CN113075688A - Infrared laser radar imaging device and method for fire rescue scene - Google Patents
Infrared laser radar imaging device and method for fire rescue scene Download PDFInfo
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- CN113075688A CN113075688A CN202110302834.8A CN202110302834A CN113075688A CN 113075688 A CN113075688 A CN 113075688A CN 202110302834 A CN202110302834 A CN 202110302834A CN 113075688 A CN113075688 A CN 113075688A
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- 238000003384 imaging method Methods 0.000 title claims abstract description 19
- 238000000034 method Methods 0.000 title claims description 5
- 230000001681 protective effect Effects 0.000 claims abstract description 29
- 238000001514 detection method Methods 0.000 claims abstract description 16
- RNFJDJUURJAICM-UHFFFAOYSA-N 2,2,4,4,6,6-hexaphenoxy-1,3,5-triaza-2$l^{5},4$l^{5},6$l^{5}-triphosphacyclohexa-1,3,5-triene Chemical compound N=1P(OC=2C=CC=CC=2)(OC=2C=CC=CC=2)=NP(OC=2C=CC=CC=2)(OC=2C=CC=CC=2)=NP=1(OC=1C=CC=CC=1)OC1=CC=CC=C1 RNFJDJUURJAICM-UHFFFAOYSA-N 0.000 claims abstract description 10
- 239000003063 flame retardant Substances 0.000 claims abstract description 10
- 230000005855 radiation Effects 0.000 claims abstract description 7
- 238000001931 thermography Methods 0.000 claims description 20
- 239000000779 smoke Substances 0.000 claims description 14
- 238000001228 spectrum Methods 0.000 claims description 5
- 238000010191 image analysis Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 6
- 238000003331 infrared imaging Methods 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 2
- 230000009970 fire resistant effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000003595 spectral effect Effects 0.000 description 1
- 238000002834 transmittance Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
An infrared laser radar imaging device and an imaging method for a fire rescue scene belong to the technical field of infrared laser imaging. The top of the protective helmet is connected with the infrared multi-beam scanning laser radar, the front part of the protective helmet is connected with the semitransparent goggles, the rear part of the semitransparent goggles is connected with the image projection device, the image projection device is connected with the protective helmet, one end of the protective flame-retardant cable is respectively connected with the infrared multi-beam scanning laser radar and the image projection device, the other end of the protective flame-retardant cable is connected with the image processing computer, and the image processing computer is connected with the storage battery pack. By combining the passive infrared imaging technology, the characteristic infrared radiation image of the fire scene is combined with the three-dimensional target detection image and projected to the goggles of rescuers together, so that the optimal application effect can be obtained.
Description
Technical Field
The invention relates to an infrared laser radar imaging device and an imaging method for a fire rescue scene, and belongs to the technical field of infrared laser imaging.
Background
The fire rescue scene is carried out in the fire rescue scene, particularly in the building passage filled with smoke. Due to the fact that the scene is full of fire smoke, the rescuers cannot find out obstacles and trapped people inside the passageway easily, the situation often brings great danger to the fire rescuers and the trapped people, and the worldwide problem is solved.
As shown in fig. 1 and 2, no very effective field detection and observation device can cope with such a scene. At present, the vast majority uses passive infrared thermal imaging system, through surveying the infrared ray information that each object in scene sent to form the image that can observe, guide the rescue personnel to get rid of the obstacle and look for stranded personnel.
However, the passive infrared detection technique has a problem that in a fire scene, the environment and obstacles, even clothes of part of trapped people, may be burnt or heated by the high temperature of the environment, so that the characteristic infrared ray emitted by the passive infrared detection technique is different from the normal infrared ray radiation, even is mixed with the characteristic infrared ray emitted by the environment in the fire scene. Meanwhile, since such passive infrared detectors cannot detect an object behind the infrared source, for example: a layer of flame or a combustion obstacle exists between the trapped person and the rescuer. These all bring certain risks to the rescuers using the infrared thermal imaging technology in the fire scene, resulting in delayed rescue of trapped people.
In fire sites, especially in smoke-filled escape chutes, detection means in other spectral bands have failed, and only infrared light provides the ability to penetrate smoke, so that passive infrared imaging techniques have been used up to now despite the risks involved in practical applications.
Up to now, the existing environmental information observation means used in the fire rescue scene is a passive infrared thermal imager relatively effective. The principle of the passive infrared thermal imager is that objects with different temperatures can radiate characteristic infrared radiation with different frequency spectrums and different intensities. The infrared receiving sensor in the infrared thermal imaging instrument receives the characteristic infrared rays radiated by different objects (including flames, obstacles, people to be rescued and the like) on site according to the temperature of the objects, and forms a site image through computer processing.
Under the general environment, the device can effectively improve the discovery probability (about 30 percent improvement) of people to be rescued (trapped). However, the passive detection principle has defects, which cause failure in some special cases, and even cause danger to rescuers and trapped persons and delay in rescuing the trapped persons.
For example: in a relatively closed fire passage, due to the relatively closed environment, the difference of the temperature of the internal environment of the site is reduced, so that the difference of the infrared radiation characteristic of the site can be reduced due to the fact that the temperature of the internal environment of the site is reduced, particularly, the difference of burning obstacles, high-temperature smoke, flames or burning objects blocked between trapped people and rescue personnel, and even under the condition that flames or fire sources exist between the trapped people and the rescue personnel, the passive thermal infrared imager cannot find the trapped people behind the flames at all. Therefore, the passive thermal infrared imager cannot correctly describe the field situation in some fire scenes, so that great misleading is brought to rescuers and trapped people, rescue delay is early caused, and even great danger is caused.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an infrared laser radar imaging device and an imaging method for a fire rescue scene.
The utility model provides an infrared laser radar image device is used at conflagration rescue scene, infrared multi-beam scanning laser radar is connected at the top of protection helmet, semitransparent goggles is connected to the front portion of protection helmet, image projection arrangement is connected at the rear portion of semitransparent goggles, image projection arrangement is connected with the protection helmet, infrared multi-beam scanning laser radar and image projection arrangement are connected respectively to the one end of protection flame retarded cable, the other end and the image processing computer of protection flame retarded cable are connected, the image processing computer is connected with storage battery.
The front part of the infrared multi-beam scanning laser radar is a laser radar scanning area. The passive infrared thermal imaging sensor and the infrared multi-beam scanning laser radar are connected to the top of the protective helmet side by side, and the passive infrared thermal imaging sensor is connected with the image processing computer through a protective flame-retardant cable. The storage battery pack comprises a charging and discharging control circuit.
An infrared laser radar imaging method for a fire rescue scene comprises the following steps: the method comprises the steps of adopting an active infrared laser radar detection technology, using an infrared scanning laser radar with the wavelength of 905 nm-10.5 mu m, carrying out multi-line laser scanning on the front within the range of 10-180 degrees to form three-dimensional point cloud, processing by an image analysis computer to form a three-dimensional image within the scanning range, projecting the image onto goggles of rescuers, providing real-time image information for the rescuers, and guiding the fire rescuers to find field obstacles and trapped persons in time at a fire rescue field in a smoke environment.
The invention has the advantages that an active infrared laser radar detection technology is adopted, the penetration characteristic of infrared laser with specific frequency spectrum to smoke is utilized, an infrared scanning laser radar with the wavelength of 905 nm-10.5 mu m is used, multi-line laser scanning is carried out in the range of 10-180 degrees in front, three-dimensional point cloud is formed, a three-dimensional image in the scanning range is formed through the processing of an image analysis computer, the image is projected onto goggles of rescuers, real-time image information is provided for the rescuers, and the fire rescuers are guided to find field obstacles and trapped persons in time at a fire rescue field in the smoke environment. The device can also combine a passive infrared imaging technology, combine the characteristic infrared radiation image of the fire scene with the three-dimensional target detection image, and project the image to the goggles of rescuers together, so as to obtain the best application effect.
Drawings
A more complete appreciation of the invention and many of the attendant advantages thereof will be readily obtained as the same becomes better understood by reference to the following detailed description when considered in connection with the accompanying drawings, wherein the accompanying drawings are included to provide a further understanding of the invention and form a part of this specification, and wherein the illustrated embodiments of the invention and the description thereof are intended to illustrate and not limit the invention, as illustrated in the accompanying drawings, in which:
FIG. 1 is a schematic diagram of a passive thermal infrared imager operating in a fire scene.
Fig. 2 is a schematic diagram of a passive thermal infrared imager failing when a fire source is present between trapped and rescuers.
Fig. 3 is a schematic structural diagram of the present invention.
Fig. 4 is a schematic structural diagram of an embodiment of the present invention.
FIG. 5 is a schematic structural diagram of a second embodiment of the present invention.
The infrared multi-beam scanning laser radar system comprises an infrared multi-beam scanning laser radar 1, a protective helmet 2, an image projection device 3, a semitransparent goggles 4, a protective flame-retardant cable 5, an image processing computer 6, a storage battery pack 7 and a passive infrared thermal imaging sensor 8.
The invention is further illustrated with reference to the following figures and examples.
Detailed Description
It will be apparent that those skilled in the art can make many modifications and variations based on the spirit of the present invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element, component or section is referred to as being "connected" to another element, component or section, it can be directly connected to the other element or section or intervening elements or sections may also be present. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art.
The following examples are further illustrative in order to facilitate the understanding of the embodiments, and the present invention is not limited to the examples.
Example 1: as shown in fig. 3, 4 and 5, the infrared laser radar imaging device for the fire rescue site overcomes the danger brought to rescuers and trapped persons due to the fact that sufficient environmental information cannot be provided for the rescuers by means of visual or passive infrared imaging technology in a smoke-filled fire rescue site, particularly in a closed or semi-closed channel, and effectively solves the problem.
The utility model provides an infrared laser radar image device is used at conflagration rescue scene, infrared multibeam scanning laser radar 1 is connected at the top of protective helmet 2, translucent goggles 4 is connected to protective helmet 2's front portion, image projection arrangement 3 is connected at translucent goggles 4's rear portion, image projection arrangement 3 is connected with protective helmet 2, infrared multibeam scanning laser radar 1 and image projection arrangement 3 are connected respectively to the one end of protection flame retarded cable 5, the other end and the image processing computer 6 of protection flame retarded cable 5 are connected, image processing computer 6 is connected with storage battery 7, the front portion of infrared multibeam scanning laser radar 1 is laser radar scanning area 9.
The passive infrared thermal imaging sensor 8 and the infrared multi-beam scanning laser radar 1 are connected to the top of the protective helmet 2 side by side, the passive infrared thermal imaging sensor 8 is connected with the image processing computer 6 through the protective flame-retardant cable 5, and the storage battery pack 7 comprises a charging and discharging control circuit.
The invention adopts an active laser scanning radar, adopts the infrared laser which emits 905nm to 10.5 mu m and has higher smoke transmittance, receives laser beams reflected by different objects, calculates the distance between the different objects to form three-dimensional point cloud data, forms a field three-dimensional image through the calculation processing of a computer, and projects the three-dimensional image on goggles of rescuers to provide a direct field image for the rescuers. Furthermore, the passive infrared imaging data can be superposed on the laser radar three-dimensional image through calculation, so that a further fire scene temperature distribution image is provided for rescuers, and the fire rescue problem which troubles the world for many years can be effectively solved.
The invention is composed of the following parts: the infrared multi-beam scanning laser radar 1 is placed at the top of the protective helmet 2; comprises a protective helmet 2 and a semitransparent visor 4; the image projection device 3 is used for projecting the three-dimensional image generated by the image processing computer 6 onto goggles for the rescuers to watch; the image processing computer 6 converts the point cloud data produced by the infrared multi-beam scanning laser radar 1 into a three-dimensional image and transmits the three-dimensional image to the image projection device 3; the battery pack 7 is used to supply power to the entire system. The system is schematically shown in fig. 3.
Example 2: as shown in fig. 4, in this embodiment, an infrared multi-beam scanning laser radar 1 adopts a semi-solid MEMS scanning laser radar, the laser spectrum is 905nm or 1500nm infrared, the maximum detection range is 250 m, the detection distance is not less than 5 m in a smoke environment, a horizontal 70 ° and vertical 30 ° scanning field of view is provided, a point cloud image of 50 line beams is provided at a scanning rate of 10Hz, and the point cloud image is sent to an image processing computer 6 through a protection cable.
Comprising a protective helmet 2 and a translucent visor 4. The image projection device 3 is connected to the image processing computer 6, receives the three-dimensional image transmitted from the computer, and projects the three-dimensional image onto the translucent goggles 4. The image processing computer 6 receives the point cloud data sent by the infrared laser radar, forms a real-time three-dimensional image through algorithm processing, and transmits the real-time three-dimensional image to the image projection device 3.
The storage battery pack 7 comprises a storage battery, a charge-discharge control circuit and a protective flame-retardant cable 5: the fire-resistant cable 5 is used for signal and power transmission of a system, and the fire-resistant grade of the protective fire-resistant cable meets the national standard of fire scene rescue.
Example 3: as shown in fig. 5, compared to embodiment 2, in this embodiment, a passive infrared thermal imaging sensor 8 is added in parallel with an infrared scanning lidar to provide a temperature image of a fire scene, so as to provide more scene environment information to the fire rescue personnel, which is helpful for the fire rescue personnel to rescue trapped people more safely and quickly.
In this embodiment, the infrared multi-beam scanning lidar 1 adopts a semi-solid MEMS scanning lidar, the laser spectrum is 905nm or 1500nm infrared, the maximum detection range is 250 m, the detection distance is not less than 5 m in a smoke environment, scanning fields of 70 ° horizontally and 30 ° vertically are provided, a point cloud image of 50 line beams is provided at a scanning rate of 10Hz, and the point cloud image is sent to the image processing computer 6 through a protection cable.
The passive infrared thermal imaging sensor is used for receiving various characteristic infrared radiation in the fire scene environment and sending data to the image processing computer 6.
A protective helmet 2 and a semitransparent visor 4. The image projection device 3 is connected with the image processing computer 6, receives the three-dimensional image and the infrared thermal imaging image sent by the computer, and projects the three-dimensional image and the infrared thermal imaging image onto the semitransparent goggles 4.
The image processing computer 6 receives point cloud data sent by the infrared laser radar, and forms a real-time three-dimensional image through algorithm processing; meanwhile, the thermal imaging data of the passive infrared thermal imaging sensor is received, combined with the real-time three-dimensional image of the laser radar and transmitted to the image projection device 3.
The storage battery pack 7 comprises a storage battery, a charge-discharge control circuit and a protective flame-retardant cable 5: the fire-resistant cable 5 is used for signal and power transmission of a system, and the fire-resistant grade of the protective fire-resistant cable meets the national standard of fire scene rescue.
As described above, although the embodiments of the present invention have been described in detail, it will be apparent to those skilled in the art that many modifications are possible without substantially departing from the spirit and scope of the present invention. Therefore, such modifications are also all included in the scope of protection of the present invention.
Claims (7)
1. The infrared laser radar imaging device is characterized in that the top of a protective helmet is connected with an infrared multi-beam scanning laser radar, the front of the protective helmet is connected with a semitransparent goggles, the rear of the semitransparent goggles is connected with an image projection device, the image projection device is connected with the protective helmet, one end of a protective flame-retardant cable is respectively connected with the infrared multi-beam scanning laser radar and the image projection device, the other end of the protective flame-retardant cable is connected with an image processing computer, and the image processing computer is connected with a storage battery pack.
2. An infrared lidar imaging device for a fire rescue scene as claimed in claim 1, wherein the front of the infrared multi-beam scanning lidar is a lidar scanning area.
3. The infrared laser radar imaging device for the fire rescue scene as recited in claim 1, wherein the passive infrared thermal imaging sensor and the infrared multi-beam scanning laser radar are connected side by side at the top of the protective helmet, and the passive infrared thermal imaging sensor is connected with the image processing computer through a protective flame-retardant cable.
4. The infrared lidar imaging device for the fire rescue scene as recited in claim 1, wherein the storage battery pack comprises a charge and discharge control circuit.
5. An infrared laser radar imaging method for a fire rescue scene is characterized by comprising the following steps: the method comprises the steps of adopting an active infrared laser radar detection method, using an infrared scanning laser radar with the wavelength of 905 nm-10.5 mu m, carrying out multi-line laser scanning on the front within the range of 10-180 degrees to form three-dimensional point cloud, processing by an image analysis computer to form a three-dimensional image within the scanning range, projecting the image onto goggles of rescuers, providing real-time image information for the rescuers, and guiding the fire rescuers to find field obstacles and trapped persons in time at a fire rescue field in a smoke environment.
6. The infrared laser radar imaging method for the fire rescue scene as recited in claim 5, wherein the infrared multi-beam scanning laser radar adopts a semi-solid MEMS scanning laser radar, the laser spectrum is 905nm or 1500nm infrared rays, the maximum detection range is 250 m, the detection distance is not less than 5 m in a smoke environment, a horizontal 70-degree and vertical 30-degree scanning field of view is provided, and a point cloud image of a 50-line beam is provided at a scanning speed of 10 Hz.
7. The infrared laser radar imaging method for the fire rescue scene is characterized by comprising a passive infrared thermal imaging sensor, an image projection device and a semi-transparent goggles, wherein the passive infrared thermal imaging sensor is used for receiving various characteristic infrared radiation in the fire scene environment and sending data to the image processing computer; meanwhile, thermal imaging data of the passive infrared thermal imaging sensor are received, combined with the real-time three-dimensional image of the laser radar and transmitted to the image projection device.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110302834.8A CN113075688A (en) | 2021-03-22 | 2021-03-22 | Infrared laser radar imaging device and method for fire rescue scene |
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| CN202110302834.8A CN113075688A (en) | 2021-03-22 | 2021-03-22 | Infrared laser radar imaging device and method for fire rescue scene |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113608355A (en) * | 2021-08-06 | 2021-11-05 | 湖南龙特科技有限公司 | Interactive display mode based on millimeter wave radar and infrared thermal imager |
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