CN104715556B - Based on the condition of a fire alarm method taken photo by plane in the air - Google Patents
Based on the condition of a fire alarm method taken photo by plane in the air Download PDFInfo
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Abstract
The present invention relates to a kind of based on the condition of a fire alarm method taken photo by plane in the air, comprising: utilize digital photo capture apparatus to shoot beat image；Utilize the haze abatement apparatus being connected with described digital photo capture apparatus to receive described beat image, described beat image is performed sharpening and processes, it is thus achieved that sharpening image；Described sharpening image is inputted the fire detecting apparatus being connected with described haze abatement apparatus, described sharpening image is performed fire analysis；The ARM11 processor being connected with described fire detecting apparatus is utilized to determine whether to send condition of a fire alarm signal based on described fire analysis result.The method of the present invention utilizes the fire alarm system being arranged on unmanned plane to implement.By the present invention, even if under the weather that haze is serious, it is also possible to the condition of a fire situation set in beat accurately detected, and send the alarm signal of necessity in time to local fire fighting monitoring platform.
Description
Technical field
The present invention relates to fire fighting monitoring field, particularly relate to a kind of based on the condition of a fire warning side taken photo by plane in the air
Method.
Background technology
Unmanned plane, i.e. UAV, its english abbreviation is " UAV ", is to utilize radio distant
The most manned aircraft that control equipment and the presetting apparatus provided for oneself are handled.Can divide from technical standpoint definition
For: depopulated helicopter, unmanned fixed-wing aircraft, unmanned multi-rotor aerocraft, unmanned airship, unmanned umbrella
These several big classes of wing machine.In terms of purposes, classification can be divided into military unmanned air vehicle and civilian unmanned plane.Military side
Face, can be used for battle reconnaissance and supervision, school, location are penetrated, injured assessment, electronic warfare, and civilian
Aspect, can be used for border patrol, nuclear radiation detection, aeroplane photography, mineral exploration aviation, the condition of a disaster monitor,
Traffic patrolling and security monitoring.
Currently, various countries' fire department is faced with day by day complicated fire fighting and rescue and social helping situation, right
All kinds of earthquake rescues, flood-fighting, lofty mountains relief and the situation such as large span or high-rise fire, tradition is existing
The limitation of field investigation highlights the most day by day, and it exists monitoring faciostenosis, monitors real-time and nothing
Method overcomes the defect that haze weather affects.The most effectively implement fire-fighting early warning and scene is detected, and rapidly,
Accurately dispose the condition of a disaster to be particularly important.Unmanned plane application technology and the ripe fortune of system scheme
Video, monitoring and the transmission equipment such as infrared is combined, by the most right with so that scounting aeroplane platform
Setting inspection region carries out disaster hidden-trouble inspection, field rescue commander and condition of a fire detecting and becomes fire department
New selection.
Therefore it provides a kind of new fire fighting monitoring method, abandon original on-the-spot condition of a fire monitoring means,
It is carrier by unmanned plane, not only under normal weather, it is also possible to inspection under various haze weather
Region carries out data acquisition, to judge whether the condition of a fire and the concrete situation of the condition of a fire, disappears for locality
Anti-department provides important reference data.
Summary of the invention
In order to solve the problem that above-mentioned conventional on-site investigation is brought, according to a side of the present invention
Face, the invention provides a kind of based on the condition of a fire alarm method taken photo by plane in the air, comprising: utilize numeral
Photograph capture apparatus shooting beat image；Utilize the mist being connected with described digital photo capture apparatus
Haze abatement apparatus receives described beat image, performs described beat image at sharpening
Reason, it is thus achieved that sharpening image；The input of described sharpening image is connected with described haze abatement apparatus
Fire detecting apparatus, performs fire analysis to described sharpening image；Utilize and set with the detection of the described condition of a fire
The standby ARM11 processor connected determines whether to send condition of a fire alarm signal based on described fire analysis result
Number.
The condition of a fire alarm method of the present invention utilizes the fire alarm system being arranged on unmanned plane to implement.Cause
This, according to another aspect of the present invention, present invention also offers a kind of based on the condition of a fire taken photo by plane in the air
Warning system, described warning system includes that digital photo capture apparatus, haze abatement apparatus, the condition of a fire are examined
Measurement equipment and ARM11 processor, wherein said digital photo capture apparatus is used for shooting beat
Image；Described haze abatement apparatus is connected with described digital photo capture apparatus, be used for receiving described in patrol
Patrol area image, described beat image is performed sharpening and processes, it is thus achieved that sharpening image；Institute
State fire detecting apparatus to be connected with described haze abatement apparatus, for described sharpening image is performed fire
Mutual affection is analysed；Described ARM11 processor is connected with described fire detecting apparatus, for based on described fire
Feelings analysis result determines whether to send condition of a fire alarm signal.
Further, described warning system also includes:
Power supply, including solar powered device, accumulator, switching switch and electric pressure converter,
Described switching switch is connected, according to accumulator respectively with described solar powered device and described accumulator
Dump energy decides whether to be switched to described solar powered device with by described solar powered device
Power supply, described electric pressure converter is connected with described switching switch, with by the 5V by switching switch input
Voltage is converted to 3.3V voltage；
Galileo location equipment, connects Galilean satellite, for receiving the real-time Galileo position of unmanned plane
Put, when receiving the condition of a fire alarm signal that described ARM11 processor sends, real-time Galileo position
Put the i.e. condition of a fire and position occurs；
Static storage device, is used for prestore shooting height, flame upper limit gray threshold, flame lower limit ash
Degree threshold value, smog upper limit gray threshold, smog lower limit gray threshold and default condition of a fire proportion threshold value；
Wireless transmitting-receiving equipments, connects local fire fighting monitoring platform, is used for receiving described local fire fighting monitoring
The beat that platform sends；
Unmanned plane drives equipment, under the control of described ARM11 processor, drives unmanned plane
Flight is to the top of described beat, and flying height is described shooting height.
More specifically, described haze abatement apparatus also includes:
Storage subset, is used for prestoring sky upper limit gray threshold and sky lower limit gray threshold,
Described sky upper limit gray threshold and described sky lower limit gray threshold are for isolating the sky in image
Dummy section, is additionally operable to prestore presetted pixel value threshold value, and described presetted pixel value threshold value value is 0
Between 255；
Haze Concentration Testing subset, is positioned in air, for detection unmanned plane position in real time
Haze concentration, and determine that intensity removed by haze according to haze concentration, described haze is removed intensity value and is existed
Between 0 to 1；
Region divides subset, connects described digital photo capture apparatus to receive described beat figure
Picture, described beat image is carried out gray processing process to obtain gray processing area image, also with deposit
Storage subset connects, by gray value in described gray processing area image at described sky upper limit gray threshold
And pixel identification between described sky lower limit gray threshold form gray processing sky sub pattern, from institute
State gray processing area image and be partitioned into described gray processing sky sub pattern to obtain gray processing non-sky gap
Image, obtains based on described gray processing non-sky subimage correspondence position in described beat image
Obtain the colour non-sky subimage that sky subimage non-with described gray processing is corresponding；
Black channel obtains subset, divides subset with described region and is connected to obtain described colour non-
Sky subimage, for each pixel in described colour non-sky subimage, calculates its R, G, B
Three Color Channel pixel values, the R, G, B tri-of all pixels in described colour non-sky subimage
Color Channel pixel value extracts the Color Channel at the minimum Color Channel pixel value place of a numerical value
As black channel；
Overall air light value obtains subset, is connected with described storage subset to obtain presetted pixel value
Threshold value, divides subset with described region and described black channel obtains subset and is connected respectively to obtain
Described beat image and described black channel, by black channel pixel in described beat image
Value forms set of pixels to be tested, by described to be tested more than or equal to multiple pixels of presetted pixel value threshold value
Set of pixels has the gray value of pixel of maximum gradation value as overall air light value；
Atmospheric scattering light value obtains subset, divides subset and the inspection of described haze concentration with described region
Survey subset to connect respectively, each pixel to described beat image, extract its R, G, B
In three Color Channel pixel values, minima is as target pixel value, uses the Gaussian smoothing filter keeping edge
Ripple device EPGF (edge-preserving gaussian filter) is filtered place to described target pixel value
Target pixel value, to obtain filtered target pixel value, is deducted filtered target pixel value to obtain target by reason
Pixel value difference, uses EPGF to be filtered object pixel difference processing to obtain filtered target pixel
Difference, deducts filtered target pixel value filtered target pixel value difference to obtain haze and removes reference value,
Haze is removed intensity be multiplied by haze remove reference value with obtain haze remove threshold value, take haze remove threshold
Minima in value and target pixel value, as comparison reference, takes the maximum in comparison reference and 0
It is worth the atmospheric scattering light value as each pixel；
Medium transmission rate obtains subset, obtains subset and described air with described overall air light value
Scattering light value obtains subset and connects respectively, by big divided by entirety for the atmospheric scattering light value of each pixel
Gas light value, to obtain except value, deducts described except value is to obtain the medium transmission rate of each pixel by 1；
Sharpening Image Acquisition subset, divides subset, described overall air light value with described region
Obtain subset and described medium transmission rate obtains subset and connects respectively, deduct each pixel by 1
Medium transmission rate to obtain the first difference, described first difference is multiplied by overall air light value to obtain
Product value, deducts described product value to obtain by the pixel value of each pixel in described beat image
The second difference, by described second difference divided by the medium transmission rate of each pixel to obtain each
The sharpening pixel value of pixel, in described beat image, the pixel value of each pixel includes described
The R of each pixel in beat image, G, B tri-Color Channel pixel value, correspondingly, obtains
The sharpening pixel value of each pixel include the R of each pixel, G, B tri-Color Channel
Sharpening pixel value, the sharpening pixel value composition sharpening image of all pixels.
More specifically, described fire detecting apparatus by gray value in described sharpening image at described flame
Pixel identification between upper limit gray threshold and described flame lower limit gray threshold also forms flame object
Subimage, by gray value in described sharpening image at described smog upper limit gray threshold and described smog
Pixel identification between lower limit gray threshold also forms smoke target subimage, calculates described flame object
The total pixel number of subimage and total pixel sum of described smoke target subimage occupy described sharpening
The condition of a fire pixel ratio numerical value of the total pixel of image.
More specifically, described ARM11 processor and described digital photo capture apparatus, described haze
Abatement apparatus, described fire detecting apparatus, described Galileo location equipment, described static storage device,
Described wireless transmitting-receiving equipments and described unmanned plane drive equipment to connect respectively, when described condition of a fire pixel ratio
When numerical value is more than or equal to described default condition of a fire proportion threshold value, send condition of a fire alarm signal；Wherein, described
ARM11 processor is after sending condition of a fire alarm signal, also by described condition of a fire alarm signal and described fire
Feelings occur position to be sent to described local fire fighting monitoring platform by described wireless transmitting-receiving equipments.
More specifically, in the warning system of the present invention, described digital photo capture apparatus includes 35
Millimeter tight shot and three-axle steady platform.
More specifically, in the warning system of the present invention, described ARM11 processor is by the described condition of a fire
Alarm signal and the described condition of a fire occur position to be all added on described sharpening image to form composite diagram
Picture, and described combination picture is sent to described local fire fighting monitoring by described wireless transmitting-receiving equipments puts down
Platform.
More specifically, the warning system of the present invention also includes infrared temperature sensor, for based on described
There is the infrared ray of position radiation in the condition of a fire, detects the described condition of a fire and the temperature of position occurs.
More specifically, in the warning system of the present invention, described ARM11 processor is infrared with described
Temperature sensor connects, for the described condition of a fire is occurred that the temperature of position set by described wireless receiving and dispatching
Preparation delivers to described local fire fighting monitoring platform.
The present invention based on the condition of a fire alarm method taken photo by plane in the air, use unmanned aerial vehicle platform and carry out fate
The image data acquiring in territory, is analyzed the image collected, to determine whether locality occurs the condition of a fire
And the concrete situation of the condition of a fire, meanwhile, according to atmospheric attenuation model determine haze on image affect because of
Element, and go hazeization to process the image gathered under foggy days, thus ensureing native system prison
Control face width is wide, monitoring simultaneously, improves the reliability of system timely
Accompanying drawing explanation
Below with reference to accompanying drawing, embodiment of the present invention are described, wherein:
Fig. 1 is the structure side implementing present invention warning system based on the condition of a fire alarm method taken photo by plane in the air
Block diagram.
Fig. 2 is the power supply electricity implementing present invention warning system based on the condition of a fire alarm method taken photo by plane in the air
The block diagram in source.
Detailed description of the invention
Below with reference to accompanying drawings to implementing present invention warning based on the condition of a fire alarm method taken photo by plane in the air
The embodiment of system is described in detail.
Along with reaching its maturity and the further expansion of air photo technique of unmanned air vehicle technique, civilian unmanned
Machine application is increasingly extensive, including: photogrammetric, emergency disaster relief, public safety, resource exploration,
Environmental monitoring, Natural calamity monitoring and assessment, urban planning and municipal administration, the protection of forest fires pest and disease damage
With monitoring etc..
Currently, the means that the condition of a fire is monitored by fire department mainly use conventional on-site investigative mode, this
Pattern cannot provide condition of a fire warning message in real time, can be delayed condition of a fire time of fire alarming, affects disaster relief effect,
The condition of a fire monitoring demand of complicated landform cannot be met simultaneously and the dry of various haze weather cannot be overcome
Disturb, and the condition of a fire monitoring mode with unmanned plane as apparatus carriers, utilize the flexible of unmanned plane aerial reconnaissance
Property and agility, it is achieved the disaster relief effect that conventional on-site investigative mode cannot realize.
The present invention based on the condition of a fire alarm method taken photo by plane in the air and warning system, it is possible to fly to emphasis district
Territory carries out condition of a fire monitoring, to key area captured image data, to report to the police when finding the condition of a fire,
The fire alarm system of the present invention can adapt to various haze weather, its warning provided for fire department
Efficient information, in real time, reliable.
Fig. 1 is the structure side implementing present invention warning system based on the condition of a fire alarm method taken photo by plane in the air
Block diagram, as it is shown in figure 1, described warning system is installed on unmanned plane, shoots including digital photo
Equipment 1, haze abatement apparatus 2, fire detecting apparatus 3 and ARM11 processor 4, described ARM11
Processor 4 and described digital photo capture apparatus 1, described haze abatement apparatus 2 and the inspection of the described condition of a fire
Measurement equipment 3 connects respectively, described haze abatement apparatus 2 and described digital photo capture apparatus 1 and institute
State fire detecting apparatus 3 to connect respectively.
Wherein, described digital photo capture apparatus 1 is used for shooting beat image, and described haze disappears
Except equipment 2 processes for described beat image is performed sharpening, it is thus achieved that sharpening image, institute
State fire detecting apparatus 3 for described sharpening image being performed fire analysis, at described ARM11
Reason device 4 is for determining whether to send condition of a fire alarm signal based on described fire analysis result.
Then, the concrete structure of warning system is further detailed.
As in figure 2 it is shown, described firefighting monitoring system also includes: power supply 5, supply including solar energy
Electrical part 51, accumulator 52, switching switch 53 and electric pressure converter 54, described switching switch 53
It is connected respectively with described solar powered device 51 and described accumulator 52, remains according to accumulator 52
Remaining electricity decides whether to be switched to described solar powered device 51 with by described solar powered device
51 power supplies, described electric pressure converter 54 is connected with described switching switch 53, will be switched by switching
The 5V voltage of 53 inputs is converted to 3.3V voltage.
Described firefighting monitoring system also includes: Galileo location equipment, connects Galilean satellite, is used for
Receive the real-time Galileo position of unmanned plane, receive the fire that described ARM11 processor 4 sends
During feelings alarm signal, there is position in the i.e. condition of a fire in real-time Galileo position.
Described firefighting monitoring system also includes: static storage device, is used for prestore shooting height, flame
Upper limit gray threshold, flame lower limit gray threshold, smog upper limit gray threshold, smog lower limit gray scale threshold
Value and default condition of a fire proportion threshold value.
Described firefighting monitoring system also includes: wireless transmitting-receiving equipments, connects local fire fighting monitoring platform,
For receiving the beat that described local fire fighting monitoring platform sends.
Described firefighting monitoring system also includes: unmanned plane drives equipment, at described ARM11
Under the control of reason device 4, driving unmanned plane during flying to the top of described beat, flying height is institute
State shooting height.
Described haze abatement apparatus 2 is positioned at described digital photo capture apparatus 1 and the detection of the described condition of a fire sets
Between standby 3, it is used for receiving described beat image, described beat image is performed sharpening
Process, it is thus achieved that sharpening image, and described sharpening image is inputted described fire detecting apparatus 3.
Described haze abatement apparatus 2 also includes consisting of parts:
Storage subset, is used for prestoring sky upper limit gray threshold and sky lower limit gray threshold,
Described sky upper limit gray threshold and described sky lower limit gray threshold are for isolating the sky in image
Dummy section, is additionally operable to prestore presetted pixel value threshold value, and described presetted pixel value threshold value value is 0
Between 255；
Haze Concentration Testing subset, is positioned in air, for detection unmanned plane position in real time
Haze concentration, and determine that intensity removed by haze according to haze concentration, described haze is removed intensity value and is existed
Between 0 to 1；
Region divides subset, connects described digital photo capture apparatus 1 to receive described beat
Image, described beat image is carried out gray processing process to obtain gray processing area image, also with
Storage subset connects, by gray value in described gray processing area image at described sky upper limit gray scale threshold
Pixel identification between value and described sky lower limit gray threshold also forms gray processing sky sub pattern, from
Described gray processing area image is partitioned into described gray processing sky sub pattern to obtain the non-sky of gray processing
Subimage, based on described gray processing non-sky subimage correspondence position in described beat image
Obtain the colour non-sky subimage that sky subimage non-with described gray processing is corresponding；
Black channel obtains subset, divides subset with described region and is connected to obtain described colour non-
Sky subimage, for each pixel in described colour non-sky subimage, calculates its R, G, B
Three Color Channel pixel values, the R, G, B tri-of all pixels in described colour non-sky subimage
Color Channel pixel value extracts the Color Channel at the minimum Color Channel pixel value place of a numerical value
As black channel；
Overall air light value obtains subset, is connected with described storage subset to obtain presetted pixel value
Threshold value, divides subset with described region and described black channel obtains subset and is connected respectively to obtain
Described beat image and described black channel, by black channel pixel in described beat image
Value forms set of pixels to be tested, by described to be tested more than or equal to multiple pixels of presetted pixel value threshold value
Set of pixels has the gray value of pixel of maximum gradation value as overall air light value；
Atmospheric scattering light value obtains subset, divides subset and the inspection of described haze concentration with described region
Survey subset to connect respectively, each pixel to described beat image, extract its R, G, B
In three Color Channel pixel values, minima is as target pixel value, uses the Gaussian smoothing filter keeping edge
Ripple device EPGF (edge-preserving gaussian filter) is filtered place to described target pixel value
Target pixel value, to obtain filtered target pixel value, is deducted filtered target pixel value to obtain target by reason
Pixel value difference, uses EPGF to be filtered object pixel difference processing to obtain filtered target pixel
Difference, deducts filtered target pixel value filtered target pixel value difference to obtain haze and removes reference value,
Haze is removed intensity be multiplied by haze remove reference value with obtain haze remove threshold value, take haze remove threshold
Minima in value and target pixel value, as comparison reference, takes the maximum in comparison reference and 0
It is worth the atmospheric scattering light value as each pixel；
Medium transmission rate obtains subset, obtains subset and described air with described overall air light value
Scattering light value obtains subset and connects respectively, by big divided by entirety for the atmospheric scattering light value of each pixel
Gas light value, to obtain except value, deducts described except value is to obtain the medium transmission rate of each pixel by 1；
Sharpening Image Acquisition subset, divides subset, described overall air light value with described region
Obtain subset and described medium transmission rate obtains subset and connects respectively, deduct each pixel by 1
Medium transmission rate to obtain the first difference, described first difference is multiplied by overall air light value to obtain
Product value, deducts described product value to obtain by the pixel value of each pixel in described beat image
The second difference, by described second difference divided by the medium transmission rate of each pixel to obtain each
The sharpening pixel value of pixel, in described beat image, the pixel value of each pixel includes described
The R of each pixel in beat image, G, B tri-Color Channel pixel value, correspondingly, obtains
The sharpening pixel value of each pixel include the R of each pixel, G, B tri-Color Channel
Sharpening pixel value, the sharpening pixel value composition sharpening image of all pixels.
Described fire detecting apparatus 3 by gray value in described sharpening image in described flame upper limit gray scale
Pixel identification between threshold value and described flame lower limit gray threshold also forms flame object subimage, will
In described sharpening image, gray value is in described smog upper limit gray threshold and described smog lower limit gray scale
Pixel identification between threshold value also forms smoke target subimage, calculates described flame object subimage
Total pixel sum of total pixel number and described smoke target subimage occupies the described total picture of sharpening image
The condition of a fire pixel ratio numerical value of element.
Described ARM11 processor 4 eliminates set with described digital photo capture apparatus 1, described haze
Standby 2, described fire detecting apparatus 3, described Galileo location equipment, described static storage device,
Described wireless transmitting-receiving equipments and described unmanned plane drive equipment to connect respectively, when described condition of a fire pixel ratio
When numerical value is more than or equal to described default condition of a fire proportion threshold value, send condition of a fire alarm signal.
Wherein, described ARM11 processor 4 is after sending condition of a fire alarm signal, also by the described condition of a fire
Alarm signal and described condition of a fire generation position are sent to described locality by described wireless transmitting-receiving equipments and disappear
Anti-monitor supervision platform.
Wherein, alternatively, described digital photo capture apparatus 1 includes 35 millimeters of tight shots and three
Axis stabilized platforms；Described condition of a fire alarm signal and the described condition of a fire are occurred by described ARM11 processor 4
Position is all added on described sharpening image to form combination picture, and is passed through by described combination picture
Described wireless transmitting-receiving equipments is sent to described local fire fighting monitoring platform；Described system can also include red
Outer temperature sensor, for there is the infrared ray of position radiation based on the described condition of a fire, detects described fire
There is the temperature of position in feelings, and described ARM11 processor 4 and described infrared temperature sensor
Connect, for the described condition of a fire occurs that the temperature of position is sent to institute by described wireless transmitting-receiving equipments
State local fire fighting monitoring platform.
It addition, haze image can remove haze by what a series of images processing equipment realized image,
To obtain the image of sharpening, improve the visibility of image.These image processing equipments perform not respectively
Same image processing function, the principle formed based on haze, reach to remove the effect of haze.Haze figure
The sharpening of picture processes all has great using value, military domain bag for dual-use field
Including military and national defense, remote sensing navigation etc., civil area includes road monitoring, target following and automatic Pilot
Deng.
The process that haze image is formed can be described by atmospheric attenuation process, in haze image and reality
The medium of the available overall air light value of the relation between image i.e. sharpening image and each pixel passes
Defeated rate is stated, i.e. in the case of known haze image, according to overall air light value and each picture
The medium transmission rate of element, can solve sharpening image.
There are some and have in the solving of medium transmission rate for overall air light value and each pixel
Effect and through the means of checking, such as, for the medium transmission rate of each pixel, need to obtain whole
Body atmosphere light value and the atmospheric scattering light value of each pixel, and the atmospheric scattering light value of each pixel
Can be at the Gaussian smoothing that each pixel pixel value in haze image is carried out twice holding edge
Filtering and obtain, therebetween, the intensity that haze is removed is adjustable；And the acquisition pattern of entirety air light value has
Two kinds, a kind of mode is, (i.e. can make in haze image by obtaining the black channel of haze image
The black channel value of some pixels is the lowest, black channel is R, and G, B tri-is in Color Channel
A kind of), in haze image, the multiple pixels bigger than normal by finding black channel pixel value are found
The pixel of gray value maximum obtains, and gray value that will search out, gray value is maximum pixel is made
For overall air light value, participate in the sharpening of each pixel in haze image and process；It addition, it is overall
Air light value also can obtain in the following manner: calculates the gray value of each pixel in haze image, will
The gray value of the pixel that gray value is maximum is as overall air light value.
Relation between concrete haze image and real image i.e. sharpening image, and parameters
Between relation can be found in above content.
By the discussion to haze image formation basic theory, build between haze image and sharpening image
Relation, represent this relation by multiple parameters, subsequently by the multiple parameter values obtained and haze figure
The image that picture the most reducible acquisition definition is higher, owing to some statistical means have been used in the acquisition of parameter
And empirical means, the image that the most described definition is higher can not be fully equivalent to real image, but
Have and considerable degree of gone haze effect, provide effectively for the every field operation under haze weather
Ensure.
Use the present invention based on the condition of a fire alarm method taken photo by plane in the air, for existing firefighting monitoring system
Response speed is slow, offer data are comprehensive, cannot adapt to complicated landform and the technical problem of complicated weather,
Use UAV flight's platform flexibly and fast, introduce image acquisition and processing equipment and carry out fire analysis,
Introduce and go haze equipment to remove the haze impact on image such that it is able to provide accurate for fire department
Instant data, it is ensured that the disaster relief effect of fire department, it is to avoid the further expansion of the condition of a fire.
Although it is understood that the present invention discloses as above with preferred embodiment, but above-mentioned enforcement
Example is not limited to the present invention.For any those of ordinary skill in the art, without departing from
Under technical solution of the present invention ambit, all may utilize the technology contents of the disclosure above to the technology of the present invention
Scheme makes many possible variations and modification, or is revised as the Equivalent embodiments of equivalent variations.Therefore,
Every content without departing from technical solution of the present invention, the technical spirit of the foundation present invention is to above example
Any simple modification, equivalent variations and the modification done, all still falls within technical solution of the present invention protection
In the range of.
Claims (1)
1. based on the condition of a fire alarm method taken photo by plane in the air, comprising: utilize digital photo to shoot
Equipment shooting beat image；Utilize the haze being connected with described digital photo capture apparatus to eliminate to set
The described beat image of standby reception, performs sharpening to described beat image and processes, it is thus achieved that be clear
Clearization image；The condition of a fire detection input of described sharpening image being connected with described haze abatement apparatus sets
Standby, described sharpening image is performed fire analysis；Utilization is connected with described fire detecting apparatus
ARM11 processor determines whether to send condition of a fire alarm signal based on described fire analysis result；
The method is to utilize the fire alarm system being arranged on unmanned plane to implement, described warning system bag
Include digital photo capture apparatus, haze abatement apparatus, fire detecting apparatus and ARM11 processor；
Wherein said warning system also includes:
Power supply, including solar powered device, accumulator, switching switch and electric pressure converter,
Described switching switch is connected, according to accumulator respectively with described solar powered device and described accumulator
Dump energy decides whether to be switched to described solar powered device with by described solar powered device
Power supply, described electric pressure converter is connected with described switching switch, with by the 5V by switching switch input
Voltage is converted to 3.3V voltage；
Galileo location equipment, connects Galilean satellite, for receiving the real-time Galileo position of unmanned plane
Put, when receiving the condition of a fire alarm signal that described ARM11 processor sends, real-time Galileo position
Put the i.e. condition of a fire and position occurs；
Static storage device, is used for prestore shooting height, flame upper limit gray threshold, flame lower limit ash
Degree threshold value, smog upper limit gray threshold, smog lower limit gray threshold and default condition of a fire proportion threshold value；
Wireless transmitting-receiving equipments, connects local fire fighting monitoring platform, is used for receiving described local fire fighting monitoring
The beat that platform sends；
Unmanned plane drives equipment, under the control of described ARM11 processor, drives unmanned plane
Flight is to the top of described beat, and flying height is described shooting height；
Wherein said haze abatement apparatus also includes:
Storage subset, is used for prestoring sky upper limit gray threshold and sky lower limit gray threshold,
Described sky upper limit gray threshold and described sky lower limit gray threshold are for isolating the sky in image
Dummy section, is additionally operable to prestore presetted pixel value threshold value, and described presetted pixel value threshold value value is 0
Between 255；
Haze Concentration Testing subset, is positioned in air, for detection unmanned plane position in real time
Haze concentration, and determine that intensity removed by haze according to haze concentration, described haze is removed intensity value and is existed
Between 0 to 1；
Region divides subset, connects described digital photo capture apparatus to receive described beat figure
Picture, described beat image is carried out gray processing process to obtain gray processing area image, also with deposit
Storage subset connects, by gray value in described gray processing area image at described sky upper limit gray threshold
And pixel identification between described sky lower limit gray threshold form gray processing sky sub pattern, from institute
State gray processing area image and be partitioned into described gray processing sky sub pattern to obtain gray processing non-sky gap
Image, obtains based on described gray processing non-sky subimage correspondence position in described beat image
Obtain the colour non-sky subimage that sky subimage non-with described gray processing is corresponding；
Black channel obtains subset, divides subset with described region and is connected to obtain described colour non-
Sky subimage, for each pixel in described colour non-sky subimage, calculates its R, G, B
Three Color Channel pixel values, the R, G, B tri-of all pixels in described colour non-sky subimage
Color Channel pixel value extracts the Color Channel at the minimum Color Channel pixel value place of a numerical value
As black channel；
Overall air light value obtains subset, is connected with described storage subset to obtain presetted pixel value
Threshold value, divides subset with described region and described black channel obtains subset and is connected respectively to obtain
Described beat image and described black channel, by black channel pixel in described beat image
Value forms set of pixels to be tested, by described to be tested more than or equal to multiple pixels of presetted pixel value threshold value
Set of pixels has the gray value of pixel of maximum gradation value as overall air light value；
Atmospheric scattering light value obtains subset, divides subset and the inspection of described haze concentration with described region
Survey subset to connect respectively, each pixel to described beat image, extract its R, G, B
In three Color Channel pixel values, minima is as target pixel value, uses the Gaussian smoothing filter keeping edge
Described target pixel value is filtered processing to obtain filtered target pixel value, by mesh by ripple device EPGF
Mark pixel value deducts filtered target pixel value to obtain object pixel difference, and EPGF is to target picture in use
Element difference is filtered processing to obtain filtered target pixel value difference, and filtered target pixel value is deducted filter
Ripple object pixel difference removes reference value to obtain haze, haze is removed intensity and is multiplied by haze removal base
Quasi-value removes threshold value to obtain haze, takes haze and removes the minima conduct in threshold value and target pixel value
Comparison reference, takes the atmospheric scattering light as each pixel of the maximum in comparison reference and 0
Value；
Medium transmission rate obtains subset, obtains subset and described air with described overall air light value
Scattering light value obtains subset and connects respectively, by big divided by entirety for the atmospheric scattering light value of each pixel
Gas light value, to obtain except value, deducts described except value is to obtain the medium transmission rate of each pixel by 1；
Sharpening Image Acquisition subset, divides subset, described overall air light value with described region
Obtain subset and described medium transmission rate obtains subset and connects respectively, deduct each pixel by 1
Medium transmission rate to obtain the first difference, described first difference is multiplied by overall air light value to obtain
Product value, deducts described product value to obtain by the pixel value of each pixel in described beat image
The second difference, by described second difference divided by the medium transmission rate of each pixel to obtain each
The sharpening pixel value of pixel, in described beat image, the pixel value of each pixel includes described
The R of each pixel in beat image, G, B tri-Color Channel pixel value, correspondingly, obtains
The sharpening pixel value of each pixel include the R of each pixel, G, B tri-Color Channel
Sharpening pixel value, the sharpening pixel value composition sharpening image of all pixels；
Wherein said fire detecting apparatus is grey in the described flame upper limit by gray value in described sharpening image
Spend the pixel identification between threshold value and described flame lower limit gray threshold and form flame object subimage,
By gray value in described sharpening image at described smog upper limit gray threshold and described smog lower limit ash
Spend the pixel identification between threshold value and form smoke target subimage, calculating described flame object subimage
Total pixel number and total pixel sum of described smoke target subimage to occupy described sharpening image total
The condition of a fire pixel ratio numerical value of pixel；
Described ARM11 processor and described digital photo capture apparatus, described haze abatement apparatus,
Described fire detecting apparatus, described Galileo location equipment, described static storage device, described wireless
Transceiver and described unmanned plane drive equipment to connect respectively, when described condition of a fire pixel ratio numerical value is more than
During equal to described default condition of a fire proportion threshold value, send condition of a fire alarm signal；
Wherein, described ARM11 processor is after sending condition of a fire alarm signal, also by described condition of a fire report
Alert signal and the described condition of a fire occur position to be sent to described local fire-fighting by described wireless transmitting-receiving equipments
Monitor supervision platform；
Be there is position all by wherein said ARM11 processor in described condition of a fire alarm signal and the described condition of a fire
It is added on described sharpening image to form combination picture, and by described combination picture by described nothing
Line transceiver is sent to described local fire fighting monitoring platform；
Described warning system also includes infrared temperature sensor, for there is position based on the described condition of a fire
The infrared ray of radiation, detects the described condition of a fire and the temperature of position occurs；
Wherein said ARM11 processor is connected with described infrared temperature sensor, for by described fire
It is flat that feelings occur the temperature of position to be sent to described local fire fighting monitoring by described wireless transmitting-receiving equipments
Platform.
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| CN105015737A (en) * | 2015-07-24 | 2015-11-04 | 侯贻平 | Method for removing scattering light |
| CN105059504A (en) * | 2015-07-24 | 2015-11-18 | 侯贻平 | Portable diving equipment with scattered-light eliminating function |
| WO2017120792A1 (en) * | 2016-01-13 | 2017-07-20 | 张阳 | Sports venue monitoring method and system |
| CN107463185A (en) * | 2016-02-22 | 2017-12-12 | 蒋春花 | Smog Long Range Detecting and Ranging and its method of work based on unmanned plane |
| CN108205861A (en) * | 2016-12-16 | 2018-06-26 | 中电科（德阳广汉）特种飞机系统工程有限公司 | A kind of forest fire protection control system and method |
| CN109408852B (en) * | 2018-08-31 | 2022-12-27 | 浙江大丰实业股份有限公司 | Air wafer pressure safety area analysis system |
| CN110334660A (en) * | 2019-07-08 | 2019-10-15 | 天津城建大学 | A kind of forest fire monitoring method based on machine vision under the conditions of greasy weather |
| CN112911211B (en) * | 2020-12-03 | 2021-11-30 | 深圳市快读科技有限公司 | Moving direction real-time analysis platform |
| CN115206047B (en) * | 2022-05-24 | 2024-04-30 | 华能宁夏中卫光伏发电有限公司 | Fireproof alarm method and system for photovoltaic module area |
| CN116824166B (en) * | 2023-08-29 | 2024-03-08 | 南方电网数字电网研究院股份有限公司 | Transmission line smoke identification method, device, computer equipment and storage medium |
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