WO2018095054A1 - 传输火灾现场图像的方法及装置、手持消防热像仪 - Google Patents

传输火灾现场图像的方法及装置、手持消防热像仪 Download PDF

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Publication number
WO2018095054A1
WO2018095054A1 PCT/CN2017/093124 CN2017093124W WO2018095054A1 WO 2018095054 A1 WO2018095054 A1 WO 2018095054A1 CN 2017093124 W CN2017093124 W CN 2017093124W WO 2018095054 A1 WO2018095054 A1 WO 2018095054A1
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Prior art keywords
fire
image
scene
module
fire scene
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PCT/CN2017/093124
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English (en)
French (fr)
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林克荣
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杭州海康威视数字技术股份有限公司
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Publication of WO2018095054A1 publication Critical patent/WO2018095054A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
    • G01J5/0014—Radiation pyrometry, e.g. infrared or optical thermometry for sensing the radiation from gases, flames
    • G01J5/0018—Flames, plasma or welding
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
    • G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/222—Studio circuitry; Studio devices; Studio equipment
    • H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
    • H04N5/265—Mixing

Definitions

  • the present application relates to the field of infrared thermal imaging technology, and in particular, to a method and device for transmitting a fire scene image, and a handheld fire imaging camera.
  • the purpose of the embodiments of the present application is to provide a method and device for transmitting a fire scene image, and a handheld fire imaging camera capable of transmitting a live image of a fire to a background command center.
  • the specific technical solutions are as follows:
  • An embodiment of the present application provides a method for transmitting a fire scene image, which is applied to a handheld fire imaging camera, and the method includes: acquiring an information of a firefighter by using an inertial navigation system (INS); And generating a visible spectrum image of the fire scene and a thermal imaging far-infrared spectrum image; superimposing and generating a scene image of the fire scene corresponding to the position information according to the thermal imaging far-infrared spectrum image and the visible spectrum image; The network transmits the location information and the live image to a background command center.
  • INS inertial navigation system
  • the step of generating a visible spectrum image of the fire scene includes: acquiring a visible light channel signal of the fire scene through the visible light sensor; generating according to the visible light channel signal A visible spectrum image of the fire scene.
  • the method further includes: measuring a temperature of the fire scene, generating a temperature curve corresponding to the fire scene; transmitting the temperature curve to the background command center through the mobile network.
  • the location information includes location information and a motion trajectory of the firefighter.
  • the mobile network comprises a 4G public network and/or a 4G private network.
  • a further embodiment of the present application provides a device for transmitting a fire scene image, which is applied to a handheld fire imaging camera, the device comprising: an acquisition unit, configured to acquire position information of a firefighter through an inertial navigation system INS; And a first generating unit, configured to generate a visible spectrum image of the fire scene and a thermal imaging far-infrared spectrum image; and a second generating unit, configured to superimpose the thermal imaging far infrared spectrum image and the visible spectrum image
  • the live image of the fire scene corresponding to the location information; the first sending unit is configured to transmit the location information and the live image to the background command center through the mobile network.
  • the first generating unit includes: an acquiring subunit and a generating subunit; the acquiring subunit is configured to acquire a visible light channel signal of a fire scene through a visible light sensor; and the generating subunit is configured to The visible light channel signal generates a visible spectrum image of the fire scene.
  • the device further includes: a third generating unit, configured to measure a temperature of the fire scene, generate a temperature curve corresponding to the fire scene; and a second sending unit, configured to transmit the temperature curve through the mobile network To the background command center.
  • a third generating unit configured to measure a temperature of the fire scene, generate a temperature curve corresponding to the fire scene
  • a second sending unit configured to transmit the temperature curve through the mobile network To the background command center.
  • the location information includes location information and a motion trajectory of the firefighter.
  • the mobile network comprises a 4G public network and a 4G private network.
  • a handheld fire imaging camera including: an inertial navigation module, a thermal imaging movement module, a visible light sensor, and a field programmable gate array (Field Programmable) a Gate Array (FPGA), an Application Specific Integrated Circuits (ASIC) module, and a mobile network module;
  • the inertial navigation module is configured to acquire location information of a firefighter through an INS; and send the location information to the location ASIC module;
  • the thermal imaging movement module for generating heat at a fire scene Imaging the far infrared spectroscopy image; transmitting the thermal imaging far infrared spectroscopy image to the FPGA module;
  • the visible light sensor for acquiring a visible light channel signal of the fire scene; and transmitting the visible light channel signal to the FPGA a module, configured to generate a visible spectrum image of the fire scene based on the visible light channel signal from the visible light sensor; according to the visible spectrum image and a portion from the thermal imaging movement module Generating a far-infrared spectrum image of the thermal image
  • the visible light sensor is a star level sensor.
  • the mobile network module is a 4G public network and/or a 4G private network.
  • the thermal imaging movement module is further configured to measure the temperature of the fire scene.
  • a handheld fire imaging camera including: a housing, a processor, a memory, a circuit board, and a power supply circuit, wherein the circuit board is disposed in the housing Inside the space, the processor and memory are disposed on the circuit board; the power circuit is used to supply power to each circuit or device of the handheld fire imaging camera; the memory is used to store executable program code; and the processor is stored in the memory by running the memory Executable program code to execute:
  • the location information and the live image are transmitted to a background command center via a mobile network.
  • Another embodiment of the present application provides an executable program code for a method of being executed to perform the transmission of a fire scene image provided by an embodiment of the present application.
  • Another embodiment of the present application provides a storage medium for storing executable program code, the executable program code being executed to execute the transmitted fire scene image provided by the embodiment of the present application.
  • the method and device for transmitting a fire scene image and the hand-held fire-fighting thermal imager can use the INS to obtain the position information of the firefighter; and generate the thermal imaging far-infrared spectrum image and the visible spectrum image of the scene; The thermal imaging far infrared spectrum image and the visible spectrum image are superimposed to generate a live image corresponding to the position information; finally, the live image is transmitted to the background command center through the mobile network.
  • the background command center can timely obtain the scene information corresponding to the location information and location information of the firefighters, and understand the scene of the fire, so that the background command center can formulate a reasonable rescue plan to reduce the loss of personnel and property.
  • any of the products or methods of the present application necessarily does not necessarily require all of the advantages described above to be achieved at the same time.
  • FIG. 1 is a flow chart of a method for transmitting a fire scene image according to an embodiment of the present application
  • FIG. 2 is a structural diagram of an apparatus for transmitting a fire scene image according to an embodiment of the present application
  • FIG. 3 is a structural diagram of a handheld fire imaging camera according to an embodiment of the present application.
  • FIG. 4 is another structural diagram of a handheld fire imaging camera according to an embodiment of the present application.
  • FIG. 5 is still another structural diagram of a handheld fire imaging camera according to an embodiment of the present application.
  • FIG. 1 is a flowchart of a method for transmitting a fire scene image according to an embodiment of the present application, including the following steps:
  • Step 101 Acquire, by using an INS, location information of a firefighter; and generate a visible spectrum image of the fire scene and a thermal imaging far infrared spectrum image;
  • the handheld fire imaging camera does not have a positioning function, so that the background command center cannot obtain the location information of the firefighter.
  • the background command center may not be able to make a timely response plan, which may result in an appearance. More serious personnel or property damage.
  • Satellite signals such as the Global Positioning System (GPS) and the BeiDou Navigation Satellite System (BDS), which are commonly used for positional positioning, have poor indoor signals, and GPS and BDS can only measure the position. The latitude and longitude information cannot measure the height information of the position.
  • GPS Global Positioning System
  • BDS BeiDou Navigation Satellite System
  • the embodiment of the present application may use the INS to determine the location information of the firefighter.
  • the location information may include positioning information and a motion track of the firefighter.
  • the INS can usually include sensors such as gyroscopes, accelerometers, and barometers, and can acquire the moving direction, moving speed, and height information of the target.
  • a sensor such as a gyroscope, an accelerometer, and a barometer included in the INS can be used to acquire a moving direction, a moving speed, and a height information of the target, and further, according to the moving direction of the obtained target. , motion speed and altitude information, etc., determine the positioning information and motion trajectory of the target.
  • the positioning information and the motion trajectory of the target may be determined according to the obtained moving direction, the moving speed, the height information, and the like of the target.
  • the above target may be a firefighter.
  • the thermal imaging far-infrared spectrum image is a thermal image generated according to the surface temperature distribution of the target, and the thermal imaging far-infrared spectrum image is more accurate for the shape of the target, and can also be accurately obtained in the scene of the smoke foreground. image.
  • the contrast between the target and the background in the far-infrared spectrum image of the thermal imaging is low, the edge is blurred and the noise is large, and the target is fine. The festival is unclear.
  • the embodiment of the present application also needs to obtain a visible spectrum image of the scene, so as to combine the on-site thermal imaging far-infrared spectrum image and the visible spectrum image to generate a live image capable of accurately reflecting the scene.
  • the generating a visible spectrum image of the scene may specifically include:
  • a visible spectrum image of the fire scene is generated based on the visible light channel signal.
  • the visible light sensor can acquire rich color image information without any auxiliary light source in the case of low light. Then, the embodiment of the present application uses a visible light sensor to ensure the signal intensity of the generated visible light channel, so that the visible spectrum image generated according to the signal of the visible light channel can achieve the effect of maximizing the detail.
  • the visible light sensor may specifically be a star level sensor.
  • Step 102 Superimpose and generate a scene image of the fire scene corresponding to the location information according to the thermal imaging far-infrared spectrum image and the visible spectrum image;
  • the dual-spectral image fusion function is adopted, and the on-site thermal imaging far-infrared spectrum image and the visible spectrum image can be combined, and the visible spectrum image capable of displaying the image detail is superimposed on the thermal imaging far-infrared spectrum image.
  • the firefighter's position information can reflect the shooting position information of the scene image generated at the same time, so that the firefighter's position information can be linked with the live image to distinguish the fire scene images of different areas.
  • Step 103 The location information and the live image are transmitted to a background command center through a mobile network.
  • the mobile network may specifically include a public network and a private network.
  • the specific form of the public network may be a 4G public network or a 3G public network.
  • the specific form of the private network may be a 4G private network or a 3G private network. In practical applications, it can be selected according to the situation on the spot. For example, if the public network signal is insufficient, the solution of the private network module and the mobile base station can be used. This application does not limit the specific form of the mobile network.
  • the background command center can obtain the live image corresponding to the location information and location information of the firefighters from the fire scene in real time through the mobile network.
  • the background command center can model the 3D motion trajectory according to the obtained firefighter's positioning information and motion trajectory, and present the fire trajectory of the firefighter through the 3D model.
  • the background command center can grasp the position information of the firefighters in real time, and protect the personal safety of the firefighters to a large extent.
  • the background command center obtains the positioning information and motion trajectory of the firefighters through the mobile network. Then, through the algorithm processing, the 3D motion trajectory is modeled for the motion trajectory, and the fire trajectory of the firefighter is presented through the 3D model.
  • the background command center can grasp the position information of the firefighters in real time, and protect the personal safety of the firefighters to a large extent.
  • the above algorithm is any 3D modeling algorithm in the prior art.
  • the background command center can also combine the positioning information of the firefighters with the on-site image to determine the shooting location of the live image to grasp the fire situation in different areas and locations of the fire scene.
  • the location information acquired by the INS can also include the height information
  • the background command center can also determine the height information of the shooting location, such as which floor the shooting location of the live image is located.
  • the background command center can generate the global scene map of the fire scene by receiving the scene information corresponding to the position information and the position information of the plurality of handheld fire-fighting thermal imaging cameras, and then monitor the different fire scenes according to the global scene map of the fire scene. The location of the location and the location of the fire point, in order to timely make the corresponding search and rescue implementation program.
  • the method further includes:
  • the temperature profile is transmitted to the background command center via the mobile network.
  • the method of the present application is capable of measuring the temperature of a fire site and determining the surrounding high temperature zone so that firefighters can identify possible sources of danger in advance. Moreover, it is also possible to generate a temperature profile based on the measured on-site temperature and send it to the background command center through the mobile network, so that the background command center can also Solve the scene of the fire.
  • the embodiment of the present application can obtain the location information of the firefighter using the INS; and generate the thermal imaging far infrared spectrum image and the visible spectrum image of the fire scene; and then superimpose according to the thermal imaging far infrared spectrum image and the visible spectrum image.
  • the fire scene image corresponding to the location information is generated; finally, the fire scene image is transmitted to the background command center through the mobile network; in addition, the temperature of the fire scene can be obtained, and the temperature curve of the fire scene is also transmitted to the background command center.
  • the background command center can obtain the scene information corresponding to the firefighter's position information and position information in time, and grasp the firefighter's position information, the fire scene image and the fire site temperature; and the background command center can also receive more from the received
  • a scene image corresponding to the location information and location information of the fire-fighting thermal imager is generated to generate a global scene map of the fire scene to monitor the fire location of different locations and areas of the fire scene, and help the background command center to formulate a reasonable rescue plan and reduce Loss of personnel and property.
  • FIG. 2 is a structural diagram of an apparatus for transmitting a fire scene image according to an embodiment of the present application, where the apparatus includes:
  • An obtaining unit 201 configured to acquire location information of a firefighter through the inertial navigation system INS;
  • a first generating unit 202 configured to generate a visible spectrum image of the fire scene and a thermal imaging far infrared spectrum image
  • a second generating unit 203 configured to superimpose and generate a live image of the fire scene corresponding to the location information according to the thermal imaging far infrared spectrum image and the visible spectrum image;
  • the first sending unit 204 is configured to transmit the location information and the live image to the background command center through the mobile network.
  • the first generating unit includes: acquiring a subunit and generating a subunit;
  • the acquiring subunit is configured to obtain a visible light channel of a fire scene through a visible light sensor signal
  • the generating subunit is configured to generate a visible spectrum image of the fire scene according to the visible light channel signal.
  • the device further includes:
  • a third generating unit configured to measure a temperature of the fire scene, and generate a temperature curve corresponding to the fire scene
  • the second sending unit is configured to transmit the temperature curve to the background command center through the mobile network.
  • the location information includes location information and motion trajectories of firefighters.
  • the mobile network includes a 4G public network and/or a 4G private network.
  • the embodiment of the present application can obtain the location information of the firefighter using the INS; and generate the thermal imaging far infrared spectrum image and the visible spectrum image of the fire scene; and then superimpose according to the thermal imaging far infrared spectrum image and the visible spectrum image.
  • the fire scene image corresponding to the location information is generated; finally, the fire scene image is transmitted to the background command center through the mobile network; in addition, the temperature of the fire scene can be obtained, and the temperature curve of the fire scene is also transmitted to the background command center.
  • the background command center can obtain the scene information corresponding to the firefighter's position information and position information in time, and grasp the firefighter's position information, the fire scene image and the fire site temperature; and the background command center can also receive more from the received
  • a scene image corresponding to the location information and location information of the fire-fighting thermal imager is generated to generate a global scene map of the fire scene to monitor the fire location of different locations and areas of the fire scene, and help the background command center to formulate a reasonable rescue plan and reduce Loss of personnel and property.
  • FIG. 3 is a structural diagram of a handheld fire imaging camera according to an embodiment of the present application.
  • the handheld fire imaging camera may specifically include: an inertial navigation module 301, a thermal imaging movement module 302, a visible light sensor 303, and a field programmable gate array (Field).
  • FPGA Programmable Gate Array
  • ASIC Application Specific Integrated Circuits
  • the inertial navigation module 301 is configured to acquire location information of the firefighter through the inertial navigation system INS; and send the location information to the ASIC module;
  • the location information includes location information and motion trajectory of firefighters.
  • the thermal imaging movement module 302 is configured to generate a thermal imaging far infrared spectrum image of the fire scene; and send the thermal imaging far infrared spectrum image to the FPGA module 304;
  • a visible light sensor 303 configured to acquire a visible light channel signal of the fire scene; send the visible light channel signal to the FPGA module 304;
  • the visible light sensor 303 may specifically be a star level sensor
  • the visible light sensor 303 can also directly send the visible light channel signal to the ASIC module 305.
  • An FPGA module 304 configured to generate a visible spectrum image of the fire scene according to the visible light channel signal from the visible light sensor 303; according to the visible spectrum image and the thermal imaging from the thermal imaging movement module The infrared spectrum image is superimposed to generate a live image of the fire scene corresponding to the location information; the live image is sent to the ASIC module 305;
  • the FPGA module 304 is mainly responsible for the generation of the thermal imaging detector driving signal and the processing of the thermographic image signal, and the main processing includes non-uniformity correction, blind element correction, adaptive gain adjustment (14 bit image data to 8 bit conversion), image Enhancement and image noise reduction and other processing.
  • the ASIC module 305 is configured to acquire a temperature of the fire scene, generate a temperature curve corresponding to the fire scene, perform compression coding processing on the live image from the FPGA module 304, and process the temperature curve and the compression encoding process.
  • the live image, and the location information from the inertial navigation module is sent to the mobile network module 306;
  • the mobile network module 306 is configured to transmit the temperature profile from the ASIC module 305, the processed live image, and the location information to a background command center.
  • the mobile network module 306 may specifically be a 4G public network and/or a 4G private network.
  • the thermal imaging movement module 302 is further configured to measure the temperature of a fire scene.
  • the thermal imaging movement module 302 can measure the temperature of the fire scene and send the temperature to the ASIC module 305; after receiving the temperature from the thermal imaging movement module 302, the ASIC module 305 A temperature profile corresponding to the fire scene may be generated based on the temperature.
  • the handheld fire imaging camera can transmit the location information of the firefighter, the fire scene image corresponding to the location information, and the temperature of the fire scene to the background command center.
  • the background command center can know the scene of the fire in real time, so that the background command center can formulate a rescue plan to avoid casualties and property losses to the greatest extent.
  • FIG. 4 is still another structural diagram of the handheld fire imaging camera of the embodiment of the present application.
  • the handheld fire imaging camera may include: an inertial navigation module 401, a thermal imaging movement module 402, a starlight level sensor 403, an FPGA module 404, an ASIC module 405, a mobile network module 406, and a display device.
  • the FPGA module 404 is respectively connected to the thermal imaging movement module 402, the starlight level sensor 403 and the ASIC module 405, and the ASIC module 405 and the inertial navigation module 401 and the mobile network module respectively 406, the display device 407, the Micro SD module 408 and the power supply module 409 are connected; wherein, the inertial navigation module 401, the thermal imaging movement module 402, the FPGA module 404, and the mobile network module 406 are respectively coupled with the inertial navigation mode shown in FIG.
  • the group 301, the thermal imaging movement module 302, the FPGA module 304, and the mobile network module 306 may be identical, and are not described herein again.
  • a starlight level sensor 403 for acquiring a visible light channel signal at a fire scene
  • the ASIC module 405 is specifically configured to acquire a temperature of the fire scene, generate a temperature curve corresponding to the fire scene, and perform compression coding processing on the scene image from the FPGA module 404;
  • the temperature curve and the live image of the compression encoding process, and the location information from the inertial navigation module are sent to the mobile network module 406, the display device 407, and the Micro SD module 408;
  • a display device 407 configured to display the temperature profile from the ASIC module 405, the processed live image, and the location information;
  • the display device 407 may specifically be a liquid crystal display, and the liquid crystal display has high temperature resistance.
  • a Micro SD module 408 configured to store the temperature profile from the ASIC module 405, the processed live image, and the location information;
  • the power supply module 409 is configured to provide power for the handheld fire imaging camera.
  • the power supply module 409 is powered by a high temperature resistant special battery.
  • the handheld fire imaging camera described in the embodiment of the present application can display the current position information, the live image and the on-site temperature for the firefighter through the liquid crystal display; and can also correspond to the position information and the position information of the firefighter.
  • the image of the fire scene and the temperature of the fire scene are transmitted to the background command center.
  • the firefighters and the back-office command center at the scene of the fire can know the scene of the fire in real time, so that the firefighters can adapt to the disaster and the background command center can formulate a rescue plan to avoid casualties and property losses to the greatest extent.
  • the handheld fire imaging camera includes a housing 51, a processor 52, a memory 53, a circuit board 54, and a power circuit 55, wherein The circuit board 54 is disposed inside the space enclosed by the housing 51, and the processor 52 and the memory 53 are disposed on the circuit board 54; the power circuit 55 is used to supply power to each circuit or device of the handheld fire imaging camera; the memory 53 is used for The executable program code is stored; the processor 52 executes the executable program code stored in the memory 53 to execute:
  • the location information and the live image are transmitted to a background command center via a mobile network.
  • the position information of the firefighter can be obtained by using the INS; and generating the thermal imaging far infrared spectrum image and the visible spectrum image of the site; and then, according to the thermal imaging far infrared spectrum image and the The visible spectrum image is superimposed to generate a live image corresponding to the position information; finally, the live image is transmitted to the background command center through the mobile network.
  • the background command center can timely obtain the scene information corresponding to the location information and location information of the firefighters, and understand the scene of the fire, so that the background command center can formulate a reasonable rescue plan to reduce the loss of personnel and property.
  • An embodiment of the present application provides an executable program code, where the executable program code is used to execute the method for transmitting a fire scene image provided by an embodiment of the present application, wherein the transmitting a fire scene image
  • the method can be applied to a handheld fire imaging camera and can include the steps of:
  • the location information and the live image are transmitted to a background command center via a mobile network.
  • the position information of the firefighter can be obtained by using the INS; and generating the thermal imaging far infrared spectrum image and the visible spectrum image of the site; and then, according to the thermal imaging far infrared spectrum image and the The visible spectrum image is superimposed to generate a live image corresponding to the position information; finally, the live image is transmitted to the background command center through the mobile network.
  • the background command center can timely obtain the scene information corresponding to the location information and location information of the firefighters, and understand the scene of the fire, so that the background command center can formulate a reasonable rescue plan to reduce the loss of personnel and property.
  • the embodiment of the present application provides a storage medium for storing executable program code, the executable program code being executed to execute the method for transmitting a fire scene image provided by the embodiment of the present application, wherein
  • the method for transmitting a fire scene image can be applied to a handheld fire imaging camera, and can include the steps of:
  • the location information and the live image are transmitted to a background command center via a mobile network.
  • the position information of the firefighter can be obtained by using the INS; and generating the thermal imaging far infrared spectrum image and the visible spectrum image of the site; and then, according to the thermal imaging far infrared spectrum image and the The visible spectrum image is superimposed to generate a live image corresponding to the position information; finally, the live image is transmitted to the background command center through the mobile network.
  • the background command center can timely obtain the scene information corresponding to the location information and location information of the firefighters, and understand the scene of the fire, so that the background command center can formulate a reasonable rescue plan to reduce the loss of personnel and property.

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Abstract

本申请实施例提供了传输火灾现场图像的方法及装置、手持消防热像仪，所述方法包括：通过惯性导航系统，获取消防人员的位置信息；以及生成火灾现场的可见光谱图像和热成像远红外光谱图像；根据所述热成像远红外光谱图像和所述可见光谱图像，叠加生成所述位置信息对应的所述火灾现场的现场图像；通过移动网络，将所述位置信息和所述现场图像传输至后台指挥中心。应用本申请实施例能够实现将消防员的位置信息和位置信息对应的现场图像及时传输至后台指挥中心，以便后台指挥中心针对火灾现场的情况制定出合理的营救方案。

Description

传输火灾现场图像的方法及装置、手持消防热像仪
本申请要求于2016年11月23日提交中国专利局、申请号为201611047016.3发明名称为“传输火灾现场图像的方法及装置、手持消防热像仪”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及红外热成像技术领域，特别是涉及传输火灾现场图像的方法及装置、手持消防热像仪。
背景技术
随着经济的快速发展，能够引发火灾的因素也越来越多。由于火灾现场的特殊性，在大多数情况下消防员无法用肉眼准确观察现场情况，这对执行搜救任务带来了极大困难。
为了使消防员能够准确了解火灾的现场情况，尽量减少人员伤亡和财产损失，消防员可以借助手持式消防热像仪观察火灾现场。目前，由于大部分的手持消防热像仪还不具有联网功能，使得后台指挥中心无法及时获取来自火灾现场的第一手数据，这对后台指挥中心针对火灾现场的情况制定合理的营救方案带来了不利影响。
发明内容
本申请实施例的目的在于提供传输火灾现场图像的方法及装置、手持消防热像仪，能够将火灾的现场图像传输至后台指挥中心。具体技术方案如下：
本申请的一种实施例提供了一种传输火灾现场图像的方法，应用于手持消防热像仪，所述方法包括：通过惯性导航系统(Inertial Navigation System，INS)，获取消防人员的位置信息；以及生成火灾现场的可见光谱图像和热成像远红外光谱图像；根据所述热成像远红外光谱图像和所述可见光谱图像，叠加生成所述位置信息对应的所述火灾现场的现场图像；通过移动网络，将所述位置信息和所述现场图像传输至后台指挥中心。
可选地，所述生成火灾现场的可见光谱图像的步骤，包括：通过可见光传感器，获取火灾现场的可见光通道信号；根据所述可见光通道信号，生成 所述火灾现场的可见光谱图像。
可选地，所述方法还包括：测量火灾现场的温度，生成所述火灾现场对应的温度曲线；通过移动网络，将所述温度曲线传输至后台指挥中心。
可选地，所述位置信息包括消防人员的定位信息和运动轨迹。
可选地，所述移动网络包括4G公网和/或4G私网。
本申请的又一种实施例提供了一种传输火灾现场图像的装置，应用于手持消防热像仪，所述装置包括：获取单元，用于通过惯性导航系统INS，获取消防人员的位置信息；以及第一生成单元，用于生成火灾现场的可见光谱图像和热成像远红外光谱图像；第二生成单元，用于根据所述热成像远红外光谱图像和所述可见光谱图像，叠加生成所述位置信息对应的所述火灾现场的现场图像；第一发送单元，用于通过移动网络，将所述位置信息和所述现场图像传输至后台指挥中心。
可选地，所述第一生成单元，包括：获取子单元和生成子单元；所述获取子单元，用于通过可见光传感器，获取火灾现场的可见光通道信号；所述生成子单元，用于根据所述可见光通道信号，生成所述火灾现场的可见光谱图像。
可选地，所述装置还包括：第三生成单元，用于测量火灾现场的温度，生成所述火灾现场对应的温度曲线；第二发送单元，用于通过移动网络，将所述温度曲线传输至后台指挥中心。
可选地，所述位置信息包括消防人员的定位信息和运动轨迹。
可选地，所述移动网络包括4G公网和4G私网。
本申请的另一种实施例提供了一种手持消防热像仪，所述手持消防热像仪包括：惯性导航模组、热成像机芯模组、可见光传感器、现场可编程门阵列(Field Programmable Gate Array，FPGA)、专用集成电路(Application Specific Integrated Circuits，ASIC)模块、移动网络模块；所述惯性导航模组，用于通过INS，获取消防人员的位置信息；将所述位置信息发送至所述ASIC模块；所述热成像机芯模组，用于生成火灾现场的热 成像远红外光谱图像；将所述热成像远红外光谱图像发送至所述FPGA模块；所述可见光传感器，用于获取所述火灾现场的可见光通道信号；将所述可见光通道信号发送至所述FPGA模块；所述FPGA模块，用于根据来自所述可见光传感器的所述可见光通道信号，生成所述火灾现场的可见光谱图像；根据所述可见光谱图像和来自所述热成像机芯模组的所述热成像远红外光谱图像，叠加生成所述位置信息对应的所述火灾现场的现场图像；将所述现场图像发送至所述ASIC模块；所述ASIC模块，用于获取火灾现场的温度，生成所述火灾现场对应的温度曲线；对来自所述FPGA模块的所述现场图像进行压缩编码处理；将所述温度曲线和所述压缩编码处理后的现场图像、以及来自所述惯性导航模组的所述位置信息发送至所述移动网络模块；所述移动网络模块，用于将来自所述ASIC模块的所述温度曲线、所述处理后的现场图像、以及所述位置信息传输至后台指挥中心。
可选地，所述可见光传感器为星光级传感器。
可选地，所述移动网络模块为4G公网和/或4G私网。
可选地，所述热成像机芯模组，还用于测量火灾现场的温度。
本申请的另一种实施例提供了一种手持消防热像仪，所述手持消防热像仪包括：壳体、处理器、存储器、电路板和电源电路，其中，电路板安置在壳体围成的空间内部，处理器和存储器设置在电路板上；电源电路，用于为手持消防热像仪的各个电路或器件供电；存储器用于存储可执行程序代码；处理器通过运行存储器中存储的可执行程序代码，以执行：
通过惯性导航系统INS，获取消防人员的位置信息；以及
生成火灾现场的可见光谱图像和热成像远红外光谱图像；
根据所述热成像远红外光谱图像和所述可见光谱图像，叠加生成所述位置信息对应的所述火灾现场的现场图像；
通过移动网络，将所述位置信息和所述现场图像传输至后台指挥中心。
本申请的另一种实施例提供了一种可执行程序代码，所述可执行程序代码用于被运行以执行本申请实施例所提供的所述传输火灾现场图像的方法。
本申请的另一种实施例提供了一种存储介质，所述存储介质用于存储可执行程序代码，所述可执行程序代码被运行以执行本申请实施例所提供的所述传输火灾现场图像的方法。
本申请实施例提供的传输火灾现场图像的方法及装置、手持消防热像仪，可以使用INS获取消防人员的位置信息；以及生成现场的热成像远红外光谱图像和可见光谱图像；然后，根据所述热成像远红外光谱图像和所述可见光谱图像，叠加生成位置信息对应的现场图像；最后，将所述现场图像通过移动网络传输至后台指挥中心。这样，后台指挥中心就可以及时获取消防员的位置信息和位置信息对应的现场图像，了解火灾的现场情况，以便后台指挥中心制定出合理的营救方案，减少人员和财产损失。当然，实施本申请的任一产品或方法必不一定需要同时达到以上所述的所有优点。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例的传输火灾现场图像的方法的一种流程图；
图2为本申请实施例的传输火灾现场图像的装置的一种结构图；
图3为本申请实施例的手持消防热像仪的一种结构图；
图4为本申请实施例的手持消防热像仪的又一种结构图；
图5为本申请实施例提供的手持消防热像仪的又一种结构图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
本申请实施方式公开了一种传输火灾现场图像的方法，应用于手持消 防热像仪。参见图1，图1为本申请实施例的传输火灾现场图像方法的一种流程图，包括如下步骤：
步骤101，通过INS，获取消防人员的位置信息；以及生成火灾现场的可见光谱图像和热成像远红外光谱图像；
在现有技术中，手持消防热像仪不具有定位功能，使得后台指挥中心无法获取消防人员的位置信息，当火灾现场出现突发事件时，后台指挥中心可能无法及时作出应变方案，可能导致出现较为严重的人员或者财产损失。
此外，由于本申请实施方式主要应用于室内的火灾场景。而普遍用于位置定位的全球卫星定位系统(Globle Positioning System，GPS)和北斗卫星导航系统(BeiDou Navigation Satellite System，BDS)等卫星信号在室内的信号较差，且GPS和BDS只能测量出位置的经纬度信息，无法测量到位置的高度信息。此外，由于大部分火灾是意料之外的突发情况，不便于提前在现场布置用于定位的设备。
因此，本申请实施方式可以使用INS来确定消防人员的位置信息，在本申请的一种优选实施方式中，所述位置信息可以包括消防人员的定位信息和运动轨迹。其中，INS通常可以包括陀螺仪、加速度计及气压计等传感器，能够获取目标的运动方向，运动速度及高度信息等。
也就是说，本申请实施方式可以使用INS所包括的陀螺仪、加速度计及气压计等传感器，获取目标的运动方向、运动速度及高度信息等，并进一步的，根据所获得的目标的运动方向，运动速度及高度信息等，确定出目标的定位信息和运动轨迹。其中，可以采用现有技术，根据所获得的目标的运动方向、运动速度及高度信息等确定出目标的定位信息和运动轨迹。本申请实施方式中，上述目标可以为消防人员。
需要说明的是，由于使用INS获取位置信息属于现有技术，在此不再赘述。
还需要说明的是，热成像远红外光谱图像是根据目标的表面温度分布生成的热图像，热成像远红外光谱图像对目标的形状显示较为准确，且在烟雾远景的场景下也能够获取到准确图像。但是，与可见光谱图像相比，热成像远红外光谱图像中目标与背景的对比度低，边缘模糊且噪声较大，目标的细 节体现不清楚。
为了获取更加准确的现场图像，本申请实施方式还需要获取现场的可见光谱图像，以实现将现场的热成像远红外光谱图像和可见光谱图像相结合，生成能够准确反应现场情况的现场图像。
在本申请的又一种优选实施方式中，所述生成现场的可见光谱图像，具体可以包括：
通过可见光传感器，获取火灾现场的可见光通道信号；
根据所述可见光通道信号，生成所述火灾现场的可见光谱图像。
其中，可见光传感器能够在微光情况下，无需任何辅助光源就能够获取丰富的彩色图像信息。那么，本申请实施方式使用可见光传感器确保生成的可见光通道的信号强度，以使得根据可见光通道的信号生成的可见光谱图像能够达到细节最大程度呈现的效果。在实际应用中，可见光传感器具体可以是星光级传感器。
步骤102，根据所述热成像远红外光谱图像和所述可见光谱图像，叠加生成所述位置信息对应的所述火灾现场的现场图像；
本申请实施方式中采用双光谱的图像融合功能，可以将现场的热成像远红外光谱图像和可见光谱图像相结合，在热成像远红外光谱图像的基础上，叠加能够显示图像细节的可见光谱图像，达到细节增强的目的，最终生成能够准确反应现场情况的现场图像；不仅能够帮助消防人员观察火灾的现场情况，更能够满足火灾现场探测及取证的需求。
可以理解的，消防人员的位置信息能够体现同时生成的现场图像的拍摄位置信息，这样就能够将消防人员的位置信息与现场图像联系起来，以区分不同区域的火灾现场图像。
步骤103，通过移动网络，将所述位置信息和所述现场图像传输至后台指挥中心。
在本申请实施方式中，移动网络具体可以包括公网和私网，公网的具体形式可以是4G公网或者3G公网，私网的具体形式可以是4G私网或者3G私网。 在实际应用中，可以根据现场情况进行选择，比如在公网信号不足的情况下，可以使用专网模块加移动基站的解决方案。本申请对移动网络的具体形式不加以限制。
这样，后台指挥中心就能够通过移动网络，实时获取来自火灾现场的消防人员的位置信息和位置信息对应的现场图像。
在实际应用中，后台指挥中心能够根据获取到的消防人员的定位信息和运动轨迹，通过算法处理进行3D运动轨迹的建模，将消防人员的运行轨迹通过3D模型呈现出来。使得后台指挥中心能够实时掌握消防人员的位置信息，在较大程度上保护了消防人员的人身安全。
换言之，在实际应用中，后台指挥中心通过移动网络，获取到消防人员的定位信息和运动轨迹。然后，通过算法处理，针对运动轨迹进行3D运动轨迹的建模，将消防人员的运行轨迹通过3D模型呈现出来。使得后台指挥中心能够实时掌握消防人员的位置信息，在较大程度上保护了消防人员的人身安全。上述算法为现有技术中的任一3D建模算法。
同时，后台指挥中心还能够将消防人员的定位信息与现场图像结合起来，确定现场图像的拍摄位置，以掌握火灾现场不同区域和地点的火警情况。并且，由于INS获取到的位置信息还可以包括高度信息，因此，后台指挥中心还能够确定拍摄位置的高度信息，比如现场图像的拍摄位置位于哪个楼层等。这样，后台指挥中心通过接收来自多个手持消防热像仪的位置信息和位置信息对应的现场图像，就能够生成火灾现场的全局场景图，进而根据火灾现场的全局场景图，监控火灾现场的不同地点和区域的着火点情况，以便及时作出对应的搜救实施方案。
此外，在本申请的另一种优选实施方式中，所述方法还包括：
测量火灾现场的温度，生成所述火灾现场对应的温度曲线；
通过移动网络，将所述温度曲线传输至后台指挥中心。
本申请实施方法能够测量火灾现场的温度，确定周围的高温区，以便消防人员提前发现可能存在的危险源。并且，还可以根据测量到的现场温度生成温度曲线，通过移动网络发送到后台指挥中心，使后台指挥中心也能够了 解到火灾的现场情况。
可见，本申请实施方式能够使用INS获取消防人员的位置信息；以及生成火灾现场的热成像远红外光谱图像和可见光谱图像；再根据所述热成像远红外光谱图像和所述可见光谱图像，叠加生成位置信息对应的火灾现场图像；最后，将所述火灾现场图像通过移动网络传输至后台指挥中心；此外，还可以获取火灾现场的温度，并将火灾现场的温度曲线也传输至后台指挥中心。这样，后台指挥中心就可以及时获取消防员的位置信息和位置信息对应的现场图像，掌握消防人员的位置信息、火灾现场图像和火灾现场温度；并且，后台指挥中心还可以根据接收到的来自多个手持消防热像仪的位置信息和位置信息对应的现场图像，生成火灾现场的全局场景图，以监控火灾现场的不同地点和区域的着火点情况，帮助后台指挥中心制定出合理的营救方案，减少人员和财产损失。
本申请实施方式还公开了一种传输火灾现场图像的装置，应用于手持消防热像仪。参见图2，图2为本申请实施例的传输火灾现场图像装置的一种结构图，所述装置包括：
获取单元201，用于通过惯性导航系统INS，获取消防人员的位置信息；以及
第一生成单元202，用于生成火灾现场的可见光谱图像和热成像远红外光谱图像；
第二生成单元203，用于根据所述热成像远红外光谱图像和所述可见光谱图像，叠加生成所述位置信息对应的所述火灾现场的现场图像；
第一发送单元204，用于通过移动网络，将所述位置信息和所述现场图像传输至后台指挥中心。
在本申请的一种优选实施方式中，所述第一生成单元，包括：获取子单元和生成子单元；
所述获取子单元，用于通过可见光传感器，获取火灾现场的可见光通道 信号；
所述生成子单元，用于根据所述可见光通道信号，生成所述火灾现场的可见光谱图像。
在本申请的又一种优选实施方式中，所述装置还包括：
第三生成单元，用于测量火灾现场的温度，生成所述火灾现场对应的温度曲线；
第二发送单元，用于通过移动网络，将所述温度曲线传输至后台指挥中心。
在本申请的另一种优选实施方式中，所述位置信息包括消防人员的定位信息和运动轨迹。
在本申请的再一种优选实施方式中，所述移动网络包括4G公网和/或4G私网。
可见，本申请实施方式能够使用INS获取消防人员的位置信息；以及生成火灾现场的热成像远红外光谱图像和可见光谱图像；再根据所述热成像远红外光谱图像和所述可见光谱图像，叠加生成位置信息对应的火灾现场图像；最后，将所述火灾现场图像通过移动网络传输至后台指挥中心；此外，还可以获取火灾现场的温度，并将火灾现场的温度曲线也传输至后台指挥中心。这样，后台指挥中心就可以及时获取消防员的位置信息和位置信息对应的现场图像，掌握消防人员的位置信息、火灾现场图像和火灾现场温度；并且，后台指挥中心还可以根据接收到的来自多个手持消防热像仪的位置信息和位置信息对应的现场图像，生成火灾现场的全局场景图，以监控火灾现场的不同地点和区域的着火点情况，帮助后台指挥中心制定出合理的营救方案，减少人员和财产损失。
本申请实施方式又公开了一种手持消防热像仪。参见图3，图3为本申请实施例的手持消防热像仪的一种结构图。
如图3所示，所述手持消防热像仪具体可以包括：惯性导航模组301、热成像机芯模组302、可见光传感器303、现场可编程门阵列(Field  Programmable Gate Array，FPGA)模块304、专用集成电路(Application Specific Integrated Circuits，ASIC)模块305和移动网络模块306；其中，FPGA模块304分别与热成像机芯模组302、可见光传感器303和ASIC模块305相连，ASIC模块305分别与惯性导航模组301和移动网络模块306相连；可选的，可见光传感器303也可以直接与ASIC模块305相连。
惯性导航模组301，用于通过惯性导航系统INS，获取消防人员的位置信息；将所述位置信息发送至所述ASIC模块；
其中，位置信息包括消防人员的定位信息和运动轨迹。
热成像机芯模组302，用于生成火灾现场的热成像远红外光谱图像；将所述热成像远红外光谱图像发送至FPGA模块304；
可见光传感器303，用于获取所述火灾现场的可见光通道信号；将所述可见光通道信号发送至FPGA模块304；
在本申请的一种优选实施例中，所述可见光传感器303具体可以是星光级传感器；
可选的，所述可见光传感器303也可以将所述可见光通道信号直接发送至ASIC模块305。
FPGA模块304，用于根据来自可见光传感器303的所述可见光通道信号，生成所述火灾现场的可见光谱图像；根据所述可见光谱图像和来自所述热成像机芯模组的所述热成像远红外光谱图像，叠加生成所述位置信息对应的所述火灾现场的现场图像；将所述现场图像发送至ASIC模块305；
具体地，FPGA模块304主要负责热成像探测器驱动信号的产生以及热成像图像信号的处理，主要处理包括非均匀性校正，盲元校正，自适应增益调节(14bit图像数据到8bit转换)，图像增强及图像降噪等处理。
ASIC模块305，用于获取火灾现场的温度，生成所述火灾现场对应的温度曲线；对来自FPGA模块304的所述现场图像进行压缩编码处理；将所述温度曲线和所述压缩编码处理后的现场图像、以及来自所述惯性导航模组的所述位置信息发送至移动网络模块306；
移动网络模块306，用于将来自ASIC模块305的所述温度曲线、所述处理后的现场图像、以及所述位置信息传输至后台指挥中心。
在本申请的一种优选实施例中，所述移动网络模块306具体可以为4G公网和/或4G私网。
在本申请的又一种优选实施例中，所述热成像机芯模组302，还用于测量火灾现场的温度。
在实际应用中，热成像机芯模组302可以测量火灾现场的温度，并将所述温度发送至ASIC模块305；ASIC模块305在接收到来自热成像机芯模组302的所述温度后，可以根据所述温度生成所述火灾现场对应的温度曲线。
可见，本申请实施方式所述的手持消防热像仪，能够将消防人员的位置信息、位置信息对应的火灾现场图像和火灾现场的温度传输至后台指挥中心。这样，处后台指挥中心就可以实时了解火灾的现场情况，以便后台指挥中心制定营救方案，在最大程度上避免人员伤亡和财产损失。
在本申请的一种优选实施例中，参见图4，图4为本申请实施例的手持消防热像仪的又一种结构图。如图4所示，所述手持消防热像仪可以包括：惯性导航模组401、热成像机芯模组402、星光级传感器403、FPGA模块404、ASIC模块405、移动网络模块406、显示设备407、Micro SD模块408和供电模块409；其中，FPGA模块404分别与热成像机芯模组402、星光级传感器403和ASIC模块405相连，ASIC模块405分别与惯性导航模组401、移动网络模块406、显示设备407、Micro SD模块408和供电模块409相连；其中，惯性导航模组401、热成像机芯模组402、FPGA模块404、移动网络模块406分别与图3所示的惯性导航模组301、热成像机芯模组302、FPGA模块304、移动网络模块306可以完全相同，这里不再赘述。
星光级传感器403，用于获取火灾现场的可见光通道信号；
ASIC模块405，具体用于获取火灾现场的温度，生成所述火灾现场对应的温度曲线；对来自FPGA模块404的所述现场图像进行压缩编码处理；将 所述温度曲线和所述压缩编码处理后的现场图像、以及来自所述惯性导航模组的所述位置信息发送至移动网络模块406、显示设备407和Micro SD模块408；
显示设备407，用于显示来自所述ASIC模块405的所述温度曲线、所述处理后的现场图像和所述位置信息；
其中，所述显示设备407具体可以是液晶显示屏，液晶显示屏具有耐高温的特性。
Micro SD模块408，用于存储来自ASIC模块405的所述温度曲线、所述处理后的现场图像和所述位置信息；
供电模块409，用于为手持消防热像仪提供电能。
其中，供电模块409采用耐高温特种电池供电。
可见，本申请实施方式所述的手持消防热像仪，能够通过液晶显示屏为消防人员显示当前的位置信息、现场图像和现场温度；并且，还可以将消防人员的位置信息、位置信息对应的火灾现场的图像和火灾现场的温度传输至后台指挥中心。这样，处于火灾现场的消防人员和后台指挥中心都可以实时了解火灾的现场情况，以便消防人员随机应变和后台指挥中心制定营救方案，在最大程度上避免人员伤亡和财产损失。
本申请实施例提供了一种手持消防热像仪，如图5所示，所述手持消防热像仪包括：壳体51、处理器52、存储器53、电路板54和电源电路55，其中，电路板54安置在壳体51围成的空间内部，处理器52和存储器53设置在电路板54上；电源电路55，用于为手持消防热像仪的各个电路或器件供电；存储器53用于存储可执行程序代码；处理器52通过运行存储器53中存储的可执行程序代码，以执行：
通过惯性导航系统INS，获取消防人员的位置信息；以及
生成火灾现场的可见光谱图像和热成像远红外光谱图像；
根据所述热成像远红外光谱图像和所述可见光谱图像，叠加生成所述位置信息对应的所述火灾现场的现场图像；
通过移动网络，将所述位置信息和所述现场图像传输至后台指挥中心。
应用本申请实施例所提供的技术方案，可以使用INS获取消防人员的位置信息；以及生成现场的热成像远红外光谱图像和可见光谱图像；然后，根据所述热成像远红外光谱图像和所述可见光谱图像，叠加生成位置信息对应的现场图像；最后，将所述现场图像通过移动网络传输至后台指挥中心。这样，后台指挥中心就可以及时获取消防员的位置信息和位置信息对应的现场图像，了解火灾的现场情况，以便后台指挥中心制定出合理的营救方案，减少人员和财产损失。
本申请实施例提供了一种可执行程序代码，所述可执行程序代码用于被运行以执行本申请实施例所提供的所述传输火灾现场图像的方法，其中，所述传输火灾现场图像的方法可以应用于手持消防热像仪中，可以包括步骤：
通过惯性导航系统INS，获取消防人员的位置信息；以及
生成火灾现场的可见光谱图像和热成像远红外光谱图像；
根据所述热成像远红外光谱图像和所述可见光谱图像，叠加生成所述位置信息对应的所述火灾现场的现场图像；
通过移动网络，将所述位置信息和所述现场图像传输至后台指挥中心。
应用本申请实施例所提供的技术方案，可以使用INS获取消防人员的位置信息；以及生成现场的热成像远红外光谱图像和可见光谱图像；然后，根据所述热成像远红外光谱图像和所述可见光谱图像，叠加生成位置信息对应的现场图像；最后，将所述现场图像通过移动网络传输至后台指挥中心。这样，后台指挥中心就可以及时获取消防员的位置信息和位置信息对应的现场图像，了解火灾的现场情况，以便后台指挥中心制定出合理的营救方案，减少人员和财产损失。
本申请实施例提供了一种存储介质，所述存储介质用于存储可执行程序代码，所述可执行程序代码被运行以执行本申请实施例所提供的所述传输火灾现场图像的方法，其中，所述传输火灾现场图像的方法可以应用于手持消防热像仪中，可以包括步骤：
通过惯性导航系统INS，获取消防人员的位置信息；以及
生成火灾现场的可见光谱图像和热成像远红外光谱图像；
根据所述热成像远红外光谱图像和所述可见光谱图像，叠加生成所述位置信息对应的所述火灾现场的现场图像；
通过移动网络，将所述位置信息和所述现场图像传输至后台指挥中心。
应用本申请实施例所提供的技术方案，可以使用INS获取消防人员的位置信息；以及生成现场的热成像远红外光谱图像和可见光谱图像；然后，根据所述热成像远红外光谱图像和所述可见光谱图像，叠加生成位置信息对应的现场图像；最后，将所述现场图像通过移动网络传输至后台指挥中心。这样，后台指挥中心就可以及时获取消防员的位置信息和位置信息对应的现场图像，了解火灾的现场情况，以便后台指挥中心制定出合理的营救方案，减少人员和财产损失。
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
本说明书中的各个实施例均采用相关的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。尤其，对于系统实施例而言，由于其基本相似于方法实施例，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。
以上所述仅为本申请的较佳实施例而已，并非用于限定本申请的保护范围。凡在本申请的精神和原则之内所作的任何修改、等同替换、改进等，均包含在本申请的保护范围内。

Claims (17)

  1. 一种传输火灾现场图像的方法，其特征在于，应用于手持消防热像仪，所述方法包括：
    通过惯性导航系统INS，获取消防人员的位置信息；以及
    生成火灾现场的可见光谱图像和热成像远红外光谱图像；
    根据所述热成像远红外光谱图像和所述可见光谱图像，叠加生成所述位置信息对应的所述火灾现场的现场图像；
    通过移动网络，将所述位置信息和所述现场图像传输至后台指挥中心。
  2. 根据权利要求1所述的方法，其特征在于，所述生成火灾现场的可见光谱图像的步骤，包括：
    通过可见光传感器，获取火灾现场的可见光通道信号；
    根据所述可见光通道信号，生成所述火灾现场的可见光谱图像。
  3. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    测量火灾现场的温度，生成所述火灾现场对应的温度曲线；
    通过移动网络，将所述温度曲线传输至后台指挥中心。
  4. 根据权利要求1所述的方法，其特征在于，所述位置信息包括消防人员的定位信息和运动轨迹。
  5. 根据权利要求1所述的方法，其特征在于，所述移动网络包括4G公网和/或4G私网。
  6. 一种传输火灾现场图像的装置，其特征在于，应用于手持消防热像仪，所述装置包括：
    获取单元，用于通过惯性导航系统INS，获取消防人员的位置信息；以及
    第一生成单元，用于生成火灾现场的可见光谱图像和热成像远红外光谱图像；
    第二生成单元，用于根据所述热成像远红外光谱图像和所述可见光谱图 像，叠加生成所述位置信息对应的所述火灾现场的现场图像；
    第一发送单元，用于通过移动网络，将所述位置信息和所述现场图像传输至后台指挥中心。
  7. 根据权利要求6所述的装置，其特征在于，所述第一生成单元，包括：获取子单元和生成子单元；
    所述获取子单元，用于通过可见光传感器，获取火灾现场的可见光通道信号；
    所述生成子单元，用于根据所述可见光通道信号，生成所述火灾现场的可见光谱图像。
  8. 根据权利要求6所述的装置，其特征在于，所述装置还包括：
    第三生成单元，用于测量火灾现场的温度，生成所述火灾现场对应的温度曲线；
    第二发送单元，用于通过移动网络，将所述温度曲线传输至后台指挥中心。
  9. 根据权利要求6所述的装置，其特征在于，所述位置信息包括消防人员的定位信息和运动轨迹。
  10. 根据权利要求6所述的装置，其特征在于，所述移动网络包括4G公网和4G私网。
  11. 一种手持消防热像仪，其特征在于，所述手持消防热像仪包括：惯性导航模组、热成像机芯模组、可见光传感器、现场可编程门阵列FPGA模块、专用集成电路ASIC模块、移动网络模块；
    所述惯性导航模组，用于通过惯性导航系统INS，获取消防人员的位置信息；将所述位置信息发送至所述ASIC模块；
    所述热成像机芯模组，用于生成火灾现场的热成像远红外光谱图像；将所述热成像远红外光谱图像发送至所述FPGA模块；
    所述可见光传感器，用于获取所述火灾现场的可见光通道信号；将所 述可见光通道信号发送至所述FPGA模块；
    所述FPGA模块，用于根据来自所述可见光传感器的所述可见光通道信号，生成所述火灾现场的可见光谱图像；根据所述可见光谱图像和来自所述热成像机芯模组的所述热成像远红外光谱图像，叠加生成所述位置信息对应的所述火灾现场的现场图像；将所述现场图像发送至所述ASIC模块；
    所述ASIC模块，用于获取火灾现场的温度，生成所述火灾现场对应的温度曲线；对来自所述FPGA模块的所述现场图像进行压缩编码处理；将所述温度曲线和所述压缩编码处理后的现场图像、以及来自所述惯性导航模组的所述位置信息发送至所述移动网络模块；
    所述移动网络模块，用于将来自所述ASIC模块的所述温度曲线、所述处理后的现场图像、以及所述位置信息传输至后台指挥中心。
  12. 根据权利要求11所述的手持消防热像仪，其特征在于，所述可见光传感器为星光级传感器。
  13. 根据权利要求11所述的手持消防热像仪，其特征在于，所述移动网络模块为4G公网和/或4G私网。
  14. 根据权利要求11所述的手持消防热像仪，其特征在于，所述热成像机芯模组，还用于测量火灾现场的温度。
  15. 一种手持消防热像仪，其特征在于，所述手持消防热像仪包括：壳体、处理器、存储器、电路板和电源电路，其中，电路板安置在壳体围成的空间内部，处理器和存储器设置在电路板上；电源电路，用于为手持消防热像仪的各个电路或器件供电；存储器用于存储可执行程序代码；处理器通过运行存储器中存储的可执行程序代码，以执行：
    通过惯性导航系统INS，获取消防人员的位置信息；以及
    生成火灾现场的可见光谱图像和热成像远红外光谱图像；
    根据所述热成像远红外光谱图像和所述可见光谱图像，叠加生成所述位置信息对应的所述火灾现场的现场图像；
    通过移动网络，将所述位置信息和所述现场图像传输至后台指挥中心。
  16. 一种可执行程序代码，其特征在于，所述可执行程序代码用于被运行以执行权利要求1-5任一项所述的传输火灾现场图像的方法。
  17. 一种存储介质，其特征在于，所述存储介质用于存储可执行程序代码，所述可执行程序代码被运行以执行权利要求1-5任一项所述的传输火灾现场图像的方法。
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