CN109490899A - Fire source localization method in a kind of tunnel based on laser radar and infrared thermal imager - Google Patents
Fire source localization method in a kind of tunnel based on laser radar and infrared thermal imager Download PDFInfo
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- CN109490899A CN109490899A CN201811342187.8A CN201811342187A CN109490899A CN 109490899 A CN109490899 A CN 109490899A CN 201811342187 A CN201811342187 A CN 201811342187A CN 109490899 A CN109490899 A CN 109490899A
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000004807 localization Effects 0.000 title claims abstract description 13
- 238000001931 thermography Methods 0.000 claims abstract description 21
- 239000011159 matrix material Substances 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 5
- 238000003384 imaging method Methods 0.000 claims description 4
- 238000013519 translation Methods 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000012552 review Methods 0.000 claims description 2
- 238000009432 framing Methods 0.000 abstract description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
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- 229910052744 lithium Inorganic materials 0.000 description 2
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- 238000007792 addition Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/60—Rotation of whole images or parts thereof
- G06T3/604—Rotation of whole images or parts thereof using coordinate rotation digital computer [CORDIC] devices
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
- G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10032—Satellite or aerial image; Remote sensing
- G06T2207/10044—Radar image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10048—Infrared image
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- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
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Abstract
The invention discloses fire source localization methods in a kind of tunnel based on laser radar and infrared thermal imager, the intelligent vehicle device of the method application is realized, the intelligence vehicle device carries laser radar, thermal imaging camera and locating module, the described method includes: step 1, intelligent vehicle to be placed in tunnel portal middle position, start information acquisition program；Step 2, control intelligent vehicle advance, and inertial navigation module calculates the advance track of vehicle in real time；The three-dimensional information for each point that laser radar scanning obtains is corresponded under thermal imaging camera image coordinate system；The coordinate of the section scanned every time is transformed into actual coordinate using the return data of locating module by step 3, and image information is constant；Step 4, intelligent vehicle cover tunnel, obtain a large amount of point cloud information, and file is written in point cloud information, carry out the positioning of fiery point.Framing of the present invention is accurate, and scanning range is big, can obtain the coordinate of each three-dimensional point, and temperature information realizes the positioning of fire source.
Description
Technical field
The present invention relates to three-dimensional visialization of tunnel field more particularly to a kind of tunnels based on laser radar and infrared thermal imager
Fire source localization method in road.
Background technique
Laser radar is the radar system to emit the characteristic quantities such as the position of detecting laser beam target, speed.Its work is former
Reason be to objective emission detectable signal (laser beam), then by the reflected signal of slave target (target echo) received with
Transmitting signal is compared, after making proper treatment, so that it may obtain the range information of target.Thermal imaging camera can believe heat source
Number it is changed into electric signal, the point in three-dimensional space is stored in object picture in a two-dimensional manner, each of which pixel saves
Real-time temperature information.Each point in a three-dimensional space has the two-dimensional coordinate point on a corresponding image.In tunnel
When fire incident occurring in road, since dense smoke is big, vision signal will be unable to provide effective scene of fire information, it is therefore desirable to its
His means offer ignition point information enters in scene for fireman puts out a fire.
Summary of the invention
In order to solve shortcoming present in above-mentioned technology, the present invention provides one kind to be based on laser radar and infrared heat
Fire source localization method in the tunnel of imager.
In order to solve the above technical problems, the technical solution adopted by the present invention is that: one kind being based on laser radar and infrared heat
Fire source localization method in the tunnel of imager, the intelligent vehicle device of the method application realize that the intelligence vehicle device carries laser
Radar, thermal imaging camera and locating module, which comprises
Intelligent vehicle is placed in tunnel portal middle position by step 1, starts information acquisition program, information acquisition program is to work as
Vehicle in front position is as world coordinates origin；
Step 2, control intelligent vehicle advance, and inertial navigation module calculates the advance track of vehicle, while laser thunder in real time
It reaches, thermal imaging camera obtains the range information and thermal imaging photographed images information of section respectively；Laser radar scanning is obtained
Each point three-dimensional information (X, Y, Z) correspond under thermal imaging camera image coordinate system (U, V), and by this put temperature
Information T and image coordinate point information U, V are additional at that point；
The coordinate of the section scanned every time is transformed into actual coordinate, image using the return data of locating module by step 3
Information invariability.
Step 4, intelligent vehicle cover tunnel, obtain a large amount of point cloud information, and file is written in point cloud information, are back to upper
Machine, upper computer software carry out picture processing, carry out the positioning of fiery point.
Further, in the step 2, the three-dimensional information (X, Y, Z) for each point that laser radar scanning is obtained
Correspond to the method under thermal imaging camera image coordinate system (U, V) are as follows: according to the image-forming principle of video camera, in video camera imaging
In the process, three kinds of coordinates, world coordinate system (X, Y, Z), camera coordinates system (Xc, Yc, Zc), image coordinate system (U, V) are defined；It is logical
Laser radar is crossed, world coordinate system is obtained；The camera lens origin for defining video camera is world coordinate system, then world coordinate system and image
Coordinate system is overlapped, and the specific coordinate of camera coordinates system can be determined by the relative position of camera and radar, then completes camera
The conversion of coordinate system and image coordinate system.
Further, in the step 3, the coordinate of the section scanned every time is transformed into the method for actual coordinate are as follows: uses
The coordinate of the section scanned every time is converted to actual coordinate by the return data of inertial navigation, if being navigated to by inertial navigation small
Vehicle is (X relative to the coordinate of origin0, Y0, Z0), then it can find out, translation matrix T of the intelligent vehicle relative to coordinate origin, by used
Property navigation in gyro data can be with the attitude angle of computational intelligence vehicle, since whole system is considered as rigid body, can be with
Calculate the attitude angle of laser radar；Spin matrix R of the intelligent vehicle relative to origin is calculated, laser thunder can be calculated
Up to coordinate P ' of the point relative to origin of acquisition, if the coordinate relative to radar origin that laser radar obtains is P (Xw, Yw,
Zw), there is P '=RP+T.
Further, in the step 4, upper computer software carries out picture processing, and specially output is obtained comprising temperature information
3-D image, and the high point of temperature is chosen on 3-D image, it is positioned according to this coordinate pair fire point.
Further, the locating module is inertial navigation module, wifi locating module or label point locating module.
Further, a laser radar and two thermal imaging cameras, the laser thunder are provided on the intelligent vehicle
Up to being arranged in front of intelligent vehicle and protruding intelligent vehicle car body, two thermal imaging cameras are separately positioned on intelligent vehicle two sides；Intelligence
Embedded board is carried on vehicle, the embedded board connects thermal imaging camera by usb line, and the laser radar passes through interchanger
It is connected with embedded board.
The invention discloses fire source localization methods in a kind of tunnel based on laser radar and infrared thermal imager, using sharp
Optical radar and common law video camera realize the three-dimensional reconstruction in tunnel, and framing is accurate, and scanning range is big, can obtain each three
The coordinate of point is tieed up, temperature information realizes the positioning of fire source.
Detailed description of the invention
Fig. 1 is the connection schematic diagram of each module in intelligent vehicle in the present invention.
Fig. 2 is the flow chart of method of the invention.
Fig. 3 is the schematic diagram of world coordinate system, camera coordinate system and image coordinate system.
Specific embodiment
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Utility device includes: laser radar in the present invention, and thermal imaging camera two, embedded board one, inertial navigation
Module one, upper computer software, interchanger one, charged lithium cells one, intelligent vehicle one.
If Fig. 1 is shown, laser radar can be scanned perpendicular to (stepping within the scope of 270 degree of a face of direction of advance
0.25 degree) range information, thermal imaging camera can identify the temperature information of object.Intelligent vehicle is used for carrying equipment, electricity
Machine control mouth is connected to the GPIO mouth of embedded board, can be embedded into the control of formula plate；Lithium battery is placed in intelligent vehicle vehicle body, for setting
Available electricity, interchanger are placed on intelligent vehicle vehicle body, the communication for radar and embedded board；Embedded board is connected to by RJ45
Interchanger, two thermal imaging cameras are respectively placed in the two sides of intelligent vehicle, and are connected to embedded board with usb line；Laser thunder
Up to by RJ45 access switch, it is placed in vehicle front and suitably protrudes, it is ensured that its scanning range is not blocked by vehicle body；Inertia is led
Model plane block is connected to embedded board by RS232；Host computer is connected to embedded board by WIFI.
Three-dimensional measurement is carried out to tunnel using above-mentioned tool, as shown in Fig. 2, three-dimensional information measuring process is as follows:
Vehicle is placed in tunnel portal centered position by step 1., uses three-dimensional the believing of upper computer software starting embedded board
Capture program is ceased, program is using current vehicle location as coordinate origin.
Step 2. control intelligent vehicle is advanced with appropriate speed, and inertial navigation calculates the advance track of vehicle in real time, it is hot at
As camera and laser radar distinguish returned data to embedded board.Each scanning of radar obtains the distance letter an of section
The three-dimensional information (X, Y, Z) of each point of laser radar is corresponded to camera review coordinate system (U, V) by breath, embedded board
Under, by temperature information T and image coordinate point information U that this puts, V is additional at that point.This method is carried out below detailed
It introduces.
According to the image-forming principle of video camera, during video camera imaging, three kinds of coordinates, world coordinate system can be defined
(X, Y, Z), camera coordinates system (Xc, Yc, Zc), image coordinate system (U, V), the relationship of three kinds of coordinate systems are shown in Fig. 3.Pass through laser thunder
It reaches, our available world coordinate systems, for convenience's sake, the camera lens origin that we define video camera is world coordinate system,
Then world coordinate system is overlapped with image coordinate system, and the specific coordinate of the point under camera coordinates system can pass through the phase of camera and radar
Position is determined, the transition matrix of camera coordinates system and image coordinate system can pass through the CameraCalibrator module of Matlab
It finds out.As a result, each three-dimensional coordinate point within the scope of camera fields of view can be transformed on image to more deserved.
The coordinate for the section point that step 3. scans every time is the coordinate relative to radar, it is therefore desirable to use inertial navigation
The coordinate of the section scanned every time is converted to actual coordinate by return data, if navigating to trolley relative to original by inertial navigation
The coordinate of point is (X0, Y0, Z0), then it can find out, translation matrix T of the intelligent vehicle relative to coordinate origin, by inertial navigation
Gyro data, since whole system is considered as rigid body, can calculate laser with the attitude angle of computational intelligence vehicle
The attitude angle of radar further calculates out spin matrix R of the intelligent vehicle relative to origin, further, it is possible to calculate sharp
Coordinate P ' of the point that optical radar obtains relative to origin, if the coordinate relative to radar origin that laser radar obtains is P (Xw,
Yw, Zw), there is P '=RP+T.Quaternary number can also be used to carry out coordinate translation operation here.The figure of each point after coordinate points conversion
As Information invariability.A variety of coordinate setting modes may be used herein, inertial navigation is a kind of positioning method for being easier to realize,
It can be combined with wifi base station location, the mode of label point location obtains specific coordinate of the vehicle relative to starting point.
Step 4. intelligent vehicle covers tunnel, obtains a large amount of point cloud information, file is written in point cloud information, passback is set upper
Machine, upper computer software carry out picture processing, and output obtains 3-D image comprising temperature information.Fire fighter can be by high to temperature
Region is judged, the high point of temperature is chosen on 3-D image, and upper computer software shows the specific coordinate of the point, helps to disappear
Anti- member realizes the positioning of fire point.
Above embodiment is not limitation of the present invention, and the present invention is also not limited to the example above, this technology neck
The variations, modifications, additions or substitutions that the technical staff in domain is made within the scope of technical solution of the present invention, also belong to this hair
Bright protection scope.
Claims (6)
1. fire source localization method in a kind of tunnel based on laser radar and infrared thermal imager, it is characterised in that: the method
It is realized using intelligent vehicle device, the intelligence vehicle device carries laser radar, thermal imaging camera and locating module, the method
Include:
Intelligent vehicle is placed in tunnel portal middle position by step 1, starts information acquisition program, information acquisition program is to work as front truck
Position is as world coordinates origin；
Step 2, control intelligent vehicle advance, and inertial navigation module calculates the advance track of vehicle, while laser radar, heat in real time
Imaging camera machine obtains the range information and thermal imaging photographed images information of section respectively；Laser radar scanning is obtained each
The three-dimensional information (X, Y, Z) of a point corresponds under thermal imaging camera image coordinate system (U, V), and the temperature information T that this is put,
And image coordinate point information U, V are additional at that point；
The coordinate of the section scanned every time is transformed into actual coordinate, image information using the return data of locating module by step 3
It is constant；
Step 4, intelligent vehicle cover tunnel, obtain a large amount of point cloud information, and file is written in point cloud information, is back to host computer,
Upper computer software carries out picture processing, carries out the positioning of fiery point.
2. fire source localization method in the tunnel according to claim 1 based on laser radar and infrared thermal imager, special
Sign is: in the step 2, the three-dimensional information (X, Y, Z) for each point that laser radar scanning obtains being corresponded to thermal imaging
Method under camera review coordinate system (U, V) are as follows: according to the image-forming principle of video camera, during video camera imaging, definition
Three kinds of coordinates, world coordinate system (X, Y, Z), camera coordinates system (Xc, Yc, Zc), image coordinate system (U, V)；By laser radar,
Obtain world coordinate system；The camera lens origin for defining video camera is world coordinate system, then world coordinate system is overlapped with image coordinate system,
The specific coordinate of camera coordinates system can be determined by the relative position of camera and radar, then complete camera coordinates system and image
The conversion of coordinate system.
3. fire source localization method in the tunnel according to claim 1 based on laser radar and infrared thermal imager, special
Sign is: in the step 3, the coordinate of the section scanned every time is transformed into the method for actual coordinate are as follows: uses inertial navigation
The coordinate of the section scanned every time is converted to actual coordinate by return data, if navigating to trolley relative to original by inertial navigation
The coordinate of point is (X0, Y0, Z0), then it can find out, translation matrix T of the intelligent vehicle relative to coordinate origin, by inertial navigation
Gyro data, since whole system is considered as rigid body, can calculate laser with the attitude angle of computational intelligence vehicle
The attitude angle of radar；Spin matrix R of the intelligent vehicle relative to origin is calculated, the point of laser radar acquisition can be calculated
Relative to the coordinate P ' of origin, if the coordinate relative to radar origin that laser radar obtains is P (Xw, Yw, Zw), there is P '=RP+
T。
4. fire source localization method in the tunnel according to claim 1 based on laser radar and infrared thermal imager, special
Sign is: in the step 4, upper computer software carries out picture processing, and specially output obtains 3-D image comprising temperature information, and
The high point of temperature is chosen on 3-D image, is positioned according to this coordinate pair fire point.
5. fire source localization method in the tunnel according to claim 1 based on laser radar and infrared thermal imager, special
Sign is: the locating module is inertial navigation module, wifi locating module or label point locating module.
6. fire source localization method in the tunnel according to claim 5 based on laser radar and infrared thermal imager, special
Sign is: a laser radar and two thermal imaging cameras is provided on the intelligent vehicle, the laser radar is arranged in intelligence
Energy front side simultaneously protrudes intelligent vehicle car body, and two thermal imaging cameras are separately positioned on intelligent vehicle two sides；It is carried on intelligent vehicle embedding
Enter formula plate, the embedded board connects thermal imaging camera by usb line, and the laser radar passes through interchanger and embedded board
It is connected.
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Cited By (15)
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| CN110045636A (en) * | 2019-04-29 | 2019-07-23 | 北方工业大学 | Autonomous snow sweeping oriented sensing system and method |
| CN110568448A (en) * | 2019-07-29 | 2019-12-13 | 浙江大学 | Device and method for identifying accumulated slag at bottom of tunnel of hard rock tunnel boring machine |
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| CN111968221A (en) * | 2020-08-03 | 2020-11-20 | 广东中科瑞泰智能科技有限公司 | Dual-mode three-dimensional modeling method and device based on temperature field and live-action video stream |
| CN112556655A (en) * | 2020-12-09 | 2021-03-26 | 武汉云图互联科技股份有限公司 | Forestry fire prevention monocular positioning method and system |
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| CN112648973A (en) * | 2020-12-22 | 2021-04-13 | 重庆迪马工业有限责任公司 | Fire source identification and positioning device and method for fire-fighting robot |
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