CN105572680A - High-rise building fire positioning system and high-rise building fire positioning method - Google Patents
High-rise building fire positioning system and high-rise building fire positioning method Download PDFInfo
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Abstract
The invention provides a high-rise building fire positioning system and a high-rise building fire positioning method. The system comprises a detector, a two-dimensional adjusting base, an information fusing and processing module and a human-computer interaction module. The detector is composed of a laser range finder, an infrared thermal imager and a visible light camera. The two-dimensional adjusting base adjusts the optical axis of the detector to make the optical axis point to a fire site according to an instruction of the human-computer interaction module. The information fusing and processing module analyzes acquired distance information, an infrared image and a visible light image of the fire site to get the line-of-sight angle and actual distance information of the fire site, and sends the line-of-sight angle and the actual distance information of the fire site to the human-computer interaction module. The human-computer interaction module is used for sending an instruction for adjusting the optical axis of the detector to make the optical axis point to the fire site to the two-dimensional adjusting base, and displaying the information and the images. With the system and the method of the invention, accurate guidance information can be provided for a fire fighting and rescue system, accurate ignition location and distance information can be provided for the launch of a fire extinguishing bomb, and the ignition position can be located quickly and accurately. The system and the method are applicable to positioning of a fire characterized by heavy smoke, large distance, fast spread and high floor.
Description
Technical field
The present invention relates to a kind of skyscraper condition of a fire positioning system and method.
Background technology
Along with carrying out of Development of China's Urbanization, each big and medium-sized cities land used day is becoming tight, and for promoting land utilization ratio, construction skyscraper is considered as the effective way solving this problem by Urban Planner.Residential building, commercial building, office block, the skyscraper of various uses has become the first-selection of civil planner, becomes city landmark.Within long period of time in future, skyscraper will become the principal mode of each big and medium-sized cities building, and residential building also occurs with the form of high residential building.But while saving the area, these skyscrapers also bring great potential safety hazard.From the many Fire Accidents for Buildings occurred in recent years, skyscraper, once breaking out of fire, very easily causes quite serious casualties and economic loss.According to statistics, 2007 to 2008, there is fire of high-rise building 990 in China, direct economic loss reaches 3.3 hundred million yuans altogether.The most direct origin cause of formation of fire of high-rise building is burning things which may cause a fire disaster factor.Life or produce with fire accidentally, electrical equipment designs, install, use, safeguard improper, the disaster such as spontaneous combustion, electrostatic accident, also have part people be set on fire, the factor of children playing fire.The principal feature of fire of high-rise building is roughly as follows:
(1) fire of high-rise building rate of propagation is fast
Skyscraper is due to high-altitude development, and vertical hoistway is many, as staircase, escalator, cable shaft, piping shaft etc., is easily formed vertical " chimney effect ", causes that fire spreading approach is many, speed is fast.And faster than horizontal rate of propagation 5 times of the speed that fire vertically spreads.
(2) Fire Fighting in Tall Buildings difficulty is large
High building structure is complicated, and spatial volume is large, brings particular difficulty to fire-fighting fire extinguishing.Particularly pile up a large amount of combustible in building, ventilation condition is poor, easily forms a large amount of smog.When fire is along in building during spatial development, fire fighter can because smog obstruction and vertical climbing be apart from long and incur loss through delay opportunity of combat; When fire is along external wall to vertical spread, fire fighter often cannot put out the flame of ascension because of aerial ladder insufficient height and insufficient water.Opening in high-rise residential buildings height is large, and fire-fighting vehicle of ascending a height elevates limited, is difficult to implement fire attack from outside.
At present, the maximum of China's fire-fighting ladder truck elevates 101 meters, also only has one, and the skyscraper increasing number of the big city such as Beijing, Shanghai more than hundred meters, put out a fire to save life and property fast once breaking out of fire is difficult to implement outside.And being limited to human physical power's restriction, fire fighter is under the condition being equipped with equipment, and muscle power can support the height of arrival 20 layers, but cannot maintain the required muscle power of follow-up fire-fighting work, can cause high risks to fireman and by rescue worker.Also probably cannot meet the extinguishment requirement of current skyscraper simultaneously.
(3) the fire of high-rise building duration is long, and loss is large
In skyscraper equipment and component many, once catch fire, burning time will be very long.Under long-time high temperature action, although reinforced concrete member and steel construction can not burn, but long-time high temperature action causes the strength of materials, rigidity to reduce, building wrecks to produce and ftractures and generation is overall or collapse in local, causes serious property loss and casualties.The household electrical appliance of residential building building inherent finite space heap amplification quantity, clothing and furniture, decorate a large amount of inflammable materials of employing, after breaking out of fire, goods and materials move difficulty, and damage to property is serious in addition.Tall Office Building inside fitting many employings wood materials and organic plastics goods, add the archive files that pile up like a mountain, also have print, duplicate, fax consumptive material etc., combustible is many, and fire load is large, as long as there is a slight Mars namely may lead to a fire.
Realizing the accurate location of the skyscraper condition of a fire, is the key controlling the skyscraper condition of a fire, stamp out a fire.
Summary of the invention
The object of the present invention is to provide a kind of skyscraper condition of a fire positioning system and method, can provide guidance information accurately for fire extinguishing and rescue system, the transmitting for fire extinguisher bomb provides ignition point position and range information accurately.
For solving the problem, the invention provides a kind of skyscraper condition of a fire positioning system, comprising:
Detector, comprise laser range finder, thermal infrared imager and visible camera, wherein, described laser range finder is for measuring the range information of condition of a fire point, described thermal infrared imager is for detecting the thermo parameters method situation of condition of a fire point and the infrared image taken in visual field, and visible camera is for taking the high frame rate visible images of condition of a fire point;
Two-dimensional adjustment pedestal, for carrying described detector, and points to condition of a fire point according to the optical axis of the instruction adjustment detector of human-computer interaction module;
Information fusion and processing module, for obtaining the range information of condition of a fire point, infrared image and visible images from described detector and being sent to human-computer interaction module, and the infrared image got and visible images are merged obtain the image after merging and be sent to human-computer interaction module, the angle of sight of condition of a fire point and actual range information are obtained to the range information of the condition of a fire point got, infrared image and visible images analysis and is sent to human-computer interaction module;
Human-computer interaction module, optical axis for sending from adjustment detector to described two-dimensional adjustment pedestal points to the instruction of condition of a fire point, and receives from information fusion and processing module and show the image after the range information of condition of a fire point, infrared image, visible images, fusion, the angle of sight of condition of a fire point and actual range information.
Further, in said system, described thermal infrared imager adopts the infrared image instrument based on the long infrared focal plane detector of non-brake method.
Further, in said system, the described wave band based on the long infrared focal plane detector of non-brake method is 8 ~ 14 μm.
Further, in said system, described visible camera adopts the visible camera based on CMOS.
Further, in said system, described information fusion and processing module also obtain fire extinguishing scheme for the angle of sight of the image after the range information to condition of a fire point, infrared image, visible images, fusion, condition of a fire point and actual range information analysis and are sent to human-computer interaction module;
Described human-computer interaction module is also for showing described fire extinguishing scheme.
Further, in said system, described thermal infrared imager and visible camera adopt the round visual field of at least 30 °.
According to another side of the present invention, provide a kind of skyscraper condition of a fire localization method, adopt above-mentioned skyscraper condition of a fire positioning system, described method comprises:
Human-computer interaction module sends the instruction of the optical axis sensing condition of a fire point of adjustment detector to two-dimensional adjustment pedestal;
Two-dimensional adjustment pedestal points to condition of a fire point according to the optical axis of the instruction adjustment detector of human-computer interaction module;
Described laser range finder measures the range information of condition of a fire point, described thermal infrared imager, the thermo parameters method situation of detection condition of a fire point the infrared image taken in visual field, the high frame rate visible images of visible camera shooting condition of a fire point;
Information fusion and processing module obtain the range information of condition of a fire point, infrared image and visible images from described detector and are sent to human-computer interaction module, and the infrared image got and visible images are merged obtain the image after merging and be sent to human-computer interaction module, the angle of sight of condition of a fire point and actual range information are obtained to the range information of the condition of a fire point got, infrared image and visible images analysis and is sent to human-computer interaction module;
Human-computer interaction module receives from information fusion and processing module and shows the image after the range information of condition of a fire point, infrared image, visible images, fusion, the angle of sight of condition of a fire point and actual range information.
Further, in the above-mentioned methods, human-computer interaction module receives from information fusion and processing module and also comprises after image, the angle of sight of condition of a fire point and the step of actual range information after showing the range information of condition of a fire point, infrared image, visible images, fusion
Described information fusion and processing module obtain fire extinguishing scheme to the angle of sight of the image after the range information of condition of a fire point, infrared image, visible images, fusion, condition of a fire point and actual range information analysis and are sent to human-computer interaction module;
Described human-computer interaction module is also for showing described fire extinguishing scheme.
Further, in the above-mentioned methods, described information fusion and processing module obtain in the angle of sight of condition of a fire point and the step of actual range information to the range information of the condition of a fire point got, infrared image and visible images analysis, comprise the condition of a fire dot center that described information fusion and processing module are extracted from infrared image and visible images by bianry image centroid method or intensity-weighted centroid method.
Compared with prior art, the present invention is by laser range finder, thermal infrared imager, visible camera, two-dimensional adjustment pedestal, information fusion and processing module and human-computer interaction module, guidance information accurately can be provided for fire extinguishing and rescue system, transmitting for fire extinguisher bomb provides ignition point position and range information accurately, fast kindling point accurately located, be applicable to that smog is comparatively large, distance, spread the location of the condition of a fire of fast and story height.
Accompanying drawing explanation
Fig. 1 is the composition frame chart of the skyscraper condition of a fire positioning system of one embodiment of the invention;
Fig. 2 is the condition of a fire point coordinate calculating chart of one embodiment of the invention;
Fig. 3 a is the nearest ground distance condition of a fire point analysis figure under the 1km maximum oblique distance constraint of one embodiment of the invention;
Fig. 3 b is the nearest ground distance condition of a fire point analysis figure under the 500m of one embodiment of the invention highly monitors constraint;
Fig. 4 is the condition of a fire of the ground distance farthest point analysis figure of one embodiment of the invention;
Fig. 5 a is one of the condition of a fire of the present invention some imageable target center extraction figure;
Fig. 5 b is the condition of a fire of the present invention some imageable target center extraction figure bis-.
Embodiment
For enabling above-mentioned purpose of the present invention, feature and advantage become apparent more, and below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.
Embodiment one
As shown in Figure 1, the invention provides a kind of skyscraper condition of a fire positioning system, comprising:
Detector 1, comprises laser range finder 11, thermal infrared imager 12 and visible camera 13, and wherein, described laser range finder 11, for measuring the range information of condition of a fire point; Described thermal infrared imager 12, for detecting the thermo parameters method situation of condition of a fire point and the infrared image taken in visual field; Visible camera 13, for taking the high frame rate visible images of condition of a fire point, described laser range finder can adopt compact high precision laser range finder, can realize the distance accuracy of 0.1m at 1Km finding range; Described thermal infrared imager can adopt the infrared image instrument based on the long infrared focal plane detector of non-brake method, the long infrared focal plane detector of non-brake method as 8 ~ 14 mu m wavebands, this detector is without the need to external refrigeration device, there is small size, the advantages such as low use cost, under can realizing the larger situation of smog, to the observation of the condition of a fire; Described visible camera can adopt the visible camera based on CMOS;
Two-dimensional adjustment pedestal 2, for carrying described detector 1, and points to condition of a fire point according to the optical axis of the instruction adjustment detector 1 of human-computer interaction module 4;
Information fusion and processing module 3, for obtaining the range information of condition of a fire point from described detector 1, infrared image and visible images are also sent to human-computer interaction module 4, and the image after obtaining fusion is merged to the infrared image got and visible images and is sent to human-computer interaction module 4, to the range information of the condition of a fire point got, infrared image and visible images carry out analyzing the angle of sight and actual range information that obtain condition of a fire point and are sent to human-computer interaction module 4, here laser range finder is passed through, the multi-sensor information fusion of thermal infrared imager and visible camera, determine the Distance geometry positional information of kindling point fast, concrete, information fusion and processing module can do suitable process to infrared image, fire scene temperature field distribution situation can be obtained, thermo parameters method image namely can in order to the extraction of condition of a fire target, also can for fire-fighting fire extinguishing strategy and formulation and assessment reference is provided, information fusion and the comprehensive infrared image of processing module, the information such as visible images, pass through image processing algorithm, extract scene of a fire specific objective (as window center, maximum temperature point etc.) angle of sight of relative system, information fusion and processing module merge visible images and infrared image, to obtain more scene of a fire information, as flame distribution situation, fire extinguishing procedure and effect monitor and improve condition of a fire point angle of sight precision etc., in addition, by visible light camera, high-speed camera is carried out to four special sign positions near the scene of a fire, information fusion and processing module carry out analyzing and processing to multiple image, obtain the distance of scene of a fire relative system, and filtering process is carried out to this range information, after rejecting step point, can be used as the backup of range finder using laser, laser ranging is caused to lose efficacy to prevent because the reason such as to block, improve positioning precision and reliability, preferably, information fusion and processing module 3 also obtain fire extinguishing scheme for the angle of sight of the image after the range information to condition of a fire point, infrared image, visible images, fusion, condition of a fire point and actual range information analysis and are sent to human-computer interaction module 4.
Human-computer interaction module 4, optical axis for sending from adjustment detector 1 to described two-dimensional adjustment pedestal 2 points to the instruction of condition of a fire point, and receives from information fusion and processing module 3 and show the image after the range information of condition of a fire point, infrared image, visible images, fusion, the angle of sight of condition of a fire point and actual range information.Preferably, human-computer interaction module 4 is also for showing above-mentioned fire extinguishing scheme.
Detailed, the key technical indexes of skyscraper condition of a fire positioning system can be as shown in the table:
Information fusion and processing module, when analyzing the angle of sight and the actual range information of condition of a fire point, need to set up condition of a fire point and its launching coordinate system.By thermal infrared imager and visible camera, condition of a fire point can be obtained relative to the elevation angle of skyscraper condition of a fire positioning system and azimuth information.Range information is measured by laser range finder and visible camera obtains, and comprises oblique distance and the horizontal range in the sensing point distance scene of a fire.The coordinate figure of condition of a fire point in launching coordinate system can be obtained like this.As shown in Figure 2, if condition of a fire point is A point, detector is initial point O, and oblique distance is OA=l, and horizontal range is d, and the elevation angle is
.So can calculate A relative to detector coordinate for (
d,
,
), and the coordinate of detector in launching coordinate system is known, by coordinate translation, just can obtain the coordinate of condition of a fire point in launching coordinate system.
As follows to condition of a fire point imaging analysis result in the present embodiment
(1) as shown in Figure 3 a, nearest ground distance situation is considered, when skyscraper condition of a fire positioning system is 30m from destination ground distance,
A. oblique distance when object height position is 80m: 85.44m
B. oblique distance when object height position is 500m: 500.90m
C.1km under maximum oblique distance constraint:
C1. the maximum elevation of detector: 58.28
o+ (detector half field-of-view 15
o)
C2. story height is observed: 48.5 ~ 999.5m (containing 80 ~ 500m monitoring height)
C3. suppose that fire spreading region is 3m*3m
80m height catches fire, and target picture formed by infrared acquisition is estimated as 8.585 pixels
80m height catches fire, and the formed target picture of visible ray detection is estimated as 46.27 pixels
500m height catches fire, and target picture formed by infrared acquisition is estimated as 0.2698 pixel
500m height catches fire, and the formed target picture of visible ray detection is estimated as 1.454 pixels
(flame height is projected to and as schemed, actual object plane shown in red dotted line calculates)
D. as shown in Figure 3 b, under 500m highly monitors constraint:
D1. the minimum angle of elevation needed for detector: 56.57
o+ (detector half field-of-view 15
o)
D2. story height is observed: 45.43 ~ 500m (containing 80 ~ 500m monitoring height)
D3. suppose that fire spreading region is 3m*3m
80m height catches fire, and target picture formed by infrared acquisition is estimated as 8.561 pixels
80m height catches fire, and the formed target picture of visible ray detection is estimated as 46.14 pixels
500m height catches fire, and target picture formed by infrared acquisition is estimated as 0.273 pixel
500m height catches fire, target picture formed by photodetection can be estimated as 1.471 pixels
Fig. 3 nearest ground distance condition of a fire point analysis
(2) as shown in Figure 4, under the maximum oblique distance constraint of 1km, monitor height 500m, consider ground distance situation farthest
A. surveillance from destination farthest ground distance be 866.03m
B. oblique distance when object height position is 80m: 869.71m
C. oblique distance when object height position is 500m: 1000m
D. the minimum angle of elevation needed for detector: 0
o+ (detector half field-of-view 15
o)
E. suppose that fire spreading region is 3m*3m
80m height catches fire, and target picture formed by infrared acquisition is estimated as 2.53 pixels
80m height catches fire, and the formed target picture of visible ray detection is estimated as 13.64 pixels
500m height catches fire, and target picture formed by infrared acquisition is estimated as 1.994 pixels
500m height catches fire, and the formed target picture of visible ray detection is estimated as 10.75 pixels
To sum up condition of a fire point imaging analysis, considers certain design margin, preferably need take the round visual field of at least 30 ° to thermal infrared imager and visible camera.
In condition of a fire point imageable target center extraction, bianry image centroid method and intensity-weighted centroid method are the conventional sub-pixel recognition Central Symmetry targets such as Circle in Digital Images, ellipse and rectangle being carried out to hi-Fix.
1) bianry image centroid method
Bianry image
in target
barycenter
for
By binary map picture element method, target is positioned, first will carry out binarization segmentation to image, then target area be identified.When target area is moderate, the precision of bianry image centroid method can reach 0.2 ~ 0.5 pixel.If only calculated with the edge of target, this algorithm is just called as the contour method of average, but with only the information of target area boundaries due to it, and therefore the precision of the contour method of average is lower.
2) intensity-weighted centroid method
It is the weighting centroid method weighed that intensity-weighted centroid method can be regarded as with gray scale.Gray level image
the gray scale barycenter of middle target S
for
Wherein
for weights.In addition can be squared by the gray scale weights in above formula, form gray scale square weighting centroid method.The weight that gray scale square weighting centroid method makes target gray distribute is able to further outstanding, in the ideal case, as shown in figure 5a and 5b, can obtain positioning precision more better than gray scale centroid method.
As a kind of general segmented positioning method, the form that centroid method has some to improve, as being with centroid method and square weighted mass center method of threshold value.
Centroid method computing formula with threshold value is as follows:
Centroid method with threshold value is equivalent to original image and binary-state threshold to subtract each other, and then asks barycenter to the image after subtracting each other.Because image can regard the superposition of target and background as, therefore, T here usually adopts background threshold.Can from theoretical proof, the centroid method of band threshold value has higher precision, and when intensity profile that and if only if is uncorrelated with x, y coordinate figure with f (x, y), the two is only of equal value.
The computing formula of square weighting centroid method is as follows:
Square weighting centroid method adopt gray-scale value square replace gray-scale value as weights, it highlight decentering nearer compared with high-gray level value pixel on the impact of center.
In addition, in condition of a fire point imageable target center extraction, fire extinguisher bomb is when ground surveillance etc. is to be launched, and the fire area observed is point target and Small object, obtains its azimuth information by Small object center extraction method.In order to obtain higher point target positioning precision from image, usually adopting the mode imaging of out of focus, the imaging point of target on CCD light-sensitive surface is diffused on more pixel.Test shows, when the area of blur circle is 3 × 3 pixels, can reach reasonable segmented positioning precision.
The present embodiment is applicable to that smog is comparatively large, distance, spread the location of the condition of a fire of fast and story height, can accurately locate kindling point fast, for fire extinguishing and rescue system provide guidance information accurately, the transmitting for fire extinguisher bomb provides ignition point position and range information accurately.
Embodiment two
The present invention also provides another kind of skyscraper condition of a fire localization method, and adopt the skyscraper condition of a fire positioning system of above-described embodiment one, described method comprises:
Step S1, human-computer interaction module sends the instruction of the optical axis sensing condition of a fire point of adjustment detector to two-dimensional adjustment pedestal;
Step S2, two-dimensional adjustment pedestal points to condition of a fire point according to the optical axis of the instruction adjustment detector of human-computer interaction module;
Step S3, described laser range finder measures the range information of condition of a fire point, described thermal infrared imager, the thermo parameters method situation of detection condition of a fire point the infrared image taken in visual field, the high frame rate visible images of visible camera shooting condition of a fire point;
Step S4, information fusion and processing module obtain the range information of condition of a fire point, infrared image and visible images from described detector and are sent to human-computer interaction module, and the infrared image got and visible images are merged obtain the image after merging and be sent to human-computer interaction module, the angle of sight of condition of a fire point and actual range information are obtained to the range information of the condition of a fire point got, infrared image and visible images analysis and is sent to human-computer interaction module;
Step S5, human-computer interaction module receives from information fusion and processing module and shows the image after the range information of condition of a fire point, infrared image, visible images, fusion, the angle of sight of condition of a fire point and actual range information.
Preferably, human-computer interaction module receives from information fusion and processing module and also comprises after image, the angle of sight of condition of a fire point and the step of actual range information after showing the range information of condition of a fire point, infrared image, visible images, fusion,
Described information fusion and processing module obtain fire extinguishing scheme to the angle of sight of the image after the range information of condition of a fire point, infrared image, visible images, fusion, condition of a fire point and actual range information analysis and are sent to human-computer interaction module;
Described human-computer interaction module is also for showing described fire extinguishing scheme.
Preferably, described information fusion and processing module obtain in the angle of sight of condition of a fire point and the step of actual range information to the range information of the condition of a fire point got, infrared image and visible images analysis, comprise the condition of a fire dot center that described information fusion and processing module are extracted from infrared image and visible images by bianry image centroid method or intensity-weighted centroid method.
Other detailed content of embodiment two specifically see the appropriate section of embodiment one, can not repeat them here.
In sum, the present invention is applicable to that smog is comparatively large, distance, spread the location of the condition of a fire of fast and story height, can accurately locate kindling point fast, for fire extinguishing and rescue system provide guidance information accurately, the transmitting for fire extinguisher bomb provides ignition point position and range information accurately.
In this instructions, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar portion mutually see.For system disclosed in embodiment, owing to corresponding to the method disclosed in Example, so description is fairly simple, relevant part illustrates see method part.
Professional can also recognize further, in conjunction with unit and the algorithm steps of each example of embodiment disclosed herein description, can realize with electronic hardware, computer software or the combination of the two, in order to the interchangeability of hardware and software is clearly described, generally describe composition and the step of each example in the above description according to function.These functions perform with hardware or software mode actually, depend on application-specific and the design constraint of technical scheme.Professional and technical personnel can use distinct methods to realize described function to each specifically should being used for, but this realization should not thought and exceeds scope of the present invention.
Obviously, those skilled in the art can carry out various change and modification to invention and not depart from the spirit and scope of the present invention.Like this, if these amendments of the present invention and modification belong within the scope of the claims in the present invention and equivalent technologies thereof, then the present invention is also intended to comprise these change and modification.
Claims (9)
1. a skyscraper condition of a fire positioning system, is characterized in that, comprising:
Detector, comprise laser range finder, thermal infrared imager and visible camera, wherein, described laser range finder is for measuring the range information of condition of a fire point, described thermal infrared imager is for detecting the thermo parameters method situation of condition of a fire point and the infrared image taken in visual field, and visible camera is for taking the high frame rate visible images of condition of a fire point;
Two-dimensional adjustment pedestal, for carrying described detector, and points to condition of a fire point according to the optical axis of the instruction adjustment detector of human-computer interaction module;
Information fusion and processing module, for obtaining the range information of condition of a fire point, infrared image and visible images from described detector and being sent to human-computer interaction module, and the infrared image got and visible images are merged obtain the image after merging and be sent to human-computer interaction module, the angle of sight of condition of a fire point and actual range information are obtained to the range information of the condition of a fire point got, infrared image and visible images analysis and is sent to human-computer interaction module;
Human-computer interaction module, optical axis for sending from adjustment detector to described two-dimensional adjustment pedestal points to the instruction of condition of a fire point, and receives from information fusion and processing module and show the image after the range information of condition of a fire point, infrared image, visible images, fusion, the angle of sight of condition of a fire point and actual range information.
2. skyscraper condition of a fire positioning system as claimed in claim 1, is characterized in that, described thermal infrared imager adopts the infrared image instrument based on the long infrared focal plane detector of non-brake method.
3. skyscraper condition of a fire positioning system as claimed in claim 2, it is characterized in that, the described wave band based on the long infrared focal plane detector of non-brake method is 8 ~ 14 μm.
4. skyscraper condition of a fire positioning system as claimed in claim 1, is characterized in that, described visible camera adopts the visible camera based on CMOS.
5. skyscraper condition of a fire positioning system as claimed in claim 1, is characterized in that,
Described information fusion and processing module also obtain fire extinguishing scheme for the angle of sight of the image after the range information to condition of a fire point, infrared image, visible images, fusion, condition of a fire point and actual range information analysis and are sent to human-computer interaction module;
Described human-computer interaction module is also for showing described fire extinguishing scheme.
6. skyscraper condition of a fire positioning system as claimed in claim 1, is characterized in that, described thermal infrared imager and visible camera adopt the round visual field of at least 30 °.
7. a skyscraper condition of a fire localization method, adopt the skyscraper condition of a fire positioning system as described in any one of claim 1 ~ 7, it is characterized in that, described method comprises:
Human-computer interaction module sends the instruction of the optical axis sensing condition of a fire point of adjustment detector to two-dimensional adjustment pedestal;
Two-dimensional adjustment pedestal points to condition of a fire point according to the optical axis of the instruction adjustment detector of human-computer interaction module;
Described laser range finder measures the range information of condition of a fire point, described thermal infrared imager, the thermo parameters method situation of detection condition of a fire point the infrared image taken in visual field, the high frame rate visible images of visible camera shooting condition of a fire point;
Information fusion and processing module obtain the range information of condition of a fire point, infrared image and visible images from described detector and are sent to human-computer interaction module, and the infrared image got and visible images are merged obtain the image after merging and be sent to human-computer interaction module, the angle of sight of condition of a fire point and actual range information are obtained to the range information of the condition of a fire point got, infrared image and visible images analysis and is sent to human-computer interaction module;
Human-computer interaction module receives from information fusion and processing module and shows the image after the range information of condition of a fire point, infrared image, visible images, fusion, the angle of sight of condition of a fire point and actual range information.
8. skyscraper condition of a fire localization method as claimed in claim 7, it is characterized in that, human-computer interaction module receives from information fusion and processing module and also comprises after image, the angle of sight of condition of a fire point and the step of actual range information after showing the range information of condition of a fire point, infrared image, visible images, fusion
Described information fusion and processing module obtain fire extinguishing scheme to the angle of sight of the image after the range information of condition of a fire point, infrared image, visible images, fusion, condition of a fire point and actual range information analysis and are sent to human-computer interaction module;
Described human-computer interaction module is also for showing described fire extinguishing scheme.
9. skyscraper condition of a fire localization method as claimed in claim 7, it is characterized in that, described information fusion and processing module obtain in the angle of sight of condition of a fire point and the step of actual range information to the range information of the condition of a fire point got, infrared image and visible images analysis, comprise the condition of a fire dot center that described information fusion and processing module are extracted from infrared image and visible images by bianry image centroid method or intensity-weighted centroid method.
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| CN112348878A (en) * | 2020-10-23 | 2021-02-09 | 歌尔光学科技有限公司 | Positioning test method and device and electronic equipment |
| CN112484692A (en) * | 2020-11-05 | 2021-03-12 | 江西洪都航空工业集团有限责任公司 | Visual detection method and device for relative height of aircraft and cloud layer |
| CN112504473A (en) * | 2020-12-01 | 2021-03-16 | 浙江大华技术股份有限公司 | Fire detection method, device, equipment and computer readable storage medium |
| CN113716045A (en) * | 2021-09-28 | 2021-11-30 | 上海翼枭航空科技有限公司 | Laser positioning mounting method, system and device for unmanned aerial vehicle and storage medium |
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| CN113716045A (en) * | 2021-09-28 | 2021-11-30 | 上海翼枭航空科技有限公司 | Laser positioning mounting method, system and device for unmanned aerial vehicle and storage medium |
| CN113716045B (en) * | 2021-09-28 | 2022-09-27 | 上海翼枭航空科技有限公司 | Laser positioning mounting method, system and device for unmanned aerial vehicle and storage medium |
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