CN106991681B - Method and system for extracting and visualizing fire boundary vector information in real time - Google Patents
Method and system for extracting and visualizing fire boundary vector information in real time Download PDFInfo
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Abstract
The invention relates to a method and a system for extracting and visualizing fire boundary vector information in real time, which fully utilize the advantage that an unmanned aerial vehicle is not influenced by a severe outdoor environment, and carry modules such as a GPS (global positioning system), a track control module, a data preprocessing module and the like on the unmanned aerial vehicle, so that an operator can fly along the upper part of a fire scene boundary and regularly record a flying track under the guidance of a real-time video of a ground platform. The recorded trajectory of the drone may represent the boundary of the fire scene. After resampling pretreatment is carried out on the track, forest fire boundary data can be transmitted to a remote server through a communication module, and a server program analyzes a message and writes a complete fire scene boundary into a database. For forest fires in a larger range, the invention also considers a method for obtaining the boundary by multi-machine cooperation. And finally, the visual software for assisting decision-making can read data from the data and update the data regularly, and decision-making personnel can know the fire scene condition in a two-dimensional or three-dimensional virtual forest environment in real time.
Description
Technical Field
The invention relates to the field of forest fire control, in particular to a method and a system for extracting and visualizing fire boundary vector information in real time.
Background
Forest fires are natural disasters with strong destructiveness, and once the fires spread, people have difficulty in adopting effective means to control further spreading of the fires in time due to the problems of insufficient fire extinguishing equipment, inconvenient traffic and the like which are matched with the surrounding on which the forest fires catch fire. After the forest fire spreads, the change condition of the fire boundary information is acquired in real time, and the forest fire spreading direction can be judged in a short period, so that the method has very important significance in auxiliary decision-making fire extinguishing and forest fire informatization.
The existing patents for forest fire monitoring mainly focus on detection and discovery of fire ignition points, and related patents do not exist in the aspects of extraction of boundaries where fire spreads and other more detailed fire information. For example, patents CN 103354007B, CN104143248B, CN103942806B, CN103400463B, CN104200607B, etc. are all used for detecting, positioning, monitoring and the like of fire points of forest fires, and it is necessary to discover and extinguish fires from the beginning of the fires, but because forest areas are wide, altitudes are high, environments are complex, once the fires spread rapidly by means of geographical conditions, no good coping schemes and technical treatment are provided at home and abroad. The invention mainly aims at the middle or later period of forest fire, the unmanned aerial vehicle has the advantages of fast response and no influence of severe ground environment, a lightweight video and GPS motion trail acquisition module is carried, and a forest caregiver operates the unmanned aerial vehicle and the unmanned aerial vehicle upper trail acquisition module under the guidance of observation videos to fly the unmanned aerial vehicle right above the boundary of the forest fire. The recorded flight path of the unmanned aerial vehicle is the boundary of the forest fire.
Disclosure of Invention
In view of the above, the invention aims to provide a method and a system for extracting and visualizing fire boundary vector information in real time, which utilize the flight trajectory of an unmanned aerial vehicle to obtain the boundary information of a fire, and provide more detailed data support in the aspects of time and space scale for the subsequent research on forest fire mechanisms.
The invention is realized by adopting the following scheme: a method for extracting and visualizing fire boundary vector information in real time comprises the following steps:
step S1: constructing a two-dimensional map or a three-dimensional virtual environment according to actual geographic information and topographic data of the forest area;
step S2: the method comprises the following steps that a track operation module, a GPS positioning module, a data preprocessing module and a multi-unmanned-aerial-vehicle data fusion module are carried on an unmanned aerial vehicle, wherein the track operation module comprises a camera used for vertical observation, an operator controls the unmanned aerial vehicle to track the boundary of a forest fire under the help of a real-time video transmitted back by the unmanned aerial vehicle, the GPS positioning module records the longitude and latitude values of the boundary of the fire in real time in the tracking process to form the motion track of the unmanned aerial vehicle, and transmits longitude and latitude information back to a ground platform;
step S3: for the condition that a plurality of unmanned aerial vehicles fly around forest fire boundaries and simultaneously transmit longitudes and latitudes to a ground platform, data received by the ground platform are separately stored according to different unmanned aerial vehicles;
step S4: the ground platform transmits the real-time longitude and latitude information of each unmanned aerial vehicle to the operation ends of all unmanned aerial vehicle operators in real time so as to prevent collision or repeated acquisition of a plurality of unmanned aerial vehicles; after the unmanned aerial vehicle finishes flying, carrying out boundary fusion;
step S5: the ground platform resamples the motion trail of the unmanned aerial vehicle according to the preset N meters, and transmits the smooth result to a remote server, and the server program writes the result into a database;
step S6: related personnel regularly inquire data through visual client software of forest fire scene boundary information, regularly update the situation of fire scene spreading, and display the result in a two-dimensional map or a three-dimensional virtual environment in the step S1 in an overlapping manner; and inquiring the disaster range and area in the visual client software by a decision maker, and making an optimal fire extinguishing scheme.
Further, step S1 includes detailed geographic information, that is, other geographic information of a fire scene position preset in the virtual forest environment, where the other geographic information of the fire scene position includes information such as a virtual building, a village, a tree species distribution, a bridge, and a road.
Further, step S2 includes the data preprocessing module resampling the fire scene boundary to form a smoother fire scene boundary, forming a message according to a graph format, sending the message to a remote server, analyzing data by the server according to the message format, and writing the boundary information, time, and boundary identifier into a database.
The invention also provides a system based on the method for extracting and visualizing the fire boundary vector information in real time, which comprises three parts of extraction of forest fire scene boundaries, transmission of forest fire scene boundary information and visualization of forest fire scene boundary information;
the extraction of the forest fire scene boundary comprises a data preprocessing module, a GPS positioning module, a track operation module and a multi-unmanned aerial vehicle data fusion module which are arranged on an unmanned aerial vehicle; the track operation module comprises a camera for acquiring video information;
the forest fire scene boundary information transmission is used for realizing the transmission and analysis of messages between forest fire scene boundary data and a remote server and the writing of a fire scene boundary database;
the forest fire scene boundary information visualization client comprises a forest fire scene boundary information visualization client used for realizing superposition display and analysis of forest fire scene boundaries in a two-dimensional or three-dimensional virtual forest scene, a user can zoom in at any angle or view the conditions of a fire scene and surrounding vegetation and ground objects in the virtual scene globally, and fire extinguishing decision makers or forest managers are assisted to make a fire extinguishing scheme more optimally.
Further, the track operation module is used for realizing the starting recording and ending recording operation of the track of the unmanned aerial vehicle; under the guidance of video data on the unmanned aerial vehicle, the operator controls the unmanned aerial vehicle to fly right above the boundary of the fire scene; the GPS positioning module records longitude and latitude coordinates of the unmanned aerial vehicle according to a certain time interval when the unmanned aerial vehicle starts track recording, if the position change at a certain time point is within the shortest distance range of the preset recorded longitude and latitude, the record is not carried out, and when an operator clicks an ending control key, a series of recorded coordinate points form the motion track of the unmanned aerial vehicle, wherein the track is the spreading boundary of forest fires; the data preprocessing module is used for resampling the motion trail according to the set N meters so as to smooth the forest fire scene boundary; the multi-unmanned aerial vehicle data fusion module is used for collecting forest fire field boundary data in a collaborative mode by a plurality of unmanned aerial vehicles when the forest fire range is large, and in the operation process, the positions of the unmanned aerial vehicles need to be controlled to prevent the occurrence of a crash event.
Further, the forest fire scene boundary information transmission comprises a transmission message generation module, a message analysis module and a forest fire scene boundary database writing module; the transmission message generation module is used for enabling the unmanned aerial vehicle acquisition end program to form a message according to the sequence of fixed point number, time, track number and vertex sequence number; the message analysis module specifically comprises: the server program receives the message and analyzes the message according to the sequence of the preprocessed data according to the fixed point number, the time, the track number and the vertex sequence number; the writing module of the forest fire scene boundary database is used for writing longitude and latitude coordinates, time information, climate information, fire area and the like of the forest fire scene boundary into corresponding fields of the database.
Furthermore, the forest fire scene boundary information visualization further comprises a forest fire scene boundary and two-dimensional or three-dimensional virtual forest scene superposition module and a fire scene range and area calculation module; the forest fire scene boundary and two-dimensional or three-dimensional virtual forest scene superposition module is used for inquiring and displaying the forest fire scene boundary, and the fire scene boundary information can be displayed in the two-dimensional or three-dimensional virtual forest scene in real time by updating data periodically; the fire scene range and area calculation module is used for calculating the range and area of the fire scene and providing help for auxiliary decision-making fire extinguishment.
Compared with the prior art, the invention has the following beneficial effects: the method acquires the boundary of the burning forest fire scene by recording the motion trail of the unmanned aerial vehicle, and the acquired motion trail is stored in a vector mode with topological information, namely the fire scene boundary is represented by a closed curve formed by a series of points. On one hand, compared with the fire scene boundary extracted from the image, the method has the advantages of direct position acquisition (distortion and geometric correction calculation are not needed), simple data structure, small transmission data and the like, and the acquired result can be directly superposed and displayed on the three-dimensional terrain, so that data support can be provided for the analysis of the area, the strength and the space disaster range of the fire scene. On the other hand, the data can be filed, the traditional fire history data is perfected, the invention not only records the final fire spreading boundary, but also records the spreading process of the fire at different time points, and provides more detailed data support in the aspects of time and space scale for the subsequent research of forest fire mechanisms.
Drawings
FIG. 1 is a system configuration diagram of an embodiment of the present invention
Fig. 2 is a schematic diagram of extracting a forest fire field boundary of an unmanned aerial vehicle according to an embodiment of the present invention, where a denotes a fire boundary.
Fig. 3 is a schematic diagram of boundary acquisition of multiple drones in the embodiment of the present invention, where Δ is a safety distance for preventing collision of drones, and a is a fire boundary.
Fig. 4 shows a communication transmission message format according to an embodiment of the present invention.
FIG. 5 is a system flow diagram according to an embodiment of the present invention.
Detailed Description
The invention is further explained below with reference to the drawings and the embodiments.
As shown in fig. 1 to 5, the embodiment provides a method and a system for extracting and visualizing fire boundary vector information in real time, which are based on three parts of extraction of a forest fire field boundary, transmission of forest fire field boundary information, and visualization of forest fire field boundary information of an unmanned aerial vehicle, as shown in fig. 1. The recording operation of the unmanned aerial vehicle track based on the forest fire scene boundary mainly solves the problem that how an operator accurately records the forest fire scene boundary. The forest fire scene boundary information transmission mainly refers to that operators acquire fire scene boundary track space information on site, the smooth data and the acquired time information form a message and send the message to a server after resampling processing, and a server program analyzes the message and writes corresponding fields into a corresponding database. The visualization of the forest fire scene boundary information refers to a platform supporting information display of latitude and longitude coordinate tracks, the boundary information of the forest fire scene can be read from a database through secondary development, and boundaries of the fire scene at different times can be displayed on a two-dimensional map or a three-dimensional virtual forest environment of geographic information in a superimposed mode according to a certain time step.
In this embodiment, for the recording operation part of the track of the unmanned aerial vehicle based on the forest fire field boundary, the method for accurately flying the unmanned aerial vehicle above the fire field boundary and the method for acquiring and fusing the regional fire field boundary of one or more unmanned aerial vehicles in the large-scale forest fire are mainly solved in this embodiment. This embodiment carries on GPS module and orbit operation control module on unmanned aerial vehicle to be equipped with remote control handle (or cell-phone APP). This handle has the video function in perpendicular below when supporting real-time display unmanned aerial vehicle flight, and the operating personnel of being convenient for operates unmanned aerial vehicle near safe observation tower or scene of a fire. When the aircraft was located directly over the scene of a fire border, operating personnel can the control handle button (as shown in fig. 2), and the notice remote unmanned aerial vehicle begins to record the orbit to in time adjust unmanned aerial vehicle flight direction according to the video that passes back, make unmanned aerial vehicle can be comparatively accurate fly along the scene of a fire border, unmanned aerial vehicle in this embodiment is the unmanned aerial vehicle who selects to have the function of hovering. If need emphatically observe a certain region, can be to the camera in the magnification of certain multiple with dwindle without influencing the definition of figure through operating handle, the realization unmanned aerial vehicle that the operating personnel of being convenient for can be more accurate is to the tracking on fire scene border. The GPS positioning module needs to record the longitude and latitude values of the fire boundary in real time. The real-time recording does not need to be carried out all the time, and the fact that the geographic position of the unmanned aerial vehicle is changed or not needs to be judged, namely, the longitude and latitude values are changed or not, and recording is not needed any more when the longitude and latitude values are not changed. When the unmanned aerial vehicle is relatively forbidden above the fire, the longitude and latitude values of the unmanned aerial vehicle are not changed, and the longitude and latitude of the point do not need to be recorded all the time so as to avoid generating redundant vector information. In the flight process of the unmanned aerial vehicle, the precision of the obtained vector information can be selected, and a longitude and latitude value, such as three meters or five meters, can be obtained at a certain distance.
In this embodiment, to the great forest fire scene of scope, can adopt many unmanned aerial vehicles to realize. After the preparation work is done, the sight distance of the fire range is preliminarily judged, or the boundary blocks are divided after the unmanned aerial vehicle cruises to determine the approximate boundary range. And (4) carrying out fire blocking processing according to the size of the fire range, and then selecting several unmanned aerial vehicles to execute tasks. This embodiment mainly explains the condition when many unmanned aerial vehicles carry out the task, and the operation of an unmanned aerial vehicle is the simplification of many unmanned aerial vehicles operation. The GPS positioning module collects signals and filters redundant position information, sometimes no person can stay in one area for careful observation for a short time, and data of the point only needs to be recorded once. Then transmit the forest fire analog system to the ground end through wireless network, the data of transmitting to forest fire analog system separately preserves according to different unmanned aerial vehicles.
To the fire scene boundary that many unmanned aerial vehicles obtained, need solve the boundary fusion problem. In this embodiment, each machine only needs to extract a part of the boundary, and then the boundaries are combined to form an actual fire boundary. The boundary fusion is also an important part, data (namely longitude and latitude coordinates) transmitted to the ground workstation by each unmanned aerial vehicle is wholly continuous, each unmanned aerial vehicle transmits part of boundary data, and the data transmitted among different unmanned aerial vehicles are spliced and merged. The merging method includes interpolating in the place where the longitude and latitude information of two boundary blocks are not superposed, interpolating to generate some continuous and smooth points, adding interpolation data after one boundary block data, adding the other boundary block data after the interpolation data, and generating one new continuous boundary line in this order. When the longitude and latitude information of the two boundary blocks contains the same section of geographical area, redundant vector information is removed from the repeatedly recorded place, other unrepeated data of the other boundary block is added to the previous boundary block, and data are added in sequence. After the two boundaries are fused, the fused boundaries and other boundary blocks are fused, the method process is the same as that of the fusion method, and finally integral boundary information can be formed. The precision of the fire scene boundary track acquired by the method in the embodiment is related to the judgment and proficiency of the operator. This method may not be accurate enough, but is sufficient for fire suppression programs to be made on short term.
In the embodiment, the forest fire scene boundary information transmission part mainly transmits a series of longitude and latitude coordinate points and corresponding time information. The time when the unmanned aerial vehicle records each point on the fire scene boundary track is not the same, but the influence of the different time on the fire extinguishing decision is not great, so the influence of different time among the track vertexes is ignored in the embodiment. In this embodiment, a complete track (a fire field boundary at a certain time point) from the beginning to the end of recording is made, and a guid (global unique identifier) number calculated at the time point of the last point is used as a unique identifier of the fire field boundary. For a certain complete track, there may be some noise points in the recorded track, and for this case, the present embodiment performs resampling preprocessing on the track by a certain length N meters. And (3) sequentially forming a message (see fig. 4) by the preprocessed data according to fixed point number, time, track number, vertex 1, vertex 2 and the like, wherein the vertex information comprises longitude and latitude coordinates. The program in the server analyzes the received message according to the message sending format, and writes the vertex, the time information, the track number and the vertex into a database. The wireless communication module may utilize a 4G network, a public network, or an ad hoc network. Mainly be used for transmitting vector data to the forest fire display system of ground end from unmanned aerial vehicle.
In this embodiment, for the forest fire scene boundary information visualization part, the forest fire spreading boundary information may be queried from the database according to the area or time in the forest fire visualization application program, and the selected fire boundary may be displayed in a semi-transparent manner in superimposition with the corresponding two-dimensional map or three-dimensional geographic forest environment. The decision maker can know the fire current situation of the remote end in real time and guide the next fire extinguishing strategy to make as long as the database is refreshed regularly. The forest fire boundary of the longitude and latitude coordinates is converted into a plane rectangular coordinate of Gaussian projection, and the forest fire disaster area can be rapidly calculated.
The above description is only a preferred embodiment of the present invention, and all equivalent changes and modifications made in accordance with the claims of the present invention should be covered by the present invention.
Claims (6)
1. A method for extracting and visualizing fire boundary vector information in real time is characterized in that: the method comprises the following steps:
step S1: constructing a two-dimensional map or a three-dimensional virtual environment according to actual geographic information and topographic data of the forest area;
step S2: the method comprises the following steps that a track operation module, a GPS positioning module, a data preprocessing module and a multi-unmanned-aerial-vehicle data fusion module are carried on an unmanned aerial vehicle, wherein the track operation module comprises a camera; an operator controls the unmanned aerial vehicle to track the boundary of the forest fire with the help of the real-time video transmitted back by the unmanned aerial vehicle, the GPS positioning module records the longitude and latitude values of the fire boundary in real time in the tracking process to form the motion track of the unmanned aerial vehicle, and transmits the longitude and latitude information back to the ground platform;
step S3: for the condition that a plurality of unmanned aerial vehicles fly around forest fire boundaries and simultaneously transmit longitudes and latitudes to a ground platform, data received by the ground platform are separately stored according to different unmanned aerial vehicles;
step S4: the ground platform transmits the real-time longitude and latitude information of each unmanned aerial vehicle to the operation ends of all unmanned aerial vehicle operators in real time so as to prevent collision or repeated acquisition of a plurality of unmanned aerial vehicles; after the unmanned aerial vehicle finishes flying, carrying out boundary fusion;
step S5: the ground platform resamples the motion trail of the unmanned aerial vehicle according to the preset N meters, and transmits the smooth result to a remote server, and the server program writes the result into a database;
step S6: related personnel regularly inquire data through visual client software of forest fire scene boundary information, regularly update the situation of fire scene spreading, and display the result in a two-dimensional map or a three-dimensional virtual environment in the step S1 in an overlapping manner; a decision maker inquires a disaster area and area in the visual client software and makes an optimal fire extinguishing scheme;
step S2 further includes that the data preprocessing module resamples the fire scene boundary to form a smoother fire scene boundary, forms a message according to a graph format, and sends the message to a remote server, where software in the server parses data according to the message format, and writes boundary information, time, and boundary identification into a database;
when the unmanned aerial vehicle starts track recording, the GPS positioning module records longitude and latitude coordinates of the unmanned aerial vehicle according to a certain time interval, and if the position change at a certain time point is within the shortest distance range of the preset recorded longitude and latitude, the position change is not recorded.
2. The method for extracting and visualizing fire boundary vector information in real time as claimed in claim 1, wherein: step S1 further includes detailed geographic information, that is, other geographic information of a fire scene position preset in the virtual forest environment, where the other geographic information of the fire scene position includes virtual buildings, village villages, tree species distribution, bridges, and roads.
3. A system for extracting and visualizing fire boundary vector information in real time based on claim 1 is characterized in that: the method comprises three parts of extraction of forest fire field boundaries, transmission of forest fire field boundary information and visualization of forest fire field boundary information;
the extraction of the forest fire scene boundary comprises a data preprocessing module, a GPS positioning module, a track operation module and a multi-unmanned aerial vehicle data fusion module which are arranged on an unmanned aerial vehicle; the track operation module comprises a camera for acquiring video information;
the forest fire scene boundary information transmission is used for realizing the transmission and analysis of messages between forest fire scene boundary data and a remote server and the writing of a fire scene boundary database;
the forest fire scene boundary information visualization system comprises a forest fire scene boundary information visualization client used for realizing superposition display and analysis of forest fire scene boundaries in a two-dimensional or three-dimensional virtual forest scene and assisting fire-extinguishing decision-making personnel or forest management personnel in making a fire-extinguishing scheme more optimally.
4. A fire boundary vector information real-time extraction and visualization system as claimed in claim 3, wherein: the track operation module is used for realizing the starting and ending of the track recording operation of the unmanned aerial vehicle; under the guidance of video data on the unmanned aerial vehicle, the operator controls the unmanned aerial vehicle to fly right above the boundary of the fire scene; the GPS positioning module records longitude and latitude coordinates of the unmanned aerial vehicle according to a certain time interval when the unmanned aerial vehicle starts track recording, if the position change at a certain time point is within the shortest distance range of the preset recorded longitude and latitude, the record is not carried out, and when an operator clicks an ending control key, a series of recorded coordinate points form the motion track of the unmanned aerial vehicle, wherein the track is the spreading boundary of forest fires; the data preprocessing module is used for resampling the motion trail according to the set N meters so as to smooth the forest fire scene boundary; the multi-unmanned aerial vehicle data fusion module is used for collecting forest fire field boundary data in a collaborative mode by a plurality of unmanned aerial vehicles when the forest fire range is large, and in the operation process, the positions of the unmanned aerial vehicles need to be controlled to prevent the occurrence of a crash event.
5. A fire boundary vector information real-time extraction and visualization system as claimed in claim 4, wherein: the forest fire scene boundary information transmission comprises a transmission message generation module, a message analysis module and a forest fire scene boundary database writing module; the transmission message generation module is used for enabling the unmanned aerial vehicle acquisition end program to form a message according to the sequence of fixed point number, time, track number and vertex sequence number; the message analysis module specifically comprises: the server program receives the message and analyzes the message according to the preprocessed data format in the order of fixed point number, time, track number and vertex sequence number; the writing module of the forest fire scene boundary database is used for writing longitude and latitude coordinates, time information, climate information and fire area of the forest fire scene boundary into corresponding fields of the database.
6. A fire boundary vector information real-time extraction and visualization system as claimed in claim 4, wherein: the forest fire scene boundary information visualization further comprises a forest fire scene boundary and two-dimensional or three-dimensional virtual forest scene superposition module and a fire scene range and area calculation module; the forest fire scene boundary and two-dimensional or three-dimensional virtual forest scene superposition module is used for inquiring and displaying the forest fire scene boundary, and the fire scene boundary information can be displayed in the two-dimensional or three-dimensional virtual forest scene in real time by updating data periodically; the fire scene range and area calculation module is used for calculating the range and area of the fire scene and providing help for auxiliary decision-making fire extinguishment.
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| CN108144216A (en) * | 2017-12-15 | 2018-06-12 | 佛山市极加互动科技有限公司 | A kind of forest fire protection management system based on big data |
| CN108169761A (en) * | 2018-01-18 | 2018-06-15 | 上海瀚莅电子科技有限公司 | Scene of a fire task determines method, apparatus, system and computer readable storage medium |
| CN108416758B (en) * | 2018-02-09 | 2022-03-15 | 天津航天中为数据***科技有限公司 | Real-time mapping method for infrared images of fire scene |
| CN111310344B (en) * | 2020-02-22 | 2022-03-18 | 福州大学 | Method for considering coupling effect of wind field and fire field in forest fire spreading simulation |
| CN111738119B (en) * | 2020-06-12 | 2024-02-09 | 云南电网有限责任公司电力科学研究院 | Forest mountain fire area estimation method and device based on MODIS satellite monitoring |
| CN113238571A (en) * | 2021-05-27 | 2021-08-10 | 北京三快在线科技有限公司 | Unmanned aerial vehicle monitoring system, method, device and storage medium |
| CN113792427B (en) * | 2021-09-14 | 2023-08-04 | 福州大学 | Forest fire spread prediction simulation method under existing boundary conditions |
| CN113946641B (en) * | 2021-09-18 | 2024-07-09 | 北京控制工程研究所 | Forest fire area judging method |
| CN114298392B (en) * | 2021-12-23 | 2023-05-12 | 电子科技大学 | Fire wire longitude and latitude prediction method for forest fire |
| CN114821289B (en) * | 2022-01-17 | 2023-10-17 | 电子科技大学 | Forest fire picture real-time segmentation and fire edge point monitoring algorithm |
| CN117413815B (en) * | 2023-12-19 | 2024-03-01 | 山东源泉机械有限公司 | Forestry plant diseases and insect pests unmanned aerial vehicle sprays treatment system |
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| CN102819926B (en) * | 2012-08-24 | 2015-04-29 | 华南农业大学 | Fire monitoring and warning method on basis of unmanned aerial vehicle |
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