CN108682105A - One kind is based on multispectral transmission line forest fire exploration prior-warning device and method for early warning - Google Patents
One kind is based on multispectral transmission line forest fire exploration prior-warning device and method for early warning Download PDFInfo
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- 238000011161 development Methods 0.000 claims abstract description 7
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- 238000002485 combustion reaction Methods 0.000 description 3
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- 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
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- 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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Abstract
The invention discloses one kind to be fixed with photoelectricity and be hung storehouse based on multispectral transmission line forest fire exploration prior-warning device and method for early warning, drone body bottom, and photoelectricity, which is hung, is equipped with visible light camera, temperature measuring type thermal infrared imager and laser ranging module on storehouse；Pass through visible light camera shooting and monitoring area video image；Detection temperature in real time is detected by temperature measuring type thermal infrared imager, thermal infrared imager data are provided；Monitoring region range data is detected by laser ranging module；Monitoring region range data is detected according to laser ranging module and POS system data obtain target fire point position；According to thermal infrared imager data, the burning point of burning things which may cause a fire disaster is judged；According to area video image, color of object and brightness are extracted, judges the development trend of mountain fire；It solves the prior art and the technical problems such as applicable is difficult in the presence of the mountain fire calamity emergency exploration for subrange using early warning from satellite to transmission line of electricity nearby jungle fire monitoring.
Description
Technical field
The invention belongs to transmission line of electricity O＆M technology, more particularly to one kind are pre- based on the exploration of multispectral transmission line forest fire
Alarm device and method for early warning.
Background technology
In recent years, the variation of global climate is frequent, the bad weathers such as arid, strong wind, high temperature take place frequently, in addition human activity
It influences, national forest fire has the tendency that obviously aggravating, and forest fire becomes increasingly conspicuous to the harm of overhead transmission line, Forest Fire
Calamity causes overhead transmission line failure to rise year by year, becomes the second major break down influence factor for being only second to lightning fault, to electricity
Net safety and system stabilization cause larger threat.Overhead transmission line is the important component of power grid, is carry huge
Stablizing for electrical energy transportation, the safety of circuit and power grid is closely related, and anti-mountain fire work is top priority.
When nearby forest fire occurs for transmission line of electricity, by the shadow of the conditions such as scene temperature, degree of drying, wind speed, wind direction
It rings, mountain fire usually can quickly be spread in a short time, and traditional mountain fire monitoring means is by fault inspection personnel's field observation
It reports, labor intensity is big, and limited view, monitoring are not in time, and less efficient, personnel safety can not ensure, dense smoke and high temperature are normal
Often fault inspection personnel is allowed to be unable to judge accurately ignition point, sometimes in order to ensure the personal safety of fault inspection personnel, mountain fire
Scene be even more forbid it is close, this to quick and precisely assess mountain fire disaster-stricken scene be even more there is great difficulty.
With the development of science and technology, also mountain fire exploration is carried out using satellite remote sensing technology.This method has monitoring range
Extensively, the advantages that monitoring cycle is short, data transmission is fast, it is most important that there is the advantage of macroscopic view exploration, these advantages to defend for it
Star infrared remote sensing technology plays very important role in mountain fire prevention.But since this method credit requirement is big, Er Qiejing
True degree depend on usable satellite number number and time for passing by of satellite satellite monitoring is utilized within the border for certain areas
The exploration frequency of mountain fire is too low, and the fiery point short to life cycle cannot capture in time, at the same monitor it is protected from environmental very big,
Environment, climatic factor can influence the result of detection of satellite infrared remote sensing, cause false hot spot phenomenon, and rate of false alarm is very high, so that its
It is surveyed suitable for a wide range of normalization, and the exploration of the mountain fire calamity emergency of subrange is difficult to be applicable in.
Invention content
The technical problem to be solved by the present invention is to：It provides a kind of based on multispectral transmission line forest fire exploration prior-warning device
And method for early warning, to solve the prior art to transmission line of electricity nearby jungle fire monitoring using levels of precision existing for early warning from satellite
Depending on usable satellite number number and time for passing by of satellite, it is domestic using satellite monitoring mountain fire for certain areas
Too low, short to the life cycle fiery point of frequency is surveyed, cannot be captured in time, while monitoring protected from environmental very big, environment, gas
Time factor can influence the result of detection of satellite infrared remote sensing, cause false hot spot phenomenon, and rate of false alarm is very high, so that it is suitable for big
Range normalization is surveyed, and is difficult to the technical problems such as applicable for the exploration of the mountain fire calamity emergency of subrange.
Technical solution of the present invention is：
One kind surveying prior-warning device based on multispectral transmission line forest fire, it includes：Drone body, drone body bottom
It is fixed with photoelectricity and hangs storehouse, photoelectricity, which is hung, is equipped with visible light camera, temperature measuring type thermal infrared imager and laser ranging module on storehouse.
Photoelectricity hangs storehouse and is fixed on the inertial navigation system bottom of drone body bottom, and passes through bindiny mechanism and unmanned plane
Body bottom portion is fixedly connected.
Photoelectricity hangs storehouse and is connect with ground control terminal by data wireless transmission link.
It includes controller and gondola POS system that photoelectricity, which hangs storehouse, the controller and gondola POS system and stable inertia circuit
Control system conducting wire connects；Controller is connect with wireless communication module conducting wire；Visible light camera, temperature measuring type thermal infrared imager and
Laser ranging module is connect with controller respectively.
The method for early warning that prior-warning device is surveyed based on multispectral transmission line forest fire, it includes：
Step 1 passes through visible light camera shooting and monitoring area video image；Inspection in real time is detected by temperature measuring type thermal infrared imager
Testing temperature provides thermal infrared imager data；Monitoring region range data is detected by laser ranging module；
Step 2 obtains target fire point position according to laser ranging module detection monitoring region range data and POS system data；
Step 3, according to thermal infrared imager data, judge the burning point of burning things which may cause a fire disaster；
Step 4, according to area video image, extract color of object and brightness, judge the development trend of mountain fire.
Target fire point method for determining position is：Hang the GPS location in storehouse according to photoelectricity, photoelectricity hangs storehouse attitude orientation information,
Laser ranging module ranging data and map three-dimension GIS altitude data combined calculation position the GPS location of target fire point.
Judge that burning things which may cause a fire disaster burning point method is：Area change method：After fire generation, with the increase for the object that catches fire, flame front
Product is continuously increased, and the number of pixels that thermal infrared imager data form high luminance targets constantly becomes more；Flame fringe method of changing：Red
In outer thermal imaging system data, differentiate whether the target is fiery point according to high luminance targets extraction edge；Flash rule method：Infrared heat
As the grey level histogram of instrument data is at any time regularity variation is determined as it being ignition point.
Beneficial effects of the present invention：
The present invention is based on infrared, visible light mountain fire recognition methods, improve burning things which may cause a fire disaster accuracy of identification；It is combined using single-point laser ranging
Gondola POS information realizes fire point distance measuring and positioning；By unmanned plane inspection, realizes target following, stablized, high quality
Live fire information；The prior art is solved to transmission line of electricity nearby jungle fire monitoring using essence existing for early warning from satellite
True degree depend on usable satellite number number and time for passing by of satellite satellite monitoring is utilized within the border for certain areas
The exploration frequency of mountain fire is too low, and the fiery point short to life cycle cannot capture in time, at the same monitor it is protected from environmental very big,
Environment, climatic factor can influence the result of detection of satellite infrared remote sensing, cause false hot spot phenomenon, and rate of false alarm is very high, so that its
It is surveyed suitable for a wide range of normalization, and the technical problems such as applicable is difficult to for the exploration of the mountain fire calamity emergency of subrange.
Description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is that photoelectricity of the present invention hangs storehouse composed structure schematic diagram.
Specific implementation mode
One kind surveying prior-warning device based on multispectral transmission line forest fire, it includes：Drone body 1, feature exists
In：1 bottom of drone body is fixed with photoelectricity and hangs storehouse 4, and photoelectricity, which is hung, is equipped with the infrared heat of visible light camera 7, temperature measuring type on storehouse 4
As instrument 8 and laser ranging module 9.
Photoelectricity hangs 5 bottom of inertial navigation system that storehouse 4 is fixed on 1 bottom of drone body, and by with drone body 1
Bottom is fixedly connected.
Photoelectricity hangs storehouse 4 and is connect with ground control terminal 10 by data wireless transmission link.
It includes controller and gondola POS system i.e. positioning and orientation system (Positioning and that photoelectricity, which hangs storehouse 4,
Orientation System, POS).
The controller is connect with gondola POS system and stable inertia loop control system conducting wire；Controller and channel radio
Believe the connection of module conducting wire；Visible light camera 7, temperature measuring type thermal infrared imager 8 and laser ranging module 9 connect with controller respectively
It connects.
The method for early warning that prior-warning device is surveyed based on multispectral transmission line forest fire, it includes：
Step 1 passes through 7 shooting and monitoring area video image of visible light camera；It is detected in real time by temperature measuring type thermal infrared imager 8
Temperature is detected, thermal infrared imager data are provided；Monitoring region range data is detected by laser ranging module 9；
Step 2 obtains target fire point position according to the detection of laser ranging module 9 monitoring region range data and POS system data；
Step 3, according to thermal infrared imager data, judge the burning point of burning things which may cause a fire disaster；
Step 4, according to area video image, extract color of object and brightness, judge the development trend of mountain fire.
Target fire point method for determining position is：The GPS location in storehouse 4 is hung according to photoelectricity, photoelectricity hangs storehouse 4 attitude orientation letter
Breath, 9 ranging data of laser ranging module and map three-dimension GIS altitude data combined calculation position the GPS location of target fire point.
Judge that burning things which may cause a fire disaster burning point method is：Area change method：After fire generation, with the increase for the object that catches fire, flame front
Product is continuously increased, and the number of pixels that thermal infrared imager data form high luminance targets constantly becomes more；Flame fringe method of changing：Red
In outer thermal imaging system data, differentiate whether the target is fiery point according to high luminance targets extraction edge；Flash rule method：Infrared heat
As the grey level histogram of instrument data is at any time regularity variation is determined as it being ignition point.
Photoelectric nacelle 4 can manual operation gondola azimuth pitch, visible light lens zoom under the control of ground control terminal 10
Deng action, and track mountain fire target；UAV electro-optical pod of the present invention integrates infrared thermography, Visible Light Camera, Laser Measuring
The multiple sensors such as distance meter.Infrared sensor provides temperature information, and doubtful fiery point is identified by temperature characterisitic；Visible light sensor
The surface for providing mountain fire improves discrimination；Laser range finder and gondola POS system provide single-point laser ranging data, gondola
POS data realizes mountain fire zone location.
The present invention uses the method combined with visible images based on infrared image, is directly seen using infrared thermal imaging principle
Burning point is observed, while according to visible light inspection data, area and neighbouring circuit that mountain fire may occur are monitored.
Firstly, it is necessary to the temperature profile analysis under complex background be carried out, in forest based on trees, in its absorption solar energy
While, it also can be to external radiation amount of heat.Transmission of electricity corridor is patrolled by UAV flight's early period multispectral flight gondola
Inspection, extraction varying environment, different time forest background infrared image, calculate and analyze the regularity of distribution of its temperature field data,
Obtain the temperature profile of forest background in thermal infrared images.Meanwhile burning things which may cause a fire disaster is obtained in the infrared imaging of different phase, obtain mountain
Fire, smog image feature data, from fire point initialization phase, all-round developing stage to ember stage characteristics of image, formation is deposited for analysis
Store up database.The knowledge to power transmission line corridor mountain fire is realized in comparison by monitoring measured data and the data in database in real time
Not.
A kind of physical phenomenon of flame spontaneous generation when being object burning, its essence is a kind of light radiation, light radiation category
In one kind of electromagnetic wave, the wavelength of electromagnetic wave is between 1nm to 1mm, and wherein the electromagnetic wave of 380nm ~ 780nm wave bands can be by human eye
Perception, so being referred to as visible light.The electromagnetic wave that wavelength is less than visible wavelength is commonly known as ultraviolet light, is longer than visible light
Then it is referred to as infrared ray.When flame combustion other than the visible light for giving off different colours, it can also give off and focus primarily upon
The infra-red radiation of 950nm ~ 2000nm.It is based on this infra-red radiation feature of flame, people just recognize can will be infrared
Detector is introduced into detection, and the object temperature in forest background is generally relatively low under normal circumstances, and heat radiation is weaker, and one
There is fire behavior in denier, and infrared detector will detect stronger infra-red radiation, at this moment just will appear high brightness in infrared image
Region.For object in burning, with the variation of temperature, flame will present different colors.Especially in incipient fire stage, fire
There are one evolutions from scratch for flame, this when, shape, area, radiation intensity of flame etc. all can be with fire
It carries out and changes, we can identify fire using these features of flame.The present invention is based on the identical criterion of flame
The following
（1）Area change：During continuous development after fire generation, with the increase for the object that catches fire, area of flame is inevitable
Also it can be continuously increased, its showing in infrared image is that the number of pixels of composition high luminance targets constantly becomes more；
（2）Edge variation：There is a characteristic of oneself at the edge of flame, such as longitudinal is in tip-angled shape, this and other high temperature chaff interferents
Body has very big difference, in infrared image processing, can differentiate that the target is according to high luminance targets extraction edge
No is fiery point；
（3）Flash rule：Numerous studies show that flame can respectively be flashed in combustion with the frequency of 8 ~ 12Hz, and not with
The variation of environment and change.This grey level histogram that image can be shown as in infrared image can be in regularity variation at any time；
（4）Layering variation：The temperature of flame inside is not equally distributed, and the temperature of internal flame is all obviously than outer when most of
Flame is low, and surface emissivity can be very strong in burning for timber in forest etc., and high-temperature part can be divided into solid according to temperature distributing rule
This two layers of body surface face and flame portion；
（5）It moves integrally：Flame is understood during early-stage development in being moved integrally at leisure with the change for the object that catches fire
The position of internal heat flame, this position that high luminance targets can be shown as in infrared image can be slowly varying at any time.
A large amount of smog will produce due to the imperfect combustion of object in fire early period of origination, thus smog is fire
Omen and with product.Smog has concentration and temperature, temperature to enable it that can generate stronger infra-red radiation to be different from
Forest background.And smog can be made to generate edge effect in infrared image with the concentration difference of ambient background, i.e., with the drift of smog
It moves, background can be flickering in infrared image, and objects in images can be found come the edge in detection image using wavelet algorithm
The wavelet coefficient values at edge can reduce when smog is denseer.
In addition to this, the smog also dynamic characteristic with diffusivity and scrambling, the diffusivity of smog makes the dense of smog
Degree can become smaller with ignition time and ignition distance, this can be presented as the edge effect in image.Scrambling refers to
Irregular variation can be presented with its diffusion in airspace in the shape of smog, this with most of interfering object always
It is different that certain shape, which is presented, therefore can be used for improving the discrimination to smog.
Claims (7)
1. one kind surveying prior-warning device based on multispectral transmission line forest fire, it includes：Drone body（1）, feature exists
In：Drone body（1）Bottom is fixed with photoelectricity and hangs storehouse（4）, photoelectricity hangs storehouse（4）On visible light camera is installed（7）, thermometric
Type thermal infrared imager（8）And laser ranging module（9）.
2. according to claim 1 a kind of based on multispectral transmission line forest fire exploration prior-warning device, it is characterised in that：
Photoelectricity hangs storehouse（4）It is fixed on drone body（1）The inertial navigation system of bottom（5）Bottom, and pass through bindiny mechanism（6）With nothing
Man-machine ontology（1）Bottom is fixedly connected.
3. according to claim 1 a kind of based on multispectral transmission line forest fire exploration prior-warning device, it is characterised in that：
Photoelectricity hangs storehouse（4）Pass through data wireless transmission link and ground control terminal（10）Connection.
4. according to claim 1 a kind of based on multispectral transmission line forest fire exploration prior-warning device, it is characterised in that：
Photoelectricity hangs storehouse（4）Including controller and gondola POS system, the controller is controlled with gondola POS system and stable inertia circuit
System connectors connect；Controller is connect with wireless communication module conducting wire；Visible light camera（7）, temperature measuring type thermal infrared imager（8）
And laser ranging module（9）It is connect respectively with controller.
5. surveying the method for early warning of prior-warning device based on multispectral transmission line forest fire as described in claim 1, it includes：
Step 1 passes through visible light camera（7）Shooting and monitoring area video image；Pass through temperature measuring type thermal infrared imager（8）Detection
Detection temperature in real time, provides thermal infrared imager data；Pass through laser ranging module（9）Detection monitoring region range data；
Step 2, according to laser ranging module（9）Detection monitoring region range data and POS system data obtain target fire point
It sets；
Step 3, according to thermal infrared imager data, judge the burning point of burning things which may cause a fire disaster；
Step 4, according to area video image, extract color of object and brightness, judge the development trend of mountain fire.
6. a kind of method for early warning surveying prior-warning device based on multispectral transmission line forest fire according to claim 5,
It is characterized in that：Target fire point method for determining position is：Storehouse is hung according to photoelectricity（4）GPS location, photoelectricity hang storehouse（4）Posture
Azimuth information, laser ranging module（9）Ranging data and map three-dimension GIS altitude data combined calculation, positioning target fire point
GPS location.
7. a kind of method for early warning surveying prior-warning device based on multispectral transmission line forest fire according to claim 5,
It is characterized in that：Judge that burning things which may cause a fire disaster burning point method includes：Area change method：After fire generation, with the increase for the object that catches fire, fire
Flame area is continuously increased, and the number of pixels that thermal infrared imager data form high luminance targets constantly becomes more；Flame fringe method of changing：
In thermal infrared imager data, differentiate whether the target is fiery point according to high luminance targets extraction edge；Flash rule method：It is red
The grey level histogram of outer thermal imaging system data is at any time regularity variation is determined as it being ignition point.
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| CN109993941A (en) * | 2019-03-20 | 2019-07-09 | 合肥名德光电科技股份有限公司 | Thermal imaging fire alarm system and its image processing method based on artificial intelligence |
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| CN110379114A (en) * | 2019-07-03 | 2019-10-25 | 长沙理工大学 | A kind of unmanned plane mountain fire intelligent early-warning system based on distributed fiber-optic sensor |
| CN117636608A (en) * | 2024-01-26 | 2024-03-01 | 中国民用航空飞行学院 | Depth estimation-based high and large space fire monitoring method, equipment and medium |
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| CN108682105B (en) | 2019-11-05 |
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