CN104715556A - Fire alarm method based on aerial photography - Google Patents
Fire alarm method based on aerial photography Download PDFInfo
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Abstract
The invention relates to a fire alarm method based on aerial photography. The method comprises the following steps: shooting a patrolling area image by using a digital photo shooting device; receiving the patrolling area image by using a haze eliminating device connected with the digital photo shooting device, and sharpening the patrolling area image, so that a sharpened image is obtained; inputting the sharpened image into a fire detection device connected with the haze eliminating device, and carrying out fire analysis on the sharpened image; and by using an ARM11 processor connected with the fire detection device, determining whether to send out a fire alarm signal based on fire analysis results. The method disclosed by the invention is implemented by using a fire alarm system arranged on an unmanned aerial vehicle. By the invention, even in severe haze weather, the fire situation in a preset patrolling area can be accurately detected, and necessary alarm signals can be timely emitted to the local fire-fighting monitoring platform.
Description
Technical field
The present invention relates to fire fighting monitoring field, particularly relating to a kind of condition of a fire alarm method based on taking photo by plane in the air.
Background technology
Unmanned plane, i.e. unmanned spacecraft, its english abbreviation is " UAV ", is the not manned aircraft utilizing radio robot to handle with the presetting apparatus provided for oneself.Can be divided into from technical standpoint definition: this several large class of depopulated helicopter, unmanned fixed-wing aircraft, unmanned multi-rotor aerocraft, unmanned airship, unmanned parasol.Military unmanned air vehicle and civilian unmanned plane can be divided into from the classification of purposes aspect.Military aspect, can be used for battle reconnaissance and supervision, positioning school are penetrated, injured assessment, electronic warfare, and civilian aspect, can be used for border patrol, nuclear radiation detection, aeroplane photography, mineral exploration aviation, the condition of a disaster supervision, traffic patrolling and security monitoring.
Current, various countries' fire department is faced with day by day complicated fire fighting and rescue and social helping situation, to all kinds of earthquake rescue, flood-fighting, lofty mountains relief and the situation such as large span or high-rise fire, the limitation of conventional on-site investigation highlights day by day, and it exists, and control surface is narrow, monitoring is not real-time and cannot overcome the defect of haze weather impact.How effectively implement fire-fighting early warning and on-the-spot detecting, and rapidly, accurately dispose the condition of a disaster and seem particularly important.The maturation of unmanned plane application technology and system scheme is used, make scounting aeroplane platform in conjunction with video, monitoring and the transfer equipment such as infrared, disaster hidden-trouble inspection, field rescue commander and condition of a fire detecting are carried out to setting inspection region become the new selection of fire department by aerial.
Therefore, a kind of new fire fighting monitoring method is provided, abandon original on-the-spot condition of a fire monitoring means, be carrier by unmanned plane, not only under normal weather, also under various haze weather, data acquisition can be carried out to inspection region, to judge whether the concrete situation that the condition of a fire and the condition of a fire occur, for local fire department provides important reference data.
Summary of the invention
In order to solve the problem that above-mentioned conventional on-site investigation is brought, according to an aspect of the present invention, the invention provides a kind of condition of a fire alarm method based on taking photo by plane in the air, it comprises: utilize digital photo capture apparatus to take beat image; Utilize the haze abatement apparatus be connected with described digital photo capture apparatus to receive described beat image, sharpening process is performed to described beat image, obtain sharpening image; By the fire detecting apparatus that the input of described sharpening image is connected with described haze abatement apparatus, fire analysis is performed to described sharpening image; The ARM11 processor be connected with described fire detecting apparatus is utilized to determine whether to send condition of a fire alerting signal based on described fire analysis result.
Condition of a fire alarm method of the present invention utilizes the fire alarm system be arranged on unmanned plane to implement.Therefore, according to another aspect of the present invention, present invention also offers a kind of fire alarm system based on taking photo by plane in the air, described warning system comprises digital photo capture apparatus, haze abatement apparatus, fire detecting apparatus and ARM11 processor, and wherein said digital photo capture apparatus is for taking beat image; Described haze abatement apparatus is connected with described digital photo capture apparatus, for receiving described beat image, performing sharpening process to described beat image, obtaining sharpening image; Described fire detecting apparatus is connected with described haze abatement apparatus, for performing fire analysis to described sharpening image; Described ARM11 processor is connected with described fire detecting apparatus, for determining whether to send condition of a fire alerting signal based on described fire analysis result.
Further, described warning system also comprises:
Power supply, comprise solar powered device, accumulator, change-over switch and electric pressure converter, described change-over switch is connected respectively with described solar powered device and described accumulator, determine whether be switched to described solar powered device to be powered by described solar powered device according to accumulator dump energy, described electric pressure converter is connected with described change-over switch, with the 5V voltage transitions will inputted by change-over switch for 3.3V voltage;
Galileo positioning equipment, connects Galilean satellite, and for receiving the real-time Galileo position of unmanned plane, when receiving the condition of a fire alerting signal that described ARM11 processor sends, position occurs for real-time Galileo position and the condition of a fire;
Static storage device, for the shooting height that prestores, flame upper limit gray threshold, flame lower limit gray threshold, smog upper limit gray threshold, smog lower limit gray threshold and default condition of a fire proportion threshold value;
Wireless transmitting-receiving equipments, connects local fire fighting monitoring platform, for receiving the beat that described local fire fighting monitoring platform sends;
Unmanned plane driving arrangement, under the control of described ARM11 processor, drive unmanned plane during flying to the top of described beat, flying height is described shooting height.
More specifically, described haze abatement apparatus also comprises:
Store subset, for prestoring sky upper limit gray threshold and sky lower limit gray threshold, described sky upper limit gray threshold and described sky lower limit gray threshold are for separating of the sky areas of publishing picture in picture, also for prestoring presetted pixel value threshold value, described presetted pixel value threshold value value is between 0 to 255;
Haze Concentration Testing subset, is arranged in air, for detecting the haze concentration of unmanned plane position in real time, and removes intensity according to haze concentration determination haze, and described haze removes intensity value between 0 to 1;
Region dividing subset, connect described digital photo capture apparatus to receive described beat image, gray processing process is carried out to obtain gray processing area image to described beat image, also be connected with storage subset, the pixel identification of gray-scale value in described gray processing area image between described sky upper limit gray threshold and described sky lower limit gray threshold is formed gray processing sky sub pattern, described gray processing sky sub pattern is partitioned into obtain the non-sky subimage of gray processing from described gray processing area image, the colour non-sky subimage corresponding with described gray processing non-sky subimage is obtained based on the correspondence position of described gray processing non-sky subimage in described beat image,
Black channel obtains subset, be connected with described Region dividing subset to obtain the non-sky subimage of described colour, for each pixel in the non-sky subimage of described colour, calculate its R, G, B tri-Color Channel pixel value, the R of all pixels in described colour non-sky subimage, G, B tri-extracts the Color Channel at the minimum Color Channel pixel value place of numerical value in Color Channel pixel value as black channel;
Overall air light value obtains subset, be connected to obtain presetted pixel value threshold value with described storage subset, obtain subset with described Region dividing subset and described black channel to be connected respectively to obtain described beat image and described black channel, multiple pixels that black channel pixel value in described beat image is more than or equal to presetted pixel value threshold value are formed set of pixels to be tested, the gray-scale value air light value as a whole of the pixel of maximum gradation value will be had in described set of pixels to be tested;
Atmospheric scattering light value obtains subset, be connected respectively with described Region dividing subset and described haze Concentration Testing subset, to each pixel of described beat image, extract its R, G, in B tri-Color Channel pixel value, minimum value is as target pixel value, use and keep the Gaussian filter EPGF (edge-preserving gaussian filter) at edge to carry out filtering process to obtain filtered target pixel value to described target pixel value, target pixel value is deducted filtered target pixel value to obtain object pixel difference, EPGF is used to carry out filtering process to obtain filtered target pixel value difference to object pixel difference, filtered target pixel value is deducted filtered target pixel value difference and remove reference value to obtain haze, haze is removed intensity and be multiplied by haze removal reference value to obtain haze removal threshold value, get haze and remove minimum value in threshold value and target pixel value as comparison reference, get the atmospheric scattering light value of the maximal value in comparison reference and 0 as each pixel,
Medium transmission rate obtains subset, obtain subset and described atmospheric scattering light value with described overall air light value to obtain subset and be connected respectively, the atmospheric scattering light value of each pixel is removed value divided by overall air light value to obtain, deducts 1 described except value is to obtain the medium transmission rate of each pixel;
Sharpening Image Acquisition subset, with described Region dividing subset, described overall air light value obtains subset and is connected respectively with described medium transmission rate acquisition subset, the medium transmission rate of each pixel is deducted to obtain the first difference by 1, described first difference is multiplied by overall air light value to obtain product value, the pixel value of each pixel in described beat image is deducted described product value to obtain the second difference, by described second difference divided by the medium transmission rate of each pixel to obtain the sharpening pixel value of each pixel, in described beat image, the pixel value of each pixel comprises the R of each pixel in described beat image, G, B tri-Color Channel pixel value, correspondingly, the sharpening pixel value of each pixel obtained comprises the R of each pixel, G, B tri-Color Channel sharpening pixel value, the sharpening pixel value composition sharpening image of all pixels.
More specifically, described fire detecting apparatus is by the pixel identification of gray-scale value in described sharpening image between described flame upper limit gray threshold and described flame lower limit gray threshold and form flame object subimage, the pixel identification of gray-scale value in described sharpening image between described smog upper limit gray threshold and described smog lower limit gray threshold is formed smoke target subimage, and total pixel sum of the total pixel number and described smoke target subimage that calculate described flame object subimage occupies the condition of a fire pixel ratio numerical value of the total pixel of described sharpening image.
More specifically, described ARM11 processor is connected respectively with described digital photo capture apparatus, described haze abatement apparatus, described fire detecting apparatus, described Galileo positioning equipment, described static storage device, described wireless transmitting-receiving equipments and described unmanned plane driving arrangement, when described condition of a fire pixel ratio numerical value is more than or equal to described default condition of a fire proportion threshold value, send condition of a fire alerting signal; Wherein, after sending condition of a fire alerting signal, also be there is position and is sent to described local fire fighting monitoring platform by described wireless transmitting-receiving equipments by described ARM11 processor in described condition of a fire alerting signal and the described condition of a fire.
More specifically, in warning system of the present invention, described digital photo capture apparatus comprises 35 millimeters of tight shots and three-axle steady platform.
More specifically, in warning system of the present invention, be there is position and is all added to form combination picture on described sharpening image by described ARM11 processor in described condition of a fire alerting signal and the described condition of a fire, and described combination picture is sent to described local fire fighting monitoring platform by described wireless transmitting-receiving equipments.
More specifically, warning system of the present invention also comprises infrared temperature sensor, for there is the infrared ray of position radiation based on the described condition of a fire, detects the temperature that position occurs the described condition of a fire.
More specifically, in warning system of the present invention, described ARM11 processor is connected with described infrared temperature sensor, is sent to described local fire fighting monitoring platform for the temperature that the described condition of a fire is occurred in position by described wireless transmitting-receiving equipments.
Condition of a fire alarm method based on taking photo by plane in the air of the present invention, use the image data acquiring that unmanned aerial vehicle platform carries out presumptive area, the image collected is analyzed, to determine the local concrete the situation whether condition of a fire and the condition of a fire occur, meanwhile, according to atmospheric attenuation model determination haze to the influence factor of image, and the process of mist elimination haze is carried out to the image gathered under foggy days, thus simultaneously, improve the reliability of system timely in guarantee native system control surface broadness, monitoring
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the block diagram implementing the present invention is based on the warning system of the condition of a fire alarm method of taking photo by plane in the air.
Fig. 2 is the block diagram implementing the present invention is based on the power supply of the warning system of the condition of a fire alarm method of taking photo by plane in the air.
Embodiment
Below with reference to accompanying drawings the embodiment implementing the present invention is based on the warning system of the condition of a fire alarm method of taking photo by plane in the air is described in detail.
Along with reaching its maturity and the further expansion of air photo technique of unmanned air vehicle technique, civilian unmanned plane application is increasingly extensive, comprising: photogrammetric, emergency disaster relief, public safety, resource exploration, environmental monitoring, Natural calamity monitoring and assessment, city planning and municipal administration, forest fires disease and pest protect and monitoring etc.
Current, fire department mainly adopts conventional on-site investigative mode to the means that the condition of a fire is monitored, this pattern cannot provide condition of a fire warning message in real time, condition of a fire time of fire alarming can be incured loss through delay, affect disaster relief effect, the condition of a fire monitoring demand of complicated landform cannot be met simultaneously and the interference of various haze weather cannot be overcome, and being the condition of a fire monitoring mode of apparatus carriers with unmanned plane, utilize dirigibility and the agility of unmanned plane aerial reconnaissance, realize the disaster relief effect that conventional on-site investigative mode cannot realize.
Condition of a fire alarm method based on taking photo by plane in the air of the present invention and warning system, key area can be flown to and carry out condition of a fire monitoring, to key area captured image data, to report to the police when finding the condition of a fire, fire alarm system of the present invention can adapt to various haze weather, and its warning message provided for fire department is efficient, real-time, reliable.
Fig. 1 is the block diagram implementing the present invention is based on the warning system of the condition of a fire alarm method of taking photo by plane in the air, as shown in Figure 1, described warning system is installed on unmanned plane, comprise digital photo capture apparatus 1, haze abatement apparatus 2, fire detecting apparatus 3 and ARM11 processor 4, described ARM11 processor 4 is connected respectively with described digital photo capture apparatus 1, described haze abatement apparatus 2 and described fire detecting apparatus 3, and described haze abatement apparatus 2 is connected respectively with described digital photo capture apparatus 1 and described fire detecting apparatus 3.
Wherein, described digital photo capture apparatus 1 is for taking beat image, described haze abatement apparatus 2 is for performing sharpening process to described beat image, obtain sharpening image, described fire detecting apparatus 3 is for performing fire analysis to described sharpening image, and described ARM11 processor 4 is for determining whether to send condition of a fire alerting signal based on described fire analysis result.
Then, the concrete structure of warning system is further detailed.
As shown in Figure 2, described firefighting monitoring system also comprises: power supply 5, comprise solar powered device 51, accumulator 52, change-over switch 53 and electric pressure converter 54, described change-over switch 53 is connected respectively with described solar powered device 51 and described accumulator 52, determine whether be switched to described solar powered device 51 to be powered by described solar powered device 51 according to accumulator 52 dump energy, described electric pressure converter 54 is connected with described change-over switch 53, with the 5V voltage transitions will inputted by change-over switch 53 for 3.3V voltage.
Described firefighting monitoring system also comprises: Galileo positioning equipment, connect Galilean satellite, for receiving the real-time Galileo position of unmanned plane, when receiving the condition of a fire alerting signal that described ARM11 processor 4 sends, there is position in real-time Galileo position and the condition of a fire.
Described firefighting monitoring system also comprises: static storage device, for the shooting height that prestores, flame upper limit gray threshold, flame lower limit gray threshold, smog upper limit gray threshold, smog lower limit gray threshold and default condition of a fire proportion threshold value.
Described firefighting monitoring system also comprises: wireless transmitting-receiving equipments, connects local fire fighting monitoring platform, for receiving the beat that described local fire fighting monitoring platform sends.
Described firefighting monitoring system also comprises: unmanned plane driving arrangement, and under the control of described ARM11 processor 4, drive unmanned plane during flying to the top of described beat, flying height is described shooting height.
Described haze abatement apparatus 2 is between described digital photo capture apparatus 1 and described fire detecting apparatus 3, for receiving described beat image, sharpening process is performed to described beat image, obtain sharpening image, and described sharpening image is inputted described fire detecting apparatus 3.
Described haze abatement apparatus 2 also comprises following building block:
Store subset, for prestoring sky upper limit gray threshold and sky lower limit gray threshold, described sky upper limit gray threshold and described sky lower limit gray threshold are for separating of the sky areas of publishing picture in picture, also for prestoring presetted pixel value threshold value, described presetted pixel value threshold value value is between 0 to 255;
Haze Concentration Testing subset, is arranged in air, for detecting the haze concentration of unmanned plane position in real time, and removes intensity according to haze concentration determination haze, and described haze removes intensity value between 0 to 1;
Region dividing subset, connect described digital photo capture apparatus 1 to receive described beat image, gray processing process is carried out to obtain gray processing area image to described beat image, also be connected with storage subset, the pixel identification of gray-scale value in described gray processing area image between described sky upper limit gray threshold and described sky lower limit gray threshold is formed gray processing sky sub pattern, described gray processing sky sub pattern is partitioned into obtain the non-sky subimage of gray processing from described gray processing area image, the colour non-sky subimage corresponding with described gray processing non-sky subimage is obtained based on the correspondence position of described gray processing non-sky subimage in described beat image,
Black channel obtains subset, be connected with described Region dividing subset to obtain the non-sky subimage of described colour, for each pixel in the non-sky subimage of described colour, calculate its R, G, B tri-Color Channel pixel value, the R of all pixels in described colour non-sky subimage, G, B tri-extracts the Color Channel at the minimum Color Channel pixel value place of numerical value in Color Channel pixel value as black channel;
Overall air light value obtains subset, be connected to obtain presetted pixel value threshold value with described storage subset, obtain subset with described Region dividing subset and described black channel to be connected respectively to obtain described beat image and described black channel, multiple pixels that black channel pixel value in described beat image is more than or equal to presetted pixel value threshold value are formed set of pixels to be tested, the gray-scale value air light value as a whole of the pixel of maximum gradation value will be had in described set of pixels to be tested;
Atmospheric scattering light value obtains subset, be connected respectively with described Region dividing subset and described haze Concentration Testing subset, to each pixel of described beat image, extract its R, G, in B tri-Color Channel pixel value, minimum value is as target pixel value, use and keep the Gaussian filter EPGF (edge-preserving gaussian filter) at edge to carry out filtering process to obtain filtered target pixel value to described target pixel value, target pixel value is deducted filtered target pixel value to obtain object pixel difference, EPGF is used to carry out filtering process to obtain filtered target pixel value difference to object pixel difference, filtered target pixel value is deducted filtered target pixel value difference and remove reference value to obtain haze, haze is removed intensity and be multiplied by haze removal reference value to obtain haze removal threshold value, get haze and remove minimum value in threshold value and target pixel value as comparison reference, get the atmospheric scattering light value of the maximal value in comparison reference and 0 as each pixel,
Medium transmission rate obtains subset, obtain subset and described atmospheric scattering light value with described overall air light value to obtain subset and be connected respectively, the atmospheric scattering light value of each pixel is removed value divided by overall air light value to obtain, deducts 1 described except value is to obtain the medium transmission rate of each pixel;
Sharpening Image Acquisition subset, with described Region dividing subset, described overall air light value obtains subset and is connected respectively with described medium transmission rate acquisition subset, the medium transmission rate of each pixel is deducted to obtain the first difference by 1, described first difference is multiplied by overall air light value to obtain product value, the pixel value of each pixel in described beat image is deducted described product value to obtain the second difference, by described second difference divided by the medium transmission rate of each pixel to obtain the sharpening pixel value of each pixel, in described beat image, the pixel value of each pixel comprises the R of each pixel in described beat image, G, B tri-Color Channel pixel value, correspondingly, the sharpening pixel value of each pixel obtained comprises the R of each pixel, G, B tri-Color Channel sharpening pixel value, the sharpening pixel value composition sharpening image of all pixels.
Described fire detecting apparatus 3 is by the pixel identification of gray-scale value in described sharpening image between described flame upper limit gray threshold and described flame lower limit gray threshold and form flame object subimage, the pixel identification of gray-scale value in described sharpening image between described smog upper limit gray threshold and described smog lower limit gray threshold is formed smoke target subimage, and total pixel sum of the total pixel number and described smoke target subimage that calculate described flame object subimage occupies the condition of a fire pixel ratio numerical value of the total pixel of described sharpening image.
Described ARM11 processor 4 is connected respectively with described digital photo capture apparatus 1, described haze abatement apparatus 2, described fire detecting apparatus 3, described Galileo positioning equipment, described static storage device, described wireless transmitting-receiving equipments and described unmanned plane driving arrangement, when described condition of a fire pixel ratio numerical value is more than or equal to described default condition of a fire proportion threshold value, send condition of a fire alerting signal.
Wherein, after sending condition of a fire alerting signal, also be there is position and is sent to described local fire fighting monitoring platform by described wireless transmitting-receiving equipments by described ARM11 processor 4 in described condition of a fire alerting signal and the described condition of a fire.
Wherein, alternatively, described digital photo capture apparatus 1 comprises 35 millimeters of tight shots and three-axle steady platform; Be there is position and is all added to form combination picture on described sharpening image by described ARM11 processor 4 in described condition of a fire alerting signal and the described condition of a fire, and described combination picture is sent to described local fire fighting monitoring platform by described wireless transmitting-receiving equipments; Described system can also comprise infrared temperature sensor, for there is the infrared ray of position radiation based on the described condition of a fire, detect the temperature that position occurs the described condition of a fire, and described ARM11 processor 4 is connected with described infrared temperature sensor, be sent to described local fire fighting monitoring platform for the temperature that the described condition of a fire is occurred in position by described wireless transmitting-receiving equipments.
In addition, haze image can realize the mist elimination haze of image by a series of images treatment facility, to obtain the image of sharpening, improves the visibility of image.These image processing equipments perform different image processing functions respectively, based on the principle that haze is formed, reach the effect removing haze.The sharpening process of haze image all has great using value for dual-use field, and military domain comprises military and national defense, remote sensing navigation etc., and civil area comprises road monitoring, target following and automatic Pilot etc.
The process that haze image is formed can be described by atmospheric attenuation process, relation between haze image and real image and sharpening image can be stated by the medium transmission rate of overall air light value and each pixel, namely when known haze image, according to the medium transmission rate of overall air light value with each pixel, sharpening image can be solved.
There are some effective and through verifying means in the solving of medium transmission rate for overall air light value and each pixel, such as, for the medium transmission rate of each pixel, need the atmospheric scattering light value obtaining overall air light value and each pixel, and the atmospheric scattering light value of each pixel can obtain carrying out the Gaussian smoothing filter at twice maintenance edge to the pixel value of each pixel in haze image, therebetween, the intensity of haze removal is adjustable; And the acquisition pattern of overall air light value has two kinds, a kind of mode is, black channel by obtaining haze image (namely makes the black channel value of some pixels very low in haze image, black channel is R, G, one in B tri-Color Channel), in haze image, obtain by finding the maximum pixel of gray-scale value in multiple pixels that searching black channel pixel value is bigger than normal, be about to the gray-scale value air light value as a whole of that search out, that gray-scale value is maximum pixel, participate in the sharpening process of each pixel in haze image; In addition, overall air light value is also by obtaining with under type: the gray-scale value calculating each pixel in haze image, by the gray-scale value of pixel maximum for gray-scale value air light value as a whole.
Relation between concrete haze image and real image and sharpening image, and the relation between parameters can see above content.
By the discussion to haze image formation basic theory, build the relation between haze image and sharpening image, by this relation of multiple Parametric Representation, subsequently by the multiple parameter values that obtain and haze image and the higher image of reducible acquisition sharpness, some statistical means and empirical means have been used in acquisition due to parameter, therefore the image that described sharpness is higher can not be equal to real image completely, but there is the mist elimination haze effect of certain degree, for the every field operation under haze weather provides effective guarantee.
Adopt the condition of a fire alarm method based on taking photo by plane of the present invention in the air, slow for existing firefighting monitoring system reaction velocity, provide data not comprehensively, the technical matters of complicated landform and complicated weather cannot be adapted to, use UAV flight's platform flexibly and fast, introduce image acquisition and processing equipment and carry out fire analysis, introduce mist elimination haze equipment and remove haze to the impact of image, thus accurate instant data can be provided for fire department, ensure that the disaster relief effect of fire department, avoid the further expansion of the condition of a fire.
Be understandable that, although the present invention with preferred embodiment disclose as above, but above-described embodiment and be not used to limit the present invention.For any those of ordinary skill in the art, do not departing under technical solution of the present invention ambit, the technology contents of above-mentioned announcement all can be utilized to make many possible variations and modification to technical solution of the present invention, or be revised as the Equivalent embodiments of equivalent variations.Therefore, every content not departing from technical solution of the present invention, according to technical spirit of the present invention to any simple modification made for any of the above embodiments, equivalent variations and modification, all still belongs in the scope of technical solution of the present invention protection.
Claims (8)
1. based on a condition of a fire alarm method of taking photo by plane in the air, it comprises: utilize digital photo capture apparatus to take beat image; Utilize the haze abatement apparatus be connected with described digital photo capture apparatus to receive described beat image, sharpening process is performed to described beat image, obtain sharpening image; By the fire detecting apparatus that the input of described sharpening image is connected with described haze abatement apparatus, fire analysis is performed to described sharpening image; The ARM11 processor be connected with described fire detecting apparatus is utilized to determine whether to send condition of a fire alerting signal based on described fire analysis result.
2. the method for claim 1, it utilizes the fire alarm system be arranged on unmanned plane to implement, and described warning system comprises digital photo capture apparatus, haze abatement apparatus, fire detecting apparatus and ARM11 processor.
3. method as claimed in claim 2, wherein said warning system also comprises:
Power supply, comprise solar powered device, accumulator, change-over switch and electric pressure converter, described change-over switch is connected respectively with described solar powered device and described accumulator, determine whether be switched to described solar powered device to be powered by described solar powered device according to accumulator dump energy, described electric pressure converter is connected with described change-over switch, with the 5V voltage transitions will inputted by change-over switch for 3.3V voltage;
Galileo positioning equipment, connects Galilean satellite, and for receiving the real-time Galileo position of unmanned plane, when receiving the condition of a fire alerting signal that described ARM11 processor sends, position occurs for real-time Galileo position and the condition of a fire;
Static storage device, for the shooting height that prestores, flame upper limit gray threshold, flame lower limit gray threshold, smog upper limit gray threshold, smog lower limit gray threshold and default condition of a fire proportion threshold value;
Wireless transmitting-receiving equipments, connects local fire fighting monitoring platform, for receiving the beat that described local fire fighting monitoring platform sends;
Unmanned plane driving arrangement, under the control of described ARM11 processor, drive unmanned plane during flying to the top of described beat, flying height is described shooting height.
4. the method as described in claim 1 or 3, wherein said haze abatement apparatus also comprises:
Store subset, for prestoring sky upper limit gray threshold and sky lower limit gray threshold, described sky upper limit gray threshold and described sky lower limit gray threshold are for separating of the sky areas of publishing picture in picture, also for prestoring presetted pixel value threshold value, described presetted pixel value threshold value value is between 0 to 255;
Haze Concentration Testing subset, is arranged in air, for detecting the haze concentration of unmanned plane position in real time, and removes intensity according to haze concentration determination haze, and described haze removes intensity value between 0 to 1;
Region dividing subset, connect described digital photo capture apparatus to receive described beat image, gray processing process is carried out to obtain gray processing area image to described beat image, also be connected with storage subset, the pixel identification of gray-scale value in described gray processing area image between described sky upper limit gray threshold and described sky lower limit gray threshold is formed gray processing sky sub pattern, described gray processing sky sub pattern is partitioned into obtain the non-sky subimage of gray processing from described gray processing area image, the colour non-sky subimage corresponding with described gray processing non-sky subimage is obtained based on the correspondence position of described gray processing non-sky subimage in described beat image,
Black channel obtains subset, be connected with described Region dividing subset to obtain the non-sky subimage of described colour, for each pixel in the non-sky subimage of described colour, calculate its R, G, B tri-Color Channel pixel value, the R of all pixels in described colour non-sky subimage, G, B tri-extracts the Color Channel at the minimum Color Channel pixel value place of numerical value in Color Channel pixel value as black channel;
Overall air light value obtains subset, be connected to obtain presetted pixel value threshold value with described storage subset, obtain subset with described Region dividing subset and described black channel to be connected respectively to obtain described beat image and described black channel, multiple pixels that black channel pixel value in described beat image is more than or equal to presetted pixel value threshold value are formed set of pixels to be tested, the gray-scale value air light value as a whole of the pixel of maximum gradation value will be had in described set of pixels to be tested;
Atmospheric scattering light value obtains subset, be connected respectively with described Region dividing subset and described haze Concentration Testing subset, to each pixel of described beat image, extract its R, G, in B tri-Color Channel pixel value, minimum value is as target pixel value, use and keep the Gaussian filter EPGF at edge to carry out filtering process to obtain filtered target pixel value to described target pixel value, target pixel value is deducted filtered target pixel value to obtain object pixel difference, EPGF is used to carry out filtering process to obtain filtered target pixel value difference to object pixel difference, filtered target pixel value is deducted filtered target pixel value difference and remove reference value to obtain haze, haze is removed intensity and be multiplied by haze removal reference value to obtain haze removal threshold value, get haze and remove minimum value in threshold value and target pixel value as comparison reference, get the atmospheric scattering light value of the maximal value in comparison reference and 0 as each pixel,
Medium transmission rate obtains subset, obtain subset and described atmospheric scattering light value with described overall air light value to obtain subset and be connected respectively, the atmospheric scattering light value of each pixel is removed value divided by overall air light value to obtain, deducts 1 described except value is to obtain the medium transmission rate of each pixel;
Sharpening Image Acquisition subset, with described Region dividing subset, described overall air light value obtains subset and is connected respectively with described medium transmission rate acquisition subset, the medium transmission rate of each pixel is deducted to obtain the first difference by 1, described first difference is multiplied by overall air light value to obtain product value, the pixel value of each pixel in described beat image is deducted described product value to obtain the second difference, by described second difference divided by the medium transmission rate of each pixel to obtain the sharpening pixel value of each pixel, in described beat image, the pixel value of each pixel comprises the R of each pixel in described beat image, G, B tri-Color Channel pixel value, correspondingly, the sharpening pixel value of each pixel obtained comprises the R of each pixel, G, B tri-Color Channel sharpening pixel value, the sharpening pixel value composition sharpening image of all pixels.
5. method as claimed in claim 3, wherein said fire detecting apparatus is by the pixel identification of gray-scale value in described sharpening image between described flame upper limit gray threshold and described flame lower limit gray threshold and form flame object subimage, the pixel identification of gray-scale value in described sharpening image between described smog upper limit gray threshold and described smog lower limit gray threshold is formed smoke target subimage, total pixel sum of the total pixel number and described smoke target subimage that calculate described flame object subimage occupies the condition of a fire pixel ratio numerical value of the total pixel of described sharpening image,
Described ARM11 processor is connected respectively with described digital photo capture apparatus, described haze abatement apparatus, described fire detecting apparatus, described Galileo positioning equipment, described static storage device, described wireless transmitting-receiving equipments and described unmanned plane driving arrangement, when described condition of a fire pixel ratio numerical value is more than or equal to described default condition of a fire proportion threshold value, send condition of a fire alerting signal;
Wherein, after sending condition of a fire alerting signal, also be there is position and is sent to described local fire fighting monitoring platform by described wireless transmitting-receiving equipments by described ARM11 processor in described condition of a fire alerting signal and the described condition of a fire.
6. method as claimed in claim 5, be there is position and is all added to form combination picture on described sharpening image by wherein said ARM11 processor in described condition of a fire alerting signal and the described condition of a fire, and described combination picture is sent to described local fire fighting monitoring platform by described wireless transmitting-receiving equipments.
7. method as claimed in claim 3, it is characterized in that, described warning system also comprises infrared temperature sensor, for there is the infrared ray of position radiation based on the described condition of a fire, detects the temperature that position occurs the described condition of a fire.
8. method as claimed in claim 7, wherein said ARM11 processor is connected with described infrared temperature sensor, is sent to described local fire fighting monitoring platform for the temperature that the described condition of a fire is occurred in position by described wireless transmitting-receiving equipments.
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