CN108389354A - A kind of method of unmanned plane joint ground micro robot detection forest ground fire - Google Patents
A kind of method of unmanned plane joint ground micro robot detection forest ground fire Download PDFInfo
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Abstract
本发明公开了一种无人机联合地面微小型机器人探测森林地下火的方法，使用控制中心、地面微小型机器人和无人机，无人机根据定位信息、地形信息、植被信息等进行超低空飞翔，使用机器人根据控制中心发送的定位信息在地面行走到指定地点，把位于无人机上的成像光谱仪拍摄的高光谱图样与地面机器人拍摄的红外图像相结合，把天空与地面形成一体对地下火进行判断，快速准确，并能够根据定位信息得到地下火发生点的确切位置，为监测地下火和救火提供有力支持，适用于探测森林地下火(隐燃火)或森林余火，为扑火指挥员及时组织队伍扑打和清除火灾隐患、避免小火蔓延成大灾提供了科学的技术手段。The invention discloses a method for unmanned aerial vehicle combined with ground micro-robots to detect forest ground fire. Using a control center, ground micro-robots and unmanned aerial vehicles, the unmanned aerial vehicle conducts ultra-low-altitude fire detection according to positioning information, terrain information, vegetation information, etc. Flying, use the robot to walk on the ground to the designated place according to the positioning information sent by the control center, combine the hyperspectral pattern taken by the imaging spectrometer on the drone with the infrared image taken by the ground robot, and integrate the sky and the ground Judgment is fast and accurate, and the exact location of the underground fire occurrence point can be obtained according to the positioning information, which provides strong support for monitoring underground fires and fire fighting. It is suitable for detecting forest underground fires (smoldering fires) or forest residual fires. It provides a scientific and technical means for firefighters to organize teams in time to fight and remove hidden fire hazards, and to prevent small fires from spreading into catastrophes.
Description
技术领域technical field
本发明涉及森林防火技术领域，具体是一种无人机联合地面微小型机器人探测森林地下火的方法。The invention relates to the technical field of forest fire prevention, in particular to a method for detecting forest ground fires by unmanned aerial vehicles and ground micro-robots.
背景技术Background technique
随着全球气候变暖，世界森林火灾频发，森林资源和人民群众生命财产损失严重。在森林火灾扑救中，扑火队员常处于一种高危险环境。无论是林火研究发达的国家，如美国、加拿大等，还是林火研究不发达的国家，如印度尼西亚等，扑火队员都面临着相似的安全威胁。据统计，森林火灾引起的伤亡人数中，扑火队员所占的比重呈现上升趋势，如何保证森林火灾扑救过程中扑火队员的人身安全问题，成为各方关注的焦点。第四次国际林火大会以扑火安全为主题，对林火安全研究工作的挑战、存在问题和关键领域等进行了深入分析和研讨，会议提议物理学家、生物学家和社会科学家团结起来、通力合作，在扑火安全方面针对迫切需要的设备开展研究。With global warming, forest fires occur frequently in the world, causing serious loss of forest resources and people's lives and properties. In forest fire fighting, firefighters are often in a high-risk environment. Regardless of whether it is a country with advanced forest fire research, such as the United States and Canada, or a country with underdeveloped forest fire research, such as Indonesia, fire fighters are all faced with similar security threats. According to statistics, among the number of casualties caused by forest fires, the proportion of fire fighters is on the rise. How to ensure the personal safety of fire fighters in the process of fighting forest fires has become the focus of attention of all parties. The 4th International Forest Fire Conference took fire safety as the theme, conducted in-depth analysis and discussions on the challenges, existing problems and key areas of forest fire safety research. The meeting proposed that physicists, biologists and social scientists unite , and work together to conduct research on urgently needed equipment in terms of fire suppression safety.
森林地下火对森林的危害极大，其所到之处会烧毁林木的根部，但地下火是在地表下阴燃，逐渐蔓延，难于被发现。对于森林地下火的识别定位是个难题。Underground fires in forests are very harmful to forests. Wherever they go, they will burn the roots of trees. However, underground fires are smoldering under the surface and spread gradually, making it difficult to be found. Identifying and locating forest ground fires is a difficult problem.
发明内容Contents of the invention
本发明的目的在于提供一种无人机联合地面微小型机器人探测森林地下火的方法，以解决上述背景技术中提出的问题。The purpose of the present invention is to provide a method for unmanned aerial vehicles combined with ground micro-robots to detect forest ground fires, so as to solve the problems raised in the above-mentioned background technology.
为实现上述目的，本发明提供如下技术方案：To achieve the above object, the present invention provides the following technical solutions:
一种无人机联合地面微小型机器人探测森林地下火的方法，使用控制中心、地面微小型机器人和无人机：A method for unmanned aerial vehicles and ground micro-robots to detect forest fires, using a control center, ground micro-robots and unmanned aerial vehicles:
控制中心：包括图像处理器、中央处理器和显示器，摄像头的图像信号输出端连接图像处理器的图像信号输入端，图像处理器的控制信号输出端连接摄像头的控制信号输入端，图像处理器的图像控制信号输出输入端连接中央处理器的图像控制信号输入输出端，中央处理器的显示信号输出端连接显示器的显示信号输入端；Control center: including an image processor, a central processing unit and a display. The image signal output end of the camera is connected to the image signal input end of the image processor, and the control signal output end of the image processor is connected to the control signal input end of the camera. The image control signal output and input ends are connected to the image control signal input and output ends of the central processing unit, and the display signal output end of the central processing unit is connected to the display signal input end of the monitor;
地面微小型机器人：与控制中心进行无线通讯的地面行走机器人上设置有红外摄像机，控制中心能够控制地面行走机器人的行走、动作，并能够接收红外摄像机拍摄的红外图像，地面微小型机器人内部设置安全提示系统；Ground micro-robot: An infrared camera is installed on the ground walking robot for wireless communication with the control center. The control center can control the walking and movement of the ground walking robot, and can receive infrared images captured by the infrared camera. prompt system;
无人机：包括无人机本体、GPS接收器、成像光谱仪、控制无人机动作的驾驶中心、可编程控制器、挂载红外热像仪、通讯传输模块和图像分析成型模块，所述挂载红外热像仪和通讯传讯模块设置在无人机本体上，所述无人机本体内设置有通讯传输模块和图像分析成型模块，所述挂载红外热像仪和通讯传输模块电性连接，可编程控制器内具有无人机飞翔地的地形信息和植被信息，GPS接收器、成像光谱仪、控制无人机动作的驾驶中心分别与可编程控制器电连接，可编程控制器能够与地面的控制中心进行无线通讯。UAV: including the UAV body, GPS receiver, imaging spectrometer, driving center to control the movement of UAV, programmable controller, mounted infrared thermal imager, communication transmission module and image analysis and forming module. The mounted infrared thermal imager and the communication module are set on the drone body, and the drone body is provided with a communication transmission module and an image analysis and forming module, and the mounted infrared thermal imager and the communication transmission module are electrically connected , the programmable controller has terrain information and vegetation information of the flying place of the UAV, and the GPS receiver, imaging spectrometer, and driving center for controlling the movement of the UAV are respectively electrically connected to the programmable controller, and the programmable controller can communicate with the ground The control center communicates wirelessly.
作为本发明进一步的方案：安全提示系统包括以下模块：As a further solution of the present invention: the safety reminder system includes the following modules:
数据采集模块：用于实现传感器节点实时采集森林环境数据；Data collection module: used to realize real-time collection of forest environment data by sensor nodes;
数据上传模块：用于实现传感器节点将采集到的森林环境数据通过无线网络传递给监控中心；Data upload module: used to realize that the sensor nodes transmit the collected forest environment data to the monitoring center through the wireless network;
数据分析模块：用于实现监控中心结合森林环境数据，气象数据，地理数据和森林资源数据，对森林环境的危险程度进行分析；Data analysis module: used to realize the analysis of the danger level of the forest environment by the monitoring center in combination with forest environment data, meteorological data, geographic data and forest resource data;
数据下放模块：用于实现将分析后的结果下放给控制中心。Data decentralization module: used to realize the decentralization of the analyzed results to the control center.
作为本发明进一步的方案：如果成像光谱仪显示有超过100°C的超温区，该超温区有落叶层，则把该超温区作为异常点，控制中心向机器人发送指令，让机器人行走到异常点附近，对异常点进行红外摄像，控制中心再根据机器人发送的红外图像，确认异常点是否是森林地下火发生点。As a further solution of the present invention: if the imaging spectrometer shows an overtemperature zone exceeding 100°C, and there is a fallen leaf layer in the overtemperature zone, then the overtemperature zone is used as an abnormal point, and the control center sends instructions to the robot to allow the robot to walk to In the vicinity of the abnormal point, the infrared camera is taken on the abnormal point, and the control center then confirms whether the abnormal point is the occurrence point of the forest ground fire according to the infrared image sent by the robot.
作为本发明再进一步的方案：识别定位森林地下火方法是：As a further scheme of the present invention: the method for identifying and locating forest fires is:
GPS接收器把接收到的无人机所在位置的定位信号传输给可编程控制器，可编程控制器将定位信号、无人机所在地点的地形信息、植被信息传输给驾驶中心，驾驶中心根据定位信号、地形信息、植被信息控制无人机，使得无人机在植被上方5-20m范围内飞翔，成像光谱仪拍摄地表的高光谱图像，并通过可编程控制器把拍摄的高光谱图像和定位信息传输到控制中心。The GPS receiver transmits the received positioning signal of the location of the UAV to the programmable controller, and the programmable controller transmits the positioning signal, the terrain information of the location of the UAV, and the vegetation information to the driving center. The signal, terrain information, and vegetation information control the UAV so that the UAV can fly within 5-20m above the vegetation. The imaging spectrometer captures the hyperspectral image of the ground surface, and the hyperspectral image and positioning information taken by the programmable controller transmitted to the control center.
与现有技术相比，本发明的有益效果是：使用无人机根据定位信息、地形信息、植被信息等进行超低空飞翔，使用机器人根据控制中心发送的定位信息在地面行走到指定地点，把位于无人机上的成像光谱仪拍摄的高光谱图样与地面机器人拍摄的红外图像相结合，把天空与地面形成一体对地下火进行判断，快速准确，并能够根据定位信息得到地下火发生点的确切位置，为监测地下火和救火提供有力支持，通过安全提示系统的四个模块；这种设计，可以实现科学预警的作用，适用于探测森林地下火(隐燃火)或森林余火，其携带性、连续工作性及其可靠性非常适合于一线森林扑火队员用于火场清理时寻找和确定人眼不宜发现的森林地下火或森林余火准确位置，为扑火指挥员及时组织队伍扑打和清除火灾隐患、避免小火蔓延成大灾提供了科学的技术手段。Compared with the prior art, the beneficial effect of the present invention is: use the UAV to fly at ultra-low altitude according to the positioning information, terrain information, vegetation information, etc., use the robot to walk to the designated place on the ground according to the positioning information sent by the control center, and take the The hyperspectral pattern taken by the imaging spectrometer on the UAV is combined with the infrared image taken by the ground robot, and the sky and the ground are integrated to judge the underground fire quickly and accurately, and the exact location of the underground fire occurrence point can be obtained according to the positioning information , to provide strong support for monitoring underground fires and fire fighting, through the four modules of the safety reminder system; this design can realize the role of scientific early warning, suitable for detecting forest underground fires (smoldering fires) or forest residual fires, and its portability , Continuous workability and reliability are very suitable for front-line forest firefighters to find and determine the exact location of forest underground fires or forest fires that are not suitable for human eyes to find when clearing fires It provides scientific and technical means to prevent fire hazards and prevent small fires from spreading into catastrophes.
具体实施方式Detailed ways
下面结合具体实施方式对本专利的技术方案作进一步详细地说明。The technical solution of this patent will be further described in detail below in conjunction with specific embodiments.
一种无人机联合地面微小型机器人探测森林地下火的方法，使用控制中心、地面微小型机器人和无人机：A method for unmanned aerial vehicles and ground micro-robots to detect forest fires, using a control center, ground micro-robots and unmanned aerial vehicles:
控制中心：包括图像处理器、中央处理器和显示器，摄像头的图像信号输出端连接图像处理器的图像信号输入端，图像处理器的控制信号输出端连接摄像头的控制信号输入端，图像处理器的图像控制信号输出输入端连接中央处理器的图像控制信号输入输出端，中央处理器的显示信号输出端连接显示器的显示信号输入端；Control center: including an image processor, a central processing unit and a display. The image signal output end of the camera is connected to the image signal input end of the image processor, and the control signal output end of the image processor is connected to the control signal input end of the camera. The image control signal output and input ends are connected to the image control signal input and output ends of the central processing unit, and the display signal output end of the central processing unit is connected to the display signal input end of the monitor;
地面微小型机器人：与控制中心进行无线通讯的地面行走机器人上设置有红外摄像机，控制中心能够控制地面行走机器人的行走、动作，并能够接收红外摄像机拍摄的红外图像，地面微小型机器人内部设置安全提示系统；安全提示系统包括以下模块：Ground micro-robot: An infrared camera is installed on the ground walking robot for wireless communication with the control center. The control center can control the walking and movement of the ground walking robot, and can receive infrared images captured by the infrared camera. Prompt system; safety prompt system includes the following modules:
数据采集模块：用于实现传感器节点实时采集森林环境数据；Data collection module: used to realize real-time collection of forest environment data by sensor nodes;
数据上传模块：用于实现传感器节点将采集到的森林环境数据通过无线网络传递给监控中心；Data upload module: used to realize that the sensor nodes transmit the collected forest environment data to the monitoring center through the wireless network;
数据分析模块：用于实现监控中心结合森林环境数据，气象数据，地理数据和森林资源数据，对森林环境的危险程度进行分析；Data analysis module: used to realize the analysis of the danger level of the forest environment by the monitoring center in combination with forest environment data, meteorological data, geographic data and forest resource data;
数据下放模块：用于实现将分析后的结果下放给控制中心。Data decentralization module: used to realize the decentralization of the analyzed results to the control center.
无人机：包括无人机本体、GPS接收器、成像光谱仪、控制无人机动作的驾驶中心、可编程控制器、挂载红外热像仪、通讯传输模块和图像分析成型模块，所述挂载红外热像仪和通讯传讯模块设置在无人机本体上，所述无人机本体内设置有通讯传输模块和图像分析成型模块，所述挂载红外热像仪和通讯传输模块电性连接，可编程控制器内具有无人机飞翔地的地形信息和植被信息，GPS接收器、成像光谱仪、控制无人机动作的驾驶中心分别与可编程控制器电连接，可编程控制器能够与地面的控制中心进行无线通讯。UAV: including the UAV body, GPS receiver, imaging spectrometer, driving center to control the movement of UAV, programmable controller, mounted infrared thermal imager, communication transmission module and image analysis and forming module. The mounted infrared thermal imager and the communication module are set on the drone body, and the drone body is provided with a communication transmission module and an image analysis and forming module, and the mounted infrared thermal imager and the communication transmission module are electrically connected , the programmable controller has terrain information and vegetation information of the flying place of the UAV, and the GPS receiver, imaging spectrometer, and driving center for controlling the movement of the UAV are respectively electrically connected to the programmable controller, and the programmable controller can communicate with the ground The control center communicates wirelessly.
如果成像光谱仪显示有超过100°C的超温区，该超温区有落叶层，则把该超温区作为异常点，控制中心向机器人发送指令，让机器人行走到异常点附近，对异常点进行红外摄像，控制中心再根据机器人发送的红外图像，确认异常点是否是森林地下火发生点。If the imaging spectrometer shows that there is an over-temperature zone exceeding 100°C, and there is a layer of fallen leaves in the over-temperature zone, then the over-temperature zone is regarded as an abnormal point, and the control center sends instructions to the robot to let the robot walk near the abnormal point. Infrared photography is carried out, and the control center then confirms whether the abnormal point is the occurrence point of the forest ground fire according to the infrared image sent by the robot.
识别定位森林地下火方法是：The methods for identifying and locating forest fires are:
GPS接收器把接收到的无人机所在位置的定位信号传输给可编程控制器，可编程控制器将定位信号、无人机所在地点的地形信息、植被信息传输给驾驶中心，驾驶中心根据定位信号、地形信息、植被信息控制无人机，使得无人机在植被上方5-20m范围内飞翔，成像光谱仪拍摄地表的高光谱图像，并通过可编程控制器把拍摄的高光谱图像和定位信息传输到控制中心。The GPS receiver transmits the received positioning signal of the location of the UAV to the programmable controller, and the programmable controller transmits the positioning signal, the terrain information of the location of the UAV, and the vegetation information to the driving center. The signal, terrain information, and vegetation information control the UAV so that the UAV can fly within 5-20m above the vegetation. The imaging spectrometer captures the hyperspectral image of the ground surface, and the hyperspectral image and positioning information taken by the programmable controller transmitted to the control center.
使用无人机根据定位信息、地形信息、植被信息等进行超低空飞翔，使用机器人根据控制中心发送的定位信息在地面行走到指定地点，把位于无人机上的成像光谱仪拍摄的高光谱图样与地面机器人拍摄的红外图像相结合，把天空与地面形成一体对地下火进行判断，快速准确，并能够根据定位信息得到地下火发生点的确切位置，为监测地下火和救火提供有力支持，通过安全提示系统的四个模块；这种设计，可以实现科学预警的作用，适用于探测森林地下火(隐燃火)或森林余火，其携带性、连续工作性及其可靠性非常适合于一线森林扑火队员用于火场清理时寻找和确定人眼不宜发现的森林地下火或森林余火准确位置，为扑火指挥员及时组织队伍扑打和清除火灾隐患、避免小火蔓延成大灾提供了科学的技术手段。UAVs are used to fly at ultra-low altitude based on positioning information, terrain information, vegetation information, etc., and robots are used to walk to designated locations on the ground according to the positioning information sent by the control center, and the hyperspectral patterns taken by the imaging spectrometer on the UAV are compared with the ground Combining the infrared images taken by the robot, the sky and the ground are integrated to judge the underground fire quickly and accurately, and the exact location of the underground fire can be obtained according to the positioning information, which provides strong support for monitoring underground fire and fire fighting. The four modules of the system; this design can realize the role of scientific early warning and is suitable for detecting forest underground fires (smoldering fires) or forest fires. Its portability, continuous workability and reliability are very suitable for front-line forest fire control. Firefighters are used to find and determine the exact location of forest underground fires or forest residual fires that are not suitable for human eyes to find when clearing the fire scene. It provides a scientific basis for firefighting commanders to organize teams to fight and eliminate fire hazards in time, and to prevent small fires from spreading into major disasters. technical means.
本发明的工作原理是：The working principle of the present invention is:
无人驾驶飞机简称“无人机”，英文缩写为“UAV”，是利用无线电遥控设备和自备的程序控制装置操纵的不载人飞机，或者由车载计算机完全地或间歇地自主地操作。与有人驾驶飞机相比，无人机往往更适合那些太“愚钝，肮脏或危险”的任务。无人机按应用领域，可分为军用与民用。军用方面，无人机分为侦察机和靶机。民用方面，无人机+行业应用，是无人机真正的刚需；目前在航拍、农业、植保、微型自拍、快递运输、灾难救援、观察野生动物、监控传染病、测绘、新闻报道、电力巡检、救灾、影视拍摄、制造浪漫等等领域的应用，大大的拓展了无人机本身的用途，发达国家也在积极扩展行业应用与发展无人机技术。Unmanned aircraft, referred to as "unmanned aerial vehicle", or "UAV" in English, is an unmanned aircraft that is controlled by radio remote control equipment and its own program control device, or is completely or intermittently operated autonomously by an on-board computer. Drones are often better suited for missions that are too "dumb, dirty or dangerous" than manned aircraft. According to the application field, UAV can be divided into military and civilian. In terms of military use, UAVs are divided into reconnaissance aircraft and target aircraft. In terms of civilian use, drones + industry applications are the real rigid needs of drones; currently, they are used in aerial photography, agriculture, plant protection, micro selfies, express delivery, disaster relief, wildlife observation, infectious disease monitoring, surveying and mapping, news reports, power patrols, etc. Inspection, disaster relief, film and television shooting, romantic manufacturing and other fields have greatly expanded the use of drones themselves. Developed countries are also actively expanding industry applications and developing drone technology.
上面对本专利的较佳实施方式作了详细说明，但是本专利并不限于上述实施方式，在本领域的普通技术人员所具备的知识范围内，还可以在不脱离本专利宗旨的前提下做出各种变化。The preferred implementation of this patent has been described in detail above, but this patent is not limited to the above-mentioned implementation, and within the knowledge of those of ordinary skill in the art, it can also be made without departing from the purpose of this patent. Variations.
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Application publication date: 20180810 |