CN105763840A - Fireproof disaster mitigation aircraft with thermal imaging detection function - Google Patents
Fireproof disaster mitigation aircraft with thermal imaging detection function Download PDFInfo
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- CN105763840A CN105763840A CN201510737501.2A CN201510737501A CN105763840A CN 105763840 A CN105763840 A CN 105763840A CN 201510737501 A CN201510737501 A CN 201510737501A CN 105763840 A CN105763840 A CN 105763840A
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- 238000001514 detection method Methods 0.000 title claims abstract description 49
- 238000001931 thermography Methods 0.000 title claims abstract description 39
- 230000000116 mitigating effect Effects 0.000 title abstract 3
- 238000004891 communication Methods 0.000 claims abstract description 17
- 238000012545 processing Methods 0.000 claims description 17
- 230000009467 reduction Effects 0.000 claims description 12
- 239000000779 smoke Substances 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 9
- 238000009825 accumulation Methods 0.000 claims description 6
- 230000003068 static effect Effects 0.000 claims description 4
- 230000003542 behavioural effect Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 3
- 238000005183 dynamical system Methods 0.000 claims description 3
- 238000002372 labelling Methods 0.000 claims description 3
- 238000004148 unit process Methods 0.000 claims description 3
- 238000004458 analytical method Methods 0.000 abstract description 5
- 230000000007 visual effect Effects 0.000 abstract 1
- 238000007789 sealing Methods 0.000 description 4
- 230000004308 accommodation Effects 0.000 description 3
- 239000004744 fabric Substances 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000004438 eyesight Effects 0.000 description 2
- 239000006260 foam Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 210000001217 buttock Anatomy 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000005619 thermoelectricity Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/13—Satellite images
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
- G08B17/12—Actuation by presence of radiation or particles, e.g. of infrared radiation or of ions
- G08B17/125—Actuation by presence of radiation or particles, e.g. of infrared radiation or of ions by using a video camera to detect fire or smoke
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- Engineering & Computer Science (AREA)
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- Physics & Mathematics (AREA)
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- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Astronomy & Astrophysics (AREA)
- Remote Sensing (AREA)
- Theoretical Computer Science (AREA)
- Signal Processing (AREA)
- Fire-Detection Mechanisms (AREA)
- Alarm Systems (AREA)
Abstract
The invention discloses a fireproof disaster mitigation aircraft with a thermal imaging detection function. The fireproof disaster mitigation 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. The detection apparatus comprises a first pick-up head and a second pick-up head, the first pick-up head is installed at the front end of a thermal imaging camera, the thermal imaging camera is used for acquiring thermal imaging 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 thermal imaging image information and the color image information to a control system through a communication module, through analyzing the thermal imaging image information and the color image information, the problem of incapability of satisfying the requirement for precision of detection based on video analysis in multiple scenes can be solved, and application demands of users can be satisfied.
Description
Technical field
The invention belongs to fire fighting monitoring technical field, particularly relate to a kind of Reduction of Fire Disaster aircraft with thermal imaging detecting function.
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.But, the detection device that unmanned plane of the prior art generally carries includes single photographic head, utilizes the video image of single camera collection, it is impossible to meet the accuracy of detection demand based on video analysis, and the application scenarios of detection device is brought great restriction.
In consideration of it, the invention provides a kind of Reduction of Fire Disaster aircraft with thermal imaging detecting function.
Summary of the invention
It is an object of the invention to a kind of Reduction of Fire Disaster aircraft with thermal imaging detecting function, with solve in prior art exist detector for single camera, it gathers video image cannot meet the accuracy of detection demand based on video analysis, and the application of detector is brought the problem limited greatly.
For realizing the purpose of the present invention, the invention provides a kind of Reduction of Fire Disaster aircraft with thermal imaging detecting function, 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 the first photographic head and second camera, power module, communication module, described first photographic head is arranged on thermal imaging camera front end, described thermal imaging camera is used for gathering graphic images information, described second camera is color video camera, described color video camera is used for gathering color image information, described power module is for powering to described thermal imaging camera and color video camera, graphic images information and color image information are sent to control system by communication module by described detection device.
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 control system includes remote control and telemeter communication equipment, view data receiver module, image data processing module, alarm triggering module.
Wherein, described image data processing module includes the thermal imaging flame algorithm unit processing graphic images information, and described thermal imaging flame algorithm unit is for gathering the temperature difference of object, and converts the temperature difference to real time video image and show.
Wherein, described image 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 thermal imaging camera front end, described thermal imaging camera is used for gathering graphic images information, described second camera is color video camera, described color video camera is used for gathering color image information, graphic images 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 graphic images information and color image information, the user demand of user can be met.
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 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.
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、Shown in Fig. 3，The invention provides a kind of Reduction of Fire Disaster aircraft with thermal imaging detecting function，Including unmanned plane body 1、Fixed mount 2、Detection device 3，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 the first photographic head and second camera、Power module 35、Communication module 36，Described first photographic head 33 is thermal imaging camera，Described thermal imaging camera is used for gathering graphic images information，Described second camera 34 is color video camera，Described color video camera is used for gathering color image information，Described power module is for powering to described thermal imaging camera and color video camera，Graphic images information and color image information are sent to control system by communication module by described detection device，Detection device acquired image is analyzed by control system.Thermal imaging camera therein, it is possible to effectively solve colorful digital video camera deficiency of monitoring objective when even pole extreme climate environment at night.
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, for stablize The Cloud Terrace, can eliminate shake by stable The Cloud Terrace, keeps image clear, it is also possible to conversion shooting angle.
The present invention, binocular vision structure is set, including the first photographic head and the second camera of knowing clearly, first photographic head is arranged on thermal imaging camera front end, described thermal imaging camera is used for gathering graphic images information, described second camera is color video camera, described color video camera is used for gathering color image information, graphic images 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 graphic images information and color image information, the user demand of user can be met.
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 fore shell, mid portion and back cover, 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, in a preferred embodiment, described control system includes remote control and telemeter communication equipment, view data receiver module, image data processing module, alarm triggering module.Wherein above-mentioned remote control and telemeter communication equipment send remote-control data, receive unmanned plane position, navigation attitude information；Flight control system, take off preplanning course line at unmanned plane, unmanned plane during flying process showing, the electronic chart of flight range, flight path, flight parameter, the course attitude parameter of aircraft and navigation data pass down and record in real time, operator can revise course line, target at any time, and monitors state of flight and positional information.Image procossing and receiver module are used for receiving view data, for display in real time, analyzing and processing, storage；Alarm triggering module notifies that staff examines after being used for finding doubtful thermoelectricity.
It is characterized in that, described image data processing module includes the thermal imaging flame algorithm unit processing graphic images information, and described thermal imaging flame algorithm unit is for gathering the temperature difference of object, and converts the temperature difference to real time video image and show.
As it is shown on figure 3, in a preferred embodiment, described image 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 (6)
1. the Reduction of Fire Disaster aircraft with thermal imaging detecting function, 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 the first photographic head and second camera, power module, communication module, described first photographic head is thermal imaging camera, described thermal imaging camera is used for gathering graphic images information, described second camera is color video camera, described color video camera is used for gathering color image information, described power module is for powering to described thermal imaging camera and color video camera, graphic images information and color image information are sent to control system by communication module by described detection device.
2. the Reduction of Fire Disaster aircraft with thermal imaging detecting function according to claim 1, it is characterized in that, described detection device also includes shell, 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 Reduction of Fire Disaster aircraft with thermal imaging detecting function 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 Reduction of Fire Disaster aircraft with thermal imaging detecting function according to claim 1, it is characterised in that described control system includes remote control and telemeter communication equipment, view data receiver module, image data processing module, alarm triggering module.
5. the Reduction of Fire Disaster aircraft with thermal imaging detecting function according to claim 4, it is characterized in that, described image data processing module includes the thermal imaging flame algorithm unit processing graphic images information, described thermal imaging flame algorithm unit is for gathering the temperature difference of object, and converts the temperature difference to real time video image and show.
6. the Reduction of Fire Disaster aircraft with thermal imaging detecting function according to claim 4, it is characterized in that, described image 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.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510737501.2A CN105763840A (en) | 2015-11-03 | 2015-11-03 | Fireproof disaster mitigation aircraft with thermal imaging detection function |
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| CN201510737501.2A CN105763840A (en) | 2015-11-03 | 2015-11-03 | Fireproof disaster mitigation aircraft with thermal imaging detection function |
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Cited By (1)
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Application publication date: 20160713 |