RU2486594C2 - Method to monitor forest fires and complex system for early detection of forest fires built on principle of heterosensor panoramic view of area with function of highly accurate detection of fire source - Google Patents

Abstract

FIELD: instrument making.

SUBSTANCE: area monitoring is carried out at least from two points arranged on cellular communication masts by means of a thermal imaging camera and a video camera installed so that their axes are parallel, and fixed on a scanning platform arranged on each mast of cellular communication, at the same time images produced in thermal and video channels are sent together with data of angular and azimuthal direction of camera axes, to a central server, where images are converted, which are produced from thermal imaging and video cameras, and data from goniometrical-azimuthal metres located on cellular communication masts, into a system of geographical coordinates, fire sources are linked to geographical coordinates with display on an electronic map of the area, a video image is superimposed onto the image from the camera, and the produced images are displayed as three separate images onto a screen of an operator and/or onto a memory device.

EFFECT: expansion of functional capabilities due to increased restrictions of video camera and thermal image resolution, increased view angle and volume of received information.

3 cl, 3 dwg

Description

The invention relates to systems for scanning and comparing images, in particular to systems for remote monitoring of emergency situations, in particular to systems that perform continuous ground-based monitoring of forests and settlements in places where a cellular communication system is deployed.

Various fire monitoring systems are known: CN 101833838, KR 100981428, CN 101751755, WO 201001574, WO 9735433, FR 2893743, FR 2811456, DE 3710265, KR 20100136737, CN 101567123, KR 20090011068.

CN 101673448 describes a forest fire detection system, which comprises a control point with an ultra-strong platform, a thermal infrared imaging unit, a video camera, a micrometeorological station, as well as video processing equipment for communication, and a control center that includes a computer and communication means, Two communication lines use a wireless TCP / IP network. Work on the detection of fire is carried out in accordance with the following steps: obtaining and accumulating data on the ground, processing the received video images, detecting fire and conducting data analysis, transmitting analysis results, estimating the probability of fire and transmitting information about the detection of fire. The system uses a combination of video and thermal infrared images for image analysis, radio communications, remote sensing and a three-dimensional geographic information system to automatically receive information about the presence and spread of a fire.

In US patent US 5557260, 1996, describes a system for monitoring and detecting heat sources in open spaces, which includes a standalone infrared and day vision, which are connected to a central monitoring station, where images are processed in real time for automatic detection of heat sources.

US Pat. No. 5,734,335 describes a monitoring system for the early detection and reporting of forest fires in a forest area. The system includes many remote sensors located in the forest and telemetrically connected to the central signal processing system. Each remote sensor includes an infrared sensor and a video camera mounted on a controlled moving platform. The remote sensor also contains a weather sensor in order to collect weather data at the sensor locations. Each sensor installation site has its own processor, which controls the entire data collection and is in communication with the central control room through the communication subsystem via the radio channel. The central control room receives weather data and video from a remote sensor through a communication system. The central control room contains video monitoring equipment for visual inspection of the area under surveillance, and a central processor for complete system control. The central processor receives data from a variety of remote sensors and provides an alarm on digitalized topographic maps of the forest, and also simulates a forecast of the expected growth of the fire front based on the received data and information stored in an archive database. A printed copy of topographic maps showing the location of the fire source and its distribution path can be obtained from the central processor for use by fire fighting personnel.

Known thermal imaging system that allows you to modulate the flows of various spectral composition, registering the difference synchronously demodulated signals, while receiving images of high quality with additional information content. This system provides the possibility of combining the functions of a thermal imager and a range finder in one device while increasing the contrast of the image, which makes it possible to determine the presence and coordinates of “point” objects / smoldering fires / in woodlands from the air for the prevention of forest fires (application for the grant of a patent of the Russian Federation for invention 94037444, published on July 20, 1996).

A known system for round-the-clock detection and monitoring of the development of fires in the region (patent RU 2276808, publ. 05.20.2006), containing a fire monitoring sensor located on the mast, a visual display of the fire situation, information storage and control of the monitoring sensor associated with an observation sensor through a communication channel, wherein the observation sensor includes an optical panoramic monitoring camera, an information transmission interface and a power supply unit of the camera and interface, the optical camera contains a A flat scanning mirror, a lens, a rotary mirror, an infrared detector and an analog-to-digital converter are optically mounted and optically interconnected, while the scanning mirror is connected to the rotation motor by two independent kinematic connections, the first of which provides one-way circular motion of the scanning mirror in azimuthal plane, the second - the swing of the scanning mirror within an angle from 0 to 45 ° to the azimuthal plane, a spherical mirror is used as a camera lens oh, and the infrared radiation receiver has one sensitive element, the camera also contains two optoelectronic sensors for the angular position of the scanning mirror, optically coupled to the output elements of the kinematic links and generating horizontal and vertical pulses in the analog-to-digital converter of the observation sensor, the first one when the scanning mirrors in the azimuthal plane, the second - when the mirror is in one of the extreme positions with a deviation of 45 ° to the azimuthal plane. The system may contain at least two similar surveillance sensors, each of which is installed on the corresponding mast and connected through a communication channel with a system for visual display of the fire situation, information storage and control of surveillance sensors. In addition, the second optical system for displaying a fire situation, consisting of sequentially mounted and optically coupled rotary mirrors, a lens and a single-element radiation detector, whose sensitivity is in the visible range of the spectrum, is included in the optical chamber after the scanning mirror, while the second optical system is optically coupled to scanning mirror, and the optical axis of the first and second optical display systems are parallel. The system for visual display of the fire situation, storage of information and control of the observation sensor automatically detects fires and, according to the data of the angular position sensors of the scanning mirror, their coordinates in the field of view of the observation sensor, and by comparing the received information from the first and second infrared radiation receivers eliminates the possibility of false alarms due to temperature heterogeneity in the monitoring zone, and based on information from the receiver of the visible spectrum in the daytime to automatically detect smoke plumes from the fire, and by comparing the information received from the first and second radiation receivers eliminates the possibility of false alarm device if it enters the device and direct the reflected solar radiation.

The closest analogue of the invention is a fire situation monitoring system by observing in video and heat channels equipment located on a gyro platform placed on a tethered balloon with the transmission of two image layers to a ground computing device, which transmits a video image with a superimposed thermal layer on the monitor, while simultaneously automatically highlighting smoke plumes on the video layer and thermal anomalies on the thermal layer with the transmission of their azimuthal coordinates obtained using a gyrocompass located ennogo a balloon on a digital display and a memory. Monitoring is carried out using six cameras and coaxial scanners like MSU located on a gyro-stabilized platform located on a tethered balloon, sequentially switching cameras with a switch and transmitting images received in video and thermal channels together with azimuthal directions of camera axes obtained using a gyrocompass , on the ground computing device (patent RU 2395319, publ. 01.27.2010).

The disadvantages of this monitoring system include the lack of systematicity in this device, it is intended for local monitoring, and due to the use of the aerostat, the use time is limited (from 10 to 25 days). Another disadvantage of this system is the restriction on the resolution of the video camera and thermal imaging image due to the wide viewing angle (more than 60 °), the limited viewing sector of the camera, while the cameras are located coaxially with scanners such as MSU, which further limits the amount of information received. The analogue uses six fixed cameras, and scanning is carried out by means of an electronic switch, which makes it impossible to receive, process or work with streaming video in real time due to the presence of an electronic switch that switches cameras. In addition, the performance of the device depends on weather conditions (wind speed at operating altitude).

The claimed invention is aimed at eliminating the disadvantages of the closest analogue and solves the following problems:

- reduce the budget allocated for early detection of forest fires, i.e. with maximum effect, implement the federal program for the prevention of forest fires;

- eliminate the dependence of the possibility of early detection of forest fires on the presence of flying weather or on the absence of continuous cloud cover over the controlled territory;

- reduce the threat of occurrence, uncontrolled expansion and the onset of forest fires on settlements and strategic objects by detecting a small area of fire;

- optimize the interaction between local authorities, units of the Ministry of Emergencies and other responding services;

- increase the efficiency of information interaction of interested services in order to reduce response time to emergency situations, increase preparedness for localization and eliminate the consequences of forest fires in a controlled area;

- increase the level of security of citizens due to the timely receipt of information and alerts about fires in the area;

- provide the ability to restore the course of events based on the analysis of information archives.

The tasks are solved due to the fact that the monitoring of forest fires is carried out from at least two points, each of which is located on the mast of the cellular communication, using a thermal imaging camera and a video camera mounted so that their axes are parallel and mounted on a scanning platform, placed on each mast of cellular communication and having the ability to rotate around the vertical axis and rotate around the horizontal axis, while transmitting images obtained in the video and thermal channels, together with the data angularly about and the azimuthal direction of the camera axes obtained using a goniometric azimuth meter to a central server, which converts the data received from thermal imaging cameras, video cameras and goniometric azimuth meters located on adjacent masts of cellular communications into a geographic coordinate system, sources of ignition to geographical coordinates with the display on an electronic map of the area, impose a video image on the image from the thermal imaging camera and display the resulting image in in the form of three separate images, the first of which is a multisensor panoramic image - obtained by superimposing a video image on an image from a thermal imaging camera, the second - a thermal image and the third - a video image, on an operator’s monitor and / or on a storage device, the phase synchronization of the signal for transmitting information to the central the server and additional reference to geographical coordinates are carried out according to satellite signals of exact time by means of a global navigation satellite system Topics.

The integrated system for early detection of forest fires that implements the method comprises at least two thermal imaging television modules for circular scanning of the area located on adjacent masts of cellular communications, each thermal imaging television module contains a thermal imaging camera and a video camera installed so that their axes are parallel, goniometric - an azimuth meter, the axis of which is parallel to the axes of the thermal imaging camera and video camera, and a control controller, while the thermal imaging camera, video camera and goniometric the turbid meter is mounted on a scanning platform mounted on a cellular mast and capable of rotation about the vertical axis and rotation about the horizontal axis, the outputs of the thermal imaging camera, video camera and azimuth meter are connected to the first or third inputs of the control controller, the input of the scanning motion control device the platform is connected to the first output of the control controller, the fourth input of the control controller is connected to the block of global navigation satellites minutes system, the integrated system is provided with detection of forest fires telecommunications module, connected with input-output of the fifth input and the second output of the controller, and performs wireless communication for transmitting data from the management controller to the central server.

In addition, the system is equipped with a weather data collection device, the output of which is connected to the sixth input of the control controller.

The technical result from the use of the invention is to increase the reliability and accuracy of detection of forest fires, in particular small fires, while simplifying the device, reducing the likelihood of false detection of fires.

The specified technical result is achieved by combining several units into a single network, which allow constant monitoring of large areas with automated identification of low-fire sources of fire and determination of their coordinates, the transmission of this information together with the thermal imaging and video images to the operator, as well as the use of a global navigation satellite system (GNSS) GLONASS, which allows you to synchronize the operation of the claimed system according to accurate time signals. The use in the system of at least two, and if necessary a sufficiently large number of devices of different-sensory (heat and video) panoramic panoramas mounted on masts of cellular communication, allows to increase the reliability of detection of fire sources due to the fact that two or more devices detect a fire source. Simultaneous reception of a signal from two or more thermal-imaging-television modules for circular scanning of the terrain, including thermal-imaging and video cameras installed nearby so that their axes are parallel, reduces the likelihood of false detection of fires and increases the reliability and reliability of the information received due to the fact that thermal-imaging and video cameras panoramic view installed on the masts of antennas of base stations of cellular communications, and monitoring of each point of the territory is carried out from several (2 and more) neighboring towers, i.e. Each point of the controlled area of the forest (or other object of observation) is viewed from different angles, which reduces the likelihood that the fire will not be noticed. A fire center, closed from one of the observation points by a topography or other obstacle, will be visible from another point (cell towers).

Since, due to their intended purpose, the masts of the antennas of base stations are located at prevailing heights and have a height of 50 to 100 meters, thermal imaging cameras and cameras with a circular view placed on them will make it possible to detect focal points of ignition at a distance of 18-50 km.

Since the coordinates of the base stations are known, the placement of thermal imaging and video cameras on the high-rise structures of the base stations of mobile operators and the use of joint processing of data from thermal imaging and video cameras located on 2 to 3 neighboring masts in the areas of cellular coverage allows using the triangulation method determine the location of the fire with an accuracy of 20-50 meters. The center of ignition with an area of up to 50 square meters. meters can be detected at ranges up to 35 km. All this allows us to provide a quick response to fires and, as a result, the safety of residents, their places of residence, the preservation of natural resources.

Since the base stations have radio-relay or cable broadband communication channels (with a large margin in bandwidth), which, in fact, unite them into a single network, in the case of installing a fire-prevention system on them, it is possible to simplify the claimed system by using this existing telecommunication infrastructure.

An additional technical result is the prediction of the likelihood of fires and their possible spread by the Nesterov method based on meteorological data received from equipment within a single device.

The technical solution allows the early detection of fires that occur in forests at a considerable (up to 50 km) distance from settlements and important strategic objects, which allows timely adequate fire-fighting measures to be taken, preventing the subsequent approach of fire to places of human activity.

The invention is illustrated by drawings, which depict:

figure 1 is a General view of the placement of the system on the masts of base stations of cellular communication;

figure 2 is a structural diagram of a thermal imaging and television module circular scanning of terrain placed on the mast of the antenna of a cellular communication system;

figure 3 - display of the detected source of ignition on a map of the area.

A method for monitoring forest fires is as follows. On two, three (or more) masts of cellular communication, a thermal imaging-television module for circular scanning of the terrain (TTMKSM) is installed. Each thermal imaging and television module contains a thermal imaging camera 1 and a video camera 2 mounted on a scanning platform 3 so that their optical axes are parallel. The thermal imaging and television module also includes a control controller 4 and a goniometer-azimuth meter 5, which determines the orientation of the scanning platform and, accordingly, the location of the thermal imaging camera and video camera in azimuth and in the angle of deviation from the horizontal plane.

The multi-sensor panoramic view mode consists in superimposing a panoramic video image onto an image from a thermal imaging camera, which allows visual linking of the source of fire to a panoramic video image.

The scanning platform 3 is placed on a mast of cellular communication and has the ability to rotate about a vertical axis and rotate about a horizontal axis. The movement of the scanning platform 3 is controlled by the control device of the scanning platform, receiving commands from the central server through the control controller. Images obtained in the heat and video channels, together with the data of the angular and azimuthal directions of the camera axes, obtained using the goniometer-azimuth meter, are transmitted to the central server 8 via the control controller 4 and a telecommunication module (modem) 7. In the central server 8, they are converted data obtained from thermal imaging cameras 1, video cameras 2 and azimuth-azimuth meters 5 located on adjacent masts of cellular communications, in a system of geographical coordinates, link the foci of fire to geographers eskim coordinates with the display on a digital map, a video image superimposed on the thermal image, and output the received image as three separate images:

- obtained by overlaying a multi-sensor panoramic image,

- thermal image

- video images,

to the operator’s monitor and / or to the storage device, moreover, phase synchronization of the signal for transmitting information to the central server and additional reference to geographical coordinates is carried out using satellite signals of accurate time using a global navigation satellite system, mainly GLONASS.

A comprehensive system for the early detection of fires, built on the principle of a multi-sensory panoramic view of the area with the function of highly accurate determination of the source of fire, is intended to implement the method described above, i.e. to identify foci of ignition, calculate their geographical coordinates and display this information on the operator’s monitor in an automated mode. The system is based on the principle of multi-sensory (thermal imaging and video) panoramic terrain with the function of highly accurate determination of the source of ignition.

The early fire detection system consists of the following functional subsystems:

- a subsystem for identifying fire sources;

- data transmission subsystem;

- subsystems of intellectual processing and cartography.

The subsystem for identifying fires is located on the masts of the base stations of cellular communications (see figure 1). The basis of the subsystem for identifying fire sources is the thermal imaging-television module for circular scanning of the terrain - TTMKSM.

TTMKSM is placed on neighboring masts of cellular communication for the implementation of a circular overview of the terrain in video and thermal imaging mode.

The TTMKSM includes a thermal imaging camera 1 and a day-night type 2 video camera. It is preferable for the claimed system to use a special thermal imaging camera developed by Videophone MB CJSC (see the "Point of Support" magazine, No. 08 (133), April 2011, p.27).

The thermal imaging camera 1 and video camera 2, the optical axes of which are parallel to each other, are mounted next to each other on the scanning platform 3. Due to this arrangement of cameras 1 and 2, the system allows for a multi-sensory panoramic view of the terrain.

The thermal imaging camera 1 is designed to form a thermal imaging image of a site with the possibility of highlighting high-temperature area objects.

The video camera 2, mounted parallel to the thermal imaging camera 1, is designed to form a video image of the area from which the thermal image was obtained.

The thermal imaging camera 1 and the video camera 2 are located on a scanning platform 3 on a mast of cellular communication. The scanning platform 3, on which the thermal imaging camera 1 and video camera 2 are installed, is an independent device that allows moving together with cameras 1 and 2 in a horizontal plane from 0 to 360 degrees and an elevation angle of 45 degrees. The movement of the scanning platform is controlled by the control device of the scanning platform, connected through the controller 4 to the central server 8.

On the scanning platform 3 is installed included in the TTMKSM angular-azimuth meter 5, the axis of which is parallel to the axes of cameras 1 and 2.

The control controller 4, which is part of the TTMKSM, is also located on the mast of the cellular communication and is designed to synchronize the operation of the entire system, data collection and processing. The first and third inputs of controller 4 receive signals from a thermal imaging camera 1, a video camera 2, a goniometer-azimuth meter 5, the fourth input is a signal from the GLONASS system, and the sixth input is a signal from a meteorological data collection device 6. From the first output of controller 4, a signal containing data received from a video camera, thermal imaging camera, azimuth meter, GLONASS system and meteorological data collection device, is transmitted via telecommunication module 9 (modem) to central server 8. Second output Oller control associated with input scanning platform position control device for performing control on the signal coming from the central server 9 through the communication module (modem) to the fifth control input of the controller.

The azimuthal azimuth meter 5 determines the azimuthal angle of the position of the thermal imaging camera 1 and the video camera 2 located on the scanning platform, and the angle of deviation of their optical axes from the horizontal. These data on the current position of cameras 1 and 2 are transmitted to the control controller 4 and then to the central server 8, which allows server 8 to calculate the angle between the north direction and the direction to the fire source, as well as the distance to the fire center based on the installation height of the ТТМКСМ and camera angle.

A weather collection device 6 is also installed on the cellular mast, which is designed to obtain data on the current temperature, dew point temperature, amount of precipitation and the direction and speed of the wind. These data are also transmitted to control controller 4. Based on these data, a fire hazard is predicted in the future (possibility of fire spreading, propagation speed and direction).

The signal from the GLONASS 7 Global Navigation Satellite System (GNSS) unit, delivered to the fourth input of controller 4, allows you to bind the early fire detection system to geographic coordinates, and also serves to synchronize each device in a single system using accurate time and phase synchronization satellite signals signal for transmitting information to a central server 8.

The thermal imaging camera 1 and video camera 2 are designed to operate in a temperature mode from - 40 ° С to + 50 ° С, which allows them to be used continuously for a year.

The range of detection of a fire source by the subsystem for identifying fire sources located on the masts of cellular communications is 35 km or more.

Due to the fact that the signal from the thermal imaging camera 1 is the basic signal for detecting the source of ignition, the results of the work and the sensitivity of the subsystem for identifying the source of ignition are not affected by the time of day or year, the presence of cloudiness, fog, and other visual disturbances.

TTMKSM can be equipped with a number of additional devices that reduce the likelihood of false alarms, take into account climatic conditions and improve the accuracy of determining the coordinates of the focus.

The data transmission subsystem is designed to transfer data received from the controller 4 to the central server 8 for processing the results.

The first output of the controller 4 is connected to a telecommunication module (modem) 9, which is designed to transmit thermal and video images, data from a weather station, data on the coordinates of the fire sources and receive executive commands for the scanning platform control device from the central server 8.

The central server 8 processes the information received from the devices, links the foci of fire to geographical coordinates with the display on an electronic map of the area, displays a multi-sensor panoramic image on the operator’s monitor along with the thermal and video image.

The composition of the claimed integrated system includes a subsystem of intelligent processing and cartography. Since a thermal imaging fire detection system is capable of detecting any objects that have a temperature that is elevated relative to the surrounding background, including the Sun, moving air or ground vehicles, flying birds, etc., in order to reduce the likelihood of a false alarm, an intellectual processing unit for the received thermal image is used with the purpose of identifying trends of fast-moving targets with thermal contrast, comparing trends with the viewing area and eliminating the formation of alarms for targets moving in ear space, or the known paths and roads.

The automated mapping subsystem (similar to the analogue system according to US Pat. No. 5,734,335) is designed to convert the data observed by thermal imaging cameras located on the antenna masts of neighboring base stations into a geographic coordinate system (bringing control results to a terrain plan), determining fire coordinates and displaying this information on map (plan). The result of such a conversion is shown schematically in FIG. 3.

The results can then be transferred to the response services of the Ministry of Emergencies of Russia and Rosleskhoz with a view to timely decision making. It is also possible to transmit information indicating the coordinates of the fire sources to aviation forest protection and fire fighting equipment.

In the proposed solution, two images are superimposed in the central server 8 - the image obtained from the video camera is superimposed on the image from the thermal imaging module. The thermal signal image is taken as the most informative for solving the problems of early detection of foci of ignition as the basic signal for evaluating an event. The signal of the video camera allows you to get a more informative and understandable picture to the operator of the scene.

Three pictures are displayed on the monitor of the workstation (AWP) - a combined image, a thermal image and a video image, which allows the system and the operator to make the right decision in a timely manner.

Using this method allows you to maintain high system performance in conditions of poor visibility, such as haze, fog, rain, night time, sun exposure to the camera.

The system automatically scans the terrain horizontally in 360 degrees and up to 45 degrees in elevation and automatically detects heat-contrasting objects with storing their coordinates and gives an alarm. If static high-temperature objects (roofs of houses, boiler-house pipes, etc.) or rapidly moving objects (vehicles) are detected, the system does not give an alarm signal upon subsequent scanning or an operator command if the temperature parameters of the object do not change (similar to CN 101315667).

All information from the monitoring devices is transmitted via data transmission channels to a single central server, where information is processed and superimposed on a local map with the location coordinates of the tracking devices and the exact coordinates of the fire source. The map also displays the predicted fire hazard in the area, indicating the direction and strength of the wind. Subsequently, this information is transmitted to the AWP of the operators.

Scanning the terrain using the thermal imaging-television circular scanning module is as follows.

The azimuthal plane is divided into several sectors based on the features and terrain. The horizontal plane is divided into sectors so that when moving the camera from point to point, a single panoramic picture is obtained. After passing through one azimuthal sector, chambers 1 and 2 go to the next, scanning the selected area in this way.

When the thermal imaging and television module for circular scanning of the terrain is oriented to the control (reference) point, the terrain is captured with thermal imaging cameras and video cameras, the presence (absence) of fire sources is calculated in an automated mode. After that, the scanning platform rotates cameras 1 and 2 to the next point. All images are stored in the memory of the central server, and a quick transition to the necessary reference point is possible.

When an ignition zone is detected in an automated mode, the system stops automatic scanning, determines the coordinates of the ignition source and sends a video and thermal imaging image in real time, as well as the coordinates of the ignition source to the operator.

For the correct decision-making, the operator can manually zoom in on the image from the video camera and see the thermal image separately. All these data are necessary for the operator to make a decision on further response to the source of ignition.

Based on the data received from the weather station, the Nesterov coefficient is calculated and, at the request of the operator, the electronic map is highlighted in various colors based on the values of the Nesterov coefficient. Moreover, due to the large number of weather stations per unit area, the operator receives a more accurate picture of the fire hazard situation and the probability of the direction of fire propagation.

To increase the sensorimotor and psychophysiological compatibility of the human-machine environment of the hardware-software complex of the early fire detection system at each operator’s workstation, monitors of 3 AWPs should be available for viewing, which serve to display a specialized geographic information system, situational images from thermal imaging and video cameras from the place of the event in case of detecting signs of fire and a detailed analysis of the situation at the place of the event using controlled cameras in order to develop a solution eeniya about further actions.

The proposed system performs a spatio-temporal analysis of previous and current images using the median filtering method (in order to reduce the likelihood of false interference caused by glare and moving objects), which allows it to automatically detect fires at an early stage and automatically display operator monitor picture of a potentially hazardous area. The use of automation of this process can reduce the number of operators and increase the likelihood of detecting fire sources.

Claims (3)

1. A method for monitoring forest fires, characterized in that the monitoring is carried out from at least two points located on the masts of the cellular communication via a thermal imaging camera and a video camera mounted so that their axes are parallel and mounted on a scanning platform located on each the mast of the cellular communication, while transmitting images obtained in the thermal and video channels, together with the angular and azimuthal directions of the camera axes, obtained using a goniometric-azimuth meter, to a central server, in which the images obtained from thermal imaging and video cameras are converted, and the data from the angular-azimuth meters located on the masts of the cellular communication system into a geographical coordinate system, the foci of fire are geared to the geographical coordinates with display on an electronic map of the area, the video image is superimposed on the image from the thermal imaging cameras and display the resulting images in the form of three separate images - obtained by superimposing a multi-sensor panoramic image, thermal imaging and considerations and the video image on the monitor of the operator and / or to the memory device. 2. A comprehensive system for the early detection of forest fires, containing at least two thermal imaging television modules for circular scanning of the area located on the masts of cellular communications, each thermal imaging television module is formed by a thermal imaging camera and a video camera installed so that their axes are parallel, goniometric - an azimuth meter, the axis of which is parallel to the axes of the thermal imaging camera and the video camera, and a control controller, while the thermal imaging camera, the video camera and the azimuthal azimuth meter l are mounted on a scanning platform mounted on a cellular mast and having the ability to rotate relative to the vertical axis and rotate relative to the horizontal axis, the outputs of the thermal imaging camera, video camera and azimuth meter are connected to the first or third inputs of the control controller, the input of the scanning platform motion control device connected to the first output of the controller, the fourth input of the control controller is connected to the unit of the global navigation satellite system, while the system nabzhena communication module performing wireless communication with a central server, wherein the telecommunications module input-output connected respectively to the second outlet and the fifth control input of the controller. 3. The integrated system for early detection of forest fires according to claim 2, characterized in that it is equipped with a weather data collection device, the output of which is connected to the sixth input of the control controller.

Images