located at camera lens.
5. a forest fires positioner based on two dimensional image, it is characterised in that including:
Image modalities: be used for shooting required monitoring region and obtain image and be sent to processor；
Processor: including that FEP and back-end processor, described FEP are provided with burning things which may cause a fire disaster identification module, described back-end processor is provided with burning things which may cause a fire disaster locating module；
Described burning things which may cause a fire disaster identification module for analyzing the image information that image modalities gathers, identify the condition of a fire and by condition of a fire alarm, there is the bidimensional image of condition of a fire alarm, the burning things which may cause a fire disaster plane coordinates position in the bidimensional image that image modalities is gathered, the geographical location information of image modalities, the shooting angle information of image modalities are sent to burning things which may cause a fire disaster locating module；
Described burning things which may cause a fire disaster locating module is used for:
A. setting up global digital elevation model, described global digital elevation model is the altitude information according to earth surface, forms a spherical some cloud, the face of every three adjacent point one trianglees of composition, thus the global mountain shape figure combined；Set up the synopsis of global digital elevation model coordinate and spherical coordinates realistically simultaneously；
B. the information transmitted according to burning things which may cause a fire disaster identification module, location fire location: according to the plane coordinates data of the bidimensional image that burning things which may cause a fire disaster identification module is sent, in global digital elevation model, project one from the simulation monitoring point simulation that the image modalities monitoring burning things which may cause a fire disaster is corresponding and point to the straight line of fire location bidimensional image；Described straight line progressively increases in global digital elevation model, every moved further one pixel value；Often increasing once, be carried out primary collision sensing, collision sense is checks whether straight line collides with any generation in global digital elevation model；The position that face in straight line and global digital elevation model collides is the position that forest fires in reality occur, and the synopsis searching coordinate in global digital elevation model and spherical coordinates realistically just draws the longitude of this position, latitude and elevation information；If after straight line increases to over the distance of effective monitoring scope certain multiple, collide still without with the face in global digital elevation model, then stop again by straight-line extension；Now draw and occur in that the condition of a fire in the space of straight line process, but cannot perceived distance.
Forest fires positioner based on two dimensional image the most according to claim 5, it is characterised in that image modalities is located on a numerical control console, under the control of a processor, drives image modalities to realize the change at shooting angle；The shooting angle information of described image modalities is the vertically and horizontally sensing angle information of numerical control console.
Forest fires positioner based on two dimensional image the most according to claim 6, it is characterised in that described numerical control console repeatable accuracy is positive and negative 0.2 degree.
Forest fires positioner based on two dimensional image the most according to claim 5, it is characterised in that described image modalities includes Penetrating Fog video camera and infrared thermal imager.
Forest fires positioner based on two dimensional image the most according to claim 8, it is characterised in that described bidimensional image is two-dimensional infrared line thermal imaging picture.
Forest fires positioner based on two dimensional image the most according to claim 8, it is characterized in that, described Penetrating Fog video camera includes CMOS or CCD width dynamic camera, the near-infrared be located on video camera can intercept the near-infrared of visible light and penetrate filter before imaging special tight shot and being located at camera lens.
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