CN104143248B - Forest fire detection based on unmanned plane and preventing control method - Google Patents
Forest fire detection based on unmanned plane and preventing control method Download PDFInfo
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Abstract
The invention discloses a kind of forest fire detection based on unmanned plane and preventing control method, it uses the mode that visible images is combined with thermal infrared images, risk of forest fire can be judged by watching the thermal imagery difference of the point that brightness is high on image, throw in fire extinguishing bag, put out duration and degree of heating point in time or tentatively control the intensity of a fire；By the further Accurate Analysis in grounded receiving station, can find in time slightly to be sentenced the improper region omitted by unmanned plane, particularly, can more effectively realize monitoring by forming the percent profile figure of condition of a fire probability coefficient；Efficiency is high and precision is accurate.
Description
Technical field
The invention belongs to technical field of fire safety, be specifically related to a kind of forest fire detection based on unmanned plane and preventing control method.
Background technology
One of important disaster of forestry that forest fire is global, the most all can cause the heavy losses of forest resourceies and large-scale environmental pollution.Traditional forest fire protection monitoring, the artificial prestige of main employing, monitoring remote video and satellite remote sensing mode.
Artificial prestige mode is to set up the prestige whistle in commanding elevation, and operator on duty takes turns at keeping watch for 24 hours, due to artificial carelessness and fault, many condition of a fire can be made to fail to find early, be delayed and put out the fire the time, cause serious consequence.
Monitoring remote video mode is to build substantial amounts of video surveillance point in forest zone, and control point is equipped with video camera, by wired or wireless network, real-time pictures is sent to Surveillance center, by center personnel's implementing monitoring.It is on-the-spot to forest zone which is not required to directly to accredit personnel, but artificial remote is difficult to identify the condition of a fire in early days.Especially visible light camera monitoring system, at night, almost without the illumination of detectable spectral region, the most very dark on video image, it is difficult to find and judge forest fires.Even if changing thermal infrared video monitoring into, forest environment is complicated, easily there is monitoring dead point, thus causes a hidden trouble.
Satellite remote sensing mode is by finding forest fires after the process to remote sensing photo, but satellite can only find the forest fires of large area, cannot find in early days at fire；There is also the problems such as remote sensing images lack of resolution, very flexible simultaneously.
Also existing forest fire based on unmanned plane detection in prior art.Technology disclosed in CN102496234A patent is that " when after the burning things which may cause a fire disaster point finding forest, utilizing infrared video camera on unmanned plane to be filmed, and by satellite communication, unmanned plane GPS position is sent to fire-fighting " center ", who finds burning things which may cause a fire disaster point？How to find burning things which may cause a fire disaster point？Can automatically identify, extract burning things which may cause a fire disaster point？Without describing in detail in this patented technology, it is impossible to automatically identifying conflagration area, spreading range and development trend, the technological applicability disclosed in this patent is very poor.Disclosure additionally is also only limitted to image acquisition, the function analyzed and forecast, until people receive signal find fire point carry out prevention and control measure time, the possible intensity of a fire has spread.
Summary of the invention
The problem existed based on above-mentioned prior art, the present invention provides a kind of forest fire detection based on unmanned plane and preventing control method, efficiently finds suspicious burning things which may cause a fire disaster, automatically calculates fire alarm probability, and the judgement freeing probability for fire carries out preliminary prevention and control and alarm.
For solving the problem that above-mentioned prior art exists, the technical scheme that the present invention takes is: forest fire detection based on unmanned plane and preventing control method, it is characterised in that comprise the following steps:
1) in unmanned plane, meteorological data, the visible images monitoring region under normal circumstances and thermal infrared images are preset；Preset high-temperature region and the threshold value of thermal imagery difference；
2) by unmanned plane to the inspection of monitoring region shooting visible images and thermal infrared images simultaneously, and pass through camera site corresponding to GPS positioning function real time record image and shooting time, data are reached grounded receiving station by being wirelessly transferred simultaneously；
3) to step 2) visible images monitoring region under normal circumstances that prestores with step 1) respectively of the visible images that obtains and thermal infrared images and thermal infrared images carry out labelling and the calculating of thermal imagery difference of higher warm area respectively, and contrast with predetermined threshold value；
4) when not breaking through predetermined threshold value, ignore the higher region of normal temperature, continue inspection；Breaking through predetermined threshold value, then this region is defined as improper region, receiving station sends alarm earthward；Simultaneously, unmanned plane is positioned by GPS, fire extinguishing bag is thrown in improper region, and with this improper region as the center of circle, in overhead around flight, real-time multi-direction monitors dynamically changing and being sent to grounded receiving station of this region, until thermal imagery difference is recovered to predetermined threshold value, cancel alarm, continue inspection；
5) grounded receiving station receiving step 2) data that transmit, comprehensive fire gross data and empirical data carry out comprehensive system analysis to visible images and thermal infrared images, form the percent profile figure of monitoring region each condition of a fire probability coefficient, and the GPS location data in the probability coefficient region more than 70% are fed back to unmanned plane by being wirelessly transferred, unmanned plane carry out emphasis tour from high to low from probability coefficient value；Grounded receiving station receiving step 4) data that transmit, comprehensive fire gross data and empirical data carry out comprehensive system analysis to visible images and thermal infrared images, it is defined as catching fire a little, calculating is caught fire area, arrange action in time, determine that unmanned plane is reported by mistake, then sound all clear and pass through to be wirelessly transferred feedback unmanned plane and continue inspection.
The threshold value preset described in step 1) obtains mode: monitor the thermal infrared images in region under normal circumstances, in conjunction with the meteorological data preset, adjusts brightness of image scope, is described threshold range.
Grounded receiving station described in step 4) also includes smog analysis to the analysis of the visible images on the daytime of reception, specially separate the image of each frame, under rgb color space, wherein R represents the red component of pixel, G represents the green component of pixel, B represents the blue component of pixel, I represents three-component average, then as-20 ＜ R-G ＜ 0 ,-55 ＜ G-B ＜-10,15 ＜ B-R ＜ 90 or 130 ＜ I ＜ 255, it is cyan smog；As 230 ＜ I ＜ 255, it it is white smoke；128 ＜ R=G=B ＜ 192, are Lycoperdon polymorphum Vitt smog；Different smog combine thermal imagery difference, incorporate experience into data and participate in the calculating of Fire Possibility coefficient.
Bigger change is there is in the current average gray of described Lycoperdon polymorphum Vitt smoke region compared with the average gray value of self before a period of time, and the difference of this area grayscale value and whole detection zone average gray value exceedes setting threshold value, then this region directly judges that potential exception occurs in this region.
Step 4) also includes flame analysis to the analysis of the visible images in the evening that described grounded receiving station receives, specially separate the image of each frame, under rgb color space, wherein R represents the red component of pixel, G represents the green component of pixel, and B represents the blue component of pixel, compares the slight of R signal and B signal: if R signal exceedes B signal and difference higher than the threshold value set, can determine whether that this region is the most red, the probability for flame is higher；Otherwise it is considered as interference.
Described R signal significantly more than B signal, and with a period of time before self mean difference there is bigger change, this difference and whole detection zone mean difference exceed setting threshold value simultaneously, then this region directly judges that potential exception occurs in this region.
Catch fire described in step 5) the calculating of area, be by flying height data and image area, obtained by geometrical calculation.
When in step 5), probability coefficient value is identical, unmanned plane is patrolled from the area preference near self.
Described being wirelessly transferred is by public radio communication network or the wireless communication networks of self-organizing or to pass through satellite system.
Forest fire detection based on unmanned plane of the present invention and preventing control method, have the advantage that compared to prior art
1) mode that visible images is combined is used with thermal infrared images, the wherein advantage of thermal infrared system, the image of thermal infrared spectrum 7.5 to 13.5 microns can be converted to visible images, infrared spectrum is gone out owing to exceeding object all backscatters of had more than absolute zero, temperature is the highest, the infrared spectrum scattered is the strongest, so, in the gray level image that thermal infrared imaging shows, object intensity of brightness on image is directly proportional to the temperature of object, therefore unmanned plane can judge risk of forest fire by watching the thermal imagery difference of the point that brightness is high on image, throw in fire extinguishing bag, put out duration and degree of heating point in time or tentatively control the intensity of a fire；
2) thermal infrared imaging is not limited by daytime, and daytime and evening can judge risk of forest fire accurately, by the further control of grounded receiving station；
3) by the further Accurate Analysis in grounded receiving station, can find in time slightly to be sentenced the improper region omitted by unmanned plane, particularly, can more effectively realize monitoring by forming the percent profile figure of condition of a fire probability coefficient；
4) combine the factors such as weather, smog, color, improve the precision of monitoring.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of the present invention.
Detailed description of the invention
Below in conjunction with detailed description of the invention, the present invention is described in detail.
Embodiment 1
A kind of forest fire detection based on unmanned plane and preventing control method, steps flow chart as shown in Figure 1:
1) in unmanned plane, meteorological data, the visible images monitoring region under normal circumstances and thermal infrared images are preset；Preset the threshold value of thermal imagery difference；Threshold value obtains mode: monitor the thermal infrared images in region under normal circumstances, in conjunction with the meteorological data preset, adjusts brightness of image scope, is described threshold range；
2) by unmanned plane to the inspection of monitoring region shooting visible images and thermal infrared images simultaneously, and pass through camera site corresponding to GPS positioning function real time record image and shooting time, data are reached grounded receiving station by cordless communication network simultaneously；
3) to step 2) visible images monitoring region under normal circumstances that prestores with step 1) respectively of the visible images that obtains and thermal infrared images and thermal infrared images carry out labelling and the calculating of thermal imagery difference of higher warm area respectively, and contrast with predetermined threshold value；
4) when not breaking through predetermined threshold value, ignore the higher region of normal temperature, continue inspection；Breaking through predetermined threshold value, then this region is defined as improper region, receiving station sends alarm earthward；Simultaneously, unmanned plane is positioned by GPS, fire extinguishing bag is thrown in improper region, and with this improper region as the center of circle, in overhead around flight, real-time multi-direction monitors dynamically changing and being sent to grounded receiving station of this region, until thermal imagery difference is recovered to predetermined threshold value, cancel alarm, continue inspection；
5) grounded receiving station receiving step 2) data that transmit, comprehensive fire gross data and empirical data carry out comprehensive system analysis to visible images and thermal infrared images, form the percent profile figure of monitoring region each condition of a fire probability coefficient, and the GPS location data in the probability coefficient region more than 70% are fed back to unmanned plane by cordless communication network, unmanned plane carry out emphasis tour from high to low from probability coefficient value；When probability coefficient value is identical, unmanned plane is patrolled from the area preference near self；Grounded receiving station receiving step 4) data that transmit, comprehensive fire gross data and empirical data carry out comprehensive system analysis to visible images and thermal infrared images, it is defined as catching fire a little, by flying height data and image area, the area that catches fire is calculated by geometrical calculation mode, arrange action in time, determine that unmanned plane is reported by mistake, then sound all clear and pass through cordless communication network feedback unmanned plane and continue inspection.
Wherein: grounded receiving station described in step 4) also includes smog analysis to the analysis of the visible images on the daytime of reception, specially separate the image of each frame, under rgb color space, wherein R represents the red component of pixel, G represents the green component of pixel, B represents the blue component of pixel, I represents three-component average, then as-20 ＜ R-G ＜ 0 ,-55 ＜ G-B ＜-10,15 ＜ B-R ＜ 90 or 130 ＜ I ＜ 255, it is cyan smog；As 230 ＜ I ＜ 255, it it is white smoke；128 ＜ R=G=B ＜ 192, are Lycoperdon polymorphum Vitt smog；Different smog combine thermal imagery difference, incorporate experience into data and participate in the calculating of Fire Possibility coefficient.When the current average gray of described Lycoperdon polymorphum Vitt smoke region exists bigger change compared with the average gray value of self before a period of time, and the difference of this area grayscale value and whole detection zone average gray value exceedes setting threshold value, then this region directly judges that potential exception occurs in this region.
Step 4) also includes flame analysis to the analysis of the visible images in the evening that described grounded receiving station receives, specially separate the image of each frame, under rgb color space, wherein R represents the red component of pixel, G represents the green component of pixel, and B represents the blue component of pixel, compares the slight of R signal and B signal: if R signal exceedes B signal and difference higher than the threshold value set, can determine whether that this region is the most red, the probability for flame is higher；Otherwise it is considered as interference.When described R signal is significantly more than B signal, and with a period of time before self mean difference there is bigger change, this difference and whole detection zone mean difference exceed setting threshold value simultaneously, then this region directly judges that potential exception occurs in this region.
Claims (9)
1. forest fire detection based on unmanned plane and preventing control method, it is characterised in that comprise the following steps:
1) in unmanned plane, meteorological data, the visible images monitoring region under normal circumstances and thermal infrared images are preset；Preset high-temperature region and the threshold value of thermal imagery difference；
2) by unmanned plane to the inspection of monitoring region shooting visible images and thermal infrared images simultaneously, and pass through camera site corresponding to GPS positioning function real time record image and shooting time, data are reached grounded receiving station by being wirelessly transferred simultaneously；
3) to step 2) visible images monitoring region under normal circumstances that prestores with step 1) respectively of the visible images that obtains and thermal infrared images and thermal infrared images carry out labelling and the calculating of thermal imagery difference of higher warm area respectively, and contrast with predetermined threshold value；
4) when not breaking through predetermined threshold value, ignore the higher region of normal temperature, continue inspection；Breaking through predetermined threshold value, then this region is defined as improper region, receiving station sends alarm earthward；Simultaneously, unmanned plane is positioned by GPS, fire extinguishing bag is thrown in improper region, and with this improper region as the center of circle, in overhead around flight, real-time multi-direction monitors dynamically changing and being sent to grounded receiving station of this region, until thermal imagery difference is recovered to predetermined threshold value, cancel alarm, continue inspection；
5) grounded receiving station receiving step 2) data that transmit, comprehensive fire gross data and empirical data carry out comprehensive system analysis to visible images and thermal infrared images, form the percent profile figure of monitoring region each condition of a fire probability coefficient, and the GPS location data in the probability coefficient region more than 70% are fed back to unmanned plane by being wirelessly transferred, unmanned plane carry out emphasis tour from high to low from probability coefficient value；Grounded receiving station receiving step 4) data that transmit, comprehensive fire gross data and empirical data carry out comprehensive system analysis to visible images and thermal infrared images, it is defined as catching fire a little, calculating is caught fire area, arrange action in time, determine that unmanned plane is reported by mistake, then sound all clear and pass through to be wirelessly transferred feedback unmanned plane and continue inspection.
Forest fire detection based on unmanned plane the most according to claim 1 and preventing control method, it is characterized in that, the threshold value preset described in step 1) obtains mode: monitor the thermal infrared images in region under normal circumstances, in conjunction with the meteorological data preset, adjust brightness of image scope, be described threshold range.
Forest fire detection based on unmanned plane the most according to claim 1 and preventing control method, it is characterized in that, grounded receiving station described in step 4) also includes smog analysis to the analysis of the visible images on the daytime of reception, specially separate the image of each frame, under rgb color space, wherein R represents the red component of pixel, G represents the green component of pixel, B represents the blue component of pixel, I represents three-component average, then as-20 ＜ R-G ＜ 0,-55 ＜ G-B ＜-10, during 15 ＜ B-R ＜ 90 or 130 ＜ I ＜ 255, it is cyan smog；As 230 ＜ I ＜ 255, it it is white smoke；128 ＜ R=G=B ＜ 192, are Lycoperdon polymorphum Vitt smog；Different smog combine thermal imagery difference, incorporate experience into data and participate in the calculating of Fire Possibility coefficient.
Forest fire detection based on unmanned plane the most according to claim 3 and preventing control method, it is characterized in that, bigger change is there is in the current average gray of described Lycoperdon polymorphum Vitt smoke region compared with the average gray value of self before a period of time, and the difference of this area grayscale value and whole detection zone average gray value exceedes setting threshold value, the most directly judge that potential exception occurs in this region.
Forest fire detection based on unmanned plane the most according to claim 1 and preventing control method, it is characterized in that, step 4) also includes flame analysis to the analysis of the visible images in the evening that described grounded receiving station receives, specially separate the image of each frame, under rgb color space, wherein R represents the red component of pixel, G represents the green component of pixel, B represents the blue component of pixel, comparison R signal is slight with B signal: if R signal exceedes B signal and difference higher than the threshold value set, can determine whether that this region is the most red, the probability for flame is higher；Otherwise it is considered as interference.
Forest fire detection based on unmanned plane the most according to claim 5 and preventing control method, it is characterized in that, described R signal is significantly more than B signal, and with a period of time before self mean difference there is bigger change, this difference and whole detection zone mean difference exceed setting threshold value simultaneously, the most directly judge that potential exception occurs in this region.
Forest fire detection based on unmanned plane the most according to claim 1 and preventing control method, it is characterised in that the calculating of the area that catches fire described in step 5), be by flying height data and image area, obtained by geometrical calculation.
Forest fire detection based on unmanned plane the most according to claim 1 and preventing control method, it is characterised in that when in step 5), probability coefficient value is identical, unmanned plane is patrolled from the area preference near self.
9. according to the forest fire detection based on unmanned plane described in any one of claim 1-8 and preventing control method, it is characterised in that described in be wirelessly transferred be by public radio communication network or the wireless communication networks of self-organizing or to pass through satellite system.
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| CN101650866A (en) * | 2009-09-22 | 2010-02-17 | 华南理工大学 | Fire detecting system applied to unmanned helicopter and fire detecting method thereof |
| CN101968913A (en) * | 2010-08-13 | 2011-02-09 | 清华大学 | Flame tracing method for forest fire area |
| CN102622845A (en) * | 2012-03-31 | 2012-08-01 | 哈尔滨工业大学 | Background interference elimination device and elimination method based on forest flash point de-disturbance point positioning device |
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