Forest fire monitoring smoke rapid positioning method, device and storage medium

Abstract

The present invention relates to a method for quickly locating smoke in forest fire monitoring, comprising the following steps: obtaining scanning data information of a camera group, wherein the camera group includes a plurality of cameras; when any camera in the camera group detects smoke, determining a first plane according to the horizontal angle and scanning direction of the current camera when capturing; determining a plurality of planes for the remaining cameras in the camera group in the manner of step 120, and obtaining a plane set P with the same number of elements as the number of cameras; calculating and finding point A so that the distance from point A to all planes in the plane set P is the shortest, and treating point A as a smoke position point; reading the elevation coordinates of point A in a three-dimensional map, and feeding back the elevation coordinates. The method of the present invention can quickly and accurately locate and warn smoke generated by forest fires.

Description

Technical Field

[0001] The invention relates to the field of forestry safety, and in particular to a method, a device and a storage medium for quickly locating smoke during forest fire monitoring. Background Art

[0002] When monitoring forest fires, the method commonly used in the market today is to detect and locate the fire point or smoke of the forest fire, and then quickly discover the fire.

[0003] Fire point monitoring is achieved by relatively accurately calculating the position based on GIS elevation data. However, smoke position detection is different from fire point position detection. Smoke may drift during detection, causing the smoke position to change in the horizontal and vertical directions. This makes it difficult for the dual-spectrum camera to focus, resulting in a relatively large deviation in the smoke position, making it difficult to relatively accurately calculate the position based on GIS elevation data. Summary of the invention

[0004] The purpose of the present invention is to solve at least one of the deficiencies of the prior art and to provide a method, device and storage medium for quickly locating smoke for forest fire monitoring.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] Specifically, a method for rapid smoke location in forest fire monitoring is proposed, including the following:

[0007] Step 110: obtaining scanning data information of a camera group, wherein the camera group includes a plurality of cameras;

[0008] Step 120: when any camera in the camera group detects smoke, determine the first plane according to the horizontal angle and scanning direction of the current camera when capturing;

[0009] Step 130: determine multiple planes for the remaining cameras in the camera group in the manner of step 120 to obtain a plane set P with the same number of elements as the number of cameras;

[0010] Step 140, calculate and find point A, so that the distance from point A to all planes in the plane set P is the shortest, and point A is regarded as the smoke position point;

[0011] Step 150: read the elevation coordinates of point A in the three-dimensional map, and feed back the elevation coordinates.

[0012] Furthermore, the method further comprises:

[0013] Step 210: dividing the scanning area of ​​each camera in the camera group into a plurality of different horizontal intervals at a certain horizontal angle interval, and dividing each horizontal interval into a plurality of different distance intervals at a certain distance interval;

[0014] Step 220: When any camera in the camera group detects smoke and confirms the first facade P1, other cameras draw a cylinder perpendicular to the sea level with themselves as the center and the smoke detection distance as the radius, and calculate the part commonly included by the facade P1 and the cylinders of other cameras in the camera group;

[0015] Step 230: For any area intersected and enclosed by any other camera and P1, calculate the corresponding horizontal interval and distance interval, and pre-divide the situation to determine the highest vertical angle and the lowest vertical angle of the camera scan in each horizontal interval, and control the camera to scan each horizontal interval according to the highest vertical angle and the lowest vertical angle until a new facade is determined.

[0016] Step 240 , repeating steps 220 - 230 until all cameras in the camera group have completed scanning, and forming a face set P based on all determined facades.

[0017] Furthermore, the number of cameras is 2, and when the two cameras scan the intersection point, it is equivalent to the forward projection of the intersection of the corresponding two surfaces in the Euclidean space. At this time, the elevation coordinates of the intersection point in the three-dimensional map are read, which is the ground position of the smoke point.

[0018] Furthermore, the method also includes, after determining the smoke location point, sending the relevant data information and fire point location information collected by the camera group to the corresponding patrol officer.

[0019] The present invention also provides a forest fire monitoring smoke rapid positioning device, comprising:

[0020] A data acquisition module, used to acquire scanning data information of a camera group, wherein the camera group includes a plurality of cameras;

[0021] The data processing module is used to determine the first plane according to the horizontal angle and scanning direction of the current camera when any camera in the camera group detects smoke,

[0022] and determining a plurality of planes for the remaining cameras in the camera group according to the method of determining the first plane, to obtain a plane set P having the same number as the number of cameras;

[0023] The smoke location point determination module is used to calculate and find point A so that the distance from point A to all planes in the plane set P is the shortest, and point A is regarded as the smoke location point;

[0024] The result feedback module is used to read the elevation coordinates of point A in the three-dimensional map and provide feedback of the elevation coordinates.

[0025] Furthermore, the device further comprises a preprocessing module, wherein the preprocessing module is used to:

[0026] The scanning area of ​​each camera in the camera group is divided into a plurality of different horizontal intervals according to a certain horizontal angle interval, and each horizontal interval is divided into a plurality of different distance intervals according to a certain distance interval;

[0027] When any camera in the camera group detects smoke and confirms the first facade P1, other cameras draw a cylinder perpendicular to the sea level with themselves as the center and the smoke detection distance as the radius, and calculate the part contained in the facade P1 and the cylinders of other cameras in the camera group;

[0028] For any area that intersects and surrounds P1 with other cameras, calculate the corresponding horizontal interval and distance interval, and pre-divide the situation to determine the highest vertical angle and the lowest vertical angle of the camera scan in each horizontal interval. According to the highest vertical angle and the lowest vertical angle, control the camera to scan each horizontal interval until a new facade is determined.

[0029] Steps 220 to 230 are repeated until all cameras in the camera group have completed scanning, and a face set P is formed based on all determined facades.

[0030] The present invention also proposes a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps of the forest fire monitoring smoke rapid positioning method as described in any one of the above items are implemented.

[0031] The beneficial effects of the present invention are:

[0032] The present invention scans smoke through a camera group and calculates the approximate smoke position point according to the scanning results of the camera group, which can avoid the possibility that forest fire smoke may drift in the horizontal and vertical dimensions during detection, making it difficult to relatively accurately calculate the smoke position based on GIS elevation and image data. The method of the present invention can quickly and accurately locate and warn of smoke generated by forest fires. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0034] Figure 1 Shown is a flow chart of the method for rapid positioning of smoke from forest fire monitoring of the present invention;

[0035] Figure 2 The figure is a flow chart of the pre-processing implementation process of the method for rapid positioning of smoke for forest fire monitoring of the present invention;

[0036] Figure 3 The figure shows a schematic diagram of fire point location calculation based on elevation DEM data in the forest fire monitoring smoke rapid location method of the present invention;

[0037] Figure 4 The figure shows a schematic diagram of smoke drift detection in the method for rapid smoke positioning for forest fire monitoring of the present invention;

[0038] Figure 5 It is a detection schematic diagram of a camera group including two cameras in the method for rapid positioning of smoke for forest fire monitoring of the present invention;

[0039] Figure 6 Shown is a detection schematic diagram of a camera group including three cameras in the forest fire monitoring smoke rapid positioning method of the present invention. DETAILED DESCRIPTION

[0040] The following will be combined with the embodiments and drawings to clearly and completely describe the concept, specific structure and technical effects of the present invention, so as to fully understand the purpose, scheme and effect of the present invention. It should be noted that the embodiments in this application and the features in the embodiments can be combined with each other without conflict. The same reference numerals used throughout the drawings indicate the same or similar parts.

[0041] Smoke location detection is different from fire location detection. The fire point will not drift, and its location can be calculated relatively accurately based on GIS elevation data. However, smoke may drift in both horizontal and vertical directions. The dual-spectrum camera is difficult to focus, resulting in a relatively large deviation in the smoke position, making it difficult to calculate the position relatively accurately based on GIS elevation data.

[0042] Figure 3 This is a schematic diagram of the classic calculation algorithm for the fire point location. After the thermal imaging camera detects the fire point, it takes a snapshot. At this time, the camera is facing the fire point on the ground. According to the horizontal angle when the camera takes the snapshot, a straight line pointing to the fire point can be drawn from the bottom of the camera as the base of the right triangle. According to the vertical angle when the camera takes the snapshot, a straight line pointing to the fire point can be drawn from the camera lens as the oblique line of the right triangle.

[0043] The essence of calculating the location of the fire point is to sample a series of sampling points D(i) on the base of the right triangle, and these points correspond to a series of points X(i) on the hypotenuse. The altitude HD(i) of D(i) can be calculated through the elevation DEM data, and the height HX(i) of point X(i) relative to the base can be calculated through the triangulation algorithm. The sampling point with the smallest HD(i) and HX(i) can be searched through the optimization algorithm, that is, the location of the fire point is: MIN(|HX(i)-HD(i)|).

[0044] However, during smoke detection, because smoke may drift in both vertical and horizontal directions, the camera lens may not be pointing to the bottom of the smoke when capturing the image. Therefore, a relatively large position deviation will inevitably occur according to the fire point detection algorithm.

[0045] Optimized design of smoke position detection

[0046] Reference Figure 4 ,Since the camera lens is not facing the bottom of the smoke position during smoke detection and capture, the altitude of HD(i) calculated based on DEM elevation data becomes meaningless, and the smoke position can no longer be calculated based on the MIN(|HX(i)-HD(i)|) algorithm of the fire point. It is now planned to perform cross-positioning through multiple cameras.

[0047] Because the camera lens is not facing the bottom of the smoke position during smoke detection, we can no longer use the vertical angle of the camera when capturing, but can only use the horizontal angle when capturing. In essence, this is equivalent to only being able to confirm the direction of the smoke position relative to the camera, but not its position in this direction. Therefore, other cameras are needed for cross-positioning.

[0048] Reference Figure 1 as well as Figure 6 Embodiment 1: The present invention proposes a method for quickly locating smoke from forest fire monitoring, comprising the following steps:

[0049] Step 110: obtaining scanning data information of a camera group, wherein the camera group includes a plurality of cameras;

[0050] Step 120: when any camera in the camera group detects smoke, determine the first plane according to the horizontal angle and scanning direction of the current camera when capturing;

[0051] Step 130: determine multiple planes for the remaining cameras in the camera group in the manner of step 120 to obtain a plane set P with the same number of elements as the number of cameras;

[0052] Step 140, calculate and find point A, so that the distance from point A to all planes in the plane set P is the shortest, and point A is regarded as the smoke position point;

[0053] Step 150: read the elevation coordinates of point A in the three-dimensional map, and feed back the elevation coordinates.

[0054] As a preferred embodiment of the present invention, the method further comprises:

[0055] Step 210: dividing the scanning area of ​​each camera in the camera group into a plurality of different horizontal intervals at a certain horizontal angle interval, and dividing each horizontal interval into a plurality of different distance intervals at a certain distance interval;

[0056] Step 220: When any camera in the camera group detects smoke and confirms the first facade P1, other cameras draw a cylinder perpendicular to the sea level with themselves as the center and the smoke detection distance as the radius, and calculate the part commonly included by the facade P1 and the cylinders of other cameras in the camera group;

[0057] Step 230: For any area intersected and enclosed by any other camera and P1, calculate the corresponding horizontal interval and distance interval, and pre-divide the situation to determine the highest vertical angle and the lowest vertical angle of the camera scan in each horizontal interval, and control the camera to scan each horizontal interval according to the highest vertical angle and the lowest vertical angle until a new facade is determined.

[0058] Step 240 , repeating steps 220 - 230 until all cameras in the camera group have completed scanning, and forming a face set P based on all determined facades.

[0059] In this preferred embodiment:

[0060] 1. The data preprocessing process is as follows:

[0061] 1) Preset an angle for each camera's horizontal scanning angle horizontal interval, for example, 5 degrees, the first horizontal interval is 0 to 5 degrees, the second horizontal interval is 5 to 10 degrees, and so on, the 120th horizontal interval is 355 to 360 degrees.

[0062] 2) In each horizontal interval, draw a circle with the camera as the center and every 500 meters, and subdivide each horizontal interval into distance intervals (based on the distance from the center of the circle). For example, if the camera scanning distance is 5km, 10 circles can be drawn every 500 meters, and each horizontal interval is divided into 10 distance intervals. Each horizontal interval has the following distance intervals: area1, area2...area10.

[0063] 3) Based on the elevation data, search for the highest and lowest altitude positions in each distance interval and record the corresponding longitude and latitude to obtain the highest point point_h (longitude x_h, latitude y_h, elevation h_h), and the lowest point point_l (longitude x_l, latitude y_l, elevation h_l); based on the longitude and latitude of the camera and the altitude, calculate the vertical angle degree_h of the camera to point_h and the vertical angle degree_l of the camera to point_l.

[0064] 2. Quick positioning

[0065] 1) After the first camera detects smoke, it confirms a facade P1;

[0066] 2) The system schedules the second camera to scan, draws a cylinder with a radius of 5 km with the second camera as the center and intersects with P1, and calculates the starting intersection point L1-2 and the end point C10000 projected on the sea level.

[0067] 3) Calculate which horizontal interval of the second camera L1-2 and C10000 belong to, for example, the 5th and 12th horizontal intervals respectively; calculate the shortest distance from the second camera to the facade P1 (that is, take the position of the second camera as the starting point, draw a straight line perpendicular to P1, calculate the intersection point of the straight line and the facade, and the shortest distance from the starting point to the intersection point) dist, and calculate which distance interval this distance position belongs to through the second step in the preprocessing, for example, area4.

[0068] 4) Based on the calculation results of step 2 above, the second camera scans 8 horizontal intervals from the 5th horizontal interval to the 12th horizontal interval:

[0069] ① Select the 5th horizontal interval as the first horizontal interval to be scanned, and select the maximum vertical angle degree_h and the minimum vertical angle degree_l from the 7 distance intervals calculated in step 3, from area4 to area10;

[0070] ② In the first horizontal interval to be scanned, set the second camera to scan the entire horizontal interval from degree_h to degree_l from high to low according to the set vertical angle interval (for example, 1 degree); if smoke is scanned, confirm the facade P2 with the current horizontal angle of the camera and exit the loop; if no smoke is scanned, continue to scan the next horizontal interval;

[0071] If no smoke is found after scanning the last horizontal interval (i.e., the 12th horizontal interval in step 4), the system checks whether the first camera has updated the facade P1. If so, the second camera is dispatched to continue scanning based on the new facade P1 according to the fast positioning algorithm. Otherwise, the second camera continues to scan repeatedly based on the old facade P1 until it is manually confirmed that the fire is extinguished.

[0072] If there are more cameras, scan them according to the above process.

[0073] In this preferred embodiment, since the lines of sight of these cameras can intersect at different heights and horizontal positions, there are countless possible intersection points. It is necessary to use spatial geometry algorithms to make these direction lines intersect quickly to speed up the positioning of the smoke position. Therefore, the above method can enable the camera to quickly focus on the smoke position.

[0074] Reference Figure 5 As a preferred embodiment of the present invention, the number of cameras is 2, and the intersection point when the two cameras scan each other is equivalent to the forward projection of the intersection of the corresponding two surfaces in the Euclidean space. At this time, the elevation coordinates of the intersection point in the three-dimensional map are read, which is the ground position of the smoke point.

[0075] In this preferred embodiment, the case where there are two cameras is considered separately.

[0076] In this preferred embodiment,

[0077] This method is executed as follows

[0078] 1. After the first camera detects smoke, it confirms a plane P1 (a vertical plane perpendicular to the sea level). Assuming that this plane is 30 degrees north-east of the first camera and the smoke detection radius of each camera in the system is 5km, the smoke position is within the range of 5km along the vertical plane from the camera position in the P1 vertical plane. The projection of this range on the sea level is a straight line L1, with the starting point being the projection position C0 of the camera on the sea level and the end point of the L1 straight line being C10000.

[0079] 2. The system finds that there is a second camera to the north of the first camera and a third camera to the east.

[0080] 3. With the second camera as the center, draw a cylinder with a radius of 5km and perpendicular to the sea level. The intersection of this cylinder and L1 is L1-2; with the third camera as the center, draw a cylinder with a radius of 5km and perpendicular to the sea level. The intersection of this cylinder and L1 is L1-3; calculate the part of L1 included in both cylinders, assuming that L1-3 to C10000 is within the range of both cylinders' projections on the sea level. If the cylinder drawn by a camera does not include L1 and does not intersect with L1, then this camera does not participate in this smoke scan.

[0081] 4. The second camera cruises and scans the range from L1-3 to C10000 at different vertical angles (vertical angles are equivalent to different elevation scanning ranges. The range of vertical angles is described in the case in step 240). Smoke is found and the facade P2 is determined. Calculate and find point A so that the sum of the distances from point A to all planes (P1, P2) in the plane set P is the shortest. This A is the first optimized calculation position. If there are only two facades, point A is the projection point of the intersection of the two facades at sea level.

[0082] The third camera scans the range from L1-3 to C10000 at different vertical angles, finds smoke, and determines the facade P3. Calculate and find point A so that the distance from point A to all planes (P1, P2, P3) in the plane set P is the shortest. This point A is the second optimization calculation position.

[0083] As a preferred embodiment of the present invention, the method further includes, after determining the smoke location point, sending the relevant data information and fire point location information collected by the camera group to the corresponding patrol officer.

[0084] The present invention also provides a forest fire monitoring smoke rapid positioning device, comprising:

[0085] A data acquisition module, used to acquire scanning data information of a camera group, wherein the camera group includes a plurality of cameras;

[0086] The data processing module is used to determine the first plane according to the horizontal angle and scanning direction of the current camera when any camera in the camera group detects smoke,

[0087] and determining a plurality of planes for the remaining cameras in the camera group according to the method of determining the first plane, to obtain a plane set P having the same number of elements as the number of cameras;

[0088] The smoke location point determination module is used to calculate and find point A so that the distance from point A to all planes in the plane set P is the shortest, and point A is regarded as the smoke location point;

[0089] The result feedback module is used to read the elevation coordinates of point A in the three-dimensional map and provide feedback of the elevation coordinates.

[0090] As a preferred embodiment of the present invention, the device further comprises a preprocessing module, wherein the preprocessing module is used to:

[0091] The scanning area of ​​each camera in the camera group is divided into a plurality of different horizontal intervals according to a certain horizontal angle interval, and each horizontal interval is divided into a plurality of different distance intervals according to a certain distance interval;

[0092] When any camera in the camera group detects smoke and confirms the first facade P1, other cameras draw a cylinder perpendicular to the sea level with themselves as the center and the smoke detection distance as the radius, and calculate the part contained in the facade P1 and the cylinders of other cameras in the camera group;

[0093] For any area that intersects and surrounds P1 with other cameras, calculate the corresponding horizontal interval and distance interval, and pre-divide the situation to determine the highest vertical angle and the lowest vertical angle of the camera scan in each horizontal interval. According to the highest vertical angle and the lowest vertical angle, control the camera to scan each horizontal interval until a new facade is determined.

[0094] Steps 220 to 230 are repeated until all cameras in the camera group have completed scanning, and a face set P is formed based on all determined facades.

[0095] Since the lines of sight of these cameras can intersect at different heights and horizontal positions, there are countless possible intersection points. It is necessary to use spatial geometry algorithms to make these direction lines intersect quickly and speed up the positioning of the smoke position. Therefore, the above method can enable the camera to quickly focus on the smoke position.

[0096] The present invention also proposes a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps of the forest fire monitoring smoke rapid positioning method as described in any one of the above items are implemented.

[0097] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

[0098] In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of software functional modules.

[0099] If the integrated module is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0100] Although the description of the present invention has been quite detailed and specifically describes several described embodiments, it is not intended to be limited to any of these details or embodiments or any particular embodiment, but should be regarded as providing a broad possible interpretation of these claims in view of the prior art by reference to the appended claims, thereby effectively covering the intended scope of the present invention. In addition, the above description of the present invention is based on the embodiments foreseeable by the inventor, and its purpose is to provide a useful description, and those non-substantial changes to the present invention that have not yet been foreseen may still represent equivalent changes to the present invention.

[0101] The above is only a preferred embodiment of the present invention. The present invention is not limited to the above implementation. As long as the technical effect of the present invention is achieved by the same means, it should belong to the protection scope of the present invention. Within the protection scope of the present invention, its technical scheme and / or implementation method can have various modifications and changes.

Claims

1. A method for rapid smoke location in forest fire monitoring, characterized in that: Includes the following: Step 110: obtaining scanning data information of a camera group, wherein the camera group includes a plurality of cameras; Step 120: when any camera in the camera group detects smoke, determine the first plane according to the horizontal angle and scanning direction of the current camera when capturing; Step 130: determine multiple faces for the remaining cameras in the camera group in the manner of step 120 to obtain a face set P with the same number of elements as the number of cameras; Step 140, calculate and find point A so that the sum of distances from point A to all surfaces in the plane set P is the shortest, and point A is regarded as the smoke position point; Step 150, reading the longitude and latitude coordinates of point A in the three-dimensional map, and feeding back the longitude and latitude coordinates as the calculated smoke position; The method further comprises, Step 210: dividing the scanning area of ​​each camera in the camera group into a plurality of different horizontal intervals at a certain horizontal angle interval, and dividing each horizontal interval into a plurality of different distance intervals at a certain distance interval; Step 220: When any camera in the camera group detects smoke and confirms the first facade P1, other cameras draw a cylinder perpendicular to the sea level with themselves as the center and the smoke detection distance as the radius, and calculate the part commonly included by the facade P1 and the cylinders of other cameras in the camera group; Step 230: For any area intersected and enclosed by other cameras and P1, calculate the corresponding horizontal interval and distance interval, determine the highest vertical angle and the lowest vertical angle scanned by the camera in each horizontal interval, and control the camera to scan each horizontal interval according to the highest vertical angle and the lowest vertical angle until a new facade is determined; Step 240, repeating steps 220 to 230 until all cameras in the camera group have completed scanning, and forming a face set P according to all determined facades; Specifically, the number of cameras is 2, and when the two cameras scan the intersection point, it is equivalent to the forward projection of the intersection of the corresponding two surfaces in the Euclidean space. At this time, the elevation coordinates of the intersection point in the three-dimensional map are read, which is the ground position of the smoke point.

2. A method for rapid positioning of smoke from forest fire monitoring according to claim 1, characterized in that: The method also includes, after determining the smoke location point, sending the relevant data information and fire point location information collected by the camera group to the corresponding patrol officer.

3. A forest fire monitoring smoke rapid positioning device, characterized in that: The steps of applying the method described in any one of claims 1 to 2 above include: A data acquisition module, used to acquire scanning data information of a camera group, wherein the camera group includes a plurality of cameras; The data processing module is used to determine the first plane according to the horizontal angle and scanning direction of the current camera when any camera in the camera group detects smoke, and determining a plurality of planes for the remaining cameras in the camera group according to the method of determining the first plane, to obtain a plane set P having the same number as the number of cameras; The smoke location point determination module is used to calculate and find point A so that the distance from point A to all planes in the plane set P is the shortest, and point A is regarded as the smoke location point; A result feedback module is used to read the height and distance coordinates of point A in the three-dimensional map and provide feedback of the height and distance coordinates; The device further comprises a preprocessing module, wherein the preprocessing module is used to: The scanning area of ​​each camera in the camera group is divided into a plurality of different horizontal intervals according to a certain horizontal angle interval, and each horizontal interval is divided into a plurality of different distance intervals according to a certain distance interval; When any camera in the camera group detects smoke and confirms the first facade P1, other cameras draw a cylinder perpendicular to the sea level with themselves as the center and the smoke detection distance as the radius, and calculate the part contained in the facade P1 and the cylinders of other cameras in the camera group; For any area intersected and enclosed by other cameras and P1, calculate the corresponding horizontal interval and the corresponding distance interval, calculate the highest altitude and the lowest altitude position in each distance interval based on the elevation data, and calculate the vertical angle of the camera to these two positions respectively, search for the maximum vertical angle and the minimum vertical angle of these distance intervals as the highest vertical angle and the lowest vertical angle scanned by the camera in each horizontal interval, and control the camera to scan each horizontal interval according to the highest vertical angle and the lowest vertical angle until the new facade is determined; Steps 220 to 230 are repeated until all cameras in the camera group have completed scanning, and a face set P is formed based on all determined facades.

4. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 2 are implemented.

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