CN112530129A - Remaining fire detection system, method and storage medium - Google Patents

Remaining fire detection system, method and storage medium Download PDF

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Publication number
CN112530129A
CN112530129A CN202011277465.3A CN202011277465A CN112530129A CN 112530129 A CN112530129 A CN 112530129A CN 202011277465 A CN202011277465 A CN 202011277465A CN 112530129 A CN112530129 A CN 112530129A
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target area
image
smoke
detection
temperature
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CN112530129B (en
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李斌
吴天桂
华滨
华乐
来超良
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Zhejiang Huaxiao Technology Co ltd
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Zhejiang Huaxiao Technology Co ltd
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    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B17/00—Fire alarms; Alarms responsive to explosion
    • G08B17/12—Actuation by presence of radiation or particles, e.g. of infrared radiation or of ions
    • G08B17/125—Actuation by presence of radiation or particles, e.g. of infrared radiation or of ions by using a video camera to detect fire or smoke
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B17/00—Fire alarms; Alarms responsive to explosion
    • G08B17/08—Actuation involving the use of explosive means
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof

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  • Multimedia (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Fire-Detection Mechanisms (AREA)
  • Fire Alarms (AREA)

Abstract

The present application relates to an afterfire detection system, method and storage medium, wherein the afterfire detection system comprises: the device comprises a control device, a binocular camera, a launching device and a detection bomb, wherein the control device is electrically connected with the binocular camera and the launching device respectively; the binocular camera is used for acquiring an image of a target area; the control device is used for controlling the transmitting device to transmit the detection bomb into the target area and detecting the remaining fire in the target area according to the image of the target area; wherein, the detection bullet can release the smog that corresponds with this ambient temperature according to the ambient temperature that is located. Through the application, the problem that covered and smoldering remaining fire cannot be detected in the related art is solved, and the effect that covered and smoldering remaining fire can be detected is achieved.

Description

Remaining fire detection system, method and storage medium
Technical Field
The present application relates to the field of fire detection technology, and in particular, to a remaining fire detection system, method, and storage medium.
Background
The occurrence area of forest fires has strong burstiness and great harm. After a fire disaster occurs, the forest land surface and dead wood still can have residual fire, if the residual fire is not cleared away in time, secondary combustion is easily formed, and the fire disaster range is further expanded. According to statistics, most forest fires occur due to untimely or incomplete removal of the remaining fire. The detection and cleaning of forest fire and residual fire are large in workload and high in difficulty, and have certain threat to the personal safety of fire officers and soldiers.
One detection mode is that fire fighting officers and soldiers need to have experience for many years to make accurate judgment by manually identifying the remaining fire, otherwise, judgment is easy to make mistakes; in addition, the detection mode cannot intuitively obtain objective data such as the residual fire temperature, the distribution condition and the like, lacks judgment basis and cannot ensure the reliability of a judgment result.
Another detection mode is to detect the afterfire by a machine that can enter or approach hazardous environments such as fire scenes, etc., instead of fire officers recognizing the afterfire. The following will describe a related art of this detection mode:
(1) a method for monitoring forest fire and remaining fire in a heaven-earth-air integrated manner comprises the steps of using an unmanned aerial vehicle, a ground walking robot and a control center; the ground walking robot is provided with an infrared camera; the unmanned aerial vehicle is provided with a GPS receiver, an imaging spectrometer, a driving center and a programmable controller; the programmable controller is internally provided with terrain information and vegetation information; the GPS receiver transmits a positioning signal of the position of the unmanned aerial vehicle to the programmable controller, the programmable controller transmits the positioning signal, the terrain information and the vegetation information to the driving center, the unmanned aerial vehicle flies in the range of 5-20m above vegetation, the imaging spectrometer shoots hyperspectral images of the earth surface, and the hyperspectral images and the positioning information are transmitted to the control center; if the hyperspectral image displays an overtemperature area, the overtemperature area has vegetation and has a fire disaster before, the overtemperature area is an abnormal point; the control center controls the robot to conduct infrared shooting near the abnormal point, and the control center confirms whether the abnormal point is a forest fire spot or not according to the infrared image.
(2) A pedrail mixed type forest remaining fire cleaning robot comprises a robot body, wherein a sealing cover is arranged at the top end of the robot body, six robot arms are equally arranged around the edge of the robot body, mounting seats are arranged at the tail ends of the robot arms, a motor is arranged on each mounting seat, a plurality of rotor wings are arranged on each motor, and an infrared detection system and an infrared positioning system are arranged in the robot body; the infrared detection system comprises an infrared video search module, the infrared video search module is connected with a control center, and the control center is connected with an infrared camera; the infrared positioning system comprises an infrared detection module, an audio detection module and an electromagnetic wave detection module; the forest excess fire cleaning robot further comprises an excess fire cleaning device matched with the forest excess fire cleaning robot.
The disadvantages of the scheme (1) are as follows: the unmanned detection is possibly shielded by vegetation, and the smoldering remaining fire is difficult to detect; meanwhile, the unmanned aerial vehicle can only be used in open places, and if the unmanned aerial vehicle is used for low-altitude reconnaissance of vegetation close to the unmanned aerial vehicle, wireless signals of the unmanned aerial vehicle are easy to attenuate and are out of control; meanwhile, the size of the unmanned aerial vehicle can be greatly increased by carrying a spectrometer for detection, and the reconnaissance time is seriously shortened; meanwhile, the imaging spectrometer has extremely high data spectrum resolution, so that the data volume is huge and the storage, retrieval and analysis are difficult.
The disadvantages of scheme (2) are: the infrared detection system only detects the burning ashes on the surface of the vegetation, and can not detect the smoldering embers; and the feasibility of the audio detection fire-afterfire method in the three detection principles needs to be verified.
At present, no effective solution is provided for the problem that the covered and smoldering embers cannot be detected in the related art.
Disclosure of Invention
The embodiment of the application provides a residual fire detection system, a method and a storage medium, which are used for at least solving the problem that covered and smoldering residual fire cannot be detected in the related art.
In a first aspect, an embodiment of the present application provides an ember detection system, including: the device comprises a control device, a binocular camera, a launching device and a detection bomb, wherein the control device is electrically connected with the binocular camera and the launching device respectively; the binocular camera is used for acquiring an image of a target area; the control device is used for controlling the launching device to launch the detection bomb into the target area and carrying out fire residue detection on the target area according to the image of the target area; the detection bomb can release smoke corresponding to the ambient temperature according to the ambient temperature.
In some embodiments, the detection bomb comprises a shell, the shell is provided with at least one cavity, through holes communicated with the cavity are arranged on the shell, fillers used for blocking the through holes are arranged in each through hole, and each cavity contains smoke agents.
In some of these embodiments, different cavities contain different colors of smoke agents and the filler in the through-holes communicating with the different cavities have different melting points.
In some embodiments, the fillers in the through holes communicating with different cavities are respectively selected from one of the following: sodium thiosulfate, unsaturated polyester resin, lead; the smoke agents contained in the different cavities are respectively selected from the following mixtures: the face powder mainly comprises a mixture consisting of potassium chlorate, methyl blue, indigo blue and flour, a mixture consisting of potassium chlorate, lactose, antimony trisulfide, basic chrysanthemum orange and auramine, and a mixture consisting of potassium perchlorate, rose essence, antimony trisulfide and Arabic gum.
In some of these embodiments, the binocular camera includes a visible light camera for acquiring a visible light image of the target area and a thermal imaging camera for acquiring a thermal imaging image of the target area; the control device is used for detecting the embers in the target area according to the visible light image and/or the thermal imaging image of the target area.
In some of these embodiments, the system further comprises at least one of: the cooling device is connected with the control device and is used for cooling the area with the afterfire under the control of the control device; the alarm device is connected with the control device and is used for sending an alarm signal under the control of the control device; and the moving device is used for bearing the residual fire detection system body, is connected with the control device and is used for moving under the control of the control device.
In a second aspect, an embodiment of the present application provides an afterfire detection method, which is applied to the afterfire detection system according to the first aspect, and the method includes: acquiring a first image of a target area, and judging whether the first image comprises a smoke image; emitting a detection bomb to the target area under the condition that the first image does not include a smoke image, wherein the detection bomb can release smoke corresponding to the environment temperature according to the environment temperature; acquiring a second image of the target area; and carrying out fire detection on the target area according to the second image.
In some of these embodiments, performing the misfire detection for the target area from the second image comprises: judging whether the second image comprises a smoke image or not; and under the condition that the second image comprises the smoke image, determining the target area as a temperature abnormal area.
In some embodiments, in the case that it is determined that the second image includes a smoke image, the method further includes: determining a temperature range of the target area according to the smoke characteristics of the smoke image, wherein the smoke characteristics at least comprise color.
In some embodiments, before the detecting bomb is emitted to the target area in the case that it is determined that the first image does not include the smoke image, the method further includes: acquiring a third image of the target area, wherein the third image is a thermal imaging image; acquiring temperature data of the target area according to the third image; judging whether the temperature data meet preset conditions or not; and transmitting the detection bomb to the target area under the condition that the temperature data are judged not to accord with the preset conditions.
In some embodiments, the temperature data includes a temperature value collected by the target area at least according to a preset period, and the determining whether the temperature data meets a preset temperature condition includes: judging whether the temperature value of the target area in a preset period reaches a preset temperature threshold value or not; and under the condition that the temperature value of the target area in one preset period is judged to reach a preset temperature threshold value, judging whether the temperature change trend of the target area in a plurality of preset periods reaches a preset temperature change trend.
In some embodiments, in the case that the temperature data of the target area is determined to meet a preset condition, the method further includes: and determining the target area as a temperature abnormal area.
In some embodiments, in the case that it is determined that the first image includes a smoke image, the method further includes: and determining that the target area has the afterfire.
In some embodiments, in the case that it is determined that the first image includes a smoke image, the method further includes: determining the residual fire of the target area according to the smoke characteristics of the smoke image, wherein the smoke characteristics comprise at least one of the following: color and form.
In some of these embodiments, after performing the misfire detection for the target area from the second image, the method further comprises: and under the condition that the target area is detected to have the residual fire and/or is an abnormal temperature area, cooling the target area.
In some of these embodiments, after performing the misfire detection for the target area from the second image, the method further comprises: and sending out an alarm signal indicating that the target area has the afterfire and/or is an abnormal temperature area under the condition that the target area has the afterfire and/or is an abnormal temperature area.
In a third aspect, an embodiment of the present application provides a storage medium, in which a computer program is stored, wherein the computer program is configured to execute the misfire detection method according to the second aspect when running.
Compared with the related art, the backfire detection system, the method and the storage medium provided by the embodiment of the application comprise: the device comprises a control device, a binocular camera, a launching device and a detection bomb, wherein the control device is electrically connected with the binocular camera and the launching device respectively; the binocular camera is used for acquiring an image of a target area; the control device is used for controlling the transmitting device to transmit the detection bomb into the target area and detecting the remaining fire in the target area according to the image of the target area; wherein, the detection bullet can release the smog that corresponds with this ambient temperature according to the ambient temperature that is located. Through the application, the problem that covered and smoldering remaining fire cannot be detected in the related art is solved, and the effect that covered and smoldering remaining fire can be detected is achieved.
The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the application.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic block diagram of an ember detection system according to an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a detection bullet according to an embodiment of the present application;
FIG. 3 is a first schematic diagram of a detection bomb releasing smoke according to a preferred embodiment of the present application;
FIG. 4 is a second schematic diagram of a detector bullet releasing smoke in accordance with a preferred embodiment of the present application;
figure 5 is a third schematic view of a detector bullet releasing smoke according to a preferred embodiment of the present application;
figure 6 is a fourth schematic view of a detector bullet releasing smoke according to a preferred embodiment of the present application;
FIG. 7 is a flow chart of a misfire detection method according to an embodiment of the application;
FIG. 8 is a schematic illustration of a target area according to a preferred embodiment of the present application;
FIG. 9 is a schematic diagram of a thermal imaging method for detecting embers in accordance with a preferred embodiment of the present application;
FIG. 10 is a flow chart of a misfire detection method in accordance with a preferred embodiment of the present application;
fig. 11 is a block diagram of a hardware configuration of a terminal of the misfire detection method according to the embodiment of the present application.
Description of reference numerals:
101. a control device; 102. a binocular camera; 103. a transmitting device; 104. detecting a bullet; 105. a cooling device; 106. an alarm device; 107. a mobile device; 1041. a housing; 1042. a cavity; 1043. a through hole; 1044. a filler; 1045. a smoke agent; g1, a first cavity; g2, a second cavity; g3, a third cavity; g11, a first set of vias; g22, second set of vias; g33, a third set of vias; c1, blue smoke; c2, yellow smoke; c3, red smoke; 202. a processor; 204. a memory; 206. a transmission device; 208. and an input/output device.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of ordinary skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.
Unless defined otherwise, technical or scientific terms referred to herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar words throughout this application are not to be construed as limiting in number, and may refer to the singular or the plural. The present application is directed to the use of the terms "including," "comprising," "having," and any variations thereof, which are intended to cover non-exclusive inclusions; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or elements, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Reference to "connected," "coupled," and the like in this application is not intended to be limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Reference herein to "a plurality" means greater than or equal to two. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. Reference herein to the terms "first," "second," "third," and the like, are merely to distinguish similar objects and do not denote a particular ordering for the objects.
The present embodiment provides an ember detection system, fig. 1 is a schematic structural diagram of an ember detection system according to an embodiment of the present application, and as shown in fig. 1, the system includes: the device comprises a control device 101, a binocular camera 102, a transmitting device 103 and a detection bomb 104, wherein the control device 101 is electrically connected with the binocular camera 102 and the transmitting device 103 respectively; a binocular camera 102 for acquiring an image of a target area; the control device 101 is used for controlling the launching device 103 to launch the detection bomb 104 into the target area and detecting the remaining fire in the target area according to the image of the target area; the detection bomb 104 can release smoke corresponding to the ambient temperature according to the ambient temperature.
In the present embodiment, the control device 101 is installed inside the system body, such as in an electrical cabin, and the control device 101 is used for receiving, processing and transmitting control signals; the binocular camera 102 is arranged above a fixed base in the middle of the system body and used for observing and acquiring images around the system; the launching device 103 is arranged at the front part of the system body and is used for launching the detection bomb 104 to a target area; by the time the system begins to detect, the detector bomb 104 is placed in the launching device 103, ready to be launched into the target area.
In the terminal stage of forest fire suppression, a large amount of ashes and weeds are left after the ground surface loses flames, and covered and smoldering remaining fire cannot be detected by a manual detector and an infrared detector. For the situation, the control device 101 controls the emitting device 103 to emit the detection bomb 104 to the target area, if the target area has the hidden danger problem of remaining fire or high temperature, the detection bomb 104 can release smoke corresponding to the environment temperature according to the environment temperature, the binocular camera 102 obtains the image of the target area, and the control device 101 obtains the release situation of the smoke according to the image of the target area, so that the remaining fire detection is performed on the target area according to the release situation of the smoke.
Compared with the prior art, the embodiment has the advantages that the problem that infrared temperature measurement is difficult to penetrate through detection is solved according to the gas parameter indication released by the detection bomb by the mode of emitting the detection bomb to the target area, the remaining fire detection is completed on the premise of ensuring the safety distance between the detection bomb and a fire point, the re-burning of the forest remaining fire is reduced, and the efficiency of forest fire rescue is improved. Through this embodiment, the problem of unable detection covered, the ember of smoldering among the correlation technique has been solved, has realized the effect that can detect covered, the ember of smoldering.
An embodiment of detection of an ember in a target area based on the release of smoke will be described below.
In some embodiments, the release of smoke includes no smoke and smoke, in which case it may be determined that there is no backfire in the target area, and in which case it may be determined that there is backfire in the target area.
In some embodiments, the release of smoke includes a characteristic of the smoke, such as a color, and in the presence of smoke, the target area may be determined to have an afterfire, and further, the temperature range of the target area may be determined based on the color of the smoke.
In some embodiments, the smoke characteristics further include the form of the smoke, and in the presence of the smoke, the presence of an afterfire in the target area may be determined, and further, the fire of the afterfire may be determined based on the form of the smoke.
In some embodiments, the system further includes an accessory box for storing the test cartridges 104.
Fig. 2 is a schematic structural diagram of a detection bullet according to an embodiment of the application, and as shown in fig. 2, the detection bullet 104 includes a housing 1041, the housing 1041 is formed with at least one cavity 1042, a through hole 1043 is provided on the housing 1041 and is communicated with the cavity 1042, a filler 1044 for blocking the through hole 1043 is provided in each through hole 1043, and each cavity 1042 contains a smoke agent 1045.
In some embodiments, there may be more structures and components than those shown, for example, in some embodiments, there may be more cavities, through holes, fillers and smoke agents than those shown in fig. 2, wherein there may be one or more through holes corresponding to each cavity, and the embodiment is not limited.
In this embodiment, when the temperature of the ash in the target area is lower than the preset temperature threshold, the filler 1044 in the detection bomb 104 will not melt, the through hole 1043 will be blocked, and the smoke agent 1045 will not be released; when the ash temperature is not lower than the predetermined temperature threshold, at least one filler 1044 in the detection bomb 104 is melted, at least one through hole 1043 is opened, and at least one smoke agent 1045 is released. By acquiring an image of the target area, the smoke agent being released can be determined, and from the smoke image it can be determined whether there is an afterfire in the target area.
In some embodiments, different cavities 1042 hold different colors of smoke agents 1045, and the melting points of the fillers 1044 within the through holes 1043 communicating with different cavities 1042 are different.
In this embodiment, the filler 1044 with different melting points releases the corresponding smoke agent 1045 when the ambient temperature reaches the corresponding melting point, and the color of the smoke agent 1045 indicates the temperature range of the ambient temperature, so as to further determine the fire or the hidden danger degree of the target area.
Fig. 3-6 are schematic diagrams of a detection bomb releasing smoke according to a preferred embodiment of the application. As shown in fig. 3 to 6, the detection bomb 104 includes three cavities, which are a first cavity G1, a second cavity G2 and a third cavity G3, the first cavity G1 is communicated with the casing to form a first group of through holes G11, the second cavity G2 is communicated with the casing to form a second group of through holes G22, the third cavity G3 is communicated with the casing to form a third group of through holes G33, and the number of through holes in each group of through holes is not limited.
After the ember detection system launches the detection bomb to the target area, as shown in fig. 3, when the ash temperature of the target area is less than 50 ℃, the fillers in the three groups of through holes in the detection bomb are not melted, so that no smoke is released. As shown in fig. 4, when the ash temperature is 50 to 150 ℃, the other two groups of through holes do not melt, and the filler of the first group of through holes G11 melts, thereby releasing blue smoke C1 indicating that the temperature range of the current target area is 50 to 150 ℃. As shown in fig. 5, when the temperature of the ash is 150 to 330 ℃, the third group of through holes G33 is not melted, and the fillers of the first group of through holes G11 and the second group of through holes G22 are melted, thereby releasing blue smoke C1 and yellow smoke C2 for indicating the temperature range of the current target region as 150 to 330 ℃. As shown in fig. 6, when the temperature of the ash is above 330 ℃, the fillers of the first group of through holes G11, the second group of through holes G22 and the third group of through holes G33 are melted, and thus blue smoke C1, yellow smoke C2 and red smoke C3 are released, indicating that the temperature range of the current target area is not lower than 330 ℃.
Referring to fig. 2, in some embodiments, the fillers 1044 within the through holes 1043 in communication with the different cavities 1042 are respectively selected from one of: sodium thiosulfate, unsaturated polyester resin, lead; the smoking agents 1045 contained in the different cavities 1042 are respectively selected from a mixture of one of the following: the face powder mainly comprises a mixture consisting of potassium chlorate, methyl blue, indigo blue and flour, a mixture consisting of potassium chlorate, lactose, antimony trisulfide, basic chrysanthemum orange and auramine, and a mixture consisting of potassium perchlorate, rose essence, antimony trisulfide and Arabic gum.
Referring to fig. 3 to 6, in some preferred embodiments, the housing 1041 of the detection bomb 104 is made of a stainless steel material, the housing 1041 may be a hollow sphere, a trisection cavity is formed in the housing 1041, which is respectively a first cavity G1, a second cavity G2, and a third cavity G3, a first group of through holes G11 communicated with the first cavity G1, a second group of through holes G22 communicated with the second cavity G2, and a third group of through holes G33 communicated with the third cavity G3 are respectively disposed on an outer wall of the housing 1041, in this embodiment, the number of each group of through holes is not less than 2, so as to better release smoke.
The aperture of the first group of through holes G11 is filled with sodium thiosulfate, the aperture of the second group of through holes G22 is filled with unsaturated polyester resin, and the aperture of the third group of through holes G33 is filled with lead.
The first cavity G1 is filled with blue smoke agent, which comprises a mixture mainly composed of potassium chlorate, methyl blue, indigo and flour, wherein the ratio of j to k to l to m is 27-29%, the value range of k is 16-18%, the value range of l is 39-41%, and the value range of m is 14-16%, wherein j represents potassium chlorate, k represents methyl blue, l represents indigo, and m represents flour.
The second cavity G2 is filled with yellow smoke agent, which comprises a mixture mainly composed of potassium chlorate, lactose, antimony trisulfide, basic chrysanthemum orange and auramine, and the mixture comprises the following components in the proportion of e: f: G: h: i, wherein the value range of e is 20% -22%, the value range of f is 32% -34%, the value range of G is 16% -18%, the value range of h is 4% -6%, and the value range of i is 22% -24%, wherein e represents potassium chlorate, f represents lactose, G represents antimony trisulfide, and h represents basic chrysanthemum orange and i represents auramine.
The third cavity G3 contains red smoke agent, which comprises a mixture of potassium perchlorate, rose essence, antimony trisulfide and Arabic gum, the ratio of the components is a to b to c to d, the value range of a is 22-24%, the value range of b is 45-47%, the value range of c is 25-27%, and the value range of d is 3.6-5.6%, wherein a represents potassium perchlorate, b represents rose essence, c represents antimony trisulfide, and d represents Arabic gum.
In some embodiments, the binocular camera 102 includes a visible light camera for acquiring visible light images of the target area and a thermal imaging camera for acquiring thermal imaging images of the target area; the control device 101 is configured to perform an afterfire detection on the target area according to the visible light image and/or the thermal imaging image of the target area.
In the process of carrying out the remaining fire detection, firstly, the visible light detection function and the thermal imaging detection function of the binocular camera 102 are started, the visible light image and the thermal imaging image of the target area are respectively obtained, and the visible light image and the thermal imaging image are sent to the control device 101; the control device 101 determines the remaining fire based on the presence of smoke in the visible light image; if no obvious smoke exists, judging the remaining fire according to the existence of temperature abnormal points in the thermal imaging image; if no abnormal temperature point exists, the transmitting device 103 is controlled to transmit the detection bomb 104 to the target area, the visible light detection function of the binocular camera 102 is started again to obtain the visible light image of the target area, and the control device 101 judges the remaining fire according to the existence of smoke in the visible light image shot again.
The embodiment carries out double detection on the target area by means of the visible light image and the thermal imaging image, and can improve the accuracy of detection of the remaining fire.
Referring to fig. 1, in some preferred embodiments, the system further comprises means for at least one of: cooling device 105, alarm device 106, mobile device 107.
The temperature lowering device 105 is connected to the control device 101, and is used for performing temperature lowering processing on the region where the afterfire exists under the control of the control device 101. The cooling device 105 may be installed at both sides of the middle portion of the system body, and the cooling device 105 may include a self-spraying device for reducing the temperature of the system body when the temperature of the surface of the system body is too high.
The alarm device 106 is connected to the control device 101 and is used for sending out an alarm signal under the control of the control device 101. The alarm device 106 may be mounted at the rear of the system body, for example, an audible and visual alarm lamp may be used to give an alarm signal in case of emergency.
The moving device 107 is used for carrying the body of the residual fire detection system, and the moving device 107 is connected with the control device 101 and is used for moving under the control of the control device 101. For example, the moving device 107 may employ crawler wheels, which facilitate movement on hills and steep terrain.
With reference to the excessive fire detection system of the foregoing embodiment, this embodiment further provides an excessive fire detection method, which is applied to the excessive fire detection system of the foregoing embodiment, and fig. 7 is a flowchart of the excessive fire detection method according to the embodiment of the present application, as shown in fig. 7, the flowchart includes the following steps:
step S701, acquiring a first image of the target area, and determining whether the first image includes a smoke image.
The method comprises the steps that a first image is obtained through a camera, the first image comprises a visible light image, and whether smoke exists in a target area or not can be identified according to the visible light image. However, the visible light image can only shoot the surface state of the vegetation, but cannot shoot the bottom state of the vegetation, and when there is no smoke in the visible light image, it cannot represent that there is no remaining fire in the target area. In the related art, whether the remaining fire exists is judged only according to the existence of smoke in the visible light image, and the obtained result is not accurate enough. In order to solve the problem of low detection accuracy of the remaining fire in the related art, the present embodiment further performs the following steps.
Step S702, under the condition that the first image does not include the smoke image, emitting a detection bomb to the target area, wherein the detection bomb can release smoke corresponding to the environment temperature according to the environment temperature.
In the terminal stage of forest fire suppression, a large amount of ashes and weeds are left after the ground surface loses flames, and covered and smoldering remaining fire cannot be detected by a manual detector and an infrared detector. For the situation, under the condition that smoke cannot be detected, the detection bomb is launched to the target area, and if the target area has hidden danger problems of remaining fire or high temperature, the detection bomb can release smoke corresponding to the environment temperature according to the environment temperature.
Step S703, a second image of the target region is acquired.
A second image is again acquired by the camera, the second image comprising a visible light image.
And step S704, carrying out ember detection on the target area according to the second image.
And acquiring the release condition of the smoke according to the second image of the target area, so as to detect the remaining fire in the target area according to the release condition of the smoke. In some embodiments, the release of smoke includes no smoke and smoke, in which case it may be determined that there is no backfire in the target area, and in which case it may be determined that there is backfire in the target area. In some embodiments, the release of smoke includes a characteristic of the smoke, such as a color, and in the presence of smoke, the target area may be determined to have an afterfire, and further, the temperature range of the target area may be determined based on the color of the smoke. In some embodiments, the smoke characteristics further include the form of the smoke, and in the presence of the smoke, the presence of an afterfire in the target area may be determined, and further, the fire of the afterfire may be determined based on the form of the smoke.
Through the mode to the target area transmission detection bullet, according to the gaseous parameter instruction that detects bullet release, solved visible light or infrared temperature measurement and be difficult to pierce through the difficult problem that detects, under the prerequisite of guaranteeing with the ignition safety distance, accomplish the excess fire and detect, reduce the after combustion of forest excess fire, promoted the efficiency of forest fire rescue. Through this embodiment, the problem of unable detection covered, the ember of smoldering among the correlation technique has been solved, has realized the effect that can detect covered, the ember of smoldering.
In some embodiments, the detection of the misfire in the target area from the second image comprises the steps of:
judging whether the second image comprises a smoke image; and under the condition that the second image comprises the smoke image, determining the target area as the temperature abnormal area.
The second image is a visible light image, and the temperature abnormal region may be set to a region where there is an afterfire, or may be set to a region where there is no afterfire but there is still a safety hazard due to a high temperature. The release condition of the smoke can be realized by adjusting the component parts of the detection bomb. For example, the detector bullet may be arranged to release smoke only in the presence of a fire afterflame; alternatively, the detector bullet may be set so that there is no remaining fire, but it releases smoke if a certain set temperature threshold is reached. In any case, the temperature abnormality region can be detected by the detection bomb.
Further, in the case that it is determined that the second image includes a smoke image, the method further includes the steps of:
and determining the temperature range of the target area according to the smoke characteristics of the smoke image, wherein the smoke characteristics at least comprise color.
In this embodiment, the detection bomb includes smoke agents with different colors and fillers with different melting points, the fillers are used for sealing the smoke agents, when the fillers are melted, one or more of the sealed smoke agents will release smoke, and reference may be made to fig. 3 to 6. The colour of the smoke can indicate the temperature range, and by analysing the colour of the smoke, the temperature range of the target area can be determined, thereby further determining the fire of the remaining fire in the target area.
In some embodiments, before the detecting bomb is emitted to the target area in the case that the first image does not include the smoke image, the method further includes the following steps:
acquiring a third image of the target area, wherein the third image is a thermal imaging image; acquiring temperature data of the target area according to the third image; judging whether the temperature data meet preset conditions or not; and emitting the detection bomb to the target area under the condition that the temperature data are judged not to accord with the preset conditions.
In this embodiment, combine the visible light image and the thermal imaging image of target area, detect the ember, if these two kinds of detection methods can't detect the ember, then adopt the transmission to detect the bullet mode and detect, so set up, can realize the ember from the multidimension degree and detect, promote detection accuracy, can sparingly detect the bullet again, reduce detection cost.
In some embodiments, the temperature data includes a temperature value collected by the target area at least according to a preset period, and the determining whether the temperature data meets a preset temperature condition includes the following steps: judging whether the temperature value of the target area in a preset period reaches a preset temperature threshold value or not; and under the condition that the temperature value of the target area in one preset period is judged to reach the preset temperature threshold value, judging whether the temperature change trend of the target area in a plurality of preset periods reaches the preset temperature change trend.
A preferred embodiment for detecting an afterfire using thermal imaging will be described below.
Fig. 8 is a schematic view of a target area according to a preferred embodiment of the present application, and fig. 9 is a schematic view of detection of an afterfire using a thermal imaging method according to a preferred embodiment of the present application. As shown in fig. 8 to 9, in the preferred embodiment, a third image, that is, a thermal imaging image, of the target area in the current period is captured, where the resolution of the third image is axb, n ═ a × B sampling points are set on the image, a ranges from 10 to 15, B ranges from 8 to 12, the horizontal sampling interval of the sampling points is a1/a pixel points, and the vertical sampling interval is a2/B pixel points; setting a preset temperature threshold T, wherein for example T is the upper limit temperature of the normal environment, and T takes 35 ℃; comparing the temperature in the third image with T, determining abnormal points of which the temperature reaches a preset temperature threshold value T, and gathering the abnormal points into a region, namely a candidate region; enlarging the candidate area, reducing the sampling interval and increasing the sampling points; aiming at the candidate areas, carrying out multi-period temperature change analysis on each sampling point; monitoring 10 to 20s or 10 to 20 cycles to obtain the temperature change value Δ T of the candidate area, which is expressed by the following formula:
ΔT＝Ti+1-Ti
wherein, TiIndicating the current cycle sample temperature, Ti+1Indicating the sample temperature of the next cycle and deltat indicating the temperature difference between the different cycles.
In some embodiments, in the case that the temperature data of the target area is determined to meet the preset condition, the method further includes: and determining the target area as a temperature abnormal area.
In this embodiment, after the candidate region is determined, the calibration value of the temperature change value Δ T is set to δ, which ranges from 0.2 to 0.5 ℃. If the temperature variation value delta T is larger than the calibration value delta, the formula is as follows:
ΔT>δ
the candidate region (i.e., the target region) may be determined to be a temperature abnormality region. The temperature abnormality region may be set to a region where there is an afterfire, or may be set to a region where there is no afterfire but there is still a safety hazard.
In some embodiments, in the case where it is determined that the first image includes a smoke image, it is determined that there is an afterfire in the target area.
Further, under the condition that the first image comprises the smoke image, determining the residual fire behavior of the target area according to the smoke characteristics of the smoke image, wherein the smoke characteristics comprise at least one of the following: color and form.
For example, if there is significant smoke, the smoke color is analyzed as a function of fire, where white intermittent smoke is a weak fire, black plus white smoke is a normal fire, yellow dense smoke is a strong fire, and red dense smoke is a strong fire.
In some embodiments, after the detection of the backfire at the target region from the second image, the method further comprises: and under the condition that the target area has the residual fire and/or is an abnormal temperature area, cooling the target area.
For example, sprinklers are used to extinguish fires or to reduce vegetation temperatures to prevent fires from reoccurring.
In some embodiments, after the detection of the backfire at the target region from the second image, the method further comprises: and sending out an alarm signal indicating that the target area has the afterfire and/or is an abnormal temperature area under the condition that the target area has the afterfire and/or is an abnormal temperature area.
For example, an audible and visual alarm lamp is adopted to send out an alarm signal to prompt a fire fighter or other related personnel that an area with excessive fire or abnormal temperature exists; and an alarm signal can be sent to a remote fire control center in a wireless transmission mode to prompt that the fire or temperature abnormality exists in the current target area.
Fig. 10 is a flowchart of an afterfire detection method according to a preferred embodiment of the present application, in which a fire-fighting robot is an afterfire detection system, as shown in fig. 10, the flowchart includes the following steps:
and step S801, starting the fire-fighting investigation robot. And checking whether the communication, image and other functions are normal.
In step S802, the vehicle travels to the burning ash area. The fire-fighting detection robot can be driven to the ash burning area through the hand-held remote controller.
Step S803, the visible light detection function and the thermal imaging detection function are turned on. And carrying out ember detection on the target area.
Step S804, determining whether there is smoke. If yes, go to step S805, otherwise, go to step S806.
And step S805, analyzing the relation between the smoke color and the fire behavior. Wherein, the intermittent white smoke is weak fire, the black and white smoke is general fire, the dense yellow smoke is strong fire, and the dense red smoke is strong fire, and after the analysis is finished, the step S811 is executed.
And step S806, comparing and analyzing the temperature data. And acquiring multi-period image information through thermal imaging camera shooting, operating a multi-stage temperature rise analysis algorithm, and comparing and analyzing abnormal points of temperature data change.
In step S807, it is determined whether or not there is an abnormally increased temperature point. If there is an abnormally elevated temperature point, step S811 is performed, otherwise, step S808 is performed.
And step S808, emitting the detection bomb to the target area.
And step S809, judging whether the detection bomb releases smoke or not. If the detection bomb releases smoke, step S810 is executed, otherwise, step S812 is executed.
And step S810, analyzing the relation between the smoke color and the fire behavior. The temperature and the danger level under the burning ash can be judged according to whether the smoke exists or not and the color of the smoke, and the specific corresponding relationship between the color of the smoke and the temperature under the ash can be referred to the embodiment, and can also be referred to as follows: the smoke color is a first color representing that the temperature of the target area is below 50 ℃, the smoke color is a second color representing that the temperature of the target area is 50-100 ℃, and the smoke color is a third color representing that the temperature of the target area is above 100 ℃. Wherein the first color, the second color and the third color are different colors.
In step S811, the abnormal point is cooled by spraying water.
In step S812, the process moves to the next target area for detection.
The detection method for the remaining fire provided by the preferred embodiment at least comprises the following advantages:
(1) the forest fire-fighting reconnaissance robot and the remaining fire detection method of the preferred embodiment can acquire a multi-period fire scene image through the thermal imaging sensor, and judge whether an abnormal temperature rise position exists or not based on a temperature rise curve algorithm, so that the remaining fire position is eliminated or determined.
(2) According to the forest fire-fighting reconnaissance robot and the afterfire detection method thereof in the preferred embodiment, aiming at the afterfire points under burning ashes or the afterfire points hidden under weeds, the temperature information under non-visible terrains can be detected by launching the detection ball to the target detection position, and the judgment basis can be obtained through the generated smoke color information to assist in forest afterfire detection.
(3) The forest fire-fighting reconnaissance robot and the remaining fire detection method thereof in the preferred embodiment can monitor, position and effectively clean the remaining fire of the forest in real time, and the forest fire-fighting reconnaissance robot can adapt to the terrain of the forest according to local conditions, so that the actual use requirements are met.
The method provided by the embodiment can be executed in a terminal, a computer or a similar operation device. Taking the operation on the terminal as an example, fig. 11 is a hardware structure block diagram of the terminal of the misfire detection method in the embodiment of the present application. As shown in fig. 11, the terminal may include one or more processors 202 (only one is shown in fig. 11) (the processor 202 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 204 for storing data, and optionally may also include a transmission device 206 for communication functions and an input-output device 208. It will be understood by those skilled in the art that the structure shown in fig. 11 is only an illustration and is not intended to limit the structure of the terminal. For example, the terminal may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 11.
The memory 204 may be used for storing computer programs, for example, software programs and modules of application software, such as computer programs corresponding to the misfire detection method in the embodiment of the present application, and the processor 202 executes various functional applications and data processing by running the computer programs stored in the memory 204, so as to implement the method described above. Memory 204 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 204 may further include memory located remotely from the processor 202, which may be connected to the terminal over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 206 is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the terminal. In one example, the transmission device 206 includes a Network adapter (NIC) that can be connected to other Network devices through a base station to communicate with the internet. In one example, the transmission device 206 can be a Radio Frequency (RF) module, which is used to communicate with the internet in a wireless manner.
In addition, in combination with the detection method of the remaining fire in the above embodiments, the embodiments of the present application may be implemented by providing a storage medium. The storage medium having stored thereon a computer program; the computer program, when executed by a processor, implements any of the above-described methods of fireafter detection.
It should be understood by those skilled in the art that various features of the above-described embodiments can be combined in any combination, and for the sake of brevity, all possible combinations of features in the above-described embodiments are not described in detail, but rather, all combinations of features which are not inconsistent with each other should be construed as being within the scope of the present disclosure.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (17)

1. An ember detection system, the system comprising: the device comprises a control device, a binocular camera, a launching device and a detection bomb, wherein the control device is electrically connected with the binocular camera and the launching device respectively; the binocular camera is used for acquiring an image of a target area; the control device is used for controlling the launching device to launch the detection bomb into the target area and carrying out fire residue detection on the target area according to the image of the target area; the detection bomb can release smoke corresponding to the ambient temperature according to the ambient temperature.
2. The wildfire detection system as claimed in claim 1, wherein the cartridge includes a housing defining at least one cavity, the housing having a plurality of through holes formed therein in communication with the cavity, each through hole having a filler disposed therein for blocking the through hole, each cavity containing a smoke agent.
3. A misfire detection system as recited in claim 1 wherein different cavities contain different smoke agents of different colors and different melting points of the filler in the through holes communicating with different cavities.
4. The misfire detection system as recited in claim 2,
the fillers in the through holes communicated with different cavities are respectively selected from one of the following: sodium thiosulfate, unsaturated polyester resin, lead;
the smoke agents contained in the different cavities are respectively selected from the following mixtures: the face powder mainly comprises a mixture consisting of potassium chlorate, methyl blue, indigo blue and flour, a mixture consisting of potassium chlorate, lactose, antimony trisulfide, basic chrysanthemum orange and auramine, and a mixture consisting of potassium perchlorate, rose essence, antimony trisulfide and Arabic gum.
5. The firedamp detection system of claim 1, wherein said binocular camera comprises a visible light camera for acquiring visible light images of said target area and a thermal imaging camera for acquiring thermal imaging images of said target area; the control device is used for detecting the embers in the target area according to the visible light image and/or the thermal imaging image of the target area.
6. The misfire detection system as recited in claim 1, further comprising at least one of:
the cooling device is connected with the control device and is used for cooling the area with the afterfire under the control of the control device;
the alarm device is connected with the control device and is used for sending an alarm signal under the control of the control device;
and the moving device is used for bearing the residual fire detection system body, is connected with the control device and is used for moving under the control of the control device.
7. An afterfire detection method applied to the afterfire detection system according to claim 1, characterized in that the method comprises:
acquiring a first image of a target area, and judging whether the first image comprises a smoke image;
emitting a detection bomb to the target area under the condition that the first image does not include a smoke image, wherein the detection bomb can release smoke corresponding to the environment temperature according to the environment temperature;
acquiring a second image of the target area;
and carrying out fire detection on the target area according to the second image.
8. The backfire detection method as claimed in claim 7, wherein said detecting of said target area from said second image comprises:
judging whether the second image comprises a smoke image or not;
and under the condition that the second image comprises the smoke image, determining the target area as a temperature abnormal area.
9. The misfire detection method as recited in claim 8, wherein in a case where it is determined that the second image includes a smoke image, the method further comprises:
determining a temperature range of the target area according to the smoke characteristics of the smoke image, wherein the smoke characteristics at least comprise color.
10. The backfire detecting method as claimed in claim 7, wherein in a case where it is judged that the first image does not include the image of smoke, before emitting the detection bomb to said target area, said method further comprises:
acquiring a third image of the target area, wherein the third image is a thermal imaging image;
acquiring temperature data of the target area according to the third image;
judging whether the temperature data meet preset conditions or not;
and transmitting the detection bomb to the target area under the condition that the temperature data are judged not to accord with the preset conditions.
11. The method according to claim 10, wherein the temperature data includes a temperature value collected by the target area at least according to a preset period, and the determining whether the temperature data meets a preset temperature condition includes:
judging whether the temperature value of the target area in a preset period reaches a preset temperature threshold value or not;
and under the condition that the temperature value of the target area in one preset period is judged to reach a preset temperature threshold value, judging whether the temperature change trend of the target area in a plurality of preset periods reaches a preset temperature change trend.
12. The misfire detection method as recited in claim 10, wherein in a case where it is judged that the temperature data of the target area meets a preset condition, the method further comprises:
and determining the target area as a temperature abnormal area.
13. The misfire detection method as recited in claim 7, wherein in a case where it is determined that the first image includes a smoke image, the method further comprises:
and determining that the target area has the afterfire.
14. The misfire detection method as recited in claim 13, wherein in a case where it is determined that the first image includes a smoke image, the method further comprises:
determining the residual fire of the target area according to the smoke characteristics of the smoke image, wherein the smoke characteristics comprise at least one of the following: color and form.
15. The backfire detection method as claimed in claim 7, wherein after said target region is subjected to the detection of the backfire from said second image, said method further comprises:
and under the condition that the target area is detected to have the residual fire and/or is an abnormal temperature area, cooling the target area.
16. The backfire detection method as claimed in claim 7, wherein after said target region is subjected to the detection of the backfire from said second image, said method further comprises:
and sending out an alarm signal indicating that the target area has the afterfire and/or is an abnormal temperature area under the condition that the target area has the afterfire and/or is an abnormal temperature area.
17. A storage medium, in which a computer program is stored, wherein the computer program is arranged to perform the method of any one of claims 7 to 16 when executed.
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