The invention discloses an unmanned aerial vehicle low-altitude inspection fire real-time
monitoring system and method based on
deep learning. The method comprises the steps that S1, a visible light image, an
infrared image and environment sensor data are collected; s2, performing preprocessing to form a
bispectrum image; s3, inputting a double-
branch encoder of the improved PP-LiteSeg model, extracting multi-scale features, and obtaining a
time sequence evidence vector and a gas anomaly
score according to
environmental sensor data; s4, performing weighted fusion on the multi-scale features; s5, outputting a
flame and
smoke segmentation
mask, and calculating the uncertainty of a segmentation result; s6, executing
time sequence consistency constraint on adjacent frame
mask segmentation results; s7, calculating a
fire risk probability, and generating fire alarm information; and S8, when the re-
cruise mechanism is triggered, the unmanned aerial vehicle is controlled for supplementary collection. The accuracy, the real-time performance and the robustness of unmanned aerial
vehicle fire monitoring are remarkably improved.