CN106156759A - A kind of directional correction method being applicable to forest fire early-warning system - Google Patents

A kind of directional correction method being applicable to forest fire early-warning system Download PDF

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Publication number
CN106156759A
CN106156759A CN201610623700.5A CN201610623700A CN106156759A CN 106156759 A CN106156759 A CN 106156759A CN 201610623700 A CN201610623700 A CN 201610623700A CN 106156759 A CN106156759 A CN 106156759A
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angle
reference point
image
warning system
correction method
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马敬锐
贺超
赵莹
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Shandong Sheenrun Optics Electronics Co Ltd
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Shandong Sheenrun Optics Electronics Co Ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/22—Matching criteria, e.g. proximity measures
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B17/00—Fire alarms; Alarms responsive to explosion
    • G08B17/005—Fire alarms; Alarms responsive to explosion for forest fires, e.g. detecting fires spread over a large or outdoors area
    • 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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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
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  • Life Sciences & Earth Sciences (AREA)
  • Emergency Management (AREA)
  • Business, Economics & Management (AREA)
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  • Bioinformatics & Cheminformatics (AREA)
  • General Engineering & Computer Science (AREA)
  • Evolutionary Computation (AREA)
  • Evolutionary Biology (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Artificial Intelligence (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Fire-Detection Mechanisms (AREA)

Abstract

The directional correction method being applicable to forest fire early-warning system of the present invention, forest fire early-warning system is made up of The Cloud Terrace and the video camera being arranged on The Cloud Terrace, directional correction method is: system is chosen reference point and obtained reference point image after installing, later each timing, orders about equipment moving and to reference point and obtains current device image；Then pass through comparison match point coordinate and difference of coordinate in reference point image in present image, calculate offset distance；Resolution ratio finally according to the angle of visual field, offset distance and gathered picture calculates offset angle deviation, is corrected equipment current angular by offset angle deviation, can obtain orientation accurately.The directional correction method of the present invention, offset angle deviation can be calculated by offset distance, the angle of visual field, the resolution ratio of picture, the offset angle deviation obtaining is utilized to be corrected, orientation accurately can be obtained, the fire early-warning system that is conducive to standing abreast provides position accurately, facilitates forest fire monitoring.

Description

A kind of directional correction method being applicable to forest fire early-warning system
Technical field
The present invention relates to a kind of directional correction method being applicable to forest fire early-warning system, in particular, especially relate to And one is drawn offset angle difference by comparing current device image and match point difference in reference point image and then realizes correction The directional correction method being applicable to forest fire early-warning system.
Background technology
In recent years, forestry fireproof is paid attention to stepping up by country, and increasing forest department starts to change original Forestry fire hazard monitoring mode, is progressively upgraded to automatically-monitored by original manually checking, can monitor all emphasis districts in real time Territory, and when breaking out of fire, by fire point station location marker to GIS information management system.
Particularity due to forest fire protection industry, it is desirable to the necessary 24 hour operation of Forest Fire Monitoring equipment, is scanned monitoring, that The Cloud Terrace must whole day operate, and resulting in The Cloud Terrace can gradually wear and tear, and during the calculating of fire point positioning, needs to use Produce azimuth when reporting to the police to equipment, if The Cloud Terrace serious wear can make the azimuth of acquisition there is bigger error, thus lead The positioning precision causing fire point reduces, then the position location in GIS information management system arises that bigger deviation, shadow Ring to actual monitoring effect.
Accordingly, it would be desirable to the bearing calibration at a kind of device orientation angle that can be applicable to forest fire protection industry, it is right to accomplish The automatic correction at device orientation angle, it is ensured that azimuthal precision uniformity in equipment running process.
Content of the invention
The present invention, in order to overcome the shortcoming of above-mentioned technical problem, provides a kind of side being applicable to forest fire early-warning system Bit correction method.
The directional correction method being applicable to forest fire early-warning system of the present invention, forest fire early-warning system by The Cloud Terrace and The video camera composition being arranged on The Cloud Terrace, The Cloud Terrace can order about video camera carry out rotating, elevating movement, video camera can carry out zoom, Zoom process, to obtain monitoring image clearly；It is characterized in that, directional correction method is: system chooses reference point after installing And obtain reference point image, later each timing, orders about equipment moving and to reference point and obtains current device image；Then lead to Cross comparison match point coordinate and difference of coordinate in reference point image in present image, calculate offset distance；Finally according to The resolution ratio of the angle of visual field, offset distance and gathered picture calculates offset angle deviation, by offset angle deviation to equipment Current angular is corrected, and can obtain orientation accurately.
The directional correction method being applicable to forest fire early-warning system of the present invention, described directional correction method is specifically led to Cross following steps to realize:
A). mark reference point, after forest fire early-warning system is initially installed and calibrated, select a certain position as correction inspection The reference point surveyed, records zoom, the zoom level of the cloud platform rotation angle corresponding to reference point, luffing angle and video camera, And record at the image acquired in this reference point, it is designated as reference point image；
B). obtain the angle of visual field and present image, after reaching some correction time or artificially send corrective command, order about The Cloud Terrace With video camera according to the rotational angle of reference point of storage, luffing angle, zoom value, zoom level motion, and by inquiry zoom Value and the mapping table of the angle of visual field, obtain the angle of visual field corresponding to reference point and current device image；If horizontal field of view angle For AH, vertical field of view angle is AP；
C). match point detects, and the current device image that the reference point image obtaining step a) and step b) obtain is carried out Match point detects, and draws coordinate value in reference point image and current device image for the match point, if match point is with reference to point diagram Coordinate value in Xiang is expressed as S (Xi,Yi), the coordinate value in current device image is D (Xi′,Yi'), wherein i=0,1, 2 ..., n, n are the pixel count contained by match point；
D). calculate offset distance, by formula (1) calculate the horizontal departure of current device image and reference point image away from From Δ X:
Δ X = 1 n Σ i = 1 n ( X i ′ - X i ) - - - ( 1 )
Calculated pitch deviation distance, delta Y of current device image and reference point image by formula (2):
Δ Y = 1 n Σ i = 1 n ( Y i ′ - Y i ) - - - ( 2 ) ;
E). calculate offset angle deviation, if the horizontal resolution of video camera acquired image is FH, vertical resolution be FP, Then pass through formula (3) and formula (4) distinguishes the current level compensating angular deviation Δ H of computing device and pitch compensation angular deviation Δ P:
Δ H = A H F H × Δ X - - - ( 3 )
Δ P = A P F P × Δ Y - - - ( 4 ) ;
F). correct azimuth angle, after equipment runs to a certain monitoring position, by formula (5) and formula (6) respectively to reality The azimuth that border obtains is corrected, to obtain horizontal angle angle value P and angle of pitch angle value T accurately:
P=Pd+ΔH (5)
T=Td+ΔP (6)
Wherein, PdFor the current horizontal angle angle value of equipment, TdFor the current angle of pitch angle value of equipment.
The directional correction method being applicable to forest fire early-warning system of the present invention, the choosing of reference point in step a), should According to must be with the presence of obvious target as far as possible and reduce sky background in picture, equipment in acquired image frame The principle of the angle of pitch half that is in equipment pitch range choose.
The invention has the beneficial effects as follows: the directional correction method being applicable to forest fire early-warning system of the present invention, setting Initial stage after standby installation, the first reference point of mark correction, and record reference point image；In trimming process afterwards, drive Dynamic equipment moving is to reference point, and obtains current device image, and then comparison match point is at reference point image and current device figure Coordinate in Xiang, obtains the offset distance of equipment；Can calculate finally by offset distance, the angle of visual field, the resolution ratio of picture Offset angle deviation, utilizes the offset angle deviation obtaining to be corrected, can obtain orientation accurately, be conducive to fire of standing abreast Early warning system provides position accurately, facilitates forest fire monitoring.
Detailed description of the invention
The directional correction method being applicable to forest fire early-warning system of the present invention, realizes especially by following steps:
A). mark reference point, after forest fire early-warning system is initially installed and calibrated, select a certain position as correction inspection The reference point surveyed, records zoom, the zoom level of the cloud platform rotation angle corresponding to reference point, luffing angle and video camera, And record at the image acquired in this reference point, it is designated as reference point image；
In this step, choosing of reference point, should according in acquired image frame must with the presence of obvious target and And reduce sky background in picture as far as possible, the principle of half that the angle of pitch of equipment is in equipment pitch range is selected Take.
B). obtain the angle of visual field and present image, after reaching some correction time or artificially send corrective command, order about The Cloud Terrace With video camera according to the rotational angle of reference point of storage, luffing angle, zoom value, zoom level motion, and by inquiry zoom Value and the mapping table of the angle of visual field, obtain the angle of visual field corresponding to reference point and current device image；If horizontal field of view angle For AH, vertical field of view angle is AP；
C). match point detects, and the current device image that the reference point image obtaining step a) and step b) obtain is carried out Match point detects, and draws coordinate value in reference point image and current device image for the match point, if match point is with reference to point diagram Coordinate value in Xiang is expressed as S (Xi,Yi), the coordinate value in current device image is D (Xi′,Yi'), wherein i=0,1, 2 ..., n, n are the pixel count contained by match point；
D). calculate offset distance, by formula (1) calculate the horizontal departure of current device image and reference point image away from From Δ X:
Δ X = 1 n Σ i = 1 n ( X i ′ - X i ) - - - ( 1 )
Calculated pitch deviation distance, delta Y of current device image and reference point image by formula (2):
Δ Y = 1 n Σ i = 1 n ( Y i ′ - Y i ) - - - ( 2 ) ;
E). calculate offset angle deviation, if the horizontal resolution of video camera acquired image is FH, vertical resolution be FP, Then pass through formula (3) and formula (4) distinguishes the current level compensating angular deviation Δ H of computing device and pitch compensation angular deviation Δ P:
Δ H = A H F H × Δ X - - - ( 3 )
Δ P = A P F P × Δ Y - - - ( 4 ) ;
F). correct azimuth angle, after equipment runs to a certain monitoring position, by formula (5) and formula (6) respectively to reality The azimuth that border obtains is corrected, to obtain horizontal angle angle value P and angle of pitch angle value T accurately:
P=Pd+ΔH (5)
T=Td+ΔP (6)
Wherein, PdFor the current horizontal angle angle value of equipment, TdFor the current angle of pitch angle value of equipment.

Claims (3)

1. being applicable to a directional correction method for forest fire early-warning system, forest fire early-warning system is by The Cloud Terrace and is arranged at Video camera composition on The Cloud Terrace, The Cloud Terrace can order about video camera carry out rotating, elevating movement, video camera can carry out zoom, at zoom Reason, to obtain monitoring image clearly；It is characterized in that, directional correction method is: system is chosen reference point after installing and obtains Reference point image, later each timing, orders about equipment moving and to reference point and obtains current device image；Then by comparing Match point coordinate and difference of coordinate in reference point image in present image, calculate offset distance；Finally according to the angle of visual field, The resolution ratio of offset distance and gathered picture calculates offset angle deviation, by offset angle deviation to equipment current angular It is corrected, orientation accurately can be obtained.
2. the directional correction method being applicable to forest fire early-warning system according to claim 1, it is characterised in that: described Directional correction method realize especially by following steps:
A). mark reference point, after forest fire early-warning system is initially installed and calibrated, select a certain position as correction detection Reference point, records zoom, the zoom level of the cloud platform rotation angle corresponding to reference point, luffing angle and video camera, and remembers Record, at the image acquired in this reference point, is designated as reference point image；
B). obtain the angle of visual field and present image, after reaching some correction time or artificially send corrective command, order about The Cloud Terrace and take the photograph Camera according to the rotational angle of reference point of storage, luffing angle, zoom value, zoom level motion, and by inquiry zoom value with The mapping table of the angle of visual field, obtains the angle of visual field corresponding to reference point and current device image；If horizontal field of view angle is AH, Vertical field of view angle is AP；
C). match point detects, and the reference point image obtaining step a) mates with the current device image that step b) obtains Point detection, draws coordinate value in reference point image and current device image for the match point, if match point is in reference point image Coordinate value be expressed as S (Xi,Yi), the coordinate value in current device image is D (X 'i,Y′i), wherein i=0,1,2 ..., N, n are the pixel count contained by match point；
D). calculate offset distance, calculated the horizontal departure distance, delta of current device image and reference point image by formula (1) X:
Δ X = 1 n Σ i = 1 n ( X i ′ - X i ) - - - ( 1 )
Calculated pitch deviation distance, delta Y of current device image and reference point image by formula (2):
Δ Y = 1 n Σ i = 1 n ( Y i ′ - Y i ) - - - ( 2 ) ;
E). calculate offset angle deviation, if the horizontal resolution of video camera acquired image is FH, vertical resolution be FP, then lead to Cross formula (3) and formula (4) computing device respectively current level compensating angular deviation Δ H and pitch compensation angular deviation Δ P:
Δ H = A H F H × Δ X - - - ( 3 )
Δ P = A P F P × Δ Y - - - ( 4 ) ;
F). correct azimuth angle, after equipment runs to a certain monitoring position, is obtained to actual respectively by formula (5) and formula (6) The azimuth taking is corrected, to obtain horizontal angle angle value P and angle of pitch angle value T accurately:
P=Pd+ΔH (5)
T=Td+ΔP (6)
Wherein, PdFor the current horizontal angle angle value of equipment, TdFor the current angle of pitch angle value of equipment.
3. the directional correction method being applicable to forest fire early-warning system according to claim 2, it is characterised in that: step A) the choosing of reference point in, should be according to must be with the presence of obvious target and reduce picture as far as possible in acquired image frame The principle of the half that the sky background in face, the angle of pitch of equipment are in equipment pitch range is chosen.
CN201610623700.5A 2016-07-29 2016-07-29 A kind of directional correction method being applicable to forest fire early-warning system Pending CN106156759A (en)

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107064973A (en) * 2017-05-04 2017-08-18 高新兴科技集团股份有限公司 A kind of angle of pitch compensating approach method of GNSS under Varifocal zoom lens
CN108088426A (en) * 2017-12-11 2018-05-29 宁波亿拍客网络科技有限公司 One kind shoots with video-corder observed object locating measurement method
CN111260870A (en) * 2018-11-30 2020-06-09 北京国基科技股份有限公司 Accurate target positioning method
CN112308903A (en) * 2019-07-24 2021-02-02 杭州海康威视系统技术有限公司 Fire point positioning method, device and equipment
CN112883052A (en) * 2021-01-05 2021-06-01 广东云林信息工程技术股份有限公司 Forest fire monitoring and early warning fire point rapid positioning method and device and storage medium
CN113640755A (en) * 2021-05-24 2021-11-12 中国南方电网有限责任公司超高压输电公司广州局 Target pitch angle acquisition method and device based on radar photoelectric linkage system
CN114225281A (en) * 2021-12-21 2022-03-25 中科永安(六安)科技有限公司 Automatic fire monitor positioning algorithm based on image recognition
CN114323300A (en) * 2021-12-06 2022-04-12 优利德科技(中国)股份有限公司 Dynamic marking method and device, computer equipment, medium and infrared thermal imager

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CN101605248A (en) * 2009-07-10 2009-12-16 浙江林学院 Remote video monitoring synchronous tracking method for forest fire
WO2013140671A1 (en) * 2012-03-23 2013-09-26 株式会社日立国際電気 Fire detection system and fire detection method
CN105513072A (en) * 2015-12-05 2016-04-20 中国航空工业集团公司洛阳电光设备研究所 PTZ correction method

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CN101046908A (en) * 2007-05-08 2007-10-03 中国科学院上海技术物理研究所 Forest fire behavior dynamic monitoring alarm system based on infrared camera
CN101605248A (en) * 2009-07-10 2009-12-16 浙江林学院 Remote video monitoring synchronous tracking method for forest fire
WO2013140671A1 (en) * 2012-03-23 2013-09-26 株式会社日立国際電気 Fire detection system and fire detection method
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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107064973A (en) * 2017-05-04 2017-08-18 高新兴科技集团股份有限公司 A kind of angle of pitch compensating approach method of GNSS under Varifocal zoom lens
CN108088426A (en) * 2017-12-11 2018-05-29 宁波亿拍客网络科技有限公司 One kind shoots with video-corder observed object locating measurement method
CN111260870A (en) * 2018-11-30 2020-06-09 北京国基科技股份有限公司 Accurate target positioning method
CN112308903A (en) * 2019-07-24 2021-02-02 杭州海康威视系统技术有限公司 Fire point positioning method, device and equipment
CN112308903B (en) * 2019-07-24 2024-02-02 杭州海康威视系统技术有限公司 Fire positioning method, device and equipment
CN112883052A (en) * 2021-01-05 2021-06-01 广东云林信息工程技术股份有限公司 Forest fire monitoring and early warning fire point rapid positioning method and device and storage medium
CN112883052B (en) * 2021-01-05 2022-10-04 广东云林信息工程技术股份有限公司 Forest fire monitoring and early warning fire point rapid positioning method and device and storage medium
CN113640755A (en) * 2021-05-24 2021-11-12 中国南方电网有限责任公司超高压输电公司广州局 Target pitch angle acquisition method and device based on radar photoelectric linkage system
CN114323300A (en) * 2021-12-06 2022-04-12 优利德科技(中国)股份有限公司 Dynamic marking method and device, computer equipment, medium and infrared thermal imager
CN114323300B (en) * 2021-12-06 2024-05-31 优利德科技(中国)股份有限公司 Dynamic marking method, dynamic marking device, computer equipment, medium and infrared thermal imaging instrument
CN114225281A (en) * 2021-12-21 2022-03-25 中科永安(六安)科技有限公司 Automatic fire monitor positioning algorithm based on image recognition

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