CN105759826A - Aircraft with intelligent fire-fighting detection apparatus - Google Patents
Aircraft with intelligent fire-fighting detection apparatus Download PDFInfo
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- CN105759826A CN105759826A CN201510739806.7A CN201510739806A CN105759826A CN 105759826 A CN105759826 A CN 105759826A CN 201510739806 A CN201510739806 A CN 201510739806A CN 105759826 A CN105759826 A CN 105759826A
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Abstract
The invention discloses an aircraft with an intelligent fire-fighting detection apparatus. The aircraft comprises an unmanned aerial vehicle body, a fixation frame and a detection apparatus, wherein the fixation frame is arranged at the lower portion of the unmanned aerial vehicle body, and the detection apparatus is connected with the unmanned aerial vehicle body through the fixation frame. According to the invention, a binocular visual structure is arranged, a first pick-up head is installed at the front end of an infrared imager, the infrared imager is used for acquiring infrared image information, the second pick-up head is a color camera, the color camera is used for acquiring color image information, the detection apparatus sends the infrared image information and the color image information to a control system through a communication module, through analyzing the infrared image information and the color image information, the problem of acquisition of clear images in multiple scenes can be solved, at the same time, a data processing module is arranged in the detection apparatus, and the detection apparatus responds rapidly, such that accidents can be found and handled timely and larger loss is avoided.
Description
Technical field
The invention belongs to fire fighting monitoring technical field, particularly relate to a kind of aircraft detecting device with Intelligent fire-fighting.
Background technology
UAV is called for short " unmanned plane ", and english abbreviation is " UAV ", is the not manned aircraft of the presetting apparatus manipulation utilizing radio robot with providing for oneself.Unmanned plane presses application, can be divided into military and civilian.Unmanned plane is of many uses at civil area, is mainly used in the industries such as police, city management, agricultural, geology, meteorology, electric power, rescue and relief work, video capture.
Along with socioeconomic fast development, detection device has been widely applied in the middle of fields such as including fire prevention, traffic, Intelligent Recognition.In some cases, detection device cannot carry out monitoring effectively and timely, is difficult to the place arrived particularly in adverse circumstances and personnel.Therefore, the unmanned plane with detection device is devised out by people.
In some scenarios, it is necessary to detection device reaction is rapid, in order to find in time and process accident, it is to avoid bigger loss occurrence.In consideration of it, the invention provides a kind of aircraft detecting device with Intelligent fire-fighting.
Summary of the invention
It is an object of the invention to a kind of aircraft detecting device with Intelligent fire-fighting, in order in some scenarios, detection device can be swift in response, and finds in time and process accident, it is to avoid bigger loss occurrence.
nullFor realizing the purpose of the present invention，The invention provides a kind of aircraft detecting device with Intelligent fire-fighting，Including unmanned plane body、Fixed mount、Detection device，Described fixed mount is arranged at the bottom of described unmanned plane body，Described detection device is connected with unmanned plane body by fixed mount，Described detection device includes shell、Upper cover、Sheet metal component、Circuit board、Camera lens、Buttock line，Wherein，One end of described upper cover and described housing hinge，Described circuit board is fixedly mounted on sheet metal component，Described sheet metal component is fixedly mounted in described shell，Described shell includes protecgulum、Mid portion and bonnet，Described camera lens is arranged on described sheet metal component，Described buttock line is connected through described bonnet with described circuit board，Described detection device includes the first photographic head and second camera、Power module、Communication module、Data processing module，First photographic head is infrared thermoviewer，Described infrared thermoviewer is used for gathering Infrared Image Information，Second camera is color video camera，Described color video camera is used for gathering color image information，Described infrared thermoviewer is connected with data processing module with color video camera，Described data processing module is for carrying out fire-fighting early warning analysis to Infrared Image Information and color image information，Described power module is for powering to described infrared thermoviewer and color video camera，Described detection device is connected with controlling system by communication module.
Wherein, described detection device also includes shell, and described first photographic head and second camera, power module, communication module are installed in described shell, and the front end of described shell is provided with transparent window.
Wherein, described unmanned plane body includes flying platform and dynamical system and automatic control module, and described automatic control module includes GPS navigation system, attitude control system, altimeter and The Cloud Terrace, and described detection device is connected with The Cloud Terrace by fixed mount.
Wherein, described data processing module includes the infrared acquisition flame algorithm unit processing Infrared Image Information, and described infrared acquisition flame algorithm unit processes Infrared Image Information to carry out in accordance with the following steps:
(1) sequence of video images is obtained from video image acquisition device；
(2) background subtraction method is utilized to ask for foreground area: infrared thermoviewer collects image and carries out the renewal learning of gray value according to each pixel；
Model gray value renewal learning process is divided into: avgYi+1=avgYi*(1-α)+α*avgYCur
Wherein, avgYi+1The respectively model average training result to a new two field picture, avgYiRepresent the Gauss model average that modeling point is current, avgYCurFor the model gray value of a new two field picture, α is the model modification factor；
The gray value renewal process of pixel is divided into background dot and foreground point, cause detecting not out doubtful flame prospect into background to prevent doubtful flame prospect from learning rapidly, adopting different renewal rates for background model, the usual value of the model modification factor of background dot is 10%；The usual value of the model modification factor of foreground point is 1%；
(3) according to following formula, effective foreground area is screened:
That is, if this zone leveling gray value is more than setting threshold value, it is labeled as doubtful flame region；Wherein, N is this area pixel point number, f (xi) for the gray value of i-th point pixel, T is for setting threshold value；
(4) doubtful flame region feature is extracted: include gray feature, area features, Jump, area change feature；
(5) feature (4th) step asked for, as the input of BP neutral net, it is determined that whether this region is flame；
(6) following the tracks of the doubtful flame region of statistics and be judged as the number of times of flame, when reaching threshold value Tn, output flame is reported to the police.
Wherein, described data processing module includes the Smoke Detection algorithm unit processing color image information, and described Smoke Detection algorithm unit processes color image information to carry out in accordance with the following steps:
(1) sequence of video images is obtained from video image acquisition device；
(2) adopting accumulation frame difference method to ask for doubtful smoke region according to vedio data, accumulation frame number can according to algorithm requirements self-defining；
Frame difference method ultimate principle can be found out by formula below: | i (t)-i (t-1) | < T background
| i (t)-i (t-1) | >=T prospect
Wherein, i (t), the pixel value of i (t-1) respectively t, t-1 moment corresponding pixel points, T is threshold value；
(3) specifically include according to smog static nature: minimum area, color characteristic, gray feature and smog behavioral characteristics specifically include waving property spy, area change feature removes deceptive information, it may be judged whether meet all features of smog；
(4) if meeting all features of smog, suspicious region will early warning, adopt labelling Alarm counting, as early warning number of times Alarm > T export smog alarm, wherein T is threshold value of warning.
The present invention, compared with prior art, binocular vision structure is set, including the first photographic head and the second camera of knowing clearly, first photographic head is arranged on infrared thermoviewer front end, described infrared thermoviewer is used for gathering Infrared Image Information, second camera is color video camera, described color video camera is used for gathering color image information, Infrared Image Information and color image information are sent to control system by communication module by described detection device, the problem that the picture rich in detail under several scenes gathers can be solved by analysis Infrared Image Information and color image information, simultaneously, data processing module is arranged in detection device, detection device reaction is rapid, to find in time and process accident, avoid bigger loss occurrence.
Accompanying drawing explanation
Fig. 1 show the structural representation of the present invention；
Fig. 2 show the present invention and detects the structural representation of device；
Fig. 3 show infrared acquisition flame algorithm unit of the present invention and processes the method flow diagram of Infrared Image Information；
Fig. 4 show Smoke Detection algorithm unit of the present invention and processes the method flow diagram of color image information；
In figure: 1. unmanned plane body, 2. fixed mount, 3. detection device, 31. shells, 32. transparent windows, 33. first photographic head, 34. second cameras, 35. power modules, 36. communication modules, 37. data processing modules.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.Should be appreciated that specific embodiment described herein is only in order to explain the present invention, is not intended to limit the present invention.
Should be noted that, " connection " described herein and be used for expressing the word of " connection ", such as " being connected ", " being connected " etc., both can include a certain parts and be directly connected to another parts, it is also possible to include a certain parts and be connected with another parts by miscellaneous part.
nullSuch as Fig. 1、Fig. 2、Fig. 3、Shown in Fig. 4，The invention provides a kind of aircraft detecting device with Intelligent fire-fighting，Including unmanned plane body 1、Fixed mount 2、Detection device 3，Described fixed mount 2 is arranged at the bottom of described unmanned plane body 1，Described detection device 3 includes shell、Upper cover、Sheet metal component、Circuit board、Camera lens、Buttock line，Wherein，One end of described upper cover and described housing hinge，Described circuit board is fixedly mounted on sheet metal component，Described sheet metal component is fixedly mounted in described shell，Described shell includes protecgulum、Mid portion and bonnet，Described camera lens is arranged on described sheet metal component，Described buttock line is connected through described bonnet with described circuit board，Described detection device 3 is connected with unmanned plane body 1 by fixed mount 2，Described detection device 3 includes the first photographic head 33 and second camera 34、Power module 35、Communication module 36、Data processing module 37，Described first shooting 33 is arranged on infrared thermoviewer front end，Described infrared thermoviewer is used for gathering Infrared Image Information，Described second camera 34 is arranged on the front end of color video camera，Described color video camera is used for gathering color image information，Described infrared thermoviewer is connected with data processing module 37 with color video camera，Described data processing module 37 is for carrying out fire-fighting early warning analysis to Infrared Image Information and color image information，Described power module 35 is for powering to described infrared thermoviewer and color video camera，Described detection device 3 is connected with controlling system by communication module 36.Infrared thermoviewer therein can effectively solve colorful digital video camera deficiency of monitoring objective when even pole extreme climate environment at night.Described control system is front-end control or Background control.
In a preferred embodiment, control system passes through gps satellite communication, unmanned plane is positioned and navigates, unmanned plane returns the positional information of Aerial Images and unmanned plane in real time, control system is by analyzing in real time image, judge that the doubtful condition of a fire occurs, on the one hand, ground system controls to trigger alarm device, and by the position of the doubtful condition of a fire and incendive Item Information, it is sent to fire fighting safety service, by manually the condition of a fire being examined, manually examine on fire after, immediately by fire location and article on fire, the information such as points for attention are sent to fire brigade, fire brigade launches fire-fighting and rescue and the masses evacuate work；On the other hand, unmanned plane is sent instruction by control system, unmanned plane is made to hover over overhead near condition of a fire place, unmanned plane reads the Item Information information controlled in system database, or, control system and send Item Information information to unmanned plane, unmanned plane hovers over overhead near fire point, and assist fire fighter to carry out fire-fighting and evacuation etc. by speaker, display lamp etc., when dangerous chemical substance in Item Information information, carry out dangerous chemical prompting.
In a preferred embodiment, described detection device also includes shell 31, and described first photographic head and second camera, power module, communication module are installed in described shell, and the front end of described shell is provided with transparent window 32.
In a preferred embodiment, described unmanned plane body includes flying platform and dynamical system and automatic control module, described automatic control module includes GPS navigation system, attitude control system, altimeter and The Cloud Terrace, and described detection device is connected with The Cloud Terrace by fixed mount.Described The Cloud Terrace is stabilized platform, and stabilized platform can eliminate shake, improves picture quality, the visual angle at the same time it can also be conversion is taken photo by plane.
The present invention, compared with prior art, binocular vision structure is set, including the first photographic head and the second camera of knowing clearly, first photographic head is arranged on infrared thermoviewer front end, described infrared thermoviewer is used for gathering Infrared Image Information, second camera is color video camera, described color video camera is used for gathering color image information, Infrared Image Information and color image information are sent to control system by communication module by described detection device, the problem that the picture rich in detail under several scenes gathers can be solved by analysis Infrared Image Information and color image information, simultaneously, data processing module is arranged in detection device, detection device reaction is rapid, to find in time and process accident, avoid bigger loss occurrence.
In a preferred embodiment, in order to make detection device place convenient, safety, following structure can be set: described unmanned plane body is provided with accommodation chamber, described The Cloud Terrace is arranged at accommodation intracavity, described fixed mount is lift fixed mount, specifically, described fixed mount includes fixing cylinder, snap close, the upper end of described fixing cylinder is connected with The Cloud Terrace, the piston rod of fixing cylinder is fixing with snap close to be connected, and described detection device casing upper surface is provided with connection ring, during use, snap close locking is used to connect ring, such that it is able to detection device and fixing cylinders are connect.When not using, it is possible to use detection device retraction is held intracavity by cylinder, it is thus possible to place detection device well, unmanned plane can also comparatively random lifting and parking；When using, it is possible to use detection device is stretched out outside accommodation chamber by cylinder.
In a preferred embodiment, so that shell mechanism is simple, fabrication and processing is convenient, shell can be divided into upper cover and lower shell structure, one end of described upper cover is hinged with described lower casing, the other end is connected with lower casing by locking member, described lower casing includes protecgulum, mid portion and back cover, described camera lens is arranged on sheet metal component, described buttock line is connected through described back cover with power supply source, the inner side of described upper cover is pasted with sealing EVA foam, described lower casing and the described upper cover place of being tightly connected are provided with sealing rubber strip, conductive fabric is uniformly pasted on described sealing EVA foam surface, and it is seamless between the two after pasting, described sealing rubber strip surface is pasted with conductive fabric completely, and conductive fabric surface smoothing is seamless between the two after pasting.Utilize said structure, it is possible to avoid the electronic unit in shell to be damaged by static electricity.
In a preferred embodiment, in order to ensure the cleaning of transparent window, shell outside transparent window is provided with air-flow shower nozzle, described air-flow shower nozzle is connected with air pump by pipeline, described air pump is connected with controller, described air-flow shower nozzle can be multiple, and shower nozzle gas outlet, towards transparent window, can arrange injecting time and the interval time of air-flow shower nozzle by controller.
As it is shown on figure 3, wherein, described data processing module includes the infrared acquisition flame algorithm unit processing Infrared Image Information, and described infrared acquisition flame algorithm unit processes Infrared Image Information to carry out in accordance with the following steps:
(1) sequence of video images is obtained from video image acquisition device；
(2) background subtraction method is utilized to ask for foreground area: infrared thermoviewer collects image and carries out the renewal learning of gray value according to each pixel；
Model gray value renewal learning process is divided into: avgYi+1=avgYi*(1-α)+α*avgYCur
Wherein, avgYi+1The respectively model average training result to a new two field picture, avgYiRepresent the Gauss model average that modeling point is current, avgYCurFor the model gray value of a new two field picture, α is the model modification factor；
The gray value renewal process of pixel is divided into background dot and foreground point, cause detecting not out doubtful flame prospect into background to prevent doubtful flame prospect from learning rapidly, adopting different renewal rates for background model, the usual value of the model modification factor of background dot is 10%；The usual value of the model modification factor of foreground point is 1%；
(3) according to following formula, effective foreground area is screened:
That is, if this zone leveling gray value is more than setting threshold value, it is labeled as doubtful flame region；Wherein, N is this area pixel point number, f (xi) for the gray value of i-th point pixel, T is for setting threshold value；
(4) doubtful flame region feature is extracted: include gray feature, area features, Jump, area change feature；
(5) feature (4th) step asked for, as the input of BP neutral net, it is determined that whether this region is flame；
(6) following the tracks of the doubtful flame region of statistics and be judged as the number of times of flame, when reaching threshold value Tn, output flame is reported to the police.
As shown in Figure 4, wherein, described data processing module includes the Smoke Detection algorithm unit processing color image information, and described Smoke Detection algorithm unit processes color image information to carry out in accordance with the following steps:
(1) sequence of video images is obtained from video image acquisition device；
(2) adopting accumulation frame difference method to ask for doubtful smoke region according to vedio data, accumulation frame number can according to algorithm requirements self-defining；
Frame difference method ultimate principle can be found out by formula below: | i (t)-i (t-1) | < T background
| i (t)-i (t-1) | >=T prospect
Wherein, i (t), the pixel value of i (t-1) respectively t, t-1 moment corresponding pixel points, T is threshold value；
(3) specifically include according to smog static nature: minimum area, color characteristic, gray feature and smog behavioral characteristics specifically include waving property spy, area change feature removes deceptive information, it may be judged whether meet all features of smog；
(4) if meeting all features of smog, suspicious region will early warning, adopt labelling Alarm counting, as early warning number of times Alarm > T export smog alarm, wherein T is threshold value of warning.
The above is only the preferred embodiment of the present invention; it should be pointed out that, for those skilled in the art, under the premise without departing from the principles of the invention; can also making some improvements and modifications, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (5)
- null1. the aircraft detecting device with Intelligent fire-fighting，It is characterized in that，Including unmanned plane body、Fixed mount、Detection device，Described fixed mount is arranged at the bottom of described unmanned plane body，Described detection device is connected with unmanned plane body by fixed mount，Described detection device includes shell、Upper cover、Sheet metal component、Circuit board、Camera lens、Buttock line，Wherein，One end of described upper cover and described housing hinge，Described circuit board is fixedly mounted on sheet metal component，Described sheet metal component is fixedly mounted in described shell，Described shell includes protecgulum、Mid portion and bonnet，Described camera lens is arranged on described sheet metal component，Described buttock line is connected through described bonnet with described circuit board，Described detection device includes the first photographic head and second camera、Power module、Communication module、Data processing module，First photographic head is infrared thermoviewer，Described infrared thermoviewer is used for gathering Infrared Image Information，Second camera is color video camera，Described color video camera is used for gathering color image information，Described infrared thermoviewer is connected with data processing module with color video camera，Described data processing module is for carrying out fire-fighting early warning analysis to Infrared Image Information and color image information，Described power module is for powering to described infrared thermoviewer and color video camera，Described detection device is connected with controlling system by communication module.
- 2. the aircraft detecting device with Intelligent fire-fighting according to claim 1, it is characterized in that, described detection device also includes shell, and described first photographic head and second camera, power module, communication module are installed in described shell, and the front end of described shell is provided with transparent window.
- 3. the aircraft detecting device with Intelligent fire-fighting according to claim 1, it is characterized in that, described unmanned plane body includes flying platform and dynamical system and automatic control module, described automatic control module includes GPS navigation system, attitude control system, altimeter and The Cloud Terrace, and described detection device is connected with The Cloud Terrace by fixed mount.
- 4. the described aircraft detecting device with Intelligent fire-fighting according to claim 1, it is characterized in that, described data processing module includes the infrared acquisition flame algorithm unit processing Infrared Image Information, and described infrared acquisition flame algorithm unit processes Infrared Image Information to carry out in accordance with the following steps:(1) sequence of video images is obtained from video image acquisition device；(2) background subtraction method is utilized to ask for foreground area: infrared thermoviewer collects image and carries out the renewal learning of gray value according to each pixel；Model gray value renewal learning process is divided into: avgYi+1=avgYi*(1-α)+α*avgYCurWherein, avgYi+1The respectively model average training result to a new two field picture, avgYiRepresent the Gauss model average that modeling point is current, avgYCurFor the model gray value of a new two field picture, α is the model modification factor；The gray value renewal process of pixel is divided into background dot and foreground point, cause detecting not out doubtful flame prospect into background to prevent doubtful flame prospect from learning rapidly, adopting different renewal rates for background model, the usual value of the model modification factor of background dot is 10%；The usual value of the model modification factor of foreground point is 1%；(3) according to following formula, effective foreground area is screened:That is, if this zone leveling gray value is more than setting threshold value, it is labeled as doubtful flame region；Wherein, N is this area pixel point number, f (xi) for the gray value of i-th point pixel, T is for setting threshold value；(4) doubtful flame region feature is extracted: include gray feature, area features, Jump, area change feature；(5) feature (4th) step asked for, as the input of BP neutral net, it is determined that whether this region is flame；(6) following the tracks of the doubtful flame region of statistics and be judged as the number of times of flame, when reaching threshold value Tn, output flame is reported to the police.
- 5. the described aircraft detecting device with Intelligent fire-fighting according to claim 1, it is characterized in that, described data processing module includes the Smoke Detection algorithm unit processing color image information, and described Smoke Detection algorithm unit processes color image information to carry out in accordance with the following steps:(1) sequence of video images is obtained from video image acquisition device；(2) adopting accumulation frame difference method to ask for doubtful smoke region according to vedio data, accumulation frame number can according to algorithm requirements self-defining；Frame difference method ultimate principle can be found out by formula below:| i (t)-i (t-1) | < T background| i (t)-i (t-1) | >=T prospectWherein, i (t), the pixel value of i (t-1) respectively t, t-1 moment corresponding pixel points, T is threshold value；(3) specifically include according to smog static nature: minimum area, color characteristic, gray feature and smog behavioral characteristics specifically include waving property spy, area change feature removes deceptive information, it may be judged whether meet all features of smog；(4) if meeting all features of smog, suspicious region will early warning, adopt labelling Alarm counting, as early warning number of times Alarm > T export smog alarm, wherein T is threshold value of warning.
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Application publication date: 20160713 |