CN108957573B

CN108957573B - Dangerous source detection device and method

Info

Publication number: CN108957573B
Application number: CN201710356391.4A
Authority: CN
Inventors: 丁语欣
Original assignee: Beijing Yingte Weishi Technology Co ltd
Current assignee: Beijing Yingte Weishi Technology Co ltd
Priority date: 2017-05-19
Filing date: 2017-05-19
Publication date: 2024-04-02
Anticipated expiration: 2037-05-19
Also published as: CN108957573A

Abstract

The invention provides a dangerous source detection device and a dangerous source detection method. The dangerous source detection device comprises a reflection focusing device, an infrared sensor and a processor, wherein the reflection focusing device is used for reflecting and focusing light rays in a preset range to a sensing element of the infrared sensor; the light rays comprise infrared light rays; the infrared sensor is used for sensing the light received by the sensor element so as to acquire infrared spectrum information of a preset wave band; the processor is connected with the infrared sensor and is used for collecting the infrared spectrum information of the preset wave band, processing the infrared spectrum information of the preset wave band and judging whether a dangerous source exists in the preset range according to the processed infrared spectrum information of the preset wave band. The invention can remotely and widely detect the dangerous source in the protection area or space and acquire the coordinate position of the dangerous source, thereby realizing remote, wide-range, extremely early, high-sensitivity and reliable dangerous source detection alarm.

Description

Dangerous source detection device and method

Technical Field

The invention relates to the technical field of dangerous source detection, in particular to a dangerous source detection device and method.

Background

At present, the risk of a great hazard source exists in large industrial sites, natural areas (forests, grasslands or coal mines and the like) or large commercial buildings, and the problems of the production process, natural resources and the group death and group injury in the large commercial buildings are generated. Hazardous gases or liquids are generated or explosive combustion is generated in large industrial sites due to leakage of the production process, which is a typical hazard source. The most typical natural area is abnormal combustion, such as forest fires or coal mine spontaneous fires, etc., which are typical sources of danger. In large commercial buildings, the most typical characteristic is that people are dense, so that hazardous gas or fire is a typical hazard source due to artificial or non-artificial reasons, and the hazard is large if early warning detection cannot be performed.

The traditional dangerous source early warning detection method is not few, but has the common characteristic that the coverage range of the detection systems is smaller, and the detection systems cannot be protected against a large range and a large area. In order to realize large-scale early warning detection, people recently begin to adopt a thermal imager to perform area protection and fire detection more often, for example, as described in chinese patent CN104269013a, however, since the thermal imager mainly realizes scene temperature measurement monitoring in a protection area, more heat sources may exist in the protection area, for example, solar power generation and the like, so that the problem of over-high false alarm rate exists in the type of detector, and in addition, the limited detection distance is also a big problem. People apply satellite remote sensing or unmanned aerial vehicle monitoring platforms to detect fire disasters in natural areas or surface gas, a method for monitoring forest fires by using a remote sensing technology is proposed by Chinese patent CN104157088A, and coal mine fire monitoring method based on satellite remote sensing is proposed by Chinese patent CN102074093A, which utilizes satellite visible light, thermal infrared and microwave images to detect coal mine fires. Chinese patent CN102819926A "fire monitoring and early warning method based on unmanned aerial vehicle" proposes a system and method for receiving unmanned aerial vehicle visible/spectral image signals based on ground station and analyzing and identifying. These patent methods all have the following problems: 1. the sensitivity of satellite remote sensing detection is insufficient, a dangerous source is often required to generate leakage or combustion with a large area, and in the case of similar remote sensing satellites in the United states, a large forest fire area of a football field is required to trigger an alarm; 2. the real-time monitoring of the system cannot be realized, and because most satellites are not fixed points and the aircraft periodically flies, the long time is required to realize the repeated detection of the region, so the real-time performance is poor, and for many dangerous sources, the early detection and early treatment are required.

Disclosure of Invention

The invention mainly aims to provide a dangerous source detection device and a dangerous source detection method, which can detect dangerous sources in a protection area or space in a long-distance and large-range manner and acquire the coordinate positions of the dangerous sources, so that the detection alarm of the dangerous sources is realized in a long-distance, large-range, extremely early-stage, high-sensitivity and reliable manner.

In order to achieve the above object, the present invention provides a hazard source detection apparatus comprising a reflection focus device, an infrared sensor, and a processor, wherein,

the reflection focusing device is used for reflecting and focusing light rays in a preset range to a sensing element of the infrared sensor; the light rays comprise infrared light rays;

the infrared sensor is used for sensing the light received by the sensor element so as to acquire infrared spectrum information of a preset wave band;

the processor is connected with the infrared sensor and is used for collecting the infrared spectrum information of the preset wave band, processing the infrared spectrum information of the preset wave band and judging whether a dangerous source exists in the preset range according to the processed infrared spectrum information of the preset wave band.

In implementation, the hazard source detection device further includes:

the image pickup unit is used for shooting a preset range and acquiring visible image information and infrared image information of the preset range;

The processor is also connected with the camera shooting unit, and is also used for collecting visible image information and infrared image information, and acquiring real-time image information of the dangerous source position according to the visible image information and the infrared image information when judging that a dangerous source exists in the preset range according to the processed infrared spectrum information of the preset wave band.

In implementation, the hazard source detection device further comprises a controller; the infrared sensor is a refrigeration type infrared sensor;

the reflection focusing device comprises a reflection unit and a focusing unit; the reflecting unit is used for reflecting the light rays of each scene point in the preset range to the focusing unit; the focusing unit is used for focusing the light rays to the sensing element of the infrared sensor;

the reflecting unit comprises an infrared reflecting plate, a horizontal rotating mechanism and a vertical rotating mechanism;

the infrared reflecting plate is respectively connected with the horizontal rotating mechanism and the vertical rotating mechanism;

the controller is respectively connected with the horizontal rotating mechanism and the vertical rotating mechanism;

the controller is used for sending a first horizontal rotation control signal to the horizontal rotation mechanism and sending a first vertical rotation control signal to the vertical rotation mechanism;

The horizontal rotating mechanism is used for driving the infrared reflecting plate to horizontally rotate at a preset horizontal rotating speed according to the first horizontal rotating control signal, and the vertical rotating mechanism is used for driving the infrared reflecting plate to vertically rotate at a preset vertical speed according to the first vertical rotating control signal.

When in implementation, the camera unit comprises a visible light camera and an infrared camera;

the dangerous source detection device further comprises a camera rotating mechanism;

the controller is also connected with the camera rotating mechanism and is also used for sending a second horizontal rotation control signal and a second vertical rotation control signal to the camera rotating mechanism;

the camera rotating mechanism is also respectively connected with the visible light camera and the infrared camera and is used for driving the visible light camera and the infrared camera to horizontally rotate according to the second horizontal rotation control signal and driving the visible light camera and the infrared camera to vertically rotate according to the second vertical rotation control signal.

In practice, the reflective focussing means comprises a reflecting unit and a focussing unit;

the reflecting unit is used for reflecting light rays in a preset range to the focusing unit;

The focusing unit is used for focusing the light rays to the sensing element of the infrared sensor;

the reflection unit comprises an optical reflection frame, a horizontal rotation mechanism, an infrared plane reflection plate, a vertical rotation mechanism, a first position sensor and a second position sensor;

the vertical rotating mechanism comprises a vertical rotating motor, an inner frame and a vertical rotating shaft; the horizontal rotating mechanism comprises a horizontal rotating motor and a connecting assembly;

the vertical rotating shaft is arranged on the optical reflection frame, the infrared plane reflecting plate is embedded into the inner frame, and the vertical rotating shaft is fixedly connected with the inner frame;

the vertical rotating motor is used for driving the vertical rotating shaft to rotate so as to drive the inner frame to rotate, and thus the infrared plane reflecting plate is driven to rotate;

the horizontal rotation motor is connected with the optical reflection frame through the connecting component and is used for driving the optical reflection frame to horizontally rotate so as to drive the infrared plane reflection plate to horizontally rotate;

the infrared plane reflecting plate is used for reflecting visible light rays and infrared light rays to the focusing unit;

the first position sensor is arranged on a rotating shaft of the vertical rotating motor and is used for sensing the vertical rotating angle of the vertical rotating motor;

The second position sensor is arranged on the rotating shaft of the horizontal rotating motor and is used for sensing the horizontal rotating angle of the horizontal rotating motor.

When in implementation, the camera unit comprises a visible light camera and an infrared camera; the visible light camera and the infrared camera are respectively and fixedly connected to the upper side edge of the optical reflection frame;

when the horizontal rotation motor is used for driving the optical reflection frame to horizontally rotate, the horizontal rotation motor is also used for driving the visible light camera and the infrared camera to horizontally rotate.

In practice, the reflective focalizer further comprises an optical pod body, the focusing unit being disposed in the optical pod body;

the focusing unit comprises a first concave mirror arranged in the optical pod body, and the infrared plane reflecting plate is specifically used for reflecting visible light rays and infrared light rays to the first concave mirror; the first concave mirror is used for focusing visible light rays and infrared light rays reflected by the infrared plane reflecting plate to a sensing element of the infrared sensor; or,

the focusing unit comprises a second concave mirror and a convex mirror which are arranged in the optical pod body; the infrared plane reflecting plate is specifically used for reflecting visible light rays and infrared light rays to the second concave mirror; the second concave mirror is used for reflecting the visible light rays and the infrared light rays to the convex mirror; the convex mirror is used for focusing the visible light rays and the infrared light rays to the sensing element of the infrared sensor.

In practice, the reflective focussing means further comprises a horizontal lens;

the horizontal lens is fixedly connected with the optical reflection frame; the horizontal rotating mechanism is connected with the optical reflection frame through the horizontal lens, and drives the optical reflection frame to horizontally rotate by driving the horizontal lens to horizontally rotate;

the horizontal lens is disposed over the opening of the optical pod body.

In implementation, the hazard source detection device further comprises a controller;

the infrared sensor is a refrigeration type infrared sensor;

the infrared sensor comprises at least two sensing elements, and each sensing element corresponds to a corresponding central wave band; or alternatively;

the infrared sensor comprises a sensor element, at least two optical filters and an optical filter switching mechanism; each of the filters corresponds to a respective center wavelength band; the optical filter switching mechanism carries the at least two optical filters;

the controller is used for sending a switching control signal to the optical filter switching structure;

the optical filter switching structure is connected with the controller and is used for controlling the optical filter switching structure to control the corresponding optical filter to be arranged above the sensor element according to the switching control signal from the controller.

In practice, the processor comprises:

the signal amplifying circuit is connected with the infrared sensor and used for amplifying the infrared spectrum information of the preset wave band, which is sensed by the infrared sensor;

the signal sampling circuit is connected with the signal amplifying circuit and is used for collecting amplified infrared spectrum information of a preset wave band output by the signal amplifying circuit; the method comprises the steps of,

the core processing circuit is respectively connected with the signal sampling circuit and the image pickup unit and is used for judging whether a dangerous source exists in the preset range according to amplified preset wave band infrared spectrum information from the signal sampling circuit, and acquiring real-time image information of the dangerous source position according to visible image information and infrared image information from the image pickup unit when judging that the dangerous source exists;

the dangerous source detection device also comprises a controller;

the controller is respectively connected with the first position sensor, the second position sensor, the vertical rotation motor and the horizontal rotation motor, and is used for calculating the vertical rotation speed of the vertical rotation motor and the horizontal rotation speed of the horizontal rotation motor according to the vertical rotation angle from the first position sensor and the horizontal rotation angle from the second position sensor, controlling the vertical rotation motor to rotate at a preset vertical rotation speed and controlling the horizontal rotation motor to rotate at a preset horizontal rotation speed.

The invention also provides a dangerous source detection method which is applied to the dangerous source detection device, and the dangerous source detection method comprises the following steps:

the reflection focusing device reflects and focuses light rays in a preset range to a sensing element of the infrared sensor; the light rays comprise infrared light rays; the infrared sensor senses the light received by the sensing element to acquire infrared spectrum information of a preset wave band, and the infrared spectrum information of the preset wave band;

shooting a preset range by the shooting unit to acquire visible image information and infrared image information of the preset range;

the processor acquires the infrared spectrum information of the preset wave band, processes the infrared spectrum information of the preset wave band, and judges whether a dangerous source exists in the preset range according to the processed infrared spectrum information of the preset wave band; the processor acquires the visible image information and the infrared image information, and when the processor judges that a dangerous source exists in the preset range according to the processed infrared spectrum information of the preset wave band, the processor acquires the real-time image information of the dangerous source position according to the visible image information and the infrared image information.

When in implementation, the preset wave band comprises a characteristic wave band and a reference wave band;

The step of sensing the light received by the sensing element of the infrared sensor to obtain the infrared spectrum information of the preset wave band comprises the following steps: the infrared sensor senses the light received by the sensing element of the infrared sensor to obtain a characteristic wave band infrared spectrum response value Vf and a reference wave band infrared spectrum response value Vr;

the step of the processor collecting the infrared spectrum information of the preset wave band, processing the infrared spectrum information of the preset wave band and judging whether a dangerous source exists in the preset range according to the processed infrared spectrum information of the preset wave band comprises the following steps:

the processor acquires a characteristic wave band infrared spectrum response value Vf and a reference wave band infrared spectrum response value Vr from the infrared sensor at intervals of preset sampling time;

the processor judges whether the Vf/Vr is greater than or equal to a preset ratio threshold value, and sends out a fire alarm signal when the Vf/Vr is greater than or equal to the preset ratio threshold value;

when the processor continuously sends out fire alarm signals within a preset judging time, the processor judges that a fire hazard source exists; the predetermined determination time is greater than or equal to the predetermined sampling time.

The step of sensing the light received by the sensing element of the infrared sensor to obtain the infrared spectrum information of the preset wave band comprises the following steps: the infrared sensor senses the light received by the sensing element of the infrared sensor to obtain the infrared spectrum intensity of the characteristic wave band and the infrared spectrum response intensity of the reference wave band;

the processor acquires characteristic wave band infrared spectrum response intensity and reference wave band infrared spectrum response intensity from the infrared sensor at intervals of preset sampling time;

the processor calculates the product of the concentration of the dangerous gas and the thickness of the dangerous source gas appearing on a dangerous source light path according to the characteristic wave band infrared spectrum response intensity and the reference wave band infrared spectrum response intensity;

the processor determines whether the product is greater than a predetermined product threshold and determines that a gas hazard exists within a predetermined range when the product is greater than the predetermined product threshold.

When the dangerous source detection device is implemented, the dangerous source detection device also comprises a controller, the reflection focusing device comprises a reflection unit and a focusing unit, the reflection unit comprises an infrared reflection plate, a horizontal rotating mechanism and a vertical rotating mechanism, the infrared reflection plate is respectively connected with the horizontal rotating mechanism and the vertical rotating mechanism, when the controller is respectively connected with the horizontal rotating mechanism and the vertical rotating mechanism,

The step of reflecting and focusing the light rays within a preset range to the sensing element of the infrared sensor by the reflecting and focusing device specifically comprises the following steps: the reflection unit reflects light rays of each scene point in a preset range to the focusing unit, and the focusing unit focuses the light rays to the sensing element of the infrared sensor;

the dangerous source detection method further comprises the following steps:

the controller sends a first horizontal rotation control signal to the horizontal rotation mechanism, and the horizontal rotation mechanism drives the infrared reflecting plate to horizontally rotate at a preset horizontal rotation speed according to the first horizontal rotation control signal;

the controller sends a first vertical rotation control signal to the vertical rotation mechanism, and the vertical rotation mechanism drives the infrared reflecting plate to vertically rotate at a preset vertical speed according to the first vertical rotation control signal.

When the image capturing unit comprises a visible light camera and an infrared camera, and the hazard source detection device further comprises a camera rotating mechanism, the hazard source detection method further comprises:

the controller sends a second horizontal rotation control signal and a second vertical rotation control signal to the camera rotating mechanism;

The camera rotating mechanism drives the visible light camera and the infrared camera to horizontally rotate according to the second horizontal rotation control signal, and the camera rotating mechanism drives the visible light camera and the infrared camera to vertically rotate according to the second vertical rotation control signal.

Compared with the prior art, the dangerous source detection device and method provided by the embodiment of the invention have the following beneficial effects:

the system can monitor a long-distance and large-range protection area or space in real time, and adopts multiband infrared signals such as characteristic wavelength, reference wavelength and the like of a dangerous source for comparison analysis, so that the reliability is high, and the false alarm rate is low;

the system can realize early and high-sensitivity dangerous source detection;

the application of the system can greatly reduce the harm of dangerous sources to forests, industrial production areas and large-scale buildings, and avoid natural resource loss, casualties and property loss.

Drawings

FIG. 1 is a block diagram of a hazard source detection apparatus according to an embodiment of the present invention;

FIG. 2 is a block diagram of a hazard source detection apparatus according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of electrical connection of a hazard source detection device according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of motor control and feedback according to an embodiment of the present invention;

FIG. 5 is a schematic view illustrating a structure of a focusing unit in the hazard detection apparatus according to an embodiment of the present invention;

FIG. 6 is a schematic view of a focusing unit in another embodiment of the hazard detection apparatus according to the present invention;

fig. 7A is a block diagram of an infrared sensor of the hazard source detection device according to the embodiment of the present invention, which is a binary infrared sensor;

fig. 7B is a structural diagram of an infrared sensor included in the hazard source detection device according to the embodiment of the present invention, which is a ternary infrared sensor;

fig. 8 is a flowchart illustrating operations when the hazard source detection apparatus according to the embodiment of the present invention employs a unit infrared sensor;

fig. 9 is a flowchart illustrating the operation of the hazard source detection apparatus according to the embodiment of the present invention when the multi-element infrared sensor is used.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

As shown in fig. 1, the hazard source detection apparatus according to the embodiment of the present invention includes a reflection focus 11, an infrared sensor 12, and a processor 13, wherein,

the reflection focusing device 11 is used for reflecting and focusing the light within a predetermined range to a sensor element (not shown in fig. 1) of the infrared sensor 12; the light rays comprise infrared light rays;

the infrared sensor 12 is used for sensing the light received by the sensor element thereof to acquire infrared spectrum information of a preset wave band;

the processor 13 is connected to the infrared sensor 12, and is configured to collect the infrared spectrum information of the predetermined wavelength band, process the infrared spectrum information of the predetermined wavelength band, and determine whether a dangerous source exists in the predetermined range according to the processed infrared spectrum information of the predetermined wavelength band.

According to the dangerous source detection device disclosed by the embodiment of the invention, the reflection focusing device 11 focuses the light rays in the preset range to the sensing element of the infrared sensor 12, the infrared sensor 12 senses the light rays received by the sensing element to acquire the infrared spectrum information of the preset wave band, and the processor 14 acquires the infrared spectrum information of the preset wave band and processes the infrared spectrum information of the preset wave band, so that whether a dangerous source exists in the preset range can be sensitively detected in real time.

In actual operation, the predetermined bands include a characteristic band and a reference band.

Preferably, the hazard source detection device according to the embodiment of the present invention further includes:

the image pick-up unit is connected with the processor and used for shooting a preset range and acquiring visible image information and infrared image information of the preset range;

the processor is also used for collecting the visible image information and the infrared image information, and acquiring real-time image information of the dangerous source position according to the visible image information and the infrared image information when judging that the dangerous source exists in the preset range according to the processed infrared spectrum information of the preset wave band.

In actual operation, the dangerous source detection device of the embodiment of the invention acquires visible image information and infrared image information in a preset range through the image pickup unit, and when the processor judges that a dangerous source exists in the preset range according to the processed infrared spectrum information of the preset wave band, the processor acquires real-time image information of the dangerous source position according to the visible image information and the infrared image information.

In a preferred embodiment, the hazard source detection device according to the embodiment of the present invention further includes a controller; the infrared sensor is preferably a refrigeration type infrared sensor;

In the preferred embodiment, the reflective focussing means is a two degree of freedom rotary reflective focussing means.

In a preferred embodiment, the controller sends a first horizontal rotation control signal to the horizontal rotation mechanism, and the horizontal rotation mechanism drives the infrared reflecting plate to horizontally rotate at a uniform speed according to the first horizontal rotation control signal, so that the infrared reflecting plate can be driven to horizontally rotate by 0-360 degrees, and the infrared reflecting plate can reflect the light rays of each scene point within the range of 0-360 degrees to the focusing unit;

In a preferred embodiment, the controller sends a first vertical rotation control signal to the vertical rotation mechanism, and the vertical rotation mechanism drives the infrared reflecting plate to vertically rotate at a preset vertical speed according to the first vertical rotation control signal, so that the infrared reflecting plate can be driven to vertically rotate by 0-360 degrees, and the infrared reflecting plate can reflect light rays of each scene point in a vertical effective angle range to the focusing unit.

In actual operation, the camera unit may include a visible light camera and an infrared camera;

the camera rotating mechanism is further respectively connected with the visible light camera and the infrared camera and is used for driving the visible light camera and the infrared camera to horizontally rotate according to the second horizontal rotation control signal and driving the visible light camera and the infrared camera to vertically rotate according to the second vertical rotation control signal.

In a specific implementation, the optical axes of the visible light camera and the infrared camera can be approximately considered to be in the vertical rotation optical axis plane of the infrared reflecting plate, so that the effective target point in a scene can always be ensured to be consistent with the infrared reflecting plate in the rotation optical axis plane, namely, the camera and the infrared reflecting plate in the horizontal direction, the position of the effective target point in the vertical direction is not necessarily ensured to be just in the camera view field or the position of the view field close to the center, and the controller can control the vertical rotation mechanism of the camera to rotate in the vertical direction so as to adjust the target point to the position close to the center of the view field.

Specifically, the reflection focus may include a reflection unit and a focusing unit;

the reflection unit may include an optical reflection frame, a horizontal rotation mechanism, an infrared plane reflection plate, a vertical rotation mechanism, a first position sensor, and a second position sensor;

The vertical rotating shaft is arranged on the optical reflection frame, the infrared plane reflection plate is embedded in the inner frame, and the vertical rotating shaft is fixedly connected with the inner frame and is used for driving the vertical rotating shaft to rotate so as to drive the inner frame to rotate, so that the infrared plane reflection plate is driven to rotate;

In actual operation, the inner frame has the same shape as the infrared plane reflection plate, and the infrared plane reflection plate is embedded in the inner frame so that the infrared plane reflection plate can rotate as the inner frame rotates.

In actual operation, the infrared plane reflecting plate can be rectangular, the vertical rotating shaft is horizontally arranged, the upper side edge of the infrared plane reflecting plate is parallel to the lower side edge of the infrared plane reflecting plate, and the upper side edge is parallel to the vertical rotating shaft;

in actual operation, the vertical rotating motor can control and drive the infrared plane reflecting plate to continuously rotate in the vertical direction by 360 degrees, and the horizontal rotating motor can drive the optical reflecting frame to horizontally rotate so as to drive the infrared plane reflecting plate to continuously rotate in the horizontal direction by 360 degrees, and each 180-degree forward and backward scanning period or 360-degree single-sided scanning period finishes point-by-point scanning of a 360-degree coverage scene.

Specifically, the camera unit comprises a visible light camera and an infrared camera; the visible light camera and the infrared camera are respectively and fixedly connected to the upper side edge of the optical reflection frame;

In particular, the reflection focus may further include an optical pod body in which the focusing unit is disposed;

In particular, the reflective focussing means may further comprise a horizontal lens;

the horizontal lens is fixedly connected with the optical reflection frame; the horizontal rotating mechanism is connected with the optical reflection frame through the horizontal lens, and drives the optical reflection frame to synchronously rotate horizontally by driving the horizontal lens to horizontally rotate;

The horizontal lens is arranged above the opening of the optical pod body, and transmits the needed spectrum light rays to prevent water or foreign matters from entering the optical pod body.

Preferably, the hazard source detection device further comprises a controller; the infrared sensor can be a refrigeration type infrared sensor;

the infrared sensor comprises a sensor element, at least two optical filters and an optical filter switching mechanism; each of the filters corresponds to a respective center wavelength band; the optical filter switching mechanism carries the at least two optical filters; the controller is used for sending a switching control signal to the optical filter switching structure; the optical filter switching structure is connected with the controller and is used for controlling the optical filter switching structure to control the corresponding optical filter to be arranged above the sensor element according to the switching control signal from the controller.

Specifically, the processor may include:

the dangerous source detection device also comprises a controller;

The hazard source detection device according to the present invention will be described in detail with reference to the following examples.

FIG. 2 is a block diagram of a hazard source detection apparatus according to an embodiment of the present invention.

The reflection focusing device comprises a reflection unit and a focusing unit;

the reflection unit includes an optical reflection frame 202, a vertical rotation mechanism, an infrared plane reflection plate 204, a horizontal rotation mechanism, a first position sensor (not shown in fig. 2), and a second position sensor (not shown in fig. 2);

the horizontal rotating mechanism comprises a horizontal rotating motor 208 and a horizontal rotating gear set 207 (the horizontal rotating gear set 207 is one specific embodiment of the connecting assembly);

the vertical rotation mechanism includes a vertical rotation motor 203, an inner frame (not shown in fig. 2), and a vertical rotation shaft 200;

the vertical rotating shaft 200 is mounted on the optical reflection frame 202, the infrared plane reflection plate 204 is embedded in the inner frame (not shown in fig. 2), and the infrared plane reflection plate 204 is fixedly connected with the inner frame (not shown in fig. 2);

the vertical rotation motor 203 is configured to drive the rotation of the inner frame (not shown in fig. 2) by driving the rotation of the vertical rotation shaft 200, thereby driving the rotation of the infrared plane reflection plate 204;

The horizontal rotation motor 208 is connected with the optical reflection frame 202 through the horizontal rotation gear set 207, and is used for driving the optical reflection frame 202 to horizontally rotate so as to drive the infrared plane reflection plate 204 to horizontally rotate;

the infrared plane reflection plate 204 is used for reflecting visible light rays and infrared light rays into the optical pod body 220;

the first position sensor (not shown in fig. 2) is disposed on a rotating shaft of the vertical rotation motor 203, and is used for sensing a vertical rotation angle of the vertical rotation motor 203;

the second position sensor (not shown in fig. 2) is disposed on the rotating shaft of the horizontal rotation motor 208, and is used for sensing the horizontal rotation angle of the horizontal rotation motor 208.

The camera unit includes a visible light camera 201 and an infrared camera 223; the visible light camera 201 and the infrared camera 223 are fixedly connected to the upper side of the optical reflection frame 202, respectively;

the focusing unit comprises a second concave mirror 216 and a convex mirror 219 arranged in an optical pod body 220; the infrared plane reflection plate 204 is specifically configured to reflect visible light and infrared light to the second concave mirror 216; the second concave mirror 216 is configured to reflect the visible light and the infrared light to the convex mirror 219; the convex mirror 219 is used to focus the visible light and the infrared light onto the sensor element of the infrared sensor 215;

The reflective focuser also includes a horizontal lens 205;

the horizontal lens 205 is fixedly connected with the optical reflection frame 202; the horizontal rotation mechanism comprises a horizontal rotation gear set 207 which is connected with the optical reflection frame 202 through the horizontal lens 205, and drives the optical reflection frame 202 to horizontally rotate by driving the horizontal lens 205 to horizontally rotate;

the horizontal lens 205 is disposed over an opening of the optical pod body 220.

In the embodiment shown in fig. 2, the plane of the infrared plane reflection plate 204 is square, the shape of the inner frame is also square, and the size of the inner frame corresponds to the size of the infrared plane reflection plate 204, so that the infrared plane reflection plate 204 can be embedded in the inner frame to be fixed to each other.

In fig. 2, a high-speed signal sampling and system control circuit is denoted by 209, a preamplifier is denoted by 212, a cooling fan is denoted by 210, an infrared sensor is denoted by 215, a filter switching mechanism is denoted by 211, a vertical bearing is denoted by 221, a horizontal lens wiper mechanism is denoted by 222, a control signal transmission electrical slip ring is denoted by 206, a core processor is denoted by 217, a drive board is denoted by 218, a power supply is denoted by 213, a detection device main body frame is denoted by 214, and a sunshade is denoted by 224.

In operation, according to the embodiment of the hazard source detection device shown in fig. 2, the optical reflection frame 202 is integrally driven to rotate horizontally at a constant speed by the horizontal rotation mechanism, the infrared plane reflection plate 204 is mounted on the optical reflection frame 202, and the infrared plane reflection plate 204 is driven to rotate vertically at a constant speed by the vertical rotation motor 203. In addition, a horizontal lens wiper mechanism 222 is also installed on the optical reflection frame 202, and cleaning is performed on the horizontal lens 205 at regular intervals. The horizontal rotation motor 208 rotates at a constant speed by adopting a speed reduction motor, the optical reflection frame 202 is driven to integrally rotate by the horizontal rotation gear set 207, and the vertical bearing 221 bears the stress of the optical reflection frame 202 in the vertical and horizontal directions.

In the specific embodiment shown in fig. 2, the focusing unit comprises a second concave mirror 216 and a convex mirror 219 arranged in an optical pod body 220; the infrared plane reflecting plate is specifically configured to reflect visible light and infrared light to the second concave mirror 216; the second concave mirror 216 is configured to reflect the visible light and the infrared light to the convex mirror 219; the convex mirror 219 is used to focus the visible light and the infrared light onto the sensor elements of the infrared sensor 215.

The power supply 213 is a dedicated high performance power supply.

In actual operation, in the embodiment shown in fig. 2, the high-speed signal sampling and system control circuit 209 includes a signal sampling circuit and a system control circuit;

the processor includes: a pre-amplifier circuit 212 (which is an embodiment of the signal amplifying circuit), a signal sampling circuit included in the high-speed signal sampling and system control circuit 209, and a core processing circuit 217;

the controller includes: a drive board 218 (the drive board 218 is used for driving and controlling the vertical rotation motor 203, the horizontal rotation motor 208, and the filter switching mechanism 211), and a system control circuit included in the high-speed signal sampling and system control circuit 209.

In the specific embodiment shown in fig. 2, the image capturing unit includes an infrared/visible dual-view camera, where the infrared/visible dual-view camera mainly includes a visible light camera 201 and an infrared camera 223, and the video signal is connected to the core processing circuit 217 to perform signal fusion and integration, so as to mark the position coordinates and the points of the spectrum remote sensing alarm on the real-time video map.

As shown in fig. 3, the reflection focuser 301 focuses and projects the radiation spectrum information of each point in the protected area scene onto the infrared sensor 309 by horizontal and vertical rotation and reflection and optical focusing.

As shown in fig. 3, the processor includes a pre-amplifier circuit 308 (the pre-amplifier circuit is a specific embodiment of the signal amplifier circuit included in the processor), a motor drive control circuit 303 (in the embodiment shown in fig. 3, the control circuit included in the processor includes the motor drive control circuit 303), a high-speed signal acquisition and system control circuit 307 (in the embodiment shown in fig. 3, the control circuit included in the processor further includes the system control circuit in the high-speed signal acquisition and system control circuit 307), and a core processing circuit 306 (in the embodiment shown in fig. 3, the processing circuit included in the processor includes the high-speed signal acquisition and system control circuit 307 and the core processing circuit 306).

In fig. 3, reference numeral 302 denotes a control motor and a position sensor;

the pre-amplification circuit 308 mainly realizes the weak signal amplification function of the output of the infrared sensor, and transmits the amplified analog signal to the high-speed signal acquisition and system control circuit 307 for high-speed sampling, and for a multi-element sensor, the multi-channel signal high-speed sampling is adopted.

The control motor and position sensor 302 mainly realizes motor rotation and position feedback, and in addition to driving the control motor (the control motor can be a control motor for horizontal, vertical, camera angle, optical filters, windshield wipers, etc.) to rotate through the motor driving control circuit 303, the rotating position information is fed back through installing an angle photoelectric coding disc and a position switch on the motor rotating shaft. The motor drive control circuit 303 mainly realizes drive control of the motor, controls the motor rotation speed by PWM (Pulse Width Modulation ), and realizes matching of horizontal and vertical rotation.

The high-speed signal acquisition and system control circuit 307 performs signal extraction of the high-speed sampling acquisition unit or the multi-element infrared sensor at microsecond speed, and the core processing circuit 306 performs signal analysis, calculation, data fusion and decision judgment, and finally performs input and output of alarm signals or measurement values.

The infrared/visible double-vision camera comprises a visible light camera 310, a visible light camera lens 313, an infrared camera 311 and an infrared camera lens 312, wherein video signals of the visible light camera 310 and the infrared camera 311 are input into a core processing circuit 306 for necessary analysis, data fusion and secondary coding output. The core processing circuit 306 transmits the video signal, the infrared spectrum analysis signal, and the alarm signal together to a system (not shown in fig. 3) of the control center through the input/output interface 305 via a wireless or wired network. The internal power supply circuit 304 mainly realizes the output function of a high-precision low-voltage power supply and provides stable and reliable power supply for motors, circuits, cameras and the like.

Fig. 4 is a schematic diagram of motor control and feedback according to an embodiment of the present invention. The high-speed signal acquisition and system control circuit 401 sends a start command and a rotation speed command to a horizontal rotation control circuit 409 and a vertical rotation control circuit 402 included in the motor drive control circuit, and the horizontal motor driver 408 and the vertical motor driver 403 output driving signals to drive the vertical rotation motor 405 and the horizontal rotation motor 407 to operate, and position feedback is mainly performed through the vertical motor photoelectric coding disc 4041 and the vertical motor position switch 4042, and the horizontal motor photoelectric coding disc 4061 and the horizontal motor position switch 4062. The high-speed signal acquisition and system control circuit 401 acquires the scan data of the active segment according to the position feedback information.

The detection flow of the core processing unit is as follows: firstly, the system controls the horizontal and vertical rotating mechanisms to rotate after the self-checking is performed; secondly, the high-speed sampling and control circuit acquires the spectrum data of all sensors with different wave bands, wherein the spectrum data comprises spectrum data of a reference wave band and spectrum data of a synthesized wave band; thirdly, storing spectral data of each frame of different periodic sequences; fourth, calculate for each periodic sequence spectrum data obtained, extract difference point and difference numerical value, analyze the concentration or relevant dangerous source index data of the detection target according to these data; fifthly, fusing the calculated data to the video image through coordinate mapping to form a composite image; sixthly, the system stores various data and transmits signals through a network; and sixthly, carrying out alarm decision according to the calculated data and the set alarm threshold value.

Fig. 5 is a schematic structural diagram of a focusing unit in the hazard source detection apparatus according to an embodiment of the present invention. As shown in fig. 5, the infrared plane reflecting plate 501 rotates rapidly in the vertical direction, and reflects the scene in the protection area into the optical suspension cabin through the plane infrared lens window 502, and the reflected parallel light is projected onto the first concave mirror 504 after passing through the plane infrared lens window 502, and the first concave mirror 504 focuses the light onto the sensing surface of the infrared sensor 503.

Fig. 6 is a schematic structural diagram of another embodiment of a focusing unit in the hazard source detection device according to the present invention. The infrared plane reflecting plate 601 rotates fast in the vertical direction, the scene in the protection area is reflected into the optical suspension cabin through the plane infrared lens window 602, the reflected parallel light is projected onto the second concave mirror 604 after passing through the plane infrared lens window 602, the second concave mirror 604 reflects the light to the convex mirror 603, and the convex mirror 603 focuses the light onto the sensing surface of the infrared sensor 605. Unlike the embodiment of the focusing unit shown in fig. 5, the embodiment of the focusing unit in fig. 6 has a larger focal length and can cover a larger range.

As shown in fig. 7A, the refrigeration type infrared sensor may be a binary infrared sensor; as shown in fig. 7A, reference numeral 701 is a sensor body, reference numeral 702 is a sensor window, reference numeral 703 is a first sensor element, reference numeral 704 is a second sensor element; the first sensor 703 and the second sensor 704 have different central band response properties, and the central wavelength of the sensor is selected according to the type of dangerous source to be detected.

As shown in fig. 7B, the refrigeration type infrared sensor may be a ternary sensor assembly, and a third ternary sensor 705 is added in the sensor element chamber, and the central wavelength of the response is also selected according to the requirement. Of course, the infrared sensor can also only adopt a unit sensor, the response range of the sensor element can be wider, for example, 3-5 um, and the filter sheet is controlled to be switched by the filter sheet switching mechanism at the moment so that the sensor element can respond to different dangerous sources.

For fire combustion or hot flue gases, 4.3-4.4 um (microns) and 2.8um are typical response center wavelengths for fire combustion, while 3.8um and 5.0um are reference center wavelengths for lower fire combustion response and less solar impact. In view of this, if the binary sensing assembly of fig. 7A is used for reliable detection, the fire response center wavelength of 4.3um can be used as the center wavelength of the binary sensing element, and 3.8um can be used as the reference band, i.e., the center wavelength of the other binary sensing element. When the ternary sensing assembly of fig. 7B is adopted, in addition to the above selection, the center wavelength of the third ternary sensing element can select a fire response characteristic wavelength of 2.8um or a reference wavelength of 5.0um, so that the system can determine whether the fire is a fire or not according to the spectral response of each point of the scene. The application of the technology solves the problem of high false alarm rate of the traditional thermal imaging system detection system, and also solves the problem of the satellite remote sensing system due to high sensitivity and real-time monitoring.

In actual operation, the characteristic response wave band of alkane gas is 3.3-3.4 um, and at this time, 3.05um can be used as a reference wave band. The characteristic response wave band of the benzene gas is 3.2-3.57 um, and the reference wave band can be 3.05um. In view of this, in the gas hazard source detection, the single element sensor may use a narrow-band or band-pass filter, and the other element sensor uses a reference band of 3.05um.

The 360 ° scene scan of the system is a result of the coordination of the horizontal rotation and the vertical rotation. Only part of the angles in the vertical remote sensing scan are valid, for example from an elevation angle of 15 ° and a depression angle of 60 °, and the effective angles of the front and back of the mirror are 37.5 ° according to the reflection principle, the system only performs effective data sampling for this 37.5 ° range, which is symmetrical to each other. Because the front and back surfaces can be scanned once by one revolution of the vertical reflecting mirror, one 360-degree scanning only needs to be rotated 180 degrees, and the calculation method of the horizontal and vertical transmission speeds is as follows:

assume a 360 scan cycle 200s, vertically scanning 3600 rows (or columns) within a 180 DEG scanning range, and rotating the vertical rotation motor by 3600 rotations at least within the 180 DEG scanning range, thereby calculating the rotating speed r of the vertical rotation motor _{Vertical direction} The method comprises the following steps:

r _{vertical direction} =3600 rpm 200 s=18 rpm s=1080 rpm;

speed r of rotation of horizontal rotation motor _{Horizontal level} The method comprises the following steps:

r _{horizontal level} 180 °/200 s=0.9 °/s=0.15 revolutions/minute;

assume a horizontal gear ratio of 25:1, the output rotation speed of the gear motor is 3.75 rpm, and the gear motor with the reduction ratio of 100 can be selected.

According to the rotating speed, the sampling frequency of high-speed sampling can be calculated:

assuming that the effective detection range is 37.5 degrees and the sampling is 1540 points, the method is equivalent to the steps that the sampling point number N=360/37.5×1540= 14784 points are needed for one vertical rotation, the vertical rotation speed is 1080 rotation/min, the rotation time is 0.055s, and the sampling period Ts=0.055/14784 =3.72 us.

According to the spectral response characteristics of the dangerous sources, different treatment methods are adopted for different dangerous sources, and the treatment method of the specific embodiment is as follows:

for large-scale fire early warning detection, the system calculation and judgment method is as follows:

R＝V _f /V _r r is V _f And V is equal to _r And when the ratio R is larger than a specific value, the fire alarm is carried out, and the specific value is equal to 2.0 or a specific ratio. Wherein V is _f Is the characteristic band infrared spectrum response value, V _r Is the infrared spectrum response value of the reference wave band;

fire judgment threshold V _{Fire (fire)} 128, 256, 384, 512, 640, 768, 896, 1024 … …;

the number of alarm points connected on the coordinates can be 1, 2, 4 and 8 points;

the three parameters (especially the last two parameters) actually determine the sensitivity of the system, and the smaller the value of V fire, the more alarm points are connected, and the higher the sensitivity is, wherein the fire with specific size can respond at a certain distance.

For the early warning detection of a large-scale gas dangerous source, the system calculation and judgment method comprises the following steps:

the calculation is based on Beer-Lambert Law, i.e. Lambert Law

I _t ＝I ₀ ·e ^{–E(λ)·C·L}

Wherein I is _t An infrared spectral response intensity detected in real time;

I ₀ an initial intensity for an infrared spectral response;

I ₀ in order to obtain the infrared spectrum response intensity before the occurrence of the dangerous source, the dangerous source detection device in the embodiment of the invention is a passive detection system, so that I ₀ Background learning acquisition is needed; e (lambda) is an exponential function related to lambda, depending on the chemical nature of the absorbing species (absorbing species refers to hazardous gases within a predetermined range);

lambda is the wavelength of the light beam;

c is the concentration of the chemical species (i.e., hazardous gas);

l is the length of the optical path (the length of the optical path is the thickness (or length) of the dangerous source gas on the dangerous source optical path).

From this, it is easy to deduce that the sensor element formulas of the characteristic absorption band and the reference band are as follows:

I _t,1 ＝I _0,1 ×e ^{–E(λ1)·C×L} ；

I _t,r ＝I _0,r ×e ^{–E(λr)·C×L} ；

I _t,1 is the characteristic band infrared spectrum response intensity, I _t,1 Is the infrared spectrum response intensity of the reference wave band; i _0,l Is that

Characteristic band infrared spectral response initial intensity, I _0,l The initial intensity of the infrared spectrum response of the reference wave band;

further, the concentration index was calculated as follows:

R _t ＝R ₀ ×e ^{-[E(λ1)-E(λr)·C×L]} ；

Wherein E (λl) is an exponential function related to the center wavelength of the characteristic band, E (λr) is a reference band

An exponential function related to the center wavelength of (a);

R _t r is the ratio of the real-time light intensity _t Equal to I _t,1 /I _t,r ；

R ₀ R is the ratio of background light intensity ₀ Equal to I _0,1 /I _0,r ；

In actual operation, when the product of C and L obtained by calculation is greater than lel×m (lel×m corresponds to the predetermined product threshold LEL as the explosion lower limit of the dangerous source gas, and m is the distance parameter), then the dangerous source gas alarm is sent out.

Fig. 8 is a schematic diagram of a detection flow using a unit sensor according to the present invention. As shown in fig. 8, after the system is powered up to complete the system status check, the spectrogram is circularly scanned according to the sequence of the reference band scan and the characteristic band scan. The program firstly scans the spectrogram of the reference wave band, controls the action of the optical filter switching mechanism, enables the reference wave band filter disc to rotate to the front of the sensor, enters the reference wave band spectrogram scanning program, and simultaneously reads horizontal and vertical angle information besides continuously sampling data. Meanwhile, the program is continuously applied to calculate and analyze the obtained reference and characteristic spectrogram signals, and once the dangerous source characteristics are met, numerical values are recorded, coordinate positions are determined, alarm decision analysis is performed, and information such as spectrograms, alarm signals, dangerous source parameters and the like is output.

Fig. 9 is a schematic diagram of a detection flow using a multi-sensor in accordance with the present invention. Different from the unit infrared sensing system, the switching of the reference and characteristic wave band filters is not needed, the multi-element sensing elements correspond to different center wavelengths, the system directly reads multi-element sensing spectrum information of each point, directly performs calculation and analysis, and records data, marks coordinates and makes decision and alarm for the characteristics conforming to dangerous sources. The process is continuously and circularly repeated.

The basic detection purposes can be achieved by the two system detection flows shown in fig. 8 and 9, but the optimal sensor assembly is a multi-element sensor assembly, because the influence factors such as air flow in a large-space environment are more, and the multi-element spectrum data of the same point at the same time have faster response capability.

The dangerous source detection method provided by the embodiment of the invention is applied to the dangerous source detection device, and comprises the following steps:

The camera shooting unit shoots a preset range and acquires visible image information and infrared image information of the preset range;

According to one embodiment, the predetermined wavelength band includes a characteristic wavelength band and a reference wavelength band;

the processor judges whether the Vf/Vr is greater than or equal to a preset ratio threshold value n, and sends out a fire alarm signal when the Vf/Vr is greater than or equal to the preset ratio threshold value n;

when the processor continuously sends out fire alarm signals within a preset judging time, the processor judges that a fire hazard source exists, and n is a positive number; the predetermined determination time is greater than or equal to the predetermined sampling time.

The predetermined determination time may be set according to the actual situation, for example, the predetermined determination time may be twice the predetermined sampling time or may be four times the predetermined sampling time.

In actual operation, n is a preset ratio threshold, and the value of n may be greater than or equal to 2 and less than or equal to 3.

According to another embodiment, the predetermined wavelength band includes a characteristic wavelength band and a reference wavelength band;

Specifically, when the hazard source detection device further comprises a controller, the reflection focusing device comprises a reflection unit and a focusing unit, the reflection unit comprises an infrared reflection plate, a horizontal rotating mechanism and a vertical rotating mechanism, the infrared reflection plate is respectively connected with the horizontal rotating mechanism and the vertical rotating mechanism, and the controller is respectively connected with the horizontal rotating mechanism and the vertical rotating mechanism,

the dangerous source detection method further comprises the following steps:

Specifically, when the image capturing unit includes a visible light camera and an infrared camera, and the hazard source detection device further includes a camera rotation mechanism, the hazard source detection method further includes:

The invention provides a large-range spectrum remote sensing dangerous source detection device and a method, wherein the device comprises the following steps: the reflection focusing device comprises an optical reflection focusing lens, an amplifying focusing lens and a control optical system, and a horizontal and vertical rotating mechanism for acquiring optical information of a 360-degree scene is used for completing panoramic remote sensing scanning of the optical system 360 so as to acquire multiband spectral information of each point in a covered scene, so that light of the point is projected onto a specific sensor; the sensing detection system is used for acquiring multiband spectral information of specific wavelength of each point in a 360-degree scene protection area, the reflecting unit rotates for 360-degree, the point-by-point remote sensing scanning is carried out, the infrared sensors in different wavebands sense to obtain corresponding spectral response values, the corresponding spectral response values are amplified and pre-processed and then enter the calculation chip, the occurrence or concentration of a dangerous source is calculated through calculation and analysis of characteristic waveband information of each point and reference waveband information or through calculation of different waveband information, once an alarm is generated, the early warning system outputs alarm information and mirror image projection plane coordinates of the alarm point through a network interface, and monitoring equipment such as an unmanned aerial vehicle or a camera is calculated and controlled by the rear-end monitoring system to fly to or point to the alarm point. The reflection focusing device is provided with a horizontal rotating mechanism and a vertical rotating mechanism, the vertical rotating mechanism drives the reflective mirror to rotate rapidly, light in a scene in the vertical direction is reflected into the optical hanging cabin, and the horizontal rotating mechanism drives the whole vertical reflecting mechanism to rotate horizontally, so that the purpose of 360-degree scanning is achieved. The rotation speeds of the horizontal mechanism and the vertical mechanism are matched with each other, and remote sensing scanning of scenes with the horizontal angle of 360 degrees and the vertical angle of 75 degrees (or other proper angles) can be completed in a fixed period. Infrared/visible double-view field monitoring camera The double-vision image can form continuous 360 in the processing circuit along with the horizontal rotation of the horizontal rotation mechanism to cover the optical market range of the remote sensing systemThe dangerous sources found in the view field of the scene graph are marked on the scene graph through different colors, so that people can observe and make decisions conveniently.

While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the present invention.

Claims

1. The dangerous source detecting device is characterized by comprising a reflection focusing device, an infrared sensor and a processor, wherein,

the processor is connected with the infrared sensor and is used for collecting the infrared spectrum information of the preset wave band, processing the infrared spectrum information of the preset wave band and judging whether a dangerous source exists in the preset range according to the processed infrared spectrum information of the preset wave band;

the reflecting unit comprises an infrared plane reflecting plate, a horizontal rotating mechanism and a vertical rotating mechanism;

the infrared plane reflecting plate is respectively connected with the horizontal rotating mechanism and the vertical rotating mechanism;

the horizontal rotating mechanism is used for driving the infrared plane reflecting plate to horizontally rotate, and the vertical rotating mechanism is used for driving the infrared plane reflecting plate to vertically rotate;

the infrared sensor is a refrigeration type infrared sensor;

the infrared sensor comprises a sensor element, at least two optical filters and an optical filter switching mechanism; each of the filters corresponds to a respective center wavelength band; the optical filter switching mechanism carries the at least two optical filters.

2. The hazard source detection device according to claim 1, further comprising:

3. The hazard source detection device according to claim 2, further comprising a controller;

the horizontal rotating mechanism is used for driving the infrared plane reflecting plate to horizontally rotate at a preset horizontal rotating speed according to the first horizontal rotating control signal, and the vertical rotating mechanism is used for driving the infrared plane reflecting plate to vertically rotate at a preset vertical speed according to the first vertical rotating control signal.

4. The hazard detection apparatus according to claim 3, wherein said image pickup unit includes a visible light camera and an infrared camera;

5. The hazard source detection device according to claim 2, wherein,

the reflection unit comprises an optical reflection frame, a first position sensor and a second position sensor; the vertical rotating mechanism comprises a vertical rotating motor, an inner frame and a vertical rotating shaft; the horizontal rotating mechanism comprises a horizontal rotating motor and a connecting assembly;

6. The hazard detection apparatus according to claim 5, wherein said image pickup unit includes a visible light camera and an infrared camera; the visible light camera and the infrared camera are respectively and fixedly connected to the upper side edge of the optical reflection frame;

7. The hazard detection apparatus of claim 6, wherein said reflective focuser further comprises an optical pod body, said focusing unit being disposed in said optical pod body;

8. The hazard detection apparatus of claim 7, wherein said reflective focuser further comprises a horizontal lens;

The horizontal lens is disposed over the opening of the optical pod body.

9. The hazard source detection apparatus according to any one of claims 1 to 2 or 5 to 8, further comprising a controller;

the controller is used for sending a switching control signal to the optical filter switching mechanism;

the optical filter switching mechanism is connected with the controller and is used for controlling the optical filter switching mechanism to control the corresponding optical filter to be placed above the sensor element according to a switching control signal from the controller.

10. The hazard source detection device according to any one of claims 5 to 8, wherein said processor comprises:

The dangerous source detection device also comprises a controller;

11. A hazard detection method applied to the hazard detection apparatus according to any one of claims 2 to 10, characterized in that the hazard detection method comprises:

the reflection focusing device reflects and focuses light rays in a preset range to a sensing element of the infrared sensor; the light rays comprise infrared light rays; the infrared sensor senses the light received by the sensing element of the infrared sensor to acquire infrared spectrum information of a preset wave band;

12. The hazard detection method according to claim 11, wherein said predetermined wavelength band includes a characteristic wavelength band and a reference wavelength band;

13. The hazard detection method according to claim 11, wherein said predetermined wavelength band includes a characteristic wavelength band and a reference wavelength band;

14. The hazard detection method according to any one of claims 11 to 13, wherein when said hazard detection apparatus further comprises a controller, said reflection focusing means comprises a reflection unit and a focusing unit, said reflection unit comprises an infrared plane reflection plate, a horizontal rotation mechanism and a vertical rotation mechanism, said infrared plane reflection plate is connected to said horizontal rotation mechanism and said vertical rotation mechanism, respectively, said controller is connected to said horizontal rotation mechanism and said vertical rotation mechanism, respectively,

The dangerous source detection method further comprises the following steps:

the controller sends a first horizontal rotation control signal to the horizontal rotation mechanism, and the horizontal rotation mechanism drives the infrared plane reflecting plate to horizontally rotate at a preset horizontal rotation speed according to the first horizontal rotation control signal;

the controller sends a first vertical rotation control signal to the vertical rotation mechanism, and the vertical rotation mechanism drives the infrared plane reflecting plate to vertically rotate at a preset vertical speed according to the first vertical rotation control signal.

15. The hazard detection method according to claim 14, wherein when said image pickup unit includes a visible light camera and an infrared camera, said hazard detection apparatus further includes a camera rotation mechanism, said hazard detection method further comprises: