Fire monitor positioning method and system based on infrared temperature measurement

Abstract

The application discloses a fire monitor positioning method and system based on infrared temperature measurement, and belongs to the technical field of fire detection and automatic fire extinguishing. The method comprises the following steps: S1, collecting all infrared pixel point temperature values and environment temperature values in a field of view coverage range; S2, executing a field of view flame detection module, and if there is a flame, opening a motion execution module; S3, executing a motion direction vector calculation module, obtaining a direction vector of the flame relative to the fire monitor, and driving the fire monitor to move in the direction; and S4, using the principle of dichotomy, counting whether the number of times of direction reversal of a horizontal motor and a vertical motor reaches a preset threshold value, and if yes, regarding the corresponding fire monitor angle as an optimal fire extinguishing angle. The application adopts infrared thermal imaging technology, and further determines whether it is a flame according to the temperature characteristics of the flame, thereby improving the precision of flame identification. For fire monitor positioning, dichotomy is adopted to gradually approach the flame center, thereby improving the positioning accuracy and realizing rapid positioning.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of fire detection and automatic fire extinguishing technology, and more particularly to a fire monitor positioning method and system based on infrared temperature measurement. BACKGROUND

[0002] With the continuous development of economy, the number of large space buildings is rapidly increasing. Such buildings have complex space structures, numerous electrical facilities, and a large population, and are therefore more prone to fire hazards and more difficult to extinguish. Therefore, self-rescue in the early stage of a fire is very important for large space buildings, and the traditional fire extinguishing system cannot provide high protection. Therefore, it is extremely important to develop a reliable automatic tracking and positioning fire monitor system for large spaces.

[0003] Automatic tracking and positioning fire monitor systems are a type of fire extinguishing system that integrates fire detection, fire source positioning, and long-distance automatic fire extinguishing. In recent years, automatic tracking and positioning fire monitor systems have developed rapidly, and a large number of researchers have conducted in-depth research in various aspects and achieved fruitful results.

[0004] Narrow-slit cross positioning principle is adopted, and full-space scanning is performed by rotating the fire monitor, so that the infrared pyroelectric sensor located at the intersection of the narrow slits generates an alarm signal to achieve fire source positioning. This positioning method is simple to operate, but it takes a long time, has a large positioning error, and cannot locate the center of the fire source. With the continuous progress of computer technology and image processing algorithms, vision-based fire source positioning technology has gradually become a research hotspot for automatic fire monitors. By using infrared image processing algorithms, the typical characteristics generated by a fire are detected, and fire source positioning is achieved based on the binocular vision positioning principle. The fire source positioning based on computer vision has high accuracy and can effectively locate the fire source in a large space building. However, it is easily disturbed by strong light and other objects, leading to false identification, and digital image processing consumes a large amount of time, resulting in a decline in positioning performance.

[0005] Therefore, it is an urgent problem for those skilled in the art to provide a simple and accurate fire monitor positioning method and system. SUMMARY

[0006] Therefore, the present application provides a fire monitor positioning method and system based on infrared temperature measurement, which solves the problem of complex and tedious flame positioning methods and positioning accuracy affected by environmental factors in the prior art.

[0007] To achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0008] On the one hand, the present application provides a fire monitor positioning method based on infrared temperature measurement, comprising the following steps:

[0009] S1: collect all infrared pixel point temperature values and ambient temperature values in the field of view coverage range;

[0010] S2: execute the field of view flame detection module to determine whether there is a flame in the field of view according to the infrared pixel point temperature values and the ambient temperature values, and if there is a flame, execute the motion direction vector calculation module;

[0011] S3: based on the infrared pixel point temperature values and the ambient temperature values, execute the motion direction vector calculation module to calculate the direction vector of the flame relative to the fire monitor to drive the fire monitor to move in this direction;

[0012] S4: determine whether the number of times of reversing the directions of the horizontal motor and the vertical motor for controlling the fire monitor reaches a preset threshold, and if the preset threshold is reached, the horizontal motor and the vertical motor stop running, at which time the corresponding fire monitor angle is the optimal fire extinguishing angle; otherwise, repeat S3.

[0013] Optionally, the field of view flame detection module determines whether there is a flame in the field of view according to the infrared pixel point temperature values and the ambient temperature values, and specifically includes:

[0014] read all infrared pixel point temperature values and ambient temperature values in the field of view coverage range, and if the infrared pixel point temperature values are greater than a set threshold, there is an abnormally high temperature point in the field of view coverage area, and the abnormally high temperature point is further detected; otherwise, there is no flame in the field of view coverage area;

[0015] traverse all infrared pixel point temperature values and ambient temperature values in the field of view coverage area to determine whether the distribution from the abnormally high temperature point to the boundary of the field of view coverage area is from high to low, and if so, the field of view coverage area has a flame; if not, the field of view coverage area has no flame.

[0016] Optionally, the motion direction vector calculation module includes horizontal direction vector calculation and vertical direction vector calculation.

[0017] Optionally, the horizontal direction vector calculation includes the following steps:

[0018] divide the field of view coverage range into left and right temperature domains, and accumulate the temperature values of the left and right temperature domain pixel points, respectively;

[0019] determine whether the left temperature domain cumulative sum Sum-L is greater than the right temperature domain cumulative sum Sum-R;

[0020] if the left temperature domain cumulative sum Sum-L is greater than the right temperature domain cumulative sum Sum-R, the horizontal motor is reversed and a variable Count-H recording the number of times of reversing the horizontal motor is increased by 1;

[0021] If the left temperature domain cumulative sum Sum-L is less than or equal to the right temperature domain cumulative sum Sum-R, the horizontal motor keeps the positive running direction unchanged.

[0022] Optionally, the vertical direction vector calculation comprises the following steps:

[0023] The field of view coverage range is divided into upper and lower temperature domains, and the temperature values of the upper temperature domain pixel points and the lower temperature domain pixel points are respectively accumulated and summed.

[0024] It is judged whether the upper temperature domain cumulative sum Sum-U is greater than the lower temperature domain cumulative sum Sum-D.

[0025] If the upper temperature domain cumulative sum Sum-U is greater than the lower temperature domain cumulative sum Sum-D, the vertical motor is reversed, and a variable Count-V recording the number of times of reversing the vertical motor is increased by 1.

[0026] If the upper temperature domain cumulative sum Sum-U is less than or equal to the lower temperature domain cumulative sum Sum-D, the vertical motor keeps the positive running direction unchanged.

[0027] On the other hand, the application also provides a fire monitor positioning system based on infrared temperature measurement, which is used to realize any one of the above fire monitor positioning methods based on infrared temperature measurement, and the system comprises:

[0028] An infrared temperature measurement module is configured to collect all infrared pixel point temperature values and environmental temperature values in the field of view coverage range.

[0029] A flame detection module is configured to judge whether there is a flame in the field of view according to the infrared pixel point temperature values and the environmental temperature values, and if there is a flame, execute the motion direction vector calculation module, and if there is no flame, continue to collect the infrared pixel point temperature values and the environmental temperature values in the field of view coverage range.

[0030] A motion direction vector calculation module is configured to calculate a direction vector of the flame relative to the fire monitor based on the infrared pixel point temperature values and the environmental temperature values, so as to drive the fire monitor to move in this direction.

[0031] A motion execution module is configured to drive the fire monitor to move based on the direction vector calculated by the motion direction calculation module.

[0032] A judgment module is configured to judge whether the number of times of reversing the horizontal motor and the vertical motor reaches a preset threshold value, and if the preset threshold value is reached, the horizontal motor and the vertical motor stop running, and at this time, the corresponding fire monitor angle is the optimal fire extinguishing angle.

[0033] Optionally, the field of view flame detection module comprises:

[0034] An abnormal high temperature detection unit reads all infrared pixel point temperature values and ambient temperature values in the field of view coverage range, and if the infrared pixel point temperature values are greater than a set threshold, there is an abnormal high temperature point in the field of view coverage area, and the abnormal high temperature point is further detected; otherwise, there is no flame in the field of view coverage area.

[0035] A flame detection unit traverses all infrared pixel point temperature values and ambient temperature values in the field of view coverage area, and judges whether the distribution from the abnormal high temperature point to the boundary of the field of view coverage area is high to low, if yes, the field of view coverage area has a flame; if no, the field of view coverage area has no flame.

[0036] Optionally, the motion direction vector calculation module comprises a horizontal direction vector calculation unit and a vertical direction vector calculation unit, the horizontal direction vector calculation unit is configured to calculate the motion direction vector of the horizontal motor, and the vertical direction vector calculation unit is configured to calculate the motion direction vector of the vertical motor.

[0037] According to the above technical solution, compared with the prior art, the present application provides a fire monitor positioning method and system based on infrared temperature measurement, which uses infrared pixel point temperature values in the field of view range of infrared thermal imaging technology, and judges whether there is an abnormal high temperature point according to the infrared pixel point temperature values, if there is a high temperature point, flame identification is performed, which can reduce the workload of flame identification; further, whether it is a flame is further determined according to the temperature characteristics of the flame, which improves the accuracy of flame identification. For fire monitor positioning, the bisection method is used to gradually approach the flame center, which improves the accuracy of positioning; and the infrared temperature measurement method is used for fire monitor positioning, which reduces the influence of external light, objects and other environments, has high positioning accuracy and low cost; at the same time, the vertical motor and the horizontal motor can be driven at the same time, and rapid positioning is realized. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the provided drawings.

[0039] Figure 1 is a method flowchart of the present application.

[0040] Figure 2 is a field of view flame detection module flowchart of the present application.

[0041] Figure 3 is a motion direction vector calculation module flowchart of the present application.

[0042] Figure 4 is a system framework diagram of the present application. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0044] The embodiments of the present application disclose a fire monitor positioning method based on infrared temperature measurement, as shown in Figure 1 The method comprises the following steps:

[0045] S1: collecting temperature values of all infrared pixel points and environmental temperature values in a field of view coverage range;

[0046] S2: executing a field of view flame detection module to determine whether there is a flame in the field of view according to the temperature values of the infrared pixel points and the environmental temperature values, if there is a flame, executing a motion direction vector calculation module, if there is no flame, continuing to collect the temperature values of the infrared pixel points and the environmental temperature values in the field of view coverage range;

[0047] S3: based on the temperature values of the infrared pixel points and the environmental temperature values, executing the motion direction vector calculation module to calculate a direction vector of the flame relative to the fire monitor, so as to drive the fire monitor to move in this direction;

[0048] S4: determining whether the number of direction reversals of the horizontal motor and the vertical motor reaches a preset threshold value, if the number of direction reversals of the horizontal motor and the vertical motor reaches the preset threshold value, the horizontal motor and the vertical motor stop running, at this time, the corresponding angle of the fire monitor is the optimal fire extinguishing angle; otherwise, repeating S3. In the embodiment, the principle of dichotomy is adopted to gradually approach the center of the flame, and whether the fire monitor reaches the optimal angle is determined by counting whether the number of reversals of the horizontal motor and the vertical motor reaches the preset threshold value.

[0049] As shown in Figure 2 The field of view flame detection module determines whether there is a flame in the field of view according to the temperature values of the infrared pixel points and the environmental temperature values, and specifically comprises:

[0050] reading the temperature values of all infrared pixel points and the environmental temperature values in the field of view coverage range, if the temperature values of the infrared pixel points are greater than a set threshold value, there is an abnormally high temperature point in the field of view coverage area, and the abnormally high temperature point is further detected; otherwise, there is no flame in the field of view coverage area; for the convenience of understanding, the present application discloses the set threshold value, different set threshold values are selected according to the application scenarios of the fire monitor, and different application scenarios and corresponding set threshold values are shown in Table 1:

[0051] Table 1 different application scenarios and their corresponding set threshold

[0052] Application scenario Sensitivity Ambient temperature (°C) Set threshold (°C) Indoor general First level 28 65 Indoor high temperature Second level 32 68 Outdoor general Third level 35 70 Outdoor high temperature Fourth level 40 75

[0053] The setting of the threshold values disclosed in Table 1 is not unique. The application scenario category and the specific values of the corresponding environmental temperature and set threshold values can be adjusted according to actual needs, so as to accurately determine the presence of an abnormally high temperature point in the field of view coverage area.

[0054] Traverse all infrared pixel point temperature values and environmental temperature values in the field of view coverage area, and determine whether the distribution from the abnormally high temperature point to the boundary of the field of view coverage area is high to low. If yes, the field of view coverage area has a flame; if no, the field of view coverage area does not have a flame.

[0055] As shown in Figure 3 The horizontal direction vector calculation and the vertical direction vector calculation can be calculated simultaneously or sequentially. Simultaneous calculation can improve the efficiency of positioning.

[0056] Optionally, the horizontal direction vector calculation includes the following steps:

[0057] The field of view coverage range is divided into left and right temperature domains, and the temperature values of the left and right temperature domain pixel points are respectively accumulated and summed.

[0058] Determine whether the left temperature domain accumulated sum Sum-L is greater than the right temperature domain accumulated sum Sum-R.

[0059] If the left temperature domain accumulated sum Sum-L is greater than the right temperature domain accumulated sum Sum-R, the horizontal motor is reversed, and the variable Count-H recording the number of times of reversing the horizontal motor is increased by 1.

[0060] If the left temperature domain accumulated sum Sum-L is less than or equal to the right temperature domain accumulated sum Sum-R, the horizontal motor maintains the same direction of forward operation.

[0061] As shown in Figure 3 The vertical direction vector calculation includes the following steps:

[0062] The field of view coverage range is divided into upper and lower temperature domains, and the temperature values of the upper and lower temperature domain pixel points are respectively accumulated and summed.

[0063] Determine whether the upper temperature domain accumulated sum Sum-U is greater than the lower temperature domain accumulated sum Sum-D.

[0064] If the upper temperature domain accumulated sum Sum-U is greater than the lower temperature domain accumulated sum Sum-D, the vertical motor is reversed, and the variable Count-V recording the number of times of reversing the vertical motor is increased by 1.

[0065] If the upper temperature domain cumulative sum Sum-U is less than or equal to the lower temperature domain cumulative sum Sum-D, the vertical motor keeps the positive running direction unchanged.

[0066] In another aspect, the present application also provides an infrared temperature measurement-based fire monitor positioning system for implementing any of the above-mentioned infrared temperature measurement-based fire monitor positioning methods. Figure 4 As shown in the figure, the system comprises:

[0067] An infrared temperature measurement module for collecting all infrared pixel point temperature values and ambient temperature values within the field of view coverage range;

[0068] A flame detection module for determining whether there is a flame in the field of view according to the infrared pixel point temperature values and the ambient temperature values, and if there is a flame, executing the motion direction vector calculation module, and if there is no flame, continuing to collect the infrared pixel point temperature values and the ambient temperature values within the field of view coverage range;

[0069] A motion direction vector calculation module for calculating the direction vector of the flame relative to the fire monitor based on the infrared pixel point temperature values and the ambient temperature values, so as to drive the fire monitor to move in this direction;

[0070] A motion execution module for driving the fire monitor to move based on the direction vector calculated by the motion direction calculation module;

[0071] A judgment module for judging whether the number of times of direction reversal of the horizontal motor and the vertical motor reaches a preset threshold value, and if the preset threshold value is reached, the horizontal motor and the vertical motor stop running, at which time the corresponding fire monitor angle is the optimal fire extinguishing angle.

[0072] Optionally, the field of view flame detection module comprises:

[0073] An abnormally high temperature detection unit for reading all infrared pixel point temperature values and ambient temperature values within the field of view coverage range, and if the infrared pixel point temperature values are greater than a set threshold value, there is an abnormally high temperature point within the field of view coverage area, and the abnormally high temperature point is further detected; otherwise, there is no flame within the field of view coverage area;

[0074] A flame detection unit for traversing all infrared pixel point temperature values and ambient temperature values within the field of view coverage area, judging whether the distribution from the abnormally high temperature point to the boundary of the field of view coverage area is from high to low, and if so, there is a flame in the field of view coverage area; if not, there is no flame in the field of view coverage area.

[0075] Optionally, the motion direction vector calculation module comprises a horizontal direction vector calculation unit and a vertical direction vector calculation unit, the horizontal direction vector calculation unit is used to calculate the motion direction vector of the horizontal motor, and the vertical direction vector calculation unit is used to calculate the motion direction vector of the vertical motor.

[0076] The various embodiments described in this specification are implemented in a progressive manner, each embodiment focusing on the differences from other embodiments, and the same or similar parts between embodiments can be mutually referred to. For the apparatus disclosed by the embodiments, since it corresponds to the method disclosed by the embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0077] The above description of disclosed embodiments enables one of ordinary skill in the art to make or use the application. Various modifications to these embodiments will be readily apparent to those of ordinary skill in the art, and the generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Therefore, the application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A fire monitor positioning method based on infrared temperature measurement, characterized in that: The following steps are involved: S1: Collect the temperature values ​​of all infrared pixels and ambient temperature within the field of view; S2: executing the field of view flame detection module to determine whether there is a flame in the field of view according to the infrared pixel temperature value and the ambient temperature value. If there is a flame, executing the motion direction vector calculation module; S3: Based on the infrared pixel temperature value and the ambient temperature value, executing a motion direction vector calculation module to calculate the direction vector of the flame relative to the fire monitor to drive the fire monitor to move in this direction; wherein the motion direction vector calculation module includes horizontal direction vector calculation and vertical direction vector calculation; The horizontal direction vector calculation comprises the following steps: The field of view coverage range is divided into left and right temperature domains, and the temperature values ​​of the pixels in the left temperature domain and the pixel values ​​in the right temperature domain are respectively accumulated and summed; Determine whether the left temperature range cumulative sum Sum-L is greater than the right temperature range cumulative sum Sum-R; If the left temperature domain cumulative sum Sum-L is greater than the right temperature domain cumulative sum Sum-R, the horizontal motor will run in the reverse direction, and the variable Count-H that records the number of times the horizontal motor reverses will be increased by 1; If the left temperature range cumulative sum Sum-L is less than or equal to the right temperature range cumulative sum Sum-R, the horizontal motor maintains the forward rotation direction unchanged; The vertical direction vector calculation includes the following steps: Divide the field of view coverage into upper and lower temperature domains, and accumulate the temperature values ​​of the pixels in the upper temperature domain and the pixels in the lower temperature domain respectively; Determine whether the upper temperature range cumulative sum Sum-U is greater than the lower temperature range cumulative sum Sum-D; If the upper temperature domain cumulative sum Sum-U is greater than the lower temperature domain cumulative sum Sum-D, the vertical motor rotates in the reverse direction, and the variable Count-V recording the number of times the vertical motor rotates in the reverse direction is increased by 1; If the upper temperature range cumulative sum Sum-U is less than or equal to the lower temperature range cumulative sum Sum-D, the vertical motor maintains the forward rotation direction unchanged; S4: Determine whether the number of times the direction of the horizontal motor and the vertical motor controlling the fire monitor are reversed reaches a preset threshold. If the preset threshold is reached, the horizontal motor and the vertical motor stop running, and the corresponding fire monitor angle is the optimal fire extinguishing angle; otherwise, repeat S3.

2. A fire monitor positioning method based on infrared temperature measurement according to claim 1, characterized in that: The execution field flame detection module determines whether there is a flame in the field of view according to the infrared pixel temperature value and the ambient temperature value, specifically including: Read the temperature values ​​of all infrared pixels and the ambient temperature within the field of view coverage area. If the temperature value of the infrared pixel is greater than a set threshold, an abnormally high temperature point exists within the field of view coverage area, and the abnormally high temperature point is further detected; otherwise, no flame exists within the field of view coverage area. Traverse all infrared pixel temperature values ​​and ambient temperature values ​​within the field of view coverage area to determine whether the temperature distribution from the abnormally high temperature point to the boundary of the field of view coverage area is from high to low. If so, there is a flame in the field of view coverage area; if not, there is no flame in the field of view coverage area.

3. A fire monitor positioning system based on infrared temperature measurement, characterized in that: A system for implementing any one of the fire monitor positioning methods based on infrared temperature measurement as described in claims 1-2, comprising: Infrared temperature measurement module, collects the temperature values ​​of all infrared pixels and ambient temperature values ​​within the field of view; a flame detection module, which determines whether there is a flame in the field of view based on the infrared pixel temperature value and the ambient temperature value; if there is a flame, executes the motion direction vector calculation module; if there is no flame, continues to collect the infrared pixel temperature value and the ambient temperature value within the coverage range of the field of view; A motion direction vector calculation module calculates the direction vector of the flame relative to the fire monitor based on the infrared pixel temperature value and the ambient temperature value to drive the fire monitor to move in this direction; the motion direction vector calculation module includes a horizontal direction vector calculation unit and a vertical direction vector calculation unit, the horizontal direction vector calculation unit is used to calculate the motion direction vector of the horizontal motor, and the vertical direction vector calculation unit is used to calculate the motion direction vector of the vertical motor; A motion execution module drives the fire monitor to move based on the direction vector calculated by the motion direction calculation module; The judgment module judges whether the number of times the direction of the horizontal motor and the vertical motor is reversed reaches a preset threshold. If the preset threshold is reached, the horizontal motor and the vertical motor stop running, and the corresponding fire monitor angle is the optimal fire extinguishing angle.

4. A fire monitor positioning system based on infrared temperature measurement according to claim 3, characterized in that: The field of view flame detection module includes: an abnormally high temperature detection unit, which reads the temperature values ​​of all infrared pixels and the ambient temperature within the field of view coverage area. If the temperature value of the infrared pixel is greater than a set threshold, an abnormally high temperature point exists within the field of view coverage area, and the abnormally high temperature point is further detected; otherwise, no flame exists within the field of view coverage area; The flame detection unit traverses the temperature values ​​of all infrared pixels and the ambient temperature values ​​within the field of view coverage area, and determines whether the temperature distribution from the abnormally high temperature point to the boundary of the field of view coverage area is from high to low. If so, there is a flame in the field of view coverage area; if not, there is no flame in the field of view coverage area.

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