CN109118702B - Fire detection method, device and equipment - Google Patents

Abstract

Embodiments of the present invention provide a fire detection method, device, and device. The method includes: obtaining a depth image and an infrared image through a TOF depth module; comparing the depth image with a preset reference depth image to obtain a first comparison result; comparing A second comparison result is obtained between the infrared image and the preset reference infrared image; whether there is a fire is determined according to the second comparison result and a plurality of consecutive first comparison results. By comparing the depth grayscale difference corresponding to the depth image with the infrared grayscale difference corresponding to the infrared image, it is finally determined whether a fire has occurred, and further, the location of the fire can be determined based on the image, and whether a fire has occurred can be quickly and accurately determined. , and can provide the accurate location information and corresponding image information of the fire for the staff.

Description

Fire detection method, device and equipment

technical field

The present invention relates to the technical field of image processing, and in particular, to a fire detection method, device and equipment.

Background technique

At present, fire monitoring and detection equipment is arranged in various public places, such as schools, shopping malls, etc. In order to find out the fire in the shortest time and call the police in time when a fire occurs.

In the prior art, a smoke detector is usually used for alarming, and the equipment cost of the alarming device is relatively low, and it is also the most widely used alarming device in public places at present. However, some fires may be directly burned by the fire. When the smoke detector detects smoke, the fire may have developed to a very serious level, and the fire cannot be detected in time. Existing infrared fire alarms, due to changes in indoor temperature and light, are prone to interfere with the detection results, and are prone to misjudgment, resulting in failure to detect fire in time.

Based on this, there is a need for a timely, accurate and simple solution for fire detection.

SUMMARY OF THE INVENTION

In view of this, embodiments of the present invention provide a fire detection method, device, and device, so as to improve the real-time performance and accuracy of indoor fire detection.

In a first aspect, an embodiment of the present invention provides a fire detection method, including:

Obtain depth image and infrared image through TOF depth module;

Comparing the depth image with a preset reference depth image to obtain a first comparison result;

Comparing the infrared image with the preset reference infrared image to obtain a second comparison result;

Whether there is a fire is determined according to the second comparison result and a plurality of consecutive first comparison results.

In a second aspect, an embodiment of the present invention provides a fire detection device, including:

The acquisition module is used to pass the depth image and infrared image of the TOF depth module;

a first comparison module, configured to compare the depth image with a preset reference depth image to obtain a first comparison result;

a second comparison module, configured to compare the infrared image with the preset reference infrared image to obtain a second comparison result;

A determination module, configured to determine whether there is a fire according to the second comparison result and a plurality of consecutive first comparison results.

In a third aspect, an embodiment of the present invention provides an electronic device, including: a memory and a processor; wherein,

The memory is used to store one or more computer instructions, wherein the one or more computer instructions, when executed by the processor, implement the fire detection method according to the first aspect.

In the fire detection method provided by the embodiment of the present invention, a depth image and an infrared image are simultaneously acquired through a TOF depth module. The acquired depth image and infrared image will be compared with the previously acquired reference depth image and reference infrared image respectively for gray value comparison. If the comparison result of the depth image and the comparison result of the infrared image are both possible fire, it is considered that a fire has occurred. It should be noted that, when performing gray value comparison, it is often necessary to divide an image into a plurality of sub-blocks, and perform comparison based on the average gray value in the sub-blocks. After confirming that a fire has occurred, notify the staff in time. By comparing the depth grayscale difference corresponding to the depth image with the infrared grayscale difference corresponding to the infrared image, it is finally determined whether a fire has occurred, and further, the location of the fire can be determined based on the image, and whether a fire has occurred can be quickly and accurately determined. , and can provide the accurate location information and corresponding image information of the fire for the staff.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative efforts.

1 is a flowchart of a fire detection method provided by an embodiment of the present invention;

2 is a schematic diagram of image division provided by an embodiment of the present invention;

3 is a schematic diagram of the relationship between a fire detection device and a spatial position according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a fire detection device according to an embodiment of the present invention.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms "a," "the," and "the" as used in the embodiments of the present invention and the appended claims are intended to include the plural forms as well, unless the context clearly dictates otherwise, "a plurality" Generally, at least two kinds are included, but the case of including at least one kind is not excluded.

It should be understood that the term "and/or" used in this document is only an association relationship to describe the associated objects, indicating that there may be three kinds of relationships, for example, A and/or B, which may indicate that A exists alone, and A and B exist at the same time. B, there are three cases of B alone. In addition, the character "/" in this document generally indicates that the related objects are an "or" relationship.

Depending on the context, the words "if", "if" as used herein may be interpreted as "at" or "when" or "in response to determining" or "in response to detecting". Similarly, the phrases "if determined" or "if detected (the stated condition or event)" can be interpreted as "when determined" or "in response to determining" or "when detected (the stated condition or event)," depending on the context )" or "in response to detection (a stated condition or event)".

It should also be noted that the terms "comprising", "comprising" or any other variation thereof are intended to encompass non-exclusive inclusion, such that a commodity or system comprising a list of elements includes not only those elements, but also includes not explicitly listed other elements, or elements inherent to the commodity or system. Without further limitation, an element defined by the phrase "comprising a..." does not preclude the presence of additional identical elements in the article or system that includes the element.

In addition, the sequence of steps in the following method embodiments is only an example, and is not strictly limited.

1 is a schematic flowchart of a fire detection method provided by an embodiment of the present invention, and the main steps of indoor fire detection include:

101: Obtain depth images and infrared images through the TOF depth module.

It is easy to understand that the TOF (Time of flight) depth module emits infrared light, and captures the depth image and infrared image in the same frame. In practical applications, when acquiring images through the TOF depth module, the images are acquired continuously according to the set frequency. When performing image comparison, two consecutive adjacent frames of images may be compared, or the current image may be compared with a previously pre-stored reference image.

102: Compare the depth image with a preset reference depth image to obtain a first comparison result.

The preset reference depth image mentioned here refers to the depth image of the previous frame of the currently acquired depth information image. During the comparison, it is necessary to compare the multiple current images collected in real time with the preset reference images of the previous frame respectively.

Specifically, the gray value of the depth image obtained in real time is compared with the preset reference depth image. Calculate the difference between the current depth image and the depth image of the previous frame (that is, the preset reference depth image), calculate the sum of the squares, and use it as the difference value, and calculate the sum of the difference values of consecutive frames.

If there is a large jump phenomenon (that is, the grayscale difference exceeds the first preset threshold) compared with the grayscale value of the preset reference depth image (respectively the previous frame depth image), the depth information value of a plurality of consecutive depth images Then it can be determined that the depth information value of the position has a large change up and down, showing an unstable state, then the sum of the difference values of consecutive multi-frame depth images is large, and exceeds the set depth difference threshold, it is considered that a fire may occur, otherwise, if A fire is considered undetected.

103: Compare the infrared image with the preset reference infrared image to obtain a second comparison result.

The preset reference infrared image mentioned here is to obtain the image under the condition of no fire through the TOF module after the fire detection equipment (including the infrared image acquisition module and the infrared image acquisition module) is installed in the designated position, as a pre- Set the reference infrared image. In order to make the obtained preset reference infrared images have a better reference function, usually multiple reference infrared images are collected, and pixel values of the multiple images are averaged.

Specifically, it is assumed that the resolution of the infrared image obtained by the infrared image module is 1280*720, and m reference infrared images are assumed to be obtained; further, according to the m images, the gray value corresponding to each pixel is sequentially calculated. Taking the calculation of the gray value of one of the pixel points as an example, assuming that the gray value of the (0,0) point is calculated, use the formula Average=1/m*∑vali(val: pixel value; i=1,2...n) . After obtaining the gray value of each pixel point, a preset reference infrared image can be obtained.

Further, the gray value of the infrared image obtained in real time is compared with the preset reference infrared image. It is easy to understand that there are two situations in the first comparison result mentioned here, one is that the gray value of the infrared image exceeds the gray value of the reference infrared image, in other words, a fire may be detected; the other is that the gray value of the infrared image does not exceed the gray value of the reference infrared image. With reference to the infrared image gray value, in other words, no fire is detected.

104: Determine whether there is a fire according to the second comparison result and a plurality of consecutive first comparison results.

In order to be able to more accurately determine whether or not it occurs, it is necessary to further determine whether the first comparison result is consistent with the second comparison result. Further, when judging based on the first comparison result, it is necessary to obtain multiple consecutive first comparison results. If there are multiple consecutive first comparison results that all exceed the first preset threshold, it is marked as a suspected fire. If there are multiple consecutive first comparison results that do not exceed the first preset threshold, no suspected fire marking is performed.

For example, when the first comparison result is that the depth information (gray value) of the depth image has a large fluctuation in numerical value (in other words, the first comparison result has checked the first preset threshold), it means that the first comparison result is that a fire is suspected to have occurred , if the gray value of the depth image is stable and similar to the gray value of the reference depth image, it means that there is no fire in the first comparison result; when the second comparison result is that the gray value corresponding to the infrared image exceeds the value corresponding to the preset reference infrared image When the grayscale value is set, it means that the second comparison result is suspected of fire, and if it is less than the second comparison result, it means that no fire has occurred in the second comparison result.

Further, only when the first comparison result is a suspected fire occurrence and the second comparison result is also a suspected fire occurrence, the final output result is that a fire is determined to have occurred. This can effectively improve the accuracy of fire detection.

In one or more embodiments of the present invention, the acquiring a depth image and an infrared image may specifically include: acquiring a depth image and an infrared image in real time based on the TOF depth module; wherein, the depth image and the infrared image Images are acquired at the same frame.

In order to ensure the reliability of the comparison results, during the detection process, the frequency of real-time acquisition of images can be acquired once per second, or the frequency of acquired images can be adjusted according to different time periods; for example, when people are present during the day, The collection frequency can be once a minute. If the staff is off work at night, the collection frequency can be adjusted to once a second.

In one or more embodiments of the present invention, the comparing the depth image with a preset reference depth image to obtain a first comparison result may specifically include: dividing the depth image to obtain a first depth block image; marking each depth block index number in the first depth block image; dividing the preset reference depth image to obtain a first reference depth block image; marking each depth block in the first reference depth block image index number; according to the depth segment index number, compare the blocks in the first depth segment image and the first reference depth segment image; and obtain a first comparison result.

It should be noted that when comparing the depth image with the preset reference depth image, it can be a one-to-one comparison. One-to-one comparison; it is also possible to compare multiple frames of depth images with preset reference depth images.

Specifically, for example, as shown in FIG. 2 , assuming that the resolution of the depth image and the preset reference depth image is 400*300, the two images may be divided into 4*3 total 12 blocks. Further, each division is marked with an index number, for example, in the order from left to right and top to bottom, it is marked as 1 to 12 in turn.

During the comparison, the grayscale values of the separate images corresponding to the same index number can be compared. For example, the gray value of the segmented image with index number 8 in the depth image acquired in real time is compared with the grayscale value of the segmented image with index number 8 in the preset reference depth image. It should be noted that, when comparing the grayscale values, each pixel point can be compared in turn. For simplicity, the grayscale mean value of each segmented image can also be obtained, and the mean value can be used for comparison.

In one or more embodiments of the present invention, according to the depth block index number, comparing the blocks in the first depth block image and the first reference depth block image, specifically It may include: obtaining the first grayscale mean value of the blocks corresponding to each of the depth block index numbers in the first depth block image; obtaining each of the depth block indexes in the first reference depth block image The first reference grayscale mean value of the block corresponding to the number; according to the depth block index number, sequentially compare the depth grayscale difference value between the first grayscale mean value and the corresponding first reference grayscale mean value . Based on this principle, the depth grayscale difference between the first depth image of consecutive multiple frames and the first reference depth image is calculated.

As shown in Figure 2, it is assumed that an image with a resolution of 400*300 is divided into 4*3 images. The resolution of each block is 100*100, and further, AVG=1/nΣvali (i=1-10000) can be used. Suppose, the first grayscale mean value corresponding to the depth image is AVG1, and the first reference grayscale mean value corresponding to the depth image of the previous frame (preset reference depth image) is AVG2, and then the difference between AVG1 and AVG2 is used to obtain the depth grayscale degree difference value AVG3; further calculate the depth gray difference value of the depth images of consecutive multiple frames;

In one or more embodiments of the present invention, the obtaining the first comparison result may specifically include: comparing with the sum of the depth grayscale difference values according to a first preset threshold; if the depth grayscale difference If the sum of the values is greater than the first preset threshold, the corresponding index number of the depth block is obtained, and the first comparison result is obtained.

Assuming that the first preset threshold is AVG4, after obtaining the depth grayscale difference value AVG3, AVG4 is compared with AVG3. Assuming that when a plurality of consecutive AVG3 is greater than AVG4, it is considered that a suspected fire has occurred, and further, it is necessary to obtain the corresponding index numbers separated by depth, and the first comparison result corresponds to the index numbers.

In one or more embodiments of the present invention, the comparing the infrared image with a preset reference infrared image to obtain a second comparison result may specifically include: dividing the infrared image to obtain a first infrared segmented image; Marking the index numbers of each infrared block in the first infrared block image; dividing the preset reference infrared image to obtain a first reference infrared block image; marking each infrared block in the first reference infrared block image index number; according to the infrared segment index number, compare the segments in the first infrared segment image and the first reference infrared segment image; and obtain a second comparison result.

For example, assuming that the resolution of the infrared image and the preset reference infrared image is 400*300, the two images can be divided into 4*3 and a total of 12 blocks. Further, each division is marked with an index number, for example, in the order from left to right and top to bottom, it is marked as 1 to 12 in turn.

During the comparison, the grayscale values of the separate images corresponding to the same index number can be compared. For example, the gray value of the segmented image with index number 10 in the infrared image acquired in real time is compared with the grayscale value of the segmented image with index number 10 in the preset reference infrared image. It should be noted that, when comparing the grayscale values, each pixel point can be compared in turn. For simplicity, the grayscale mean value of each segmented image can also be obtained, and the mean value can be used for comparison.

In one or more embodiments of the present invention, according to the infrared block index number, comparing the blocks in the first infrared block image and the first reference infrared block image, specifically The method may include: obtaining the first infrared grayscale mean value of the blocks corresponding to the index numbers of the infrared blocks in the first infrared block image; obtaining each of the infrared blocks in the first reference infrared block image The first reference infrared grayscale mean value of the block corresponding to the index number; according to the infrared block index number, compare the infrared grayscale value between the first infrared grayscale mean value and the corresponding first reference infrared grayscale mean value in turn. Grayscale difference.

Suppose an image with a resolution of 400*300 is divided into 4*3 images. The resolution of each block is 100*100, and further, AVG=1/nΣvali (i=1-10000) can be used. Suppose that the second grayscale mean value corresponding to the infrared image is AVG5, and the second reference grayscale mean value corresponding to the reference infrared image is AVG6.

In one or more embodiments of the present invention, obtaining the second comparison result may specifically include: comparing with the infrared grayscale difference according to a second preset threshold; if the infrared grayscale difference If it is greater than the second preset threshold, the corresponding infrared segment index number is obtained, and a second comparison result is obtained.

Assuming that the second preset threshold is AVG8, after obtaining the infrared grayscale difference value AVG7, AVG8 is compared with AVG7. The relationship between the infrared grayscale difference and the second preset threshold mentioned here can be manually set. In practical applications, since the difference is positive and negative, as a condition for judging a fire, it can be an infrared The grayscale difference is greater than the second preset threshold, or the infrared grayscale difference may be smaller than the second preset threshold. Assuming that when the infrared grayscale difference is greater than the second preset threshold, it is considered that a suspected fire has occurred, and further, the corresponding infrared separation index number needs to be obtained, and the second comparison result corresponds to the index number.

In one or more embodiments of the present invention, the determining whether there is a fire according to the second comparison result and a plurality of consecutive first comparison results may specifically include: if a plurality of consecutive first comparison results As a result, the second comparison result is that there is a fire, and the index number of the depth segment corresponds to the index number of the infrared segment, it is determined that there is a fire.

In order to improve the accuracy of the detection results, it is necessary to synthesize the first comparison result and the second comparison result. Only when multiple consecutive first comparison results are judged to be suspected to have occurred or, and the second comparison result is determined to be suspected of fire, It can be judged that a fire has occurred.

In one or more embodiments of the present invention, the method further includes: if it is determined that there is a fire, determining the spatial location of the fire according to the corresponding relationship between the preset spatial location and the depth image and/or the infrared image.

For example, as shown in FIG. 3 , it is assumed that the fire detection device 1 is installed in the A1 room, and the fire detection device 2 is installed in the A2 room. When the fire detection device 1 detects a fire, the fire detection device 1 will send the device number and the corresponding room number that detected the fire to the control device or the staff, so that the staff can quickly find the room where the fire occurred and put out the fire. Work.

Further, if the monitored space is relatively large, such as a large conference room or a large warehouse, it is also necessary to establish the relationship between each block and the actual space location. Assume that the block image with block number 1 corresponds to the door of the warehouse, and the block image with block number 2 corresponds to the file storage cabinet. When making an alarm, the block number can be sent to the staff together to achieve a more accurate alarm.

Based on the same idea, a fire detection device, as shown in Figure 4, includes:

The acquisition module 41 is used to acquire the depth image and the infrared image through the TOF depth module;

a first comparison module 42, configured to compare the depth image with a preset reference depth image to obtain a first comparison result;

The second comparison module 43 is configured to compare the infrared image with the preset reference infrared image to obtain a second comparison result;

A determination module 44, configured to determine whether there is a fire according to the second comparison result and a plurality of consecutive first comparison results.

Further, an acquisition module 41 is configured to acquire a depth image and an infrared image in real time based on the TOF depth module; wherein, the depth image and the infrared image are acquired in the same frame.

Further, the first comparison module 42 is used to divide the depth image to obtain a first depth block image;

Marking the index number of each depth block in the first depth block image;

dividing the preset reference depth image to obtain a first reference depth block image;

Marking the index number of each depth block in the first reference depth block image;

comparing the blocks in the first depth block image and the first reference depth block image according to the depth block index number;

Obtain the first comparison result.

Further, obtaining the first grayscale mean value of the blocks corresponding to each of the depth block index numbers in the first depth block image;

obtaining the first reference grayscale mean value of the sub-block corresponding to each of the depth sub-block index numbers in the first reference depth sub-block image;

According to the depth block index number, the depth grayscale difference between the first grayscale mean value and the corresponding first reference grayscale mean value is sequentially compared.

Further, comparing with the depth grayscale difference according to the first preset threshold;

If the depth grayscale difference value is greater than the first preset threshold, obtain the corresponding depth block index number, and obtain a first comparison result.

The second comparison module 43 divides the infrared image to obtain a first infrared segmented image;

marking the index number of each infrared block in the first infrared block image;

dividing the preset reference infrared image to obtain a first reference infrared segmented image;

marking the index number of each infrared block in the first reference infrared block image;

comparing the blocks in the first infrared block image and the first reference infrared block image according to the infrared block index number;

A second comparison result is obtained.

Further, obtaining the first infrared grayscale mean value of the segment corresponding to each of the infrared segment index numbers in the first infrared segment image;

obtaining the first reference infrared grayscale mean value of the blocks corresponding to each of the infrared block index numbers in the first reference infrared block image;

According to the infrared block index number, the infrared grayscale difference between the first infrared grayscale mean value and the corresponding first reference infrared grayscale mean value is sequentially compared.

Further, according to the second preset threshold, compare with the infrared grayscale difference;

If the infrared grayscale difference is greater than the second preset threshold, obtain the corresponding index number of the infrared block, and obtain a second comparison result.

Further, the determining module 44 is used to determine whether a fire has occurred. If a plurality of consecutive first comparison results and the second comparison results are all fires, and the depth subsection index number is the same as the infrared If the block index number corresponds, it is determined that there is a fire.

Further, if it is determined that there is a fire, the spatial position of the fire is determined according to the corresponding relationship between the preset spatial position and the depth image and/or the infrared image.

Based on the above embodiment, the depth image and the infrared image are simultaneously acquired through the depth module and the infrared module. The acquired depth image and infrared image will be compared with the previously acquired reference depth image and reference infrared image respectively for gray value comparison. If both the infrared grayscale difference and the grayscale difference satisfy the corresponding preset difference, it is considered that a fire has occurred. It should be noted that, when performing gray value comparison, it is often necessary to divide an image into a plurality of sub-blocks, and perform comparison based on the average gray value in the sub-blocks. After confirming that a fire has occurred, notify the staff in time. By comparing the depth grayscale difference corresponding to the depth image with the infrared grayscale difference corresponding to the infrared image, it is finally determined whether a fire has occurred, and further, the location of the fire can be determined based on the image, and whether a fire has occurred can be quickly and accurately determined. , and can provide the accurate location information and corresponding image information of the fire for the staff.

Based on the same idea, an embodiment of the present invention also provides an electronic device, including: a memory and a processor; wherein,

The memory is used to store one or more computer instructions, wherein when the one or more computer instructions are executed by the processor, the following methods are implemented:

Obtain depth image and infrared image through TOF depth module;

Comparing the depth image with a preset reference depth image to obtain a first comparison result;

Comparing the infrared image with the preset reference infrared image to obtain a second comparison result;

Whether there is a fire is determined according to the second comparison result and a plurality of consecutive first comparison results.

The device embodiments described above are only illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.

From the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by adding a necessary general hardware platform, and certainly can also be implemented by combining hardware and software. Based on this understanding, the above-mentioned technical solutions can be embodied in the form of computer products in essence or that contribute to the prior art. In the form of a computer program product embodied on a medium (including but not limited to disk storage, CD-ROM, optical storage, etc.).

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block in the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable coordinate determination device to produce a machine such that the instructions executed by the processor of the computer or other programmable coordinate determination device produce Means for implementing the functions specified in a flow or flow of a flowchart and/or a block or blocks of a block diagram.

The computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable coordinate determination apparatus to function in a particular manner, such that the instructions stored in the computer readable memory result in an article of manufacture comprising instruction means, the instructions The apparatus implements the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams.

These computer program instructions can also be loaded onto a computer or other programmable coordinate determination device, such that a series of operational steps are performed on the computer or other programmable device to produce a computer-implemented process such that a computer implemented on the computer or other programmable device The instructions provide steps for implementing the functions specified in the flow or blocks of the flowcharts and/or the block or blocks of the block diagrams.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

Memory may include non-persistent memory in computer readable media, random access memory (RAM) and/or non-volatile memory in the form of, for example, read only memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media includes both persistent and non-permanent, removable and non-removable media, and storage of information may be implemented by any method or technology. Information may be computer readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Flash Memory or other memory technology, Compact Disc Read Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media, such as modulated data signals and carrier waves.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be The technical solutions described in the foregoing embodiments are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (9)

1. A fire detection method is applied to a TOF depth module and comprises the following steps:

acquiring a depth image and an infrared image through a TOF depth module; wherein, the obtaining of the depth image and the infrared image comprises: acquiring a depth image and an infrared image in real time based on the TOF depth module; wherein the depth image and the infrared image are acquired in the same frame;

comparing the depth image with a preset reference depth image to obtain a first comparison result; wherein the comparing the depth image with a preset reference depth image to obtain a first comparison result comprises: dividing the depth image to obtain a first depth block image; marking the index number of each depth block in the first depth block image; dividing the preset reference depth image to obtain a first reference depth block image; marking the index number of each depth block in the first reference depth block image; comparing the blocks in the first depth block image and the first reference depth block image according to the depth block index number; obtaining a first comparison result;

comparing the infrared image with a preset reference infrared image to obtain a second comparison result;

determining whether a fire exists according to the second comparison result and a plurality of consecutive first comparison results; the method comprises the following steps: if a plurality of continuous first comparison results and second comparison results are both in the presence of fire, and the depth block index numbers correspond to the infrared block index numbers, determining that the fire exists; the infrared blocking index number is obtained by performing blocking division and marking on the basis of the infrared image.

2. The method of claim 1, wherein comparing the tiles in the first depth tile image and the first reference depth tile image according to the depth tile index number comprises:

obtaining a first gray average value of a block corresponding to each depth block index number in the first depth block image;

obtaining a first reference gray level mean value of a block corresponding to each depth block index number in the first reference depth block image;

and sequentially comparing the depth gray level difference value between the first gray level mean value and the corresponding first reference gray level mean value according to the depth block index number.

3. The method of claim 2, wherein obtaining the first comparison result comprises:

comparing the depth gray level difference value with a first preset threshold value;

and if the depth gray level difference value is greater than the first preset threshold value, acquiring the corresponding depth block index number to obtain a first comparison result.

4. The method according to claim 1, wherein said comparing said infrared image with a preset reference infrared image to obtain a second comparison result comprises:

dividing the infrared image to obtain a first infrared block image;

marking the index number of each infrared block in the first infrared block image;

dividing the preset reference infrared image to obtain a first reference infrared block image;

marking the index number of each infrared block in the first reference infrared block image;

comparing the blocks in the first infrared block image and the first reference infrared block image according to the infrared block index numbers;

a second comparison result is obtained.

5. The method of claim 4, wherein comparing the patches in the first infrared patch image and the first reference infrared patch image according to the infrared patch index numbers comprises:

obtaining a first infrared gray level mean value of a block corresponding to each infrared block index number in the first infrared block image;

obtaining a first reference infrared gray level mean value of a block corresponding to each infrared block index number in the first reference infrared block image;

and sequentially comparing the infrared gray level difference value between the first infrared gray level average value and the corresponding first reference infrared gray level average value according to the infrared blocking index number.

6. The method of claim 5, wherein obtaining the second comparison result comprises:

comparing the infrared gray level difference with a second preset threshold value;

and if the infrared gray difference value is greater than the second preset threshold value, acquiring the corresponding infrared block index number and acquiring a second comparison result.

7. The method of claim 1, further comprising:

and if the fire disaster exists, determining the space position of the fire disaster according to the corresponding relation between the preset space position and the depth image and/or the infrared image.

8. A fire detection device, comprising:

the acquisition module is used for acquiring a depth image and an infrared image; wherein, the obtaining of the depth image and the infrared image comprises: acquiring a depth image and an infrared image in real time based on a TOF depth module; wherein the depth image and the infrared image are acquired in the same frame;

the first comparison module is used for comparing the depth image with a preset reference depth image to obtain a first comparison result; wherein the comparing the depth image with a preset reference depth image to obtain a first comparison result comprises: dividing the depth image to obtain a first depth block image; marking the index number of each depth block in the first depth block image; dividing the preset reference depth image to obtain a first reference depth block image; marking the index number of each depth block in the first reference depth block image; comparing the blocks in the first depth block image and the first reference depth block image according to the depth block index number; obtaining a first comparison result;

the second comparison module is used for comparing the infrared image with a preset reference infrared image to obtain a second comparison result;

a determining module for determining whether a fire exists according to the second comparison result and a plurality of consecutive first comparison results; the method comprises the following steps: if a plurality of continuous first comparison results and second comparison results are both in the presence of fire, and the depth block index numbers correspond to the infrared block index numbers, determining that the fire exists; the infrared blocking index number is obtained by performing blocking division and marking on the basis of the infrared image.

9. An electronic device, comprising: a memory, a processor; wherein,

the memory is to store one or more computer instructions, wherein the one or more computer instructions, when executed by the processor, implement the fire detection method of any of claims 1 to 7.

Images