CN112883052A - Forest fire monitoring and early warning fire point rapid positioning method and device and storage medium - Google Patents
Forest fire monitoring and early warning fire point rapid positioning method and device and storage medium Download PDFInfo
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Abstract
The invention relates to a method for quickly positioning a forest fire monitoring and early warning fire point, which can find the most adaptive sampling point by combining the fire condition finding function of fire-proof thermal imaging equipment and azimuth angle azimuth and pitch angle provided by the equipment, and combining large-granularity sampling and small-granularity sampling, and finally, the longitude and latitude of the most adaptive sampling point are taken as the fire point longitude and latitude, so that the fire point longitude and latitude can be quickly and accurately found. And when a fire occurs, relevant data information and fire point position information acquired by the fire-proof thermal imaging equipment are issued to corresponding patrolmen. The invention is suitable for the field of forestry fire prevention.
Description
Technical Field
The invention relates to the field of forestry safety, in particular to a method and a device for quickly positioning a forest fire monitoring and early warning fire point and a storage medium.
Background
Forest fire monitoring is a huge and arduous project, and is used for finding forest fires in time, realizing 'getting early, getting small and getting hit', reducing the loss of the forest fires, and enabling forest resources to be effectively protected, and the forest fire monitoring plays an important role in forest protection work. The traditional forest fire monitoring means mainly comprise observation towers and airplanes, the observation range and frequency are limited, the cost is high, and particularly, the forest fire monitoring means has more obvious effects in original forest regions with rare walks.
The situation of intelligent fire monitoring and sudden hidden danger handling in the current market is relatively mature, but the intelligent accurate positioning of the fire is weak.
Disclosure of Invention
The invention aims to at least solve one of the defects of the prior art and provides a method, a device and a storage medium for quickly positioning a forest fire monitoring and early warning fire point.
In order to achieve the purpose, the invention adopts the following technical scheme:
specifically, a method for quickly positioning a forest fire monitoring and early warning fire point is provided, which comprises the following steps:
step 110, continuously acquiring fire monitoring information of the fire-proof thermal imaging device, and controlling a video center point of the fire-proof thermal imaging device to align to a fire point position after the fire-proof thermal imaging device finds the fire;
step 120, forming a first ray according to the longitude and latitude Coord _ a of the position of the fire-proof thermal imaging equipment and the azimuth angle azimuth of the equipment at the moment;
step 130, sampling a point D on the first ray by taking the position of the fireproof thermal imaging device as a starting point and taking a first threshold value D1 horizontally distant from the starting point as a basisiI is 1-n, n is the total number of sampling points, DiA preset horizontal distance i x d1 from Coord _ a;
step 140, determining D according to the longitude and latitude Coord _ A, the azimuth angle azimuth and the horizontal distance i x D1iAnd according to elevation data DEM, the D is obtainediIs converted into the DiThe corresponding altitude hdHeigh;
step 150, according to the pitch angle of the equipment, pitch angle, altitude height, hbHeight, installation height, azHeight and DiThe corresponding altitude hdheight can calculate the sampling point DiThe calculated horizontal distance B from the fire-protected thermal imaging apparatus, specifically,
step 160, calculating a sampling point DiCalculated horizontal distances B and D from the deviceiA preset horizontal distance from the fire-protected thermal imaging apparatus is an absolute value | B-i d1| of a difference between i d 1;
step 170, obtaining a sampling point D corresponding to min (| B-i × D1|)j；
180, dividing the interval [ (j-1) d1, (j +1) d1]As a new sampling interval, the second threshold D2 is updated as a new sampling step, DiThe preset horizontal distance from Coord _ A is (j-1) d1+ d2 i, and the steps 130 to 170 are repeated to obtain the final min (| B- ([ j-1) d1+ d2 i)]|) corresponding sampling points DkWherein d2 < d 1;
190, according to the sampling point DkAnd correspondingly calculating the horizontal distance B, the longitude and latitude Coord _ A and the azimuth angle azimuth to obtain the final longitude and latitude of the fire point, and determining the position of the fire point.
Further, the first threshold d1 is specifically 100 meters.
Further, the second threshold d2 is specifically 10 meters.
Further, the method further comprises the step of sending the relevant data information and the fire point position information collected by the fire-proof thermal imaging equipment to the corresponding patroller after the fire point position is determined.
The invention also provides a forest fire monitoring and early warning fire point quick positioning device, which comprises,
the fire-proof thermal imaging device is preset at a fixed installation point, the altitude of the installation point is hbHeight, the installation height of the fire-proof thermal imaging device is azHeight, and the fire-proof thermal imaging device is used for determining an azimuth angle azimuth and a pitch angle pitchAngle between the fire-proof thermal imaging device and a fire point when the fire point is detected;
the fire monitoring module is used for continuously acquiring fire monitoring information of the fire-proof thermal imaging equipment, and controlling a video center point of the fire-proof thermal imaging equipment to align to the position of a fire point after the fire-proof thermal imaging equipment finds the fire point;
the fire point azimuth prediction module is used for forming a first ray according to the longitude and latitude Coord _ a of the position where the fire-proof thermal imaging equipment is located and the azimuth angle azimuth of the equipment at the moment;
a first sampling module, configured to sample a point D on the first ray based on a horizontal distance D1 from a starting point where the fireproof thermal imaging apparatus is located and a first threshold D1iI is 1-n, n is the total number of sampling points, DiA preset horizontal distance i x d1 from Coord _ a;
a first sampling point altitude determining module, configured to determine D according to longitude and latitude Coord _ a, azimuth angle azimuth, and horizontal distance i × D1iAnd according to elevation data DEM, the D is obtainediIs converted into the DiThe corresponding altitude hdHeigh;
a module for determining horizontal distance for calculating the pitch angle of the equipment, altitude hbHeight of the equipment, installation height azHeight of the equipment and the distance DiThe corresponding altitude hdheight can calculate the sampling point DiThe calculated horizontal distance B from the fire-protected thermal imaging apparatus, specifically,
an error calculation module for calculating a sampling point DiCalculated horizontal distances B and D from the deviceiA preset horizontal distance from the fire-protected thermal imaging apparatus is an absolute value | B-i d1| of a difference between i d 1;
a second sampling module for obtaining a sampling point D corresponding to min (| B-i × D1|)j；
A sampling point determination module for determining sampling points by intervals [ (j-1) d1, (j +1) d1]As a new sampling interval, the second threshold D2 is updated as a new sampling step, DiThe preset horizontal distance from Coord _ A is (j-1) d1+ d2 i, and the steps 130 to 170 are repeated to obtain the final min (| B- ([ j-1) d1+ d2 i)]|) corresponding sampling points DkWherein d2 < d 1;
a fire point position determining module for determining the fire point position according to the sampling point DkAnd correspondingly calculating the horizontal distance B, the longitude and latitude Coord _ A and the azimuth angle azimuth to obtain the final longitude and latitude of the fire point, and determining the position of the fire point.
Further, the first threshold d1 is specifically 100 meters.
Further, the second threshold d2 is specifically 10 meters.
The invention also proposes a computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 5 to 7.
The invention has the beneficial effects that:
the invention can find the most adaptive sampling point by combining the fire finding function of the fireproof thermal imaging equipment and the azimuth angle azimuth and the pitch angle pitch provided by the equipment with large-granularity sampling and small-granularity sampling, and finally, the longitude and the latitude of the most adaptive sampling point are taken as the fire longitude and the latitude, so that the fire longitude and the latitude are quickly and accurately found.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flow chart of the method for monitoring and early warning fire points and rapidly positioning fire points in forest fires.
Detailed Description
The conception, the specific structure and the technical effects of the present invention will be clearly and completely described in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the schemes and the effects of the present invention. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The same reference numbers will be used throughout the drawings to refer to the same or like parts.
Referring to fig. 1, in embodiment 1, the invention provides a method for quickly positioning a forest fire monitoring and early warning fire point, which includes the following steps:
step 110, continuously acquiring fire monitoring information of the fire-proof thermal imaging device, and controlling a video center point of the fire-proof thermal imaging device to align to a fire point position after the fire-proof thermal imaging device finds the fire;
step 120, forming a first ray according to the longitude and latitude Coord _ a of the position of the fire-proof thermal imaging equipment and the azimuth angle azimuth of the equipment at the moment;
step 130, sampling a point D on the first ray by taking the position of the fireproof thermal imaging device as a starting point and taking a first threshold value D1 horizontally distant from the starting point as a basisiI is 1-n, n is the total number of sampling points, DiA preset horizontal distance i x d1 from Coord _ a;
step 140, determining D according to the longitude and latitude Coord _ A, the azimuth angle azimuth and the horizontal distance i x D1iAnd according to elevation data DEM, the D is obtainediIs converted into the DiThe corresponding altitude hdHeigh;
step 150, according to the pitch angle of the equipment, pitch angle, altitude height, hbHeight, installation height, azHeight and DiThe corresponding altitude hdheight can calculate the sampling point DiThe calculated horizontal distance B from the fire-protected thermal imaging apparatus, specifically,
step 160, calculating a sampling point DiCalculated horizontal distances B and D from the deviceiA preset horizontal distance from the fire-protected thermal imaging apparatus is an absolute value | B-i d1| of a difference between i d 1;
step 170, obtaining a sampling point D corresponding to min (| B-i × D1|)j；
Step (ii) of180. In the interval [ (j-1) d1, (j +1) d1]As a new sampling interval, the second threshold D2 is updated as a new sampling step, DiThe preset horizontal distance from Coord _ A is (j-1) d1+ d2 i, and the steps 130 to 170 are repeated to obtain the final min (| B- ([ j-1) d1+ d2 i)]|) corresponding sampling points DkWherein d2 < d 1;
190, according to the sampling point DkAnd correspondingly calculating the horizontal distance B, the longitude and latitude Coord _ A and the azimuth angle azimuth to obtain the final longitude and latitude of the fire point, and determining the position of the fire point.
In this embodiment 1, the most suitable sampling point can be found by combining the fire finding function of the fire-proof thermal imaging device and the azimuth angle azimuth and the pitch angle pitchAngle provided by the device, and combining large-granularity sampling and small-granularity sampling, and finally, the longitude and latitude of the most suitable sampling point are taken as the fire longitude and latitude, so that the fire longitude and latitude can be quickly and accurately found.
As a preferred embodiment of the present invention, the first threshold value d1 is specifically 100 meters.
In the preferred embodiment, it is reasonable to set the first threshold d1 to 100 meters in conjunction with the coverage of fire-proof thermography.
As a preferred embodiment of the present invention, the second threshold value d2 is 10 meters.
In the present preferred embodiment, the second threshold d2 is set to 10 meters in consideration of the division of the accuracy of sampling.
As a preferred embodiment of the present invention, the method further includes, after determining the fire point position, sending the relevant data information and the fire point position information collected by the fire prevention thermal imaging device to a corresponding caregiver.
Embodiment 2, the present invention further provides a device for monitoring and early warning of forest fire for fast positioning fire points, comprising,
the fire-proof thermal imaging device is preset at a fixed installation point, the altitude of the installation point is hbHeight, the installation height of the fire-proof thermal imaging device is azHeight, and the fire-proof thermal imaging device is used for determining an azimuth angle azimuth and a pitch angle pitchAngle between the fire-proof thermal imaging device and a fire point when the fire point is detected;
the fire monitoring module is used for continuously acquiring fire monitoring information of the fire-proof thermal imaging equipment, and controlling a video center point of the fire-proof thermal imaging equipment to align to the position of a fire point after the fire-proof thermal imaging equipment finds the fire point;
the fire point azimuth prediction module is used for forming a first ray according to the longitude and latitude Coord _ a of the position where the fire-proof thermal imaging equipment is located and the azimuth angle azimuth of the equipment at the moment;
a first sampling module, configured to sample a point D on the first ray based on a horizontal distance D1 from a starting point where the fireproof thermal imaging apparatus is located and a first threshold D1iI is 1-n, n is the total number of sampling points, DiA preset horizontal distance i x d1 from Coord _ a;
a first sampling point altitude determining module, configured to determine D according to longitude and latitude Coord _ a, azimuth angle azimuth, and horizontal distance i × D1iAnd according to elevation data DEM, the D is obtainediIs converted into the DiThe corresponding altitude hdHeigh;
a module for determining horizontal distance for calculating the pitch angle of the equipment, altitude hbHeight of the equipment, installation height azHeight of the equipment and the distance DiThe corresponding altitude hdheight can calculate the sampling point DiThe calculated horizontal distance B from the fire-protected thermal imaging apparatus, specifically,
an error calculation module for calculating a sampling point DiCalculated horizontal distances B and D from the deviceiA preset horizontal distance from the fire-protected thermal imaging apparatus is an absolute value | B-i d1| of a difference between i d 1;
a second sampling module for obtaining a sampling point D corresponding to min (| B-i × D1|)j；
A sampling point determination module for determining a sampling point by dividing the sampling point by an interval [ (j-1) × d1,(j+1)*d1]as a new sampling interval, the second threshold D2 is updated as a new sampling step, DiThe preset horizontal distance from Coord _ A is (j-1) d1+ d2 i, and the steps 130 to 170 are repeated to obtain the final min (| B- ([ j-1) d1+ d2 i)]|) corresponding sampling points DkWherein d2 < d 1;
a fire point position determining module for determining the fire point position according to the sampling point DkAnd correspondingly calculating the horizontal distance B, the longitude and latitude Coord _ A and the azimuth angle azimuth to obtain the final longitude and latitude of the fire point, and determining the position of the fire point.
Particularly, in the working process of the utility model,
after the fire-proof thermal imaging device finds a fire point, the lens quickly focuses, the central point of the video aligns to the position of the fire point, a ray can be obtained by the installation longitude and latitude Coord _ a of the thermal imaging device and the azimuth angle azimuth of the device, and the longitude and latitude position of the fire point is on the ray.
Taking fire-proof thermal imaging equipment Coord _ a as a starting point, and performing large-granularity sampling calculation, namely calculating a coordinate point every 100 meters. The coordinate points can be calculated by the longitude and latitude Coord _ a + azimuth angle azimuth + distance (N × 100 m), and then the corresponding altitude hdHeight is calculated for each coordinate point through the elevation data DEM. The distance between the equipment and the fire point is a right-angle side B of the right-angled triangle, the pitch angle pitchAngle when the video center point is aligned with the fire point, the equipment altitude hbHeight + the equipment installation height azHeight-the sampling coordinate point altitude hdHeight is obtained, the other right-angle side A of the right-angled triangle is obtained, the A is divided by tan (pitchAngle) to obtain the calculated distance B of the sampling coordinate point, and the comparison error of the calculated distance B and the sampling distance (N100 meters) is obtained.
And repeatedly calculating all large-granularity sampling coordinate points to obtain the position of a sampling coordinate point with the minimum calculation error value, taking a coordinate point position before and after the sampling coordinate point as an interval range, carrying out small-granularity sampling calculation, namely taking a coordinate point every 10 meters, and repeating the process of large-granularity sampling calculation. And finally, obtaining a calculated distance B with the minimum error value, and obtaining the calculated fire point longitude and latitude by the equipment longitude and latitude Coord _ A + the azimuth angle azimuth + the distance B.
As a preferred embodiment of the present invention, the first threshold value d1 is specifically 100 meters.
In the preferred embodiment, it is reasonable to set the first threshold d1 to 100 meters in conjunction with the coverage of fire-proof thermography.
As a preferred embodiment of the present invention, the second threshold value d2 is 10 meters.
In the present preferred embodiment, the second threshold d2 is set to 10 meters in consideration of the division of the accuracy of sampling.
The invention also proposes a computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 5 to 7.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
In addition, functional modules in the embodiments of the present invention may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium and can implement the steps of the above-described method embodiments when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
While the present invention has been described in considerable detail and with particular reference to a few illustrative embodiments thereof, it is not intended to be limited to any such details or embodiments or any particular embodiments, but it is to be construed as effectively covering the intended scope of the invention by providing a broad, potential interpretation of such claims in view of the prior art with reference to the appended claims. Furthermore, the foregoing describes the invention in terms of embodiments foreseen by the inventor for which an enabling description was available, notwithstanding that insubstantial modifications of the invention, not presently foreseen, may nonetheless represent equivalent modifications thereto.
The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiment, and the present invention shall fall within the protection scope of the present invention as long as the technical effects of the present invention are achieved by the same means. The invention is capable of other modifications and variations in its technical solution and/or its implementation, within the scope of protection of the invention.
Claims (8)
1. A method for quickly positioning forest fire monitoring and early warning fire points is characterized by comprising the following steps:
step 110, continuously acquiring fire monitoring information of the fire-proof thermal imaging device, and controlling a video center point of the fire-proof thermal imaging device to align to a fire point position after the fire-proof thermal imaging device finds the fire;
step 120, forming a first ray according to the longitude and latitude Coord _ a of the position of the fire-proof thermal imaging equipment and the azimuth angle azimuth of the equipment at the moment;
step 130, sampling a point D on the first ray by taking the position of the fireproof thermal imaging device as a starting point and taking a first threshold value D1 horizontally distant from the starting point as a basisiI is 1-n, n is the total number of sampling points, DiA preset horizontal distance i x d1 from Coord _ a;
step 140, determining D according to the longitude and latitude Coord _ A, the azimuth angle azimuth and the horizontal distance i x D1iAnd according to elevation data DEM, the D is obtainediIs converted into the DiThe corresponding altitude hdHeigh;
step 150, according to the pitch angle of the equipment, pitch angle, altitude height, hbHeight, installation height, azHeight and DiThe corresponding altitude hdheight can calculate the sampling point DiThe calculated horizontal distance B from the fire-protected thermal imaging apparatus, specifically,
step 160, calculating a sampling point DiCalculated horizontal distances B and D from the deviceiA preset horizontal distance from the fire-protected thermal imaging apparatus is an absolute value | B-i d1| of a difference between i d 1;
step 170, obtaining a sampling point D corresponding to min (| B-i × D1|)j；
180, dividing the interval [ (j-1) d1, (j +1) d1]As a new sampling interval, the second threshold D2 is updated as a new sampling step, DiThe preset horizontal distance from Coord _ A is (j-1) d1+ d2 i, and the steps 130 to 170 are repeated to obtain the final min (| B- ([ j-1) d1+ d2 i)]) Corresponding sampling point DkWherein d2 < d 1;
190, according to the sampling point DkCorresponding horizontal distance B, longitude and latitudeAnd obtaining the final longitude and latitude of the fire point by the Coord _ A and the azimuth angle azimuth, and determining the position of the fire point.
2. The forest fire monitoring and early warning fire point rapid positioning method as claimed in claim 1, wherein the first threshold d1 is specifically 100 meters.
3. The forest fire monitoring and early warning fire point rapid positioning method as claimed in claim 1, wherein the second threshold d2 is 10 meters.
4. The method for rapidly positioning the fire monitoring and early warning fire point according to claim 1, further comprising the step of sending the relevant data information collected by the fire-prevention thermal imaging device and the fire point position information to a corresponding patrol guard after the fire point position is determined.
5. The device for monitoring and early warning fire points and quickly positioning forest fire is characterized by comprising,
the fire-proof thermal imaging device is preset at a fixed installation point, the altitude of the installation point is hbHeight, the installation height of the fire-proof thermal imaging device is azHeight, and the fire-proof thermal imaging device is used for determining an azimuth angle azimuth and a pitch angle pitchAngle between the fire-proof thermal imaging device and a fire point when the fire point is detected;
the fire monitoring module is used for continuously acquiring fire monitoring information of the fire-proof thermal imaging equipment, and controlling a video center point of the fire-proof thermal imaging equipment to align to the position of a fire point after the fire-proof thermal imaging equipment finds the fire point;
the fire point azimuth prediction module is used for forming a first ray according to the longitude and latitude Coord _ a of the position where the fire-proof thermal imaging equipment is located and the azimuth angle azimuth of the equipment at the moment;
a first sampling module, configured to sample a point D on the first ray based on a horizontal distance D1 from a starting point where the fireproof thermal imaging apparatus is located and a first threshold D1iI is 1-n, n is the total number of sampling points, DiPre-match with Coord _ ASetting the horizontal distance to i x d 1;
a first sampling point altitude determining module, configured to determine D according to longitude and latitude Coord _ a, azimuth angle azimuth, and horizontal distance i × D1iAnd according to elevation data DEM, the D is obtainediIs converted into the DiThe corresponding altitude hdHeigh;
a module for determining horizontal distance for calculating the pitch angle of the equipment, altitude hbHeight of the equipment, installation height azHeight of the equipment and the distance DiThe corresponding altitude hdheight can calculate the sampling point DiThe calculated horizontal distance B from the fire-protected thermal imaging apparatus, specifically,
an error calculation module for calculating a sampling point DiCalculated horizontal distances B and D from the deviceiA preset horizontal distance from the fire-protected thermal imaging apparatus is an absolute value | B-i d1| of a difference between i d 1;
a second sampling module for obtaining a sampling point D corresponding to min (| B-i × D1|)j；
A sampling point determination module for determining sampling points by intervals [ (j-1) d1, (j +1) d1]As a new sampling interval, the second threshold D2 is updated as a new sampling step, DiThe preset horizontal distance from Coord _ A is (j-1) d1+ d2 i, and the steps 130 to 170 are repeated to obtain the final min (| B- ([ j-1) d1+ d2 i)]|) corresponding sampling points DkWherein d2 < d 1;
a fire point position determining module for determining the fire point position according to the sampling point DkAnd correspondingly calculating the horizontal distance B, the longitude and latitude Coord _ A and the azimuth angle azimuth to obtain the final longitude and latitude of the fire point, and determining the position of the fire point.
6. The forest fire monitoring and early warning fire point quick positioning device as claimed in claim 5, wherein the first threshold d1 is 100 meters in particular.
7. The forest fire monitoring and early warning fire point quick positioning device as claimed in claim 5, wherein the second threshold d2 is 10 meters in particular.
8. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 5-7.
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| Publication number | Priority date | Publication date | Assignee | Title |
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