Fire source detection device and method

Abstract

A fire source detection device and method belongs to the field of optoelectronic technology for ground inspections, particularly for automated inspections (i.e., fire source detection) of unmanned or undermanned flammable environments. This device addresses the existing issues of the "cost-accuracy paradox," high load requirements for servo turntables, poor environmental adaptability, and low accuracy. The device comprises a servo turntable, an optoelectronic payload, and a data control system. It is suitable for automated inspections of unmanned or undermanned flammable environments.

Description

Technical Field

[0001] The present invention relates to the field of photoelectric technology for ground inspection, and in particular to automatic inspection (i.e., fire source detection) of unmanned or undermanned flammable environments. Background Art

[0002] Fire source detection and early warning technology has significant application value in industrial security, forestry monitoring, and high-risk environmental monitoring. With the advancement of infrared imaging technology, high-resolution, high-frame-rate cooled infrared detection solutions have gradually become the mainstream approach to improving detection accuracy. This technology significantly improves the ability to capture small targets at long distances by increasing the field of view and supporting variable field adjustment. However, its implementation suffers from the following drawbacks:

[0003] (1) The hardware cost is high.

[0004] Cooled infrared detectors rely on mercury cadmium telluride (HgCdTe) materials and Stirling refrigerators, resulting in a single device costing hundreds of thousands of yuan.

[0005] (2) The volume and weight are large, and the load requirements for the servo turntable are high.

[0006] Cooled infrared detectors are large and heavy. To achieve large-field-of-view scanning, they require a high-torque, high-load-carrying servo turntable, which further increases system deployment costs and energy consumption, severely restricting their large-scale application on mobile platforms or in remote areas.

[0007] (3) Poor environmental adaptability and high misjudgment rate.

[0008] Existing technologies generally use a single grayscale threshold (e.g., a fixed MAXGray value) for initial fire source identification, which is unable to adapt to environmental changes. In varying light and dark environments, using a single grayscale threshold results in a high misjudgment rate.

[0009] (4) It is unable to distinguish between transient interference and real fire source, and the accuracy is low.

[0010] (5) The technology upgrade path falls into the performance and cost paradox.

[0011] To improve accuracy, the industry tends to further upgrade hardware, but the cost increases exponentially and fails to address the core defect of environmental adaptability.

[0012] Although uncooled infrared technology can reduce costs and weight, the sole use of uncooled infrared technology has low accuracy and cannot meet the needs of fire source detection.

[0013] In summary, existing fire source detection technology is trapped in the dual dilemma of "high-cost hardware dependence" and "low-intelligence algorithm bottleneck." There is an urgent need to achieve precision breakthroughs on uncooled infrared platforms through the reconstruction of detection logic and environmental adaptation mechanisms. Summary of the Invention

[0014] The present invention proposes a fire source detection device and method, which solves the problems of the prior art, such as the "cost-accuracy paradox", high load requirements for the servo turntable, poor environmental adaptability, and low accuracy.

[0015] The fire source detection device of the present invention comprises: a servo turntable, a photoelectric load and a data control system;

[0016] The servo turntable has a two-axis two-frame structure, the two axes are the azimuth axis and the pitch axis, and the two frames include a lower azimuth frame and an upper pitch frame;

[0017] The photoelectric payload includes a fixed-focus infrared system and a visible continuous variable system, which are installed in the pitch frame above the servo turntable and are used to move along the two-axis degrees of freedom;

[0018] The data control system is placed in a two-axis two-frame structure and is connected to the fixed-focus infrared system and the visible continuous variable system signal to achieve data collection and internal and external communications, including communication with a remote control station.

[0019] Furthermore, a preferred embodiment is provided, wherein the servo turntable further comprises: a servo control drive and a servo control motor;

[0020] The servo control drive and servo control motor are both placed in a two-axis two-frame structure;

[0021] The servo control drive and the servo control motor are both connected to the data control system signal;

[0022] The servo control drive is used to generate a servo control signal;

[0023] The servo control motor includes an azimuth motor and a pitch motor; the azimuth motor is used to drive the azimuth axis to rotate, and the pitch motor is used to drive the pitch axis to rotate.

[0024] Furthermore, a preferred embodiment is provided, wherein the device is externally powered by a low voltage 12V.

[0025] Furthermore, a preferred embodiment is provided, wherein the fixed-focus infrared system comprises:

[0026] Uncooled infrared detector: 640×512 pixels, 12μm pixel size, 30Hz frame rate;

[0027] Fixed-focus lens: 50mm aperture, F1.2, focal length 60mm.

[0028] Furthermore, a preferred embodiment is provided, wherein the visible continuous variable system is a continuous variable integrated machine type.

[0029] The present invention also provides a fire source detection method, which is applied to any of the fire source detection devices described above, and the method comprises the following steps:

[0030] Step S1: Scanning speed setting:

[0031] According to the frame rate of the fixed-focus infrared system, the scanning speed of the servo turntable is matched to the scanning speed of the circumferential scan, and the scanning speed is set to V;

[0032] Step S2: Day and night calibration mode:

[0033] It can be seen that the continuously variable system is in a low power consumption state;

[0034] The fixed-focus infrared system collects infrared grayscale values;

[0035] In a daytime environment, control the servo turntable to scan one circle at a scanning speed V, and calculate the grayscale average value AVG of the infrared grayscale value collected during the daytime environment. GrayDay , maximum grayscale value MAX GrayDay And the maximum gray value of a single frame ERROR GrayDay , as the daytime calibration parameter;

[0036] In a night environment, control the servo turntable to scan one circle at a scanning speed V, and calculate the grayscale average value AVG of the infrared grayscale value collected at night. GrayNight , maximum grayscale value MAX GrayNight And the maximum gray value of a single frame ERROR GrayNight , as the nighttime calibration parameter;

[0037] Step S3: Data calibration mode:

[0038] It can be seen that the continuously variable system is in a low power consumption state;

[0039] The fixed-focus infrared system collects infrared grayscale values;

[0040] Data calibration is performed every two hours, and the threshold parameters of each data calibration are dynamically updated; in each data calibration:

[0041] Control the servo turntable to scan one circle at a scanning speed V, and calculate the grayscale average value AVG of this data calibration. Y ;

[0042] According to the grayscale average value AVG calibrated by this data Y As well as the daytime calibration parameters and nighttime calibration parameters, calculate the threshold parameters for this data calibration, including the maximum grayscale value threshold MAX Grayand single frame maximum gray value threshold ERROR Gray ;

[0043] Step S4: Automatic patrol mode:

[0044] Automatic inspection is carried out after each data calibration, including high-speed inspection and low-speed inspection;

[0045] Highway patrol:

[0046] Control the servo turntable to scan one circle at a scanning speed of V, and calculate the maximum grayscale value MAX of each frame under high-speed inspection according to the frame rate of the fixed-focus infrared system. Y ;

[0047] Based on a given coverage, determine the maximum grayscale value MAX under continuous multi-frame high-speed inspection Y Is it greater than 1.5 times MAX? Gray :If it is greater than 1.5 times MAX Gray , then the area corresponding to the maximum grayscale value of the continuous multiple frames is the abnormal area, and the azimuth angle of the abnormal area is recorded and a low-speed patrol is performed;

[0048] Low-speed patrol:

[0049] Based on the azimuth angle of the abnormal area, the abnormal area is re-examined at a speed lower than the scanning speed V, and the maximum grayscale value of a single frame in the abnormal area is collected. Y :If the maximum grayscale value of a single frame in the abnormal area is ERROR Y >ERROR Gray , it is determined that there is a high temperature abnormality in the abnormal area and an alarm status is sent to the remote control station;

[0050] Step S5: Remote control mode:

[0051] After receiving the alarm status, the remote control station enters the remote control mode:

[0052] The remote control station controls the fire source detection device to observe the area with abnormal high temperature, uses a fixed-focus infrared system to collect infrared images of the area with abnormal high temperature, and uses a visible continuous variable system to collect visible light images of the area with abnormal high temperature.

[0053] Furthermore, a preferred embodiment is provided, in step S1:

[0054] Scanning speed V:

[0055]

[0056] Among them, Angle is the horizontal field of view angle of the fixed-focus infrared system, is the frame rate of the fixed-focus infrared system, For a given coverage.

[0057] Furthermore, a preferred embodiment is provided, in step S1: Angle is 7.32°, Fps is 30HZ, is 4.88, and the scanning speed V is 45° / s.

[0058] Furthermore, a preferred embodiment is provided, in step S3, the grayscale average value AVG Y As well as the daytime calibration parameters and nighttime calibration parameters, calculate the threshold parameters for this data calibration, including the maximum grayscale value threshold MAX Gray and single frame maximum gray value threshold ERROR Gray ,include:

[0059] Set the intermediate variable for:

[0060]

[0061] Then the maximum gray value threshold MAX Gray for:

[0062]

[0063] The maximum grayscale value threshold of a single frame is ERROR Gray for:

[0064]

[0065] Furthermore, a preferred embodiment is provided, in step S4, if the given coverage is N, then the continuous Maximum grayscale value MAX under high-speed frame inspection Y Is it greater than 1.5 times MAX? Gray .

[0066] The fire source detection device and method provided by the present invention, through innovative hardware architecture and algorithm collaborative design, significantly reduces costs while breaking through the accuracy bottleneck of existing technologies, and specifically produces the following technical effects:

[0067] 1. The fire source detection device described in this invention significantly reduces hardware costs compared to cooled infrared solutions by utilizing an uncooled infrared detector (640×512 pixels, 12μm pixel size, 30Hz frame rate) with a matching fixed-focus lens (50mm / F1.2) and a conventional continuous-zoom visible light system (continuous-zoom all-in-one model).

[0068] 2. The fire source detection device described in the present invention has a low total weight and does not require high torque (load capacity) from the servo turntable. Combined with a 12V wide-voltage power supply (9-24V), it has low static power consumption and can be further adapted to solar power supply scenarios, enabling unmanned deployment in remote areas.

[0069] 3. The fire source detection method of the present invention adopts a day and night calibration mode (calibration AVG GrayDay , MAX GrayDay 、ERROR GrayDay and nighttime parameters) and dynamic calibration mechanism (update MAX every 2 hours Gray / ERROR Gray ), solve the misjudgment problem caused by the difference in thermal radiation between day and night, and reduce the false alarm rate.

[0070] 4. The fire source detection method of the present invention ensures that the target is continuously covered for more than a plurality of frames by adopting coverage collaborative calculation (i.e. matching the infrared frame rate with the servo scanning speed to achieve high coverage data acquisition), combined with the abnormal position low-speed review and ERROR Y The verification mechanism can effectively distinguish transient interference from real fire sources (i.e. warning targets) and has strong anti-interference capabilities.

[0071] 5. The fire source detection method described in the present invention uses a dual-light operating mode that only outputs infrared grayscale values ​​(Y components) before an early warning. The visible light system maintains low-power standby mode, and the infrared image is not encoded and transmitted. After the early warning, dual-light video encoding output is activated, significantly reducing average power consumption and making it suitable for use on mobile platforms or in remote areas.

[0072] 6. In the fire source detection method described in the present invention, grayscale value processing replaces full image encoding to compress the data volume; periodic calibration replaces real-time calculation, reducing CPU occupancy and significantly improving system response efficiency.

[0073] 7. The fire source detection device of the present invention cooperates with the fire source detection device to achieve low-cost and high-precision collaborative design:

[0074] On the uncooled infrared platform, through the coverage guarantee mechanism and environmental adaptive algorithm (day and night calibration, dynamic threshold adjustment), the detection accuracy of refrigerated equipment is achieved or exceeded, breaking the long-standing "cost-accuracy paradox" in the industry.

[0075] The fire source detection device and method described in the present invention are suitable for automatic inspection of unmanned or sparsely staffed flammable environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0077] Figure 1 A schematic diagram of the composition of a fire source detection device in one embodiment of the present invention;

[0078] Figure 2 A schematic structural diagram of a servo turntable in one embodiment of the present invention;

[0079] Figure 3 A schematic diagram of an embodiment of the present invention in which a servo control drive, a servo control motor, and a data control system are placed in a two-axis two-frame structure;

[0080] Figure 4 A schematic flow chart of a fire source detection method in one embodiment of the present invention;

[0081] Figure numerals: 1. Lower azimuth frame; 2. Upper pitch frame; 3. Fixed-focus infrared system; 4. Visible continuous variable system; 5. Data control system; 6. Servo control drive; 7. Servo control motor. DETAILED DESCRIPTION

[0082] In order to make the technical solutions and advantages of the present invention more clearly described, the specific embodiments of the present invention will be further described in detail and completely in conjunction with the accompanying drawings. The various embodiments described below are only part of the preferred embodiments of the present invention, rather than all implementation plans; the various embodiments described below are intended to explain the present invention and cannot be understood as limiting the present invention; the reasonable combination of the technical features defined in the various embodiments of the present invention, as well as all other implementation plans obtained by ordinary technicians in this field based on the embodiments of the present invention without making creative work, all fall within the scope of protection of the present invention.

[0083] Implementation 1: A fire source detection device comprising: a servo turntable, a photoelectric load, and a data control system;

[0084] The servo turntable has a two-axis two-frame structure, the two axes are the azimuth axis and the pitch axis, and the two frames include a lower azimuth frame and an upper pitch frame;

[0085] The photoelectric payload includes a fixed-focus infrared system and a visible continuous variable system, which are installed in the pitch frame above the servo turntable and are used to move along the two-axis degrees of freedom;

[0086] The data control system is placed in a two-axis two-frame structure and is connected to the fixed-focus infrared system and the visible continuous variable system signal to achieve data collection and internal and external communications, including communication with a remote control station.

[0087] In this embodiment, the two-axis degrees of freedom include an azimuth direction and a pitch angle direction.

[0088] Embodiment 2: The servo turntable further comprises: a servo control drive and a servo control motor;

[0089] The servo control drive and servo control motor are both placed in a two-axis two-frame structure;

[0090] The servo control drive and the servo control motor are both connected to the data control system signal;

[0091] The servo control drive is used to generate a servo control signal;

[0092] The servo control motor includes an azimuth motor and a pitch motor; the azimuth motor is used to drive the azimuth axis to rotate, and the pitch motor is used to drive the pitch axis to rotate.

[0093] Implementation method 3: The device is externally powered by a low voltage 12V.

[0094] In this embodiment, the voltage fluctuation range of the low-voltage 12V power supply is: wide voltage 9V~24V.

[0095] In this embodiment, a low voltage 12V power supply is adopted externally, which improves the stability of the device.

[0096] Implementation 4: The fixed-focus infrared system includes:

[0097] Uncooled infrared detector: 640×512 pixels, 12μm pixel size, 30Hz frame rate;

[0098] Fixed-focus lens: 50mm aperture, F1.2, focal length 60mm.

[0099] In this embodiment, an uncooled infrared detector and a matching fixed-focus lens are used, thereby reducing the cost of the device.

[0100] In this embodiment, an uncooled infrared detector with a pixel number of 640×512, a pixel size of 12μm, and a frame rate of 30Hz is used, and is paired with a fixed-focus lens with an aperture of 50mm, F1.2, and a focal length of 60mm to achieve extreme detection of a 5m×5m target at a distance of 5 kilometers.

[0101] In this embodiment, if the detection target and the detection distance requirement change, the parameters of the infrared detector and the fixed-focus lens can be selected according to the proportional change.

[0102] Implementation method 5: The visible continuous variable system is a continuous variable integrated machine model.

[0103] In this embodiment, a continuous variable integrated machine model is used as the visible continuous variable system (visible light camera), which reduces the cost of the device.

[0104] In this embodiment, an uncooled fixed-focus lens with a pixel size of 640×512, a frame rate of 12µm, and a frame rate of 30Hz is used as the infrared detection system, and a continuously variable (i.e., continuous zoom) all-in-one machine model is used as the visible light system, which greatly reduces the cost of the device.

[0105] Embodiment 6: A fire source detection method, applied to any of the fire source detection devices described above, comprising the following steps:

[0106] Step S1: Scanning speed setting:

[0107] According to the frame rate of the fixed-focus infrared system, the scanning speed of the servo turntable is matched to the scanning speed of the circumferential scan, and the scanning speed is set to V;

[0108] Step S2: Day and night calibration mode:

[0109] It can be seen that the continuously variable system is in a low power consumption state;

[0110] The fixed-focus infrared system collects infrared grayscale values;

[0111] In a daytime environment, control the servo turntable to scan one circle at a scanning speed V, and calculate the grayscale average value AVG of the infrared grayscale value collected during the daytime environment. GrayDay , maximum grayscale value MAX GrayDay And the maximum gray value of a single frame ERROR GrayDay , as the daytime calibration parameter;

[0112] In a night environment, control the servo turntable to scan one circle at a scanning speed V, and calculate the grayscale average value AVG of the infrared grayscale value collected at night. GrayNight , maximum grayscale value MAX GrayNight And the maximum gray value of a single frame ERROR GrayNight , as the nighttime calibration parameter;

[0113] Step S3: Data calibration mode:

[0114] It can be seen that the continuously variable system is in a low power consumption state;

[0115] The fixed-focus infrared system collects infrared grayscale values;

[0116] Data calibration is performed every two hours, and the threshold parameters of each data calibration are dynamically updated; in each data calibration:

[0117] Control the servo turntable to scan one circle at a scanning speed V, and calculate the grayscale average value AVG of this data calibration. Y ;

[0118] According to the grayscale average value AVG calibrated by this data Y As well as the daytime calibration parameters and nighttime calibration parameters, calculate the threshold parameters for this data calibration, including the maximum grayscale value threshold MAX Gray and single frame maximum gray value threshold ERROR Gray ;

[0119] Step S4: Automatic patrol mode:

[0120] Automatic inspection is carried out after each data calibration, including high-speed inspection and low-speed inspection;

[0121] Highway patrol:

[0122] Control the servo turntable to scan one circle at a scanning speed of V, and calculate the maximum grayscale value MAX of each frame under high-speed inspection according to the frame rate of the fixed-focus infrared system. Y ;

[0123] Based on a given coverage, determine the maximum grayscale value MAX under continuous multi-frame high-speed inspection Y Is it greater than 1.5 times MAX? Gray :If it is greater than 1.5 times MAX Gray , then the area corresponding to the maximum grayscale value of the continuous multiple frames is the abnormal area, and the azimuth angle of the abnormal area is recorded and a low-speed patrol is performed;

[0124] Low-speed patrol:

[0125] Based on the azimuth angle of the abnormal area, the abnormal area is re-examined at a speed lower than the scanning speed V, and the maximum grayscale value of a single frame in the abnormal area is collected. Y :If the maximum grayscale value of a single frame in the abnormal area is ERROR Y >ERROR Gray , it is determined that there is a high temperature abnormality in the abnormal area and an alarm status is sent to the remote control station;

[0126] Step S5: Remote control mode:

[0127] After receiving the alarm status, the remote control station enters the remote control mode:

[0128] The remote control station controls the fire source detection device to observe the area with abnormal high temperature, uses a fixed-focus infrared system to collect infrared images of the area with abnormal high temperature, and uses a visible continuous variable system to collect visible light images of the area with abnormal high temperature.

[0129] In this embodiment, a day and night calibration is performed each time the detection environment is changed; the calibration data can be controlled by a calibration instruction to achieve fully automatic calibration.

[0130] In this embodiment, the fire source detection device and method are used to achieve low-cost and stable detection of fire sources (high temperature anomalies).

[0131] In this embodiment, the fire source is determined by comparing the grayscale value fed back by the infrared detector (day and night calibration mode) with the grayscale value threshold; the coverage rate is matched by the infrared frame rate and servo scanning speed, and the accuracy of the data is ensured by the number of consecutive coverage times, thereby realizing the high temperature point alarm for specific targets.

[0132] In this embodiment, high coverage data acquisition is achieved by matching the infrared frame rate with the scanning speed of the servo, which can efficiently and accurately determine the warning target; wherein, the coverage rate can be understood as the number of consecutive times that the radiated scene (which can be understood as the target) appears during the servo cycle scan. Improving the coverage rate improves the accuracy of determining the warning target.

[0133] In this embodiment, the surrounding environment is calibrated through the day and night calibration mode, and calibration is performed every two hours to dynamically update the threshold parameters, thereby reducing the computing power requirements while ensuring the accuracy of judging high temperature warning targets through the grayscale value threshold.

[0134] In this embodiment, a fully automatic dual-light working mode is adopted. Before a high temperature warning is issued, the fixed-focus infrared system only outputs grayscale values ​​(without encoding output), and the visible continuous variable system is in low power consumption (standby) mode. After a high temperature warning is issued (remote control mode), the full system working mode is performed again, and the visible continuous variable system and fixed-focus infrared system video encoding output are output, and the servo exits the automatic scanning mode and switches to remote control, which greatly reduces the average power consumption.

[0135] In this embodiment, in the remote control mode, infrared images and visible light images of the abnormally high temperature area are collected to facilitate subsequent positioning and rescue work.

[0136] Implementation 7: In step S1:

[0137] Scanning speed V:

[0138]

[0139] Among them, Angle is the horizontal field of view angle of the fixed-focus infrared system, is the frame rate of the fixed-focus infrared system, For a given coverage.

[0140] Implementation 8: In step S1: Angle is 7.32°, Fps is 30HZ, is 4.88, and the scanning speed V is 45° / s.

[0141] In this embodiment, in actual calculation, a coverage ratio is generally assumed first, and then the scanning speed under the assumed coverage ratio is calculated. Then, the scanning speed is corrected according to the servo control requirements to obtain the scanning speed V. Finally, the actual coverage ratio is calculated based on the scanning speed V. For example:

[0142] Assume Angle is 7.32°, Fps is 30HZ, and Ratio1 is 4;

[0143] The scanning speed is calculated to be 54.9° / s when Ratio1 is 4;

[0144] To facilitate servo control, the scanning speed needs to be rounded down to a common integer divisor of 360°. Suppose the scanning speed V is 45° / s, that is, the time s required for one revolution is 8s.

[0145] The actual coverage is calculated based on the scanning speed V of 45° / s. It is 4.88.

[0146] Implementation 9: In step S3, the grayscale average value AVG Y As well as the daytime calibration parameters and nighttime calibration parameters, calculate the threshold parameters for this data calibration, including the maximum grayscale value threshold MAX Gray and single frame maximum gray value threshold ERROR Gray ,include:

[0147] Set the intermediate variable for:

[0148]

[0149] Then the maximum gray value threshold MAX Gray for:

[0150]

[0151] The maximum grayscale value threshold of a single frame is ERROR Gray for:

[0152]

[0153] Implementation 10: In step S4, if the coverage rate is N, then determine whether the continuous Maximum grayscale value MAX under high-speed frame inspection Y Is it greater than 1.5 times MAX? Gray .

[0154] In this embodiment, Express Round up.

[0155] In this embodiment, if the given coverage N is 4, the maximum grayscale value MAX under 4 consecutive high-speed inspections is determined. Y Is it greater than 1.5 times MAX? Gray :

[0156] If the maximum grayscale value MAX under 4 consecutive frames of high-speed inspection Y More than 1.5 times MAX Gray , then record the azimuth angle of the abnormal area (or warning area) corresponding to these four consecutive frames of infrared grayscale values ​​and conduct low-speed inspections.

[0157] The above further describes the technical solution provided by the present invention in detail through several specific embodiments in order to highlight the advantages and benefits of the technical solution provided by the present invention. However, the several specific embodiments described above are not intended to limit the present invention. Any reasonable changes and improvements to the present invention, reasonable combinations of implementation methods and equivalent replacements based on the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A fire source detection method, characterized in that: Applied to a fire source detection device, the method comprises the following steps: Step S1: Scanning speed setting: According to the frame rate of the fixed-focus infrared system, the scanning speed of the servo turntable is matched to the scanning speed of the circumferential scan, and the scanning speed is set to V; Step S2: Day and night calibration mode: It can be seen that the continuously variable system is in a low power consumption state; The fixed-focus infrared system collects infrared grayscale values; In a daytime environment, control the servo turntable to scan one circle at a scanning speed V, and calculate the grayscale average value AVG of the infrared grayscale value collected during the daytime environment. GrayDay , maximum grayscale value MAX GrayDay And the maximum gray value of a single frame ERROR GrayDay , as the daytime calibration parameter; In a night environment, control the servo turntable to scan one circle at a scanning speed V, and calculate the grayscale average value AVG of the infrared grayscale value collected at night. GrayNight , maximum grayscale value MAX GrayNight And the maximum gray value of a single frame ERROR GrayNight , as the nighttime calibration parameter; Step S3: Data calibration mode: It can be seen that the continuously variable system is in a low power consumption state; The fixed-focus infrared system collects infrared grayscale values; Data calibration is performed every two hours, and the threshold parameters of each data calibration are dynamically updated; in each data calibration: Control the servo turntable to scan one circle at a scanning speed V, and calculate the grayscale average value AVG of this data calibration. Y ; According to the grayscale average value AVG calibrated by this data Y As well as the daytime calibration parameters and nighttime calibration parameters, calculate the threshold parameters for this data calibration, including the maximum grayscale value threshold MAX Gray and single frame maximum gray value threshold ERROR Gray ; Step S4: Automatic patrol mode: Automatic inspection is carried out after each data calibration, including high-speed inspection and low-speed inspection; Highway patrol: Control the servo turntable to scan one circle at a scanning speed of V, and calculate the maximum grayscale value MAX of each frame under high-speed inspection according to the frame rate of the fixed-focus infrared system. Y ; Based on a given coverage, determine the maximum grayscale value MAX under continuous multi-frame high-speed inspection Y Is it greater than 1.5 times MAX? Gray :If it is greater than 1.5 times MAX Gray , then the area corresponding to the maximum grayscale value of the continuous multiple frames is the abnormal area, and the azimuth angle of the abnormal area is recorded and a low-speed patrol is performed; Low-speed patrol: Based on the azimuth angle of the abnormal area, the abnormal area is re-examined at a speed lower than the scanning speed V, and the maximum grayscale value of a single frame in the abnormal area is collected. Y :If the maximum grayscale value of a single frame in the abnormal area is ERROR Y >ERROR Gray , it is determined that there is a high temperature abnormality in the abnormal area and an alarm status is sent to the remote control station; Step S5: Remote control mode: After receiving the alarm status, the remote control station enters the remote control mode: The remote control station controls the fire source detection device to observe the area with abnormal high temperature, uses a fixed-focus infrared system to collect infrared images of the area with abnormal high temperature, and uses a visible continuous variable system to collect visible light images of the area with abnormal high temperature.

2. The fire source detection method according to claim 1, characterized in that: In the step S1: Scanning speed V: Among them, Angle is the horizontal field of view angle of the fixed-focus infrared system, Fps is the frame rate of the fixed-focus infrared system, Ratio For a given coverage.

3. The fire source detection method according to claim 2, characterized in that: In step S1: Angle is 7.32°, Fps is 30HZ, Ratio is 4.88, and the scanning speed V is 45° / s.

4. The fire source detection method according to claim 1, characterized in that: In step S3, the grayscale average value AVG Y As well as the daytime calibration parameters and nighttime calibration parameters, calculate the threshold parameters for this data calibration, including the maximum grayscale value threshold MAX Gray and single frame maximum gray value threshold ERROR Gray ,include: Set the intermediate variable E Gray for: Then the maximum gray value threshold MAX Gray for: The maximum grayscale value threshold of a single frame is ERROR Gray for: 。 5. The fire source detection method according to claim 1, characterized in that: In step S4, if the coverage rate is N, the continuous Maximum grayscale value MAX under high-speed frame inspection Y Is it greater than 1.5 times MAX? Gray .

6. Fire source detection device, characterized in that, The device is used to implement the fire source detection method according to any one of claims 1 to 5; The device includes: a servo turntable, a photoelectric load and a data control system; The servo turntable has a two-axis two-frame structure, the two axes are the azimuth axis and the pitch axis, and the two frames include a lower azimuth frame and an upper pitch frame; The photoelectric payload includes a fixed-focus infrared system and a visible continuous variable system, which are installed in the pitch frame above the servo turntable and are used to move along the two-axis degrees of freedom; The data control system is placed in a two-axis two-frame structure and is connected to the fixed-focus infrared system and the visible continuous variable system signal to achieve data collection and internal and external communications, including communication with a remote control station.

7. The fire source detection device according to claim 6, characterized in that: The servo turntable further comprises: a servo control drive and a servo control motor; The servo control drive and servo control motor are both placed in a two-axis two-frame structure; The servo control drive and the servo control motor are both connected to the data control system signal; The servo control drive is used to generate a servo control signal; The servo control motor includes an azimuth motor and a pitch motor; the azimuth motor is used to drive the azimuth axis to rotate, and the pitch motor is used to drive the pitch axis to rotate.

8. The fire source detection device according to claim 6, characterized in that: The device is externally powered by a low voltage 12V.

9. The fire source detection device according to claim 6, characterized in that: The fixed-focus infrared system includes: Uncooled infrared detector: 640×512 pixels, 12μm pixel size, 30Hz frame rate; Fixed-focus lens: 50mm aperture, F1.2, focal length 60mm.

10. The fire source detection device according to claim 6, characterized in that: The visible continuous variable system is a continuous variable integrated machine model.

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